JP2021186085A - Mixture injection controller, mixture injection control program, mixture injection system, and mixture injection device - Google Patents

Abstract

To provide a mixture injection device, a mixture injection controller capable of mitigating user operation for reserving execution timing for mixture injection processing, and a mixture injection control program.SOLUTION: A mixture injection controller 100 controls a mixture injection device 1 for executing mixture injection processing of injecting drug in a first container into a second container on the basis of preparation data. On the basis of reservation correspondence information in which a content of specific information included in the preparation data is corresponded to a reservation condition with respect to execution timing for the mixture injection processing, the mixture injection controller reserves the execution timing for the mixture injection processing based on the preparation data.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control technique for 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 a vial with a syringe and injects the drug into an infusion bag containing the infusion solution. Further, in this type of mixed injection device, a technique capable of reserving the execution timing of the mixed injection process is also known (see, for example, Patent Document 1).

JP-A-2019-721

However, in that case, the operation of setting the execution timing for each mixed injection process is complicated for the user.

An object of the present invention is to provide a mixed injection control device and a mixed injection control program capable of reducing a user operation for reserving an execution timing of a mixed injection process.

The mixed injection control device according to the present invention is a mixed injection control device that controls a mixed injection device that executes a mixed injection process of injecting a drug in a first container into a second container based on preparation data, and is included in the preparation data. A reservation processing unit that reserves the execution timing of the mixed injection process based on the preparation data is provided based on the reservation correspondence information in which the content of the specific information and the reservation condition related to the execution timing of the mixed injection process are associated with each other.

The mixed injection control program according to the present invention is included in the preparation data in the processor provided in the mixed injection control device that controls the mixed injection device that executes the mixed injection process of injecting the drug in the first container into the second container based on the preparation data. Based on the reservation correspondence information in which the content of the specific information is associated with the reservation condition relating to the execution timing of the mixed injection process, the step of reserving the execution timing of the mixed injection process based on the preparation data and the execution timing It is a mixed injection control program for executing the step of executing the mixed injection process by the mixed injection device based on the above.

The mixed injection system according to the present invention includes an input device capable of inputting the preparation data into the mixed injection support device that displays the content of the mixed injection work to be performed by the operator based on the input preparation data, and the preparation data. Based on the equipment conversion information showing the correspondence between the information of the first equipment to be obtained and the information of the second equipment that can be used in the mixed injection device that executes the mixed injection process of injecting the chemicals in the first container into the second container. The mixed injection process is executed based on the conversion processing unit that generates the conversion preparation data obtained by converting the information of the first equipment into the information of the second equipment in the preparation data and the conversion preparation data generated by the conversion processing unit. It is equipped with a mixed injection device.

The mixed injection device according to the present invention has an operation unit capable of operating a syringe and a state in which the tip of the injection needle of the syringe is pierced into a drug container and the tip of the injection needle is directed upward from the horizontal direction. A replacement processing unit that executes a drug suction step a plurality of times, including a first step of controlling the operation unit to pull the plunger of the syringe and a second step of controlling the operation unit to push the plunger of the syringe. A first change processing unit that changes the pulling speed of the plunger in the first step according to the viscosity of the chemical in the chemical container, and a waiting time from the execution of the first step to the start of the second step. Is provided with a second change processing unit that changes according to the viscosity of the medicine in the medicine container.

The mixed injection device according to the present invention has a first drive unit that holds the medicine container in a displaceable manner, a second drive unit that holds the syringe in a displaceable manner, and a state in which the injection needle of the syringe is punctured in the medicine container. The control unit is provided with a control unit that controls the first drive unit and the second drive unit to displace the syringe and the drug container and execute a stirring step of stirring the drug in the drug container.

According to the present invention, it is possible to provide a mixed injection control device and a mixed injection control program capable of reducing user operations for reserving the execution timing of mixed injection processing.

FIG. 1 is a block diagram showing a configuration of a mixed injection system 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 showing a state in which a part of the accommodating unit of the mixed injection device according to the embodiment of the present invention is omitted. FIG. 4 is a front view showing a state in which a part of the main door and the front wall of the mixed injection device according to the embodiment of the present invention 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 diagram showing a configuration of a housing unit of the mixed injection device according to the embodiment of the present invention. FIG. 12 is a flowchart showing an example of a procedure of mixed injection management processing executed by the mixed injection control device according to the embodiment of the present invention. FIG. 13 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 14 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 15 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 16 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 17 is a flowchart showing an example of a procedure of mixed injection control processing executed by the mixed injection control device according to the embodiment of the present invention. FIG. 18 is a schematic view showing an example of a chemical suction step executed by the mixed injection control device according to the embodiment of the present invention. FIG. 19 is a schematic view showing an example of a chemical suction step executed by the mixed injection control device according to the embodiment of the present invention.

The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

[Mixed injection system 2]
As shown in FIG. 1, the mixed injection system 2 according to the present embodiment includes a mixed injection device 1, a higher-level system 600, a mixed injection support device 610, a printer 506, and the like. The mixed injection device 1, the host system 600, the mixed injection support device 610, the printer 506, and the like are connected wirelessly or by wire so as to be communicable.

[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 device 100, a chemical loading unit 200, a mixed injection processing unit 300, and a storage unit 700. The mixed injection device 1 is installed in a medical facility such as a hospital. Then, in the mixed injection device 1, the operation of the mixed injection processing unit 300 and the accommodation unit 700 is controlled by the mixed injection control device 100 based on the preparation data, so that the anticancer agent shown in the preparation data by the syringe is used. A mixed injection process is performed in which a chemical such as the above is injected into a second container such as an infusion bag from one or more first containers containing a predetermined amount of the chemical.

[Mixed injection control device 100]
The schematic configuration of the mixed injection control device 100 will be described with reference to FIG. 1.

The mixed injection control device 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. A printer 506 such as a monochrome printer, a color printer, or a label printer is connected to the second control unit 500, and the printer 506 is used for printing various information on paper or a label.

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 process executed by the mixed injection control device 100 is the first control unit 400 and the first control unit 400. 2 It may be executed by any one of the control units 500. Further, as another embodiment, it is conceivable that the mixed injection control device 100 is one control unit or has three or more control units. 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 a DSP.

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.

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.), and usage information (1). Includes medical treatment type (outpatient, inpatient, etc.), clinical department, ward, and hospital room (such as after each meal three times a day). The preparation data includes preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescription amount of drug, type of drug container (ampoule containing drug solution, vial bottle containing drug solution, or vial bottle containing powdered drug). Information on preparation details (drug container, syringe, type and number of injection needles used for mixed injection processing, etc.), preparation procedure information (work content, dissolving drug, solvent, dissolving drug amount, solvent amount, sampling amount), preparation Includes date, prescription classification, medication date, department, ward, time required, etc.

The first control unit 400 is a computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, an operation unit 405, and the like. Further, various electric components such as a touch panel monitor 203, a barcode reader 204, an air purifier 205, and an IC reader 207 provided in the chemical loading unit 200 are connected to the first control unit 400.

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 non-volatile storage device such as a hard disk that stores various application programs and various data for causing the CPU 401 to execute various processes. Specifically, the data storage unit 404 stores a first mixed injection control program for causing the CPU 401 to execute the mixed injection management process described later. Further, the data storage unit 404 stores the preparation data input from the host system 600.

The first control unit 400 stores the identification information of the tray 101, which will be described later, corresponding to the preparation data together with the preparation data input from the higher-level system 600 in the data storage unit 404. For example, the association between the preparation data and the identification information of the tray 101 is performed by the first control unit 400. Further, information indicating the correspondence between the preparation data and the identification information of the tray 101 may be input from the higher-level system 600 to the mixed injection device 1 together with the preparation data.

The data storage unit 404 stores various databases such as a drug master, a patient master, a doctor master, a prescription classification master, a clinical department master, and a ward master. The drug master includes drug code, drug name, JAN code (or RSS), drug bottle code, classification (dosage form: powder (powder), tablet, liquid medicine, external medicine, etc.), specific gravity, viscosity, drug type (drug form). Ordinary drugs, anti-cancer drugs, poisons, drugs, powerful drugs, anti-psychiatric drugs, therapeutic drugs, etc.), formulation changes, shaping drugs, precautions, types of drug containers (ampoules, vials), drugs in drug container units Information such as the capacity (predetermined amount), the container shape information of the drug container, and the weight of the drug container is included. Further, in the drug master, it is registered in advance that the drug to be used as the residual drug is a drug to be stored as a residual drug, and the first control unit 400 is the drug registered as the drug to be stored as the residual drug. It is conceivable to determine that the drug container 10 is to be used as a residual drug.

Further, the remaining drug information D30, the correspondence information D31, and the reservation correspondence information D32 are stored in the data storage unit 404. The residual drug information D30 and the corresponding information D31 are updated by the first control unit 400 and the second control unit 500. The update of the residual drug information D30 and the corresponding information D31 includes new registration, correction, deletion, and the like of data. The reservation correspondence information D32 is set or updated by the first control unit 400 or the second control unit 500 according to the user operation.

As shown in FIG. 15A, in the residual drug information D30, the “preparation No.” which is the identification information of the preparation data and the “drug name” of the drug remaining in the mixed injection process based on the preparation data. "Remaining amount", "opening date and time", "expiration date", "planned use preparation data", "number of punctures" and the like are associated with each other. The planned use preparation data is identification information for identifying the preparation data for which the residual drug is planned to be used. The residual drug information D30 also includes other information such as position information on the loading shelf 33, which will be described later, on which the drug container 10 containing the residual drug is placed. When the residual drug is a mixed drug, the residual drug information D30 includes the component (drug name, solvent name), solvent amount, remaining amount, opening date and time, expiration date, and planned use preparation data information of the mixed drug. , And various information such as the number of punctures.

As shown in FIG. 15B, in the corresponding information D31, the “preparation No.” which is the identification information of the preparation data, the identification information “tray ID” of the tray 101, and the storage destination of the tray 101. The identification information "accommodation unit No." of the tray accommodating unit 811 is associated with the above. Further, in the corresponding information D31, the "drug name", "usage amount", "predetermined amount", "presence or absence of residual drug", and "presence or absence of residual drug" of the drug used in the mixed injection process based on the preparation data are included in each of the preparation data. Information such as "whether or not chemicals are loaded" and "execution timing" are also associated. In the corresponding information D31 shown in FIG. 15B, each of the prepared data is displayed from the top in the order in which the mixed injection process is first executed.

As shown in FIG. 16A, in the reservation correspondence information D32, the reference item D321 and the reservation condition D322 corresponding to the reference item D321 are associated with each other.

The reference item D321 shows the contents of the information referred to when reserving the execution timing of the mixed injection process based on the preparation data among various information included in the preparation data to be reserved. For example, the reference item D321 is a ward, a hospital room, a therapy, a drug name, a medical treatment type, a patient ID, or the like. Hereinafter, in the present embodiment, as shown in FIG. 16A, the case where the content of the reference item D321 is the information of the patient's ward corresponding to the preparation data will be described as an example.

The reservation condition D322 is information used for setting the execution timing of the mixed injection process based on the preparation data. Specifically, the reservation condition D322 is a reservation time zone, a reservation date, a reservation day of the week, or the like. Hereinafter, in the present embodiment, as shown in FIG. 16A, the case where the content of the reservation condition D322 is the reservation time zone will be described as an example.

More specifically, in the reservation correspondence information D32 shown in FIG. 16A, when the ward is "ward A", the reservation time zone is "before 9 o'clock" and the ward is "ward B". In some cases, it is stipulated that the reserved time zone is "9:00 to 10:00". That is, in the reservation correspondence information D32, the execution timing of the mixed injection process based on the preparation data corresponding to the patient admitted to the ward A is before 9 o'clock, and based on the preparation data corresponding to the patient admitted to the ward B. It is stipulated that the execution timing of the mixed injection process should be between 9:00 and 10:00.

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 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 confirmation camera provided in the mixed injection processing unit 300. 41, various electric parts such as a syringe confirmation camera 42 are connected.

The CPU 501 is a processor that executes processing according to various control programs. The ROM 502 is a non-volatile memory in which 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 a second mixed injection control program for causing the CPU 501 to execute a mixed injection control process described later. Further, the data storage unit 504 also stores the drug master similar to the data storage unit 404, and the second control unit 500 can refer to the drug master. As another embodiment, the second control unit 500 may be configured to be able to acquire the information of the drug master from the first control unit 400.

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. Note that FIG. 3 is a diagram showing a main part of the internal configuration of the chemical loading unit 200, and the description of the accommodating unit 700 is omitted.

As shown in FIGS. 2 and 3, the chemical loading unit 200 is a clean bench provided with a door 201, a work table 202, a touch panel monitor 203, a barcode reader 204, an air purifier 205, a tray discharge port 206, and the like. be. The chemical loading unit 200 and the mixed injection processing unit 300 communicate with each other at the tray loading port 114 (see FIG. 6) and the tray discharge port 701 (see FIG. 11) formed on the side surface of the mixed injection processing unit 300. There is.

The door 201 is provided on the front surface of the chemical loading section 200 and is a transparent member that 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 the 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 (an example of a first container) used in the mixed injection process executed by the mixed injection device 1. , A syringe 11, an infusion bag 12 (an example of a second container), and the like are housed. 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 operation in which the medicine container 10, the syringe 11, and the infusion bag 12 are placed in a predetermined position on the tray 101, and the tray 101 is loaded into the storage unit 700. .. In the present embodiment, the case where the chemical container 10 is a vial bottle will be described as an example. On the other hand, the chemical container 10 may be a chemical container having another shape such as an ampoule.

The work table 202 is used to perform preparatory work for the mixed injection process executed by the mixed injection device 1, and the work table 202 includes the touch panel monitor 203, the barcode reader 204, the tray 101, and the like. It will be placed. Further, on the front surface of the work table 202, a tray discharge port 206 that is opened and closed when the tray 101 discharged from the storage unit 700 is taken out is provided. Further, in the work table 202, the IC reader 207 capable of reading information from the IC tag 101b of the tray 101 placed on the work table 202 is provided. The reading result by the IC reader 207 is input to the first control unit 400.

The touch panel monitor 203 includes 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, and an operation unit such as a touch panel that accepts a user's touch operation. include.

The bar code reader 204 reads a bar code written on a prescription, a preparation instruction sheet, or the like, and inputs the content of the bar code to the first control unit 400. The air purifier 205 supplies air into the chemical loading unit 200 through a predetermined filter.

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

The tray 101 has an equipment mounting portion 102 on which the medicine container 10 and the syringe 11 (syringe 11a, injection needle 11c) are placed, and an infusion bag holding portion 103 for holding the infusion bag 12. The equipment mounting portion 102 and the infusion bag holding portion 103 can be individually attached to and detached from the tray 101. The equipment mounting portion 102 is provided with a support portion 102A that supports the injection needle 11c or the like in an inclined state.

As shown in FIG. 5, the medicine container 10 and the syringe 11 are set in a tilted state on the equipment mounting portion 102. The syringe 11 is in a state where the syringe 11a and the injection needle 11c are separated. It should be noted that the arrangement form in the equipment mounting portion 102 described here is an example, and the present invention is not limited to this.

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

Then, the tray 101 is loaded into the storage unit 700 after the equipment such as the medicine container 10, the syringe 11, and the infusion bag 12 is set by the user. As will be described later, the storage unit 700 can accommodate a plurality of the trays 101, and the trays 101 can be accommodated from the storage unit 700 through the tray discharge port 701 and the tray loading port 114 as needed. It is automatically supplied to the unit 300. After that, after the mixed injection processing in the mixed injection processing unit 300 is completed, the tray 101 is discharged from the tray discharge port 15 of the mixed injection processing unit 300 with the infusion bag 12 accommodated, or the storage unit. It is discharged from the tray discharge port 206 of the chemical loading unit 200 via 700.

[Mixed injection processing unit 300]
Subsequently, the 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. There is.

The main door 301 is opened and closed to access the inside of the mixed injection processing chamber 104 for the purpose of cleaning the inside of the mixed injection processing chamber 104 provided in the mixed injection processing unit 300, taking out the chemical container 10, or the like. .. In the mixed injection device 1, in addition to discharging the infusion bag 12 into which the chemical is injected, the syringe 11 can be discharged in a state of being filled with the chemical, and the syringe take-out door 302 is subjected to the mixed injection treatment. It is used when the syringe 11 is taken out from the chamber 104.

The garbage 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 processing 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 mixed injection processing is executed in the mixed injection processing chamber 104.

The touch panel monitor 14 includes 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, and an operation unit such as a touch panel that accepts a user's touch operation. include.

[Mixed injection processing room 104]
As shown in FIGS. 3 and 4, the mixed injection processing chamber 104 includes a first robot arm 21, a second robot arm 22, a stirrer 32, a mounting shelf 33, a chemical reading unit 34, a weighing scale 35, and a needle. A 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 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. The first robot arm 21 is an example of the first drive unit according to the present invention, and the second robot arm 22 is an example of the second drive unit according to the present invention.

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 dual-arm type first robot arm 21 and the second robot arm 22.

Specifically, the second control unit 500 individually drives the 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 21. 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 a robot arm, as long as the structure can execute the mixed injection processing. May be.

As shown in FIG. 6, the first robot arm 21 includes a holding portion 25 capable of displaceably holding equipment such as the medicine container 10 and the syringe 11, and the holding portion 25 is predetermined. It is possible to move it to any position within the movable range. The second robot arm 22 includes a holding portion 26 capable of displaceably holding equipment such as the medicine container 10 and the syringe 11, and the medicine container 10 and the syringe 11 can be moved in advance. It is possible to move it to any position within the range. Further, the holding unit 26 is an operating unit capable of performing suction and injection operations by the syringe 11.

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 screw shafts 252 and 253.

The pair of gripping claws 25a are gripping portions having recesses suitable for holding the chemical container 10. 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 are close to each other and separated from each other to hold the chemical container 10 or the like by the holding portion 25 or the like. Release the hold. The holding portion 25 can also hold the injection needle 11c or the syringe 11 by the pair of gripping claws 25a.

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 separated 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 separated from each other by a mechanism similar to the driving mechanism used in the holding portion 25. be. 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 brings the pair of gripping claws 262a close to each other and separated from each other to grip not only the syringe 11 but also other equipment such as the medicine container 10. A recess is formed on the upper surface of the pair of gripping claws 262a on the opposite side to allow the flange portion of the plunger 11b to enter. 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 equipment such as the chemical container 10. 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 capable of reciprocating the tray 101 between the tray loading port 114 at the right end portion and the tray transport end portion 110a at the left end portion in FIG. Has been done.

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. 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 so that it can be transported.

In addition, in FIG. 9, in order to show the transport path of the tray transport section 110, the tray 101 moving in the tray transport section 110 is shown by a two-dot chain line, and a plurality of the trays 101 are simultaneously shown in the tray transport section 110. The tray 101 is not present. Further, the tray transport unit 110 may be configured to be capable of simultaneously transporting a plurality of the trays 101 between the tray loading port 114 and the tray transport end portion 110a in the tray transport unit 110.

The tray 101 inserted from the tray loading port 114 can be pulled into the inside of the tray transport starting unit 110b of the tray transport unit 110, or the tray 101 can be discharged from the tray loading port 114. The illustrated belt conveyor is provided. Further, 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 103 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 the tray transfer start portion 110b where the tray 101 is loaded from the tray loading port 114. Further, the IC reader 15a is provided at the tray transport end portion 110a where the tray 101 is discharged from the tray discharge port 15.

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 loading 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. .. Similarly, when the tray 101 is conveyed from the tray transfer start unit 110b toward the accommodating unit 700 via the tray loading port 114, the second control unit 500 is described by the IC reader 101c. Information can be read from the IC tag 101b. Then, the second control unit 500 executes a tray collation process for determining the suitability or the like of the tray 101 according to the reading result by the IC reader 101c and the IC reader 15a.

Further, the second control unit 500 determines that the tray 101 has reached a predetermined position in the tray transport unit 110 through the tray loading port 114, for example, based on the output of a sensor (not shown). , The shutter 111 that communicates and shields the tray transport unit 110 and the mixed injection processing chamber 104 is slid horizontally to open. 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.

The tray transport unit 110 is provided with a tray elevating unit 112 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 loading port 114. As shown in FIG. 10, the tray elevating portion 112 lifts the equipment mounting portion 102 from the bottom to the top by, for example, 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 medicine container 10 and the syringe 11 and the like placed on the equipment 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 is present 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, above the tray transport end portion 110a, 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. ing. The infusion camera 121 is provided in the center of the dome-shaped light 120 and reads a barcode attached to the surface of the infusion bag 12.

[Agitator 32]
The stirring device 32 stirs the chemicals in the chemical container 10 by shaking one or more of the chemical containers 10 set in the stirring device 32.

[Placement shelf 33]
As shown in FIG. 4, the above-mentioned storage rack 33 is used for temporarily placing equipment such as the medicine container 10 and the syringe 11 in the mixed injection process performed in the mixed injection device 1. Further, the above-mentioned storage shelf 33 is also used for storing the chemical container 10 in which the chemicals used in the mixed injection treatment remain. 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 equipment mounting area on which the equipment used in the mixed injection process is placed and the remaining amount for mounting the chemical container 10 in which the chemicals used in the mixed injection process remain. A drug placement area is provided. Then, one or a plurality of preset drug containers 10 can be placed in the residual drug placement area.

[Chemical reading unit 34]
The chemical reading unit 34 reads a barcode written on a label attached to the chemical container 10. The barcode indicates identification information of the medicine contained in the medicine container 10. Specifically, the chemical reading unit 34 can read the barcode from the label attached to the chemical container 10 while rotating the chemical container 10 in the circumferential direction.

[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 meter 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.

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

[Accommodation unit 700]
Subsequently, the accommodation unit 700 will be described with reference to FIG. 11. In the following, the description may be made using the up, down, left, and right directions shown in FIG.

The accommodation unit 700 includes a tray loading unit 712, an elevating unit 800, and the like, and is controlled by the mixed injection control device 100. The tray loading section 712 and the elevating unit 800 are arranged behind the work table 202. A plurality of the trays 101 can be accommodated in the accommodating unit 700, and the mixed injection control device 100 can carry out any of the trays 101 from the accommodating unit 700 to the mixed injection processing unit 300. The specific configuration of the accommodation unit 700 is not limited to the configuration described here as long as the same function can be achieved.

The tray loading section 712 is opened and closed to load the tray 101 into the elevating unit 800 in the accommodating unit 700. The user can load the tray 101 into the elevating unit 800 by sliding the tray 101 backward on the work table 202.

The elevating unit 800 includes a moving housing 810 that is supported so as to be able to move up and down in the vertical direction, a multi-stage tray accommodating portion 811 arranged in the vertical direction in the moving housing 810, and the like. The moving housing 810 is slidably supported in the vertical direction by, for example, a rail portion (not shown) formed on the inner surface of the housing of the housing unit 700. In the moving housing 810, at least the uppermost tray accommodating portion 811 is located above the tray loading portion 712, and the lowermost tray accommodating portion 811 is located below the tray loading portion 712. It is possible to move up and down between the state and the state.

Further, the storage unit 700 has a transport mechanism (not shown) capable of transporting the tray 101 loaded in each of the tray storage units 811 from the tray storage unit 811 to the mixed injection processing unit 300 via the tray discharge port 701 (not shown). ). Further, the transport mechanism (not shown) can transport the tray 101 supplied from the mixed injection processing unit 300 to each of the storage units 811. That is, in the mixed injection device 1, the tray 101 can be conveyed from the tray accommodating unit 811 to the mixed injection processing unit 300, and the tray 101 after the execution of the mixed injection processing is accommodated in the tray accommodating unit 811. It is possible to do.

[Mixed injection processing]
Next, an example of the processing procedure of the mixed injection processing executed by controlling the mixed injection processing unit 300 by the mixed injection control device 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 preparation 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.

Here, a mixed injection process in which the chemical contained in the chemical container 10 is a chemical such as a powder that needs to be dissolved and the chemical is mixed with the infusion solution and then injected into the infusion bag 12 will be described. Further, here, the processing after the tray 101 is supplied from the accommodating unit 700 to the mixed injection processing unit 300 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 medicine container 10 and the syringe 11 mounted on the equipment mounting unit 102 by the image recognition process based on the image taken 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 medicine container 10 or the syringe 11 is taken out from the equipment mounting unit 102, and from the captured image. The position and orientation of the latest drug container 10 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 rack 33. Temporarily place. Further, the second control unit 500 sets the chemical container 10 mounted on the equipment mounting portion 102 in 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 chemical container 10 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 transport 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 image recognition processing based on the captured image 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 chemical container 10 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 the device 43.

Next, the second control unit 500 takes out the syringe 11 from the above-mentioned storage rack 33 by the first robot arm 21 and sets it in 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 syringe 11 on the injection needle 11c 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 suction step of sucking the infusion amount shown in the preparation data from the infusion bag 12 is executed. In the infusion suction step, instead of the infusion bag 12 placed on the tray 101, the infusion device 1 is preloaded for common use in the plurality of mixed injection treatments for a plurality of patients. The infusion solution may be sucked from a dissolution infusion container such as a dissolution infusion bag. On the other hand, the second control unit 500 takes out the chemical container 10 mounted on the above-mentioned storage shelf 33 by the first robot arm 21.

Then, the second control unit 500 brings the medicine container 10 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 referred to. Puncture into the drug container 10. After that, the second control unit 500 executes an infusion solution injection step of injecting the infusion solution in the syringe 11 into the medicine container 10 by operating the plunger 11b by the second robot arm 22. As described above, when the drug is a powdered drug, in the mixed injection process, the infusion suction step of extracting the infusion solution from the infusion bag 12 with the syringe 11 and the infusion solution being injected from the syringe 11 into the drug container 10. The infusion process is performed. As a result, the chemical in the chemical container 10 is dissolved by the infusion solution to become a chemical solution. At this time, the posture of the syringe 11 and the medicine container 10 is a state in which the injection needle 11c of the syringe 11 is directed vertically downward and the mouth of the medicine container 10 is directed vertically upward.

Next, the second control unit 500 sets the chemical container 10 in the stirring device 32 by the first robot arm 21, and uses the stirring device 32 to stir the chemicals and the infusion solution in the chemical container 10. Perform the stirring step. The stirring time in the stirring step is predetermined, for example, depending on the type of the chemical. Further, the stirring time may be predetermined for each combination of the chemical and the infusion solution, or may be changed depending on the amount of the chemical in the chemical container 10. When the stirring step by the stirring device 32 is completed, the second control unit 500 takes out the chemical container 10 from the stirring device 32 by the first robot arm 21.

Then, the second control unit 500 pierces the medicine container 10 with the injection needle 11c of the syringe 11 by the first robot arm 21 and the second robot arm 22, and the second robot arm 22 causes the second robot arm 22 to pierce the medicine container 10. By operating the plunger 11b, a drug suction step of sucking the drug in the drug container 10 with the syringe 11 is executed. At this time, the postures of the syringe 11 and the medicine container 10 are such that the mouth of the medicine container 10 is directed vertically downward and the injection needle 11c of the syringe 11 is directed vertically upward. In the posture of the syringe 11 and the medicine container 10, at least the tip of the injection needle 11c of the syringe 11 is directed upward from the horizontal direction, and the mouth portion of the medicine container 10 is directed downward from the horizontal direction. It suffices if it is in a pointed state.

After that, 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 drug injection step of injecting the drug in the syringe 11 into the infusion bag 12 is executed. As described above, in the mixed injection process, the drug suction step in which the drug is sucked from the drug container 10 by the syringe 11 and the drug injection step in which the drug is injected from the syringe 11 into the infusion bag 12 are performed. Will be executed.

Further, the second control unit 500 opens the garbage lid 132a and drops the chemical container 10 into the garbage 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 and drops the syringe 11 into the garbage storage chamber 13a for disposal. Further, the dust storage chamber 13a or the like may be provided with an optical sensor capable of detecting the passage of waste such as the medicine container 10 or the syringe 11. Then, the second control unit 500 controls the first robot arm 21 or the second robot arm 22 to execute an operation of dropping waste such as the medicine container 10 or the syringe 11, and then the second control unit 500. It may be determined according to the detection result by the optical sensor that the waste is stored in the dust storage chamber 13a.

It is also conceivable that the chemical contained in the chemical container 10 is a chemical such as a chemical solution that does not need to be dissolved. In this case, the mixed injection process is a drug such as a powder drug in which the drug contained in the drug container 10 needs to be dissolved, except that the infusion suction step, the infusion injection step, and the stirring step are not executed. Since it is the same as the mixed injection process in the case of the above, the description thereof will be omitted. Further, even when the chemical contained in the chemical container 10 is a liquid, the stirring step may be executed depending on the type of the chemical.

Hereinafter, an example of the procedure of the mixed injection management process and the mixed injection control process executed by the mixed injection control device 100 in the mixed injection device 1 will be described with reference to FIGS. 12 to 17.

[Mixed injection management process]
First, an example of the mixed injection management process executed by the first control unit 400 will be described with reference to FIG. 12.

<Step S20>
In step S20, the first control unit 400 waits for the user to start the loading preparation operation using the touch panel monitor 203 (S20: No). Specifically, the first control unit 400 causes the touch panel monitor 203 to display a prescription selection screen M1 showing a list of the preparation data input to the mixed injection device 1. Then, when the preparation data to be processed is selected by the user on the prescription selection screen M1, it is determined that the loading preparation start operation has been performed (S20: Yes), and the process proceeds to step S21. In the following, the preparation data of the processing target selected here may be referred to as target preparation data.

Here, FIG. 13 is a diagram showing an example of the prescription selection screen M1. On the prescription selection screen M1 shown in FIG. 13, a search condition display unit D1 in which an input field for search conditions for narrowing down the selection candidates is arranged, and a prescription display in which the preparation data of the selection candidates are arranged side by side. Part D2 and the like are included. In the search condition display unit D1, an extraction key D11 for starting an extraction process for narrowing down selection candidates of the preparation data according to the search conditions is arranged.

When there are a plurality of selection candidates of the preparation data to be mixed injection processing in the mixed injection device 1, the prescription selection screen M1 displays the preparation data of the selection candidates in a state of being arranged according to preset sorting conditions. Will be done. The sort condition is determined by, for example, any one or a combination of the preparation date and time, the administration date and time, the prescription classification, and the issuance date and time of the preparation data by the mixed injection device 1.

Further, the first control unit 400 reads identification information such as "preparation No." that can identify the preparation data from the barcode described in the prescription or the preparation instruction sheet by the barcode reader 204. In this case, it may be determined that the loading preparation start operation has been performed using the preparation data as the target preparation data.

<Step S21>
In step S21, the first control unit 400 determines whether or not the execution request of the mixed injection process based on the target preparation data has been made. Here, when it is determined that the execution request has been made (S21: Yes), the process proceeds to step S22, and the process waits in step S21 until the execution request is made (S21: No). do.

Specifically, in step S21, the first control unit 400 causes the touch panel monitor 203 to display an execution instruction screen P10 for instructing execution of the mixed injection process based on the target preparation data. Here, FIG. 14 is a diagram showing an example of the execution instruction screen P10.

In FIG. 14, the execution instruction screen P10 is pop-up displayed on the loading check screen M11 for supporting the loading of the equipment into the tray 101. The loading check screen M11 has a display area A11 for displaying various information such as a clinical department, a medical treatment type, and a ward included in the target preparation data, and is required for the mixed injection process based on the target preparation data. The display area A12 on which equipment such as the medicine container 10 and the infusion bag 12 is displayed is included.

Then, as shown in FIG. 14, on the execution instruction screen P10, as information regarding the target preparation data, for example, a patient ID and a patient name for identifying a patient, and a control number for identifying the target preparation data. And the time required for the mixed injection process based on the target preparation data are displayed. The time required for the mixed injection process is stored in the data storage unit 404 for each preparation content (regimen) indicated by the target preparation data. Further, the data storage unit 404 stores calculation information for calculating the required time, and the first control unit 400 may calculate the required time for the mixed injection process based on the calculation information. ..

On the execution instruction screen P10, the operation keys K11 to K13 for accepting the selection operation of the reservation method of the target preparation data, the operation keys K14 for accepting the execution operation of the reservation of the target preparation data, and the use of the remaining medicine. The operation key K15 or the like for accepting the permission / rejection setting is displayed.

Then, when the operation key K14 is operated, the first control unit 400 determines that the execution request of the mixed injection process based on the target preparation data has been made (S21: Yes).

Further, the operation key K11 is an operation key for selecting as a reservation method a timeless reservation for executing the mixed injection process based on the target preparation data in the order in which the target preparation data is input.

The operation key K12 is an operation key for selecting a reservation with a time designation for executing the mixed injection process based on the target preparation data based on the execution timing preset by the user operation as the reservation method. The execution timing is set by inputting the preparation end time indicating the scheduled completion time of the mixed injection process, inputting the scheduled start time indicating the scheduled start time of the mixed injection process, and the like. More specifically, when the operation key K12 is selected, the date and time for executing the mixed injection process based on the target preparation data can be set on the execution instruction screen P10. For example, the execution instruction screen P10 shown in FIG. 14 is in a state in which a reservation with a time designation to end the mixed injection process is set by 19:00 on August 22nd.

Further, when a reservation with a time designation is made on the execution instruction screen P10, it is possible to set a margin time for the scheduled completion time of the mixed injection process. The margin time indicates a range that can be changed when the execution timing of the mixed injection process is advanced after the scheduled completion time is set. The margin time is a time set for each drug in the drug master, or a time input in response to a user operation on the execution instruction screen P10. For example, when the scheduled completion time is 19:00 and the margin time is 30 minutes, the execution timing of the mixed injection process is after 18:30, which is 30 minutes before the scheduled completion time, and is 19:00. It can be changed as long as the mixed injection process is completed before 00 minutes.

When the time-designated reservation is made for the target preparation data, the first control unit 400 completes the mixed injection process based on the target preparation data at the scheduled completion time set in the time-designated reservation. The execution timing is set so as to be performed. The first control unit 400 can set the reservation of the preparation data which is the same as the number of the tray accommodating units 811 and is equal to or less than the preset maximum reservation number. For example, when the time obtained by subtracting the required time of the mixed injection process from the scheduled completion time is set as the execution timing and the execution times of the plurality of the mixed injection processes overlap, the execution timing of one or more of the mixed injection processes is performed. The execution timing is set so that the execution times of the plurality of mixed injection processes do not overlap by accelerating.

The operation key K13 is an operation key for selecting an automatic reservation process for automatically reserving a mixed injection process based on the target preparation data based on preset automatic reservation conditions as a reservation method.

The operation key K15 is an operation unit for accepting the setting of availability of the residual drug in the mixed injection process based on the target preparation data. Then, the first control unit 400 controls whether or not the remaining medicine is used depending on whether or not the remaining medicine is used by the operation key K15. Further, it is conceivable that the first control unit 400 automatically determines whether or not the residual drug can be used in the mixed injection process based on the target preparation data based on the patient information corresponding to the target preparation data. Specifically, the first control unit 400 permits the use of the residual drug in the mixed injection process for the preparation data corresponding to the inpatient in the target preparation data, and corresponds to the outpatient in the target preparation data. Regarding the preparation data to be prepared, it is conceivable that the use of the residual drug in the mixed injection treatment is not permitted. On the contrary, for the preparation data corresponding to the outpatients in the target preparation data, the use of the residual drug in the mixed injection treatment is permitted, and the preparation data corresponding to the inpatients in the target preparation data. It is also possible that the use of the residual drug in the mixed injection treatment is not permitted.

<Step S22>
In step S22, the first control unit 400 determines whether or not to execute the automatic reservation process of reserving the execution timing of the mixed injection process based on the target preparation data based on the automatic reservation condition. Specifically, the first control unit 400 determines whether or not the automatic reservation process is executed on the execution instruction screen P10 according to the operation state of the operation key K13. Here, if it is determined not to execute the automatic reservation process (S22: No), the process proceeds to step S221, and if it is determined to execute the automatic reservation process (S22: Yes), the process proceeds to step S222. Move to.

Further, when the display of the operation keys K11 to K13 is omitted on the execution instruction screen P10 and it is determined in the step S21 that the execution request of the mixed injection process has been performed, the first control unit 400 said. Step S222 may be executed. In this case, the display of the execution instruction screen P10 in the step S21 may be omitted, and the loading preparation start operation in the step S20 may be accepted as the execution request. For example, the first control unit 400 reads identification information such as "preparation No." that can identify the target preparation data from the barcode described in the prescription or the preparation instruction sheet by the barcode reader 204. If this is the case, it is determined that the execution request for the mixed injection process for the target preparation data has been made (S22: Yes), and the process is shifted to step S222. That is, the first control unit 400 automatically executes the automatic reservation process without requiring the selection operation of the operation key K13 on the execution instruction screen P10. As a result, the user can save the trouble of operating the operation key K13 on the execution instruction screen P10, and can efficiently perform the work.

<Step S221>
In step S221, the first control unit 400 executes a reservation setting process for setting the execution timing of the target preparation data based on the reservation condition input to the execution instruction screen P10, and the corresponding information D31. After updating, the process shifts to step S23.

For example, when the operation key K11 is operated and the reservation without time designation is selected, the first control unit 400 executes the mixed injection process based on the target preparation data in the order in which the execution instruction is given. The corresponding information D31 is updated so as to be performed. That is, when the mixed injection process is not being executed by the mixed injection device 1, the mixed injection process based on the target preparation data is started. Further, when the mixed injection process is being executed in the mixed injection device 1, the said mixed injection process based on the target preparation data is not waiting after the completion of the mixed injection process. The mixed injection process will be started. On the other hand, when the operation key K12 is operated and the timed reservation is selected, the first control unit 400 has the preparation date included in the target preparation data and the scheduled end time or the scheduled start time. Based on the above, the execution timing of the mixed injection process based on the target preparation data is set so that the execution timing of the mixed injection process does not overlap, and the correspondence information D31 is updated.

<Step S222>
In step S222, the first control unit 400 executes the automatic reservation process, updates the correspondence information D31, and then shifts the process to step S23. Here, the first control unit 400 when executing the automatic reservation processing is an example of the reservation processing unit according to the present invention.

Specifically, in the automatic reservation process, the first control unit 400 reads the reservation correspondence information D32 from the data storage unit 404. Then, the first control unit 400 reserves the execution timing of the mixed injection process based on the target preparation data based on the reservation correspondence information D32 and the content of the specific information included in the target preparation data. For example, the first control unit 400 may use information regarding the mixed injection process based on the target preparation data (“drug name”, “usage amount”, “predetermined amount”, “presence / absence of residual drug”, “presence / absence of drug loading”, and the like. Information such as "execution timing") is newly added to the corresponding information D31. If the first control unit 400 has an influence on the information on the mixed injection process based on other preparation data due to the new addition of the information on the mixed injection process based on the target preparation data, the information thereof. Also updated. Specifically, when the execution times of the mixed injection process based on the plurality of preparation data overlap, the first control unit 400 may have one or a plurality of reservations already reserved and registered in the corresponding information D31. Regarding the preparation data, it is conceivable to change the execution timing so that the execution time of the mixed injection process based on the preparation data does not overlap. For example, when the execution time of the mixed injection process based on the plurality of preparation data overlaps, the first control unit 400 may use one or more of the preparation data already reserved and registered in the corresponding information D31. It is conceivable to shift the execution timing of the mixed injection process based on the above. As a result, the time and effort of the user operation for registering the execution timing of the mixed injection process based on the target preparation data according to the content of the target preparation data can be omitted.

For example, when the automatic reservation process is executed based on the reservation correspondence information D32 shown in FIG. 16 (A), if the patient's ward is "ward A", the mixed injection process based on the target preparation data is performed. The execution timing is set so as to satisfy the condition of "before 9 o'clock" on the preparation date included in the target preparation data. Similarly, if the patient's ward is "ward B", the execution timing of the mixed injection process based on the target preparation data satisfies the condition of "9:00 to 10:00" on the preparation date included in the target preparation data. Is set to. The preparation date may be specified by a user operation on the execution instruction screen P10.

In the present embodiment, the case where the reference item D321 in the reservation correspondence information D32 is the “ward” and the reservation condition D322 is the “reservation time zone” will be described. On the other hand, as shown in FIG. 16B or FIG. 16C, the reference item D321 may be information on other items such as “medical treatment type” and “prescription category”. For example, in FIG. 16B, a “reservation time zone” is set for each medical treatment type such as “outpatient” and “hospitalization”. Similarly, in FIG. 16C, a “reservation time zone” is set for each prescription category such as “regular” and “temporary”.

Further, a plurality of reservation correspondence information D32s having different reference items D321 may be stored in the data storage unit 404, and a priority may be set in advance for each reservation correspondence information D32. In this case, the first control unit 400 has the reference item having the higher priority among various information included in the target preparation data based on the target preparation data, the reservation correspondence information D32, and the priority. The reservation correspondence information D32 corresponding to the information of D321 may be specified, and the automatic reservation processing may be executed based on the reservation correspondence information D32.

In the automatic reservation process, the first control unit 400 may set the reservation time zone corresponding to the content of the specific information included in the target preparation data in the reservation correspondence information D32. For the target preparation data, the execution timing of the mixed injection process based on the target preparation data may be set in the same manner as in the timeless reservation in step S221.

Further, when the first control unit 400 reserves the mixed injection process based on the target preparation data in the automatic reservation process, the target is based on the expiration date of the residual drug included in the residual drug information D30. Reservation for preparation data may be performed. Specifically, the first control unit 400 can use the remaining drug within the expiration date of the remaining drug contained in the remaining drug information D30 or from the expiration date to the lapse of a predetermined time. Make a reservation for the target preparation data. For example, if the residual drug can be used in the mixed injection process based on the target preparation data, the first control unit 400 completes the mixed injection process until the expiration date of the residual drug has elapsed. As described above, the execution order or execution timing of the mixed injection process based on the target preparation data is set. Further, when the residual drug can be used in the mixed injection process based on the target preparation data, the first control unit 400 has a predetermined time or more until the expiration date of the residual drug has passed. As described above, the execution order or execution timing of the mixed injection process based on the target preparation data may be set.

<Step S23>
In step S23, the first control unit 400 supports the work of setting the drug container 10, the syringe 11, the infusion bag 12, and the like necessary for the mixed injection process based on the target preparation data in the tray 101. Execute the equipment preparation support process.

For example, in step S23, the first control unit 400 includes a message, an image, and the like for instructing reading of identification information such as a GS1 data bar attached to the infusion bag 12 and the medicine container 10. The check screen M11 is displayed on the touch panel monitor 203. Specifically, the loading check screen M11 displays the type of the infusion bag 12, the type of the syringe 11, the type of the medicine container 10, and the like included in the target preparation data.

Then, the first control unit 400 reads the identification information of the infusion bag 12 and the medicine container 10 by the barcode reader 204, and when the collation result with the target preparation data matches, the process proceeds to step S24. Let me. If the identification information of the infusion bag 12 or the chemical container 10 and the collation result of the target preparation data do not match, the first control unit 400 causes the touch panel monitor 203 to display an error message or the like. Further, in step S23, the first control unit 400 uses the IC reader 207 to obtain identification information of the tray 101 from the IC tag 101b of the tray 101 currently placed on the work table 202. A process of reading as information for identifying the tray 101 corresponding to the target preparation data is also executed.

<Step S24>
In step S24, the first control unit 400 determines whether or not there is a confirmation operation that the loading preparation for the target preparation data is completed. Specifically, the first control unit 400 displays an operation key or the like for receiving the confirmation operation on the touch panel monitor 203, and determines that the confirmation operation has been performed when the operation key is operated. Here, when the confirmation operation is performed (S24: Yes), the process is shifted to step S25, and the process is made to wait in step S24 until the confirmation operation is performed (S24: No).

<Step S25>
In step S25, the first control unit 400 opens the tray carry-in unit 712 of the accommodation unit 700. Specifically, the first control unit 400 transmits an opening instruction of the tray loading unit 712 to the second control unit 500. As a result, the second control unit 500 controls the storage unit 700 to open the tray carry-in unit 712, and the user can store the tray 101 in the tray storage unit 811.

Before opening the tray carry-in unit 712, the second control unit 500 is in a position where the unused tray storage unit 811 can store the tray 101 based on the corresponding information D31. The position of the moving housing 810 is controlled so as to be arranged. Specifically, it is determined that the tray accommodating portion 811 that is not stored in the corresponding information D31 as the tray accommodating portion 811 corresponding to the tray 101 is unused. The second control unit 500 edits the corresponding information D31 when the tray 101 is loaded into the tray accommodating unit 811 and when the tray 101 is ejected from the tray accommodating unit 811.

<Step S26>
Then, in step S26, when the tray 101 is accommodated in the tray accommodating unit 811 of the accommodating unit 700, the first control unit 400 includes the target preparation data, the identification information of the tray 101, and the tray accommodating unit. The process of associating with 811 is executed. Specifically, the first control unit 400 records the correspondence relationship between the target preparation data, the identification information of the tray 101, and the tray accommodating unit 811 in the correspondence information D31. As a result, the first control unit 400 and the second control unit 500 recognize the target preparation data, the identification information of the tray 101, and the correspondence relationship of the tray accommodating unit 811 based on the correspondence information D31. It is possible.

For example, when the step S23 is executed, the first control unit 400 uses the IC reader 207 provided on the work table 202 to display the tray 101 placed on the work table 202. The identification information of the tray 101 is read from the IC tag 101b. Then, in the step S26, the first control unit 400 uses the identification information read from the IC tag 101b as the identification information of the tray 101 corresponding to the target preparation data selected as the processing target. It is stored in the corresponding information D31 of the data storage unit 404. Further, in the correspondence information D31, the residual drug utilization information indicating whether or not the residual drug is used in the mixed injection process based on the preparation data may be stored in the tray 101 corresponding to each of the preparation data.

The correspondence between the preparation data and the tray 101, the correspondence between the preparation data or the tray 101 and the tray accommodating portion 811, and the correspondence between the preparation data and the residual drug utilization information are individual. It may be managed in the database. Further, the correspondence between the preparation data and the tray 101 is stored in the data storage unit 404 of the first control unit 400, and the correspondence between the preparation data or the tray 101 and the tray accommodating unit 811 is the second. It may be stored in the data storage unit 504 of the control unit 500.

If equipment such as the drug container 10, the syringe 11, and the infusion bag 12, which are necessary for the mixed injection process based on the target preparation data, cannot be placed on one tray 101, the first control unit 400 May execute a process of associating the target preparation data selected as the processing target with the plurality of the trays 101 and storing them in the corresponding information D31. Then, in the mixed injection process based on the target preparation data, equipment such as the chemical container 10 supplied from the plurality of trays 101 is used.

<Step S27>
In step S27, the first control unit 400 transmits the target preparation data to the second control unit 500. The first control unit 400 is not limited to the target preparation data itself, but generates mixed injection control data for causing the mixed injection processing unit 300 to execute the mixed injection processing based on the target preparation data, and the mixed injection control data. May be transmitted to the second control unit 500. Further, the preparation data identification information that can identify the target preparation data is transmitted to the second control unit 500, and the target preparation data corresponding to the preparation data identification information by the second control unit 500 is the data storage unit. It is also conceivable that it is read from 404.

[Mixed injection control processing]
Subsequently, with reference to FIG. 17, an example of the procedure of the mixed injection control process executed by the second control unit 500 will be described.

<Step S50>
In step S50, the second control unit 500 determines whether or not the execution timing of the mixed injection process has arrived for any of the preparation data registered in the corresponding information D31. Then, when it is determined that the execution timing has arrived (S50: Yes), the process proceeds to step S51, and if the execution timing has not arrived (S50: No), the process waits in step S50.

Specifically, the first control unit 400 requests the execution start of the mixed injection process for the prepared data whose execution timing of the mixed injection process has arrived among the reserved prepared data registered in the corresponding information D31. Is conceivable to be transmitted to the second control unit 500. In this case, the second control unit 500 determines that the execution timing has arrived when the execution start request is received. Hereinafter, the preparation data determined in step S50 that the execution timing of the mixed injection processing has arrived may be referred to as execution preparation data.

<Step S510>
Next, in step S510, when the second control unit 500 uses the chemical container 10 loaded in the mixed injection device 1 corresponding to the execution preparation data in the mixed injection process based on the execution preparation data. In addition, it is determined whether or not residual medicine is generated in the medicine container 10. Here, when the second control unit 500 determines that a residual drug is generated in the drug container 10 (S51: Yes), the process is shifted to step S51, and no residual drug is generated in the drug container 10. If it is determined (S51: No), the process is shifted to step S52.

<Step S51>
In step S51, the second control unit 500 determines whether or not to use the residual drug remaining in the mixed injection process executed in the past in the mixed injection process based on the execution preparation data. Here, when the second control unit 500 determines that the residual drug is to be used (Yes side of S51), the process shifts to step S53, and when it is determined that the residual drug is not used (No side of S51). The process shifts to step S52.

Specifically, the second control unit 500 determines whether or not the residual drug is used in the mixed injection process based on the execution preparation data based on the residual drug information D30 and the corresponding information D31. For example, the second control unit 500 is set to have residual drug utilization for the execution preparation data in the corresponding information D31, and the execution is performed when the content of the residual drug information D30 satisfies a preset usage condition. It is determined that the residual drug will be used in the mixed injection process based on the preparation data. The usage conditions are, for example, that the expiration date of the residual drug stored in the residual drug information D30 has not passed, that a predetermined time has not passed since the opening date and time of the residual drug, or to the drug container 10. The number of times the injection needle 11c is stabbed has not reached the upper limit.

<Step S52>
In step S52, the second control unit 500 controls the mixed injection processing unit 300 based on the execution preparation data input from the first control unit 400, so that the tray 101 corresponding to the execution preparation data The usual mixed injection process of injecting chemicals from the chemical container 10 placed in the infusion bag 12 into the infusion bag 12 is performed.

Specifically, in step S52, the second control unit 500 controls the accommodation unit 700, and the tray 101 associated with the execution preparation data whose execution timing has arrived is the tray 101 of the accommodation unit 700. It is supplied from the tray accommodating unit 811 to the mixed injection processing unit 300. Then, in the mixed injection process, the second control unit 500 sucks the medicine shown in the execution preparation data from one or more of the medicine containers 10 placed on the tray 101 by the syringe 11 and said the same. It is injected from the syringe 11 into the infusion bag 12.

<Step S53>
On the other hand, in step S53, the second control unit 500 controls the mixed injection processing unit 300 based on the execution preparation data, the residual drug information D30, and the corresponding information D31 input from the first control unit 400. By doing so, the exceptional mixed injection process of injecting the drug into the infusion bag 12 using the residual drug is performed. That is, in the mixed injection process based on each of the preparation data to be processed, the second control unit 500 uses the chemicals in the chemical container 10 remaining in the mixed injection process based on other preparation data different from the preparation data. It can be used by 300. Therefore, for example, when the chemical remains in the chemical container 10 after the mixed injection treatment, the chemical is effectively used and waste of the chemical is suppressed.

Specifically, in step S53, the second control unit 500 controls the accommodation unit 700, and the tray 101 associated with the execution preparation data whose execution timing has arrived is the tray 101 of the accommodation unit 700. It is supplied from the tray accommodating unit 811 to the mixed injection processing unit 300. Then, in the mixed injection process, the second control unit 500 sucks the medicine shown in the execution preparation data from the medicine container 10 placed on the above-mentioned storage shelf 33 by the syringe 11, and the syringe. Inject from 11 into the infusion bag 12. In the mixed injection process based on the execution preparation data, one or a plurality of the chemical containers 10 placed on the tray 101 are used together with the chemical container 10 stored as the residual medicine on the storage shelf 33 described above. It may be done.

<Step S54>
When the mixed injection process is completed, in step S54, the second control unit 500 determines whether or not the chemical remains in the chemical container 10. The process for determining the presence or absence of residual drug in step S54 may be the same process as in step S510, but the second control unit 500 may determine based on the result of the mixed injection process. Here, when the second control unit 500 determines that the chemical remains (Yes side of S54), the process shifts to step S55, and determines that the chemical does not remain (No side of S54). The process shifts to step S541.

<Step S55>
In step S55, the second control unit 500 executes a determination process for determining whether or not to store the drug container 10 as a residual drug in the above-mentioned storage shelf 33. Specifically, the second control unit 500 determines that the drug container 10 is stored as a residual drug when the preset storage conditions are satisfied. The storage condition includes one or a plurality of preset determination conditions. For example, the determination conditions are that the drug container 10 is the drug container 10, that the drug container 10 is registered as a drug to be stored as a residual drug in the drug master, and that the remaining drug in the drug container 10 is used. The remaining amount is equal to or higher than the preset minimum remaining amount, the identification information of the medicine container 10 is normally read by the barcode reader 34b, and the number of times the medicine container 10 is pierced is within the upper limit. Or, the expiration date of the chemical container 10 has not passed. When a plurality of the determination conditions are set as the preservation conditions, it is determined that the preservation conditions are satisfied when all of the determination conditions are satisfied.

<Step S56>
In step S56, the second control unit 500 stores the chemicals in the chemical container 10 in the mixed injection processing chamber 104 in a state where they can be reused. More specifically, the second control unit 500 places the chemical container 10 on the above-mentioned storage shelf 33 in a state where it can be reused by controlling the first robot arm 21 of the mixed injection processing unit 300. Let me. That is, the mixed injection processing unit 300 stores the chemical container 10 in which the chemical remains in the mixed injection treatment based on the execution preparation data as a residual medicine container in the mixed injection device 1, and the chemicals in the residual medicine container are stored in the mixed injection device 1. It can be used in the mixed injection process based on the preparation data of. Further, the second control unit 500 updates various information registered in the residual drug information D30 as necessary.

<Step S541>
On the other hand, when no chemical remains in the chemical container 10, the second control unit 500 discards the chemical container 10 in the garbage storage chamber 13a by the first robot arm 21 in step S541. That is, basically, when the chemicals in the chemical container 10 are not used up, the chemical container 10 is returned to the above-mentioned storage shelf 33, and when the chemicals in the chemical container 10 are used up, the chemical container 10 is used. Is discarded.

[Other functions]
Hereinafter, various functions included in the mixed injection system 2 or other embodiments of the mixed injection system 2 will be described.

[Preparation conversion function]
As described above, the higher-level system 600 generates the preparation data based on the prescription data, and inputs the preparation data to the mixed injection device 1. Further, as shown in FIG. 1, in the upper system 600, a mixed injection in which a drug is sucked from the drug container 10 and injected into the infusion bag 12 by a worker such as a pharmacist manually using the syringe 11. A mixed injection support device 610 that supports the work may be connected. Then, the mixed injection support device 610 displays the content of the mixed injection work to be performed by the worker based on the input preparation data. For example, as the content of the mixed injection work, each procedure included in the mixed injection work is displayed in the order of execution. Thereby, the worker can perform the mixed injection work while observing the display contents by the mixed injection support device 610.

Then, the higher-level system 600 inputs the preparation data to the mixed injection device 1 and the mixed injection support device 610. Further, the higher-level system 600 may input the preparation data to either the mixed injection device 1 or the mixed injection support device 610 based on preset distribution conditions. Further, the higher-level system 600 may switch the transmission destination of the preparation data according to a selection operation by the user. The upper system 600 is an example of the input device according to the present invention, and the system including the mixed injection device 1, the mixed injection support device 610, and the upper system 600 is an example of the mixed injection system according to the present invention.

By the way, the preparation data generated by the higher-level system 600 may not be suitable for the mixed injection device 1. For example, in the mixed injection device 1, the tray 101 is loaded into the mixed injection device 1 with various equipment such as the medicine container 10, the syringe 11, and the infusion bag 12 placed on the tray 101. .. Here, it is conceivable that the number of the infusion bags 12 that can be placed on the tray 101 is one, and the number of the infusion bags 12 shown in the preparation data is two or more. In this case, since the two or more infusion bags 12 cannot be placed on the tray 101, the preparation data is not suitable for the mixed injection device 1. Further, even when the chemical container 10 shown in the preparation data is an ampoule made of fragile glass, the preparation data is not suitable for the mixed injection device 1.

Therefore, when the higher-level system 600 transmits the preparation data to the mixed injection device 1, the higher-level system 600 converts the preparation data so that the content of the preparation data is suitable for the mixed injection device 1, and after conversion. It is conceivable to have a data conversion function for transmitting the preparation data (hereinafter referred to as “conversion preparation data”) to the mixed injection device 1.

Specifically, the higher-level system 600 includes a control unit 601 including a CPU, RAM, ROM, and the like, and a storage unit 602 such as a hard disk drive. Then, the control unit 601 embodies the preparation conversion function by executing a preparation conversion process for converting the preparation data into the conversion preparation data according to the data conversion program stored in the storage unit 602. The control unit 601 when executing the preparation conversion process is an example of the conversion process unit according to the present invention.

Specifically, the storage unit 602 stores equipment conversion information indicating a correspondence relationship between the information of the first equipment that can be included in the preparation data and the information of the second equipment that can be used in the mixed injection device. There is. The second equipment is preset as equipment that can be used in place of the first equipment.

Specifically, in the equipment conversion information, information on the infusion bag 12 having a specific size that can be included in the preparation data and information on one or more of the drug containers 10 that can be used in place of the infusion bag 12. Is associated with. For example, when the infusion bag 12 (first equipment) having the specific size can be replaced with three medicine containers 10 (second equipment) containing an infusion equivalent to the infusion bag 12. In the equipment conversion information, the information of the infusion bag 12 and the information of the three chemical containers 10 are associated with each other. Further, in the equipment conversion information, information on a glass ampoule (first equipment) that can be included as information on the chemical container 10 in the preparation data, and information on a plastic product that can be used in place of the chemical container 10. The information of the ampoule (second equipment) is associated with it.

Then, when the control unit 601 inputs the preparation data from the higher-level system 600 to the mixed injection support device 610, the preparation data is input as it is, or the preparation data is used as other information different from the equipment conversion information. Enter the preparation data edited based on. On the other hand, when the control unit 601 inputs the preparation data from the higher-level system 600 to the mixed injection device 1, the control unit 601 uses the equipment conversion information to input the information of the first equipment in the preparation data to the second equipment. Conversion preparation data is generated by converting to equipment information. That is, the control unit 601 generates the conversion preparation data based on the preparation data before being input to the mixed injection device 1. Specifically, the control unit 601 of the first equipment in the preparation data when the information of the first equipment in the preparation data is input to the mixed injection support device 610 based on the equipment conversion information. It is possible to convert the information into the information of the second equipment different from the information. After that, the control unit 601 inputs the conversion preparation data to the mixed injection device 1. As a result, the mixed injection device 1 can execute the mixed injection process based on the conversion preparation data instead of the preparation data, and the mixed injection system including the mixed injection device 1 and the mixed injection support device 610 can execute the mixed injection process. It is possible to increase the mixed injection process that can be performed by the mixed injection device 1.

When the preparation data is data that does not need to be converted based on the equipment conversion information, the control unit 601 transmits the preparation data to the mixed injection device 1 as it is without converting the preparation data into the conversion preparation data. .. Further, when the control unit 601 receives the transmission request of the preparation data from the mixed injection device 1, the control unit 601 generates the conversion preparation data based on the preparation data and transmits the conversion preparation data to the mixed injection device 1. You may.

Further, the conversion from the preparation data to the conversion preparation data may be performed by another control entity such as the first control unit 400 of the mixed injection device 1. Specifically, the preparation data is input to the mixed injection device 1 by the control unit 601 and the first control unit 400 is based on the preparation data and the equipment conversion information after being input to the mixed injection device 1. The conversion preparation data may be generated. As a result, in the mixed injection device 1, the mixed injection process is executed based on the conversion preparation data generated by the first control unit 400. In this case, the first control unit 400 is an example of the conversion processing unit according to the present invention.

[Example of chemical suction process]
As described above, in the mixed injection process executed by the mixed injection device 1, the second control unit 500 executes the chemical suction step of sucking the chemical from the chemical container 10 by the syringe 11. By controlling the first robot arm 21 and the second robot arm 22, the second control unit 500 pierces the medicine container 10 with the injection needle 11c of the syringe 11, and the tip of the injection needle 11c. The chemical suction step is executed in a state where the needle is directed upward from the horizontal direction. The puncture of the injection needle 11c into the medicine container 10 may be performed with the tip of the injection needle 11c directed downward from the horizontal direction.

By the way, in the chemical suction step, the second control unit 500 controls the first step of controlling the holding unit 26 to pull the plunger 11b to suck the chemical from the chemical container 10 and the holding unit 26. Then, the second step of pushing the plunger 11b and injecting the air in the syringe 11a from the syringe 11 into the medicine container 10 may be executed a plurality of times. As a result, the medicine in the medicine container 10 and the air in the syringe 11a are gradually replaced, so that the pressure inside the syringe 11 becomes too positive and the inside of the medicine container 10 becomes negative. The situation of overpressure is avoided. Here, the second control unit 500 when the chemical suction step is executed is an example of the replacement processing unit according to the present invention.

Specifically, as shown in FIG. 18A, when the first step is first executed, air is contained in the syringe 11a. Then, in the first step, the injection needle 11c is punctured into the medicine container 10 and the plunger 11b is pulled, so that the medicine in the medicine container 10 is said to be as shown in FIG. 18B. It is injected into the syringe 11a. Subsequently, in the second step, when the plunger 11b is pushed, the air in the syringe 11a is injected into the chemical container 10 as shown in FIG. 18C.

Then, similarly, in the first step, the plunger 11b is pulled so that the drug in the drug container 10 is further injected into the syringe 11a as shown in FIG. 18D. Similarly, in the second step, when the plunger 11b is pushed, the plunger 11b is pushed, so that the air in the syringe 11a is injected into the chemical container 10.

As described above, in the chemical suction step, the chemicals in the chemical container 10 gradually move into the syringe 11a by repeatedly executing the first step and the second step, and the chemicals in the syringe 11a gradually move into the syringe 11a. Air gradually moves into the chemical container 10. As another embodiment, as shown in FIG. 18C, after the plunger 11b is pulled and the medicine in the medicine container 10 is sucked into the syringe 11a, in FIG. 18D. The injection needle 11c may be removed from the chemical container 10 without going through the process of injecting the air in the syringe 11a into the chemical container 10. In this case, since the inside of the chemical container 10 becomes negative pressure, liquid leakage is suppressed when the injection needle 11c is pulled out from the chemical container 10 with the mouth of the chemical container 10 facing downward. Will be done.

By the way, if the waiting time from the end of the first step to the execution of the second step is too short, the inside of the syringe 11a as shown in FIG. 18E after the execution of the first step. There may be a problem that the second step is executed and the chemical returns to the chemical container 10 until the chemical taken into the drug moves downward. In particular, such a problem becomes remarkable when the viscosity of the chemical in the chemical container 10 is high.

On the other hand, the second control unit 500 waits for the pulling speed of the plunger 11b in the first step of the chemical suction step and from the end of the first step to the start of the second step. It is conceivable to change the time according to the viscosity of the chemical. In particular, the second control unit 500 slows down the pulling speed as the viscosity of the chemical increases, and shortens the waiting time as the viscosity of the chemical increases.

Specifically, when the viscosity of the chemical in the chemical container 10 is equal to or higher than a preset specific value, the second control unit 500 sets the pulling speed to the preset first speed. also,
When the viscosity of the chemical in the chemical container 10 is equal to or higher than the specific value, the second control unit 500 sets the waiting time to a preset first time. For example, when the plunger 11b is pushed and pulled by the forward / reverse rotation of the motor that drives the moving portion 263 of the holding portion 26, the first time is 0 except for the time for switching the forward / reverse rotation of the motor. .. That is, when a predetermined stop time is required when switching from forward rotation (reverse rotation) to reverse rotation (forward rotation) due to the control of the motor, the first time is a time excluding the predetermined stop time. Therefore, it is a set time for processing by the second control unit 500. Therefore, even when the first time is set to 0, the predetermined value is set between the time when the forward rotation (reverse rotation) of the motor is stopped and the time when the reverse rotation (forward rotation) is started. The operation of the plunger 11b may be stopped for the stop time.

On the other hand, when the viscosity of the chemical in the chemical container 10 is less than the specific value, the second control unit 500 sets the pulling speed to a preset second speed faster than the first speed. do. Further, when the viscosity of the chemical in the chemical container 10 is less than the specific value, the second control unit 500 sets the waiting time to the second time, which is longer than the first hour. The second control unit 500 when changing the pulling speed according to the viscosity of the chemical is an example of the first change processing unit according to the present invention, and when the waiting time is changed according to the viscosity of the chemical. The second control unit 500 is an example of the second change processing unit according to the present invention.

The larger the amount of air in the chemical container 10, the smaller the pressure drop in the chemical container 10 when the plunger 11b is pulled, and the slower the moving speed of the chemical from the chemical container 10 to the syringe 11. .. Further, the larger the inner diameter of the injection needle 11c of the syringe 11, the faster the moving speed of the medicine from the medicine container 10 to the syringe 11 when the plunger 11b is pulled. Therefore, the second time is based on the amount of air in the medicine container 10 (“volume of the medicine container 10”-“the amount of liquid in the medicine container 10”), the inner diameter of the injection needle 11c of the syringe 11, and the like. It is set in advance. Specifically, the second time is set longer as the amount of air in the medicine container 10 is larger, and shorter as the inner diameter of the injection needle 11c of the syringe 11 is larger.

As described above, in the chemical suction step, when the viscosity of the chemical is equal to or higher than the specific value, the plunger 11b is slowly pulled in the first step, but the waiting time is shortened and the viscosity of the chemical is increased. When it is less than the specific value, the time from the execution of the first step to the execution of the second step becomes longer, but the pulling speed becomes faster. Therefore, depending on the viscosity of the chemical, it is possible to suppress the backflow of the chemical from the syringe 11a to the chemical container 10 and to suppress the waste of time required for the chemical suction step.

[Other examples of chemical suction process]
Here, another example of the chemical suction step will be described with reference to FIG. The second control unit 500 controls the first robot arm 21 and the second robot arm 22 so that the tip of the injection needle 11c of the syringe 11 is directed upward from the horizontal direction. After the injection needle 11c is pierced into the drug container 10, the drug suction step is executed. Further, at the start of the chemical suction step, as shown in FIG. 19A, the plunger 11b of the syringe 11 is in a state of being pushed to the distal end side end portion of the syringe 11a.

Then, in the chemical suction step, the second control unit 500 controls the holding unit 26 to pull the plunger 11b of the injector 11, and after executing the third step, the holding unit 26 is used. A fourth step of controlling and pushing the plunger 11b, and a fifth step of controlling the holding portion 26 and pulling the plunger 11b after the execution of the fourth step are executed. As a result, unnecessary air in the syringe 11 can be discharged, and the accuracy of the amount of chemicals sucked into the syringe 11 can be improved.

<Third step>
In the third step of the drug suction step, the plunger 11b of the syringe 11 is pulled so that the drug in the drug container 10 is placed in the syringe 11a of the syringe 11 as shown in FIG. 19 (B). Be sucked. Here, at the start of the third step, there is no air in the syringe 11a, but air A1 is present in the injection needle 11c of the syringe 11, so that in the third step, the medicine container 10 is used. When the drug is sucked into the syringe 11a of the syringe 11, the air A1 in the injection needle 11c is sucked into the syringe 11a.

The pulling amount of the plunger 11b in the third step is at least a preset amount of air A1 in the injection needle 11c of the syringe 11 being taken into the syringe 11a. Further, the pulling amount of the plunger 11b in the third step may be predetermined for each type of the syringe 11 or the injection needle 11c.

<Fourth step>
In the fourth step, which is executed after the third step, the plunger 11b of the syringe 11 is pushed to the tip, and as shown in FIG. 19C, the air A1 in the syringe 11a of the syringe 11 And the chemical is injected into the chemical container 10. At this time, since the syringe 11 is directed upward and the air A1 in the syringe 11a of the syringe 11 is discharged first, the injection needle of the syringe 11 after the execution of the fourth step is performed. The chemical remains in 11c.

In the fourth step, the plunger 11b may be pushed to the tip, but the air A1 in the syringe 11a is pushed by a specific amount preset as an amount to move from the syringe 11a to the medicine container 10. May be good.

<Fifth step>
In the fifth step, which is executed after the fourth step, the plunger 11b of the syringe 11 is pulled in the same manner as in the third step, so that the inside of the drug container 10 is as shown in FIG. 19 (D). The drug is sucked into the syringe 11a of the syringe 11. At this time, since there is no air in the injection needle 11c of the syringe 11 at the start of the fifth step, there is no air in the syringe 11a of the syringe 11 after the end of the fifth step.

The amount of the plunger 11b drawn in the fifth step is an amount corresponding to the required amount of the chemical based on the preparation data. Further, in the fourth step, when all the chemicals in the syringe 11a are not discharged to the chemical container 10, the pulling amount of the plunger 11b in the third step and the pushing amount of the plunger 11b in the fourth step. Based on the above, the pulling amount of the plunger 11b in the fifth step may be determined.

As described above, when the third step, the fourth step, and the fifth step are sequentially executed in the chemical suction step, unnecessary air does not remain in the syringe 11a, so that the syringe 11a is used. It is possible to improve the accuracy of the amount of chemicals injected from the chemical container 10 into the infusion bag 12.

[Other examples of stirring process]
In the embodiment, in the stirring step in the mixed injection process executed by the second control unit 500, the case where the medicine and the infusion solution in the medicine container 10 are stirred by using the stirring device 32 has been described. On the other hand, in the stirring step, the medicine and the infusion solution in the medicine container 10 may be stirred by using the first robot arm 21 and the second robot arm 22.

Hereinafter, an example of the mixed injection process in which the first robot arm 21 and the second robot arm 22 are used in the stirring step will be described. In particular, here, in the mixed injection process based on the preparation data, a case where the chemicals in the plurality of chemical containers 10 are dissolved by the infusion solution and the chemicals are injected into the infusion bag 12 from each of the chemical containers 10 will be described. The stirring step described here may be executed when the chemical container 10 is one. Hereinafter, a portion different from the mixed injection process described above will be described.

<Infusion suction process>
First, the second control unit 500 controls the second robot arm 22 in the infusion suction step to dissolve the infusion amount for dissolving the medicines in the plurality of medicine containers 10 shown in the preparation data. Based on the above, the infusion solution of the total amount of the infusion solution corresponding to each of the drug containers 10 is sucked from the infusion bag 12 by the syringe 11. For example, when the preparation data indicates that the chemicals in the three chemical containers 10 are each dissolved in 20 ml of an infusion solution and injected into the infusion bag 12, the second control unit 500 may be used. In the infusion suction step, a total of 60 ml of infusion used for dissolving the medicines in the three medicine containers 10 is sucked together from the infusion bag 12 with the syringe 11. Hereinafter, for convenience of explanation, a case where the chemicals in the three chemical containers 10 are each dissolved in 20 ml of an infusion solution and injected into the infusion bag 12 may be described as a specific example.

Then, after the execution of the infusion suction step, the second control unit 500 continuously executes a series of processes including the infusion injection step, the stirring step, and the chemical suction step for each of the chemical containers 10. .. After that, the second control unit 500 executes the drug injection step of injecting the liquid in the syringe 11 into the infusion bag 12. Hereinafter, the infusion solution injection step, the stirring step, and the chemical suction step will be described.

<Infusion process>
After executing the infusion suction step, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 in the infusion injection step to obtain the injection needle 11c of the syringe 11. The medicine container 10 is pierced, and a part or all of the liquid in the syringe 11 is injected into the medicine container 10. For example, the first drug container 10 is infused with the amount of liquid in the syringe 11 indicated as the infusion volume used in the dissolution of the first drug container 10 in the preparation data. .. In the case of the specific example, 20 ml of the liquid corresponding to the medicine container 10 for one bottle is injected from the syringe 11 into the medicine container 10.

<Stirring process>
After the execution of the infusion solution injection step, the second control unit 500 uses the first robot arm 21 and the second robot arm 22 in the stirring step without using the stirring device 32. Stir the chemicals and infusion solution inside. Specifically, the second control unit 500 has the first robot arm 21 and the second robot arm in a state where the injection needle 11c of the syringe 11 is still stabbed in the medicine container 10 in the infusion injection step. 22 is controlled to displace the syringe 11 and the drug container 10 to stir the drug in the drug container 10.

For example, the second control unit 500 controls the first robot arm 21 and the second robot arm 22, and holds the syringe 11 and the medicine container 10 held by the holding unit 25 and the holding unit 26. Swing in synchronization for a preset time. The second control unit 500 simultaneously moves the syringe 11 and the drug container 10 in the same direction by the same distance by the first robot arm 21 and the second robot arm 22, and thus the injection needle of the syringe 11. The state in which 11c is punctured by the drug container 10 is maintained. Further, the second control unit 500 maintains the relative postures of the syringe 11 and the drug container 10 by the first robot arm 21 and the second robot arm 22, while maintaining the relative postures of the syringe 11 and the drug container 10. May be rotated. For example, the second control unit 500 has the medicine container 10 and the medicine container 10 and the above with the horizontal direction as the rotation axis from the state where the mouth portion of the medicine container 10 is directed downward and the injection needle 11c of the syringe 11 is directed upward. The syringe 11 may be rotated 45 ° clockwise and then 90 ° counterclockwise. The second control unit 500 may rotate the syringe 11 and the medicine container 10 with the horizontal direction as a rotation axis, or may rotate the rotation axis while arbitrarily changing the rotation axis a plurality of times. good.

<Chemical suction process>
After the execution of the stirring step, the second control unit 500 is in a state where the injection needle 11c of the syringe 11 is still punctured by the medicine container 10 in the medicine suction step, and the plunger is operated by the second robot arm 22. By operating 11b, the medicine in the medicine container 10 is sucked by the syringe 11.

Then, when the drug suction step is completed, the second control unit 500 pulls out the injection needle 11c of the syringe 11 from the drug container 10 and punctures the next drug container 10, and similarly, the infusion solution injection step. , The stirring step and the chemical suction step. After that, similarly, the second control unit 500 performs the infusion solution injection step and the stirring step for all of the plurality of drug containers 10 until the infusion solution injection step, the stirring step, and the drug suction step are completed. , And the chemical suction step is repeatedly executed. As a result, after the chemical container 10 is set in the stirring device 32 by the first robot arm 21, it is not necessary to move the chemical container 10 from the stirring device 32 again, so that the required time is shortened. It is possible. It is also possible to omit the stirring device 32 from the configuration of the mixed injection device 1.

By the way, in the second and subsequent infusion injection steps, the amount of liquid injected from the syringe 11 into the drug container 10 may be the same as the injection amount in the first infusion injection step, but the second time. It is considered that the injection amount in the subsequent infusion injection step is larger than the injection amount in the first infusion injection step. Further, when the chemical injection step is executed a plurality of times for the plurality of chemical containers 10, the second control unit 500 may gradually increase the injection amount as the infusion liquid injection step is executed later. Conceivable. According to these configurations, the undissolved residue of the chemical in the chemical container 10 is suppressed according to the situation where the concentration of the chemical in the infusion solution in the syringe 11 gradually increases each time the chemical suction step is executed. .. Further, when the stirring step is executed for the plurality of chemical containers 10, the second control unit 500 may lengthen the stirring step as much as the stirring step executed later.

[Remaining drug use restriction function]
In the mixed injection process, when a residual drug is generated in the chemical container 10 after the mixed injection process is executed, the chemical container 10 is placed in the residual drug placing area of the above-mentioned storage shelf 33, and then executed. May be used in other mixed injection processes. In the following, the drug container 10 containing the residual drug may be referred to as a residual drug container 10A.

By the way, when the amount of chemicals required for the mixed injection treatment does not remain in the residual medicine container 10A, it is necessary to use the chemical container 10 placed on the tray 101 together with the residual medicine container 10A. be. However, in this case, it is necessary to perform an operation of sucking the medicine from the remaining medicine container 10A and an operation of sucking the medicine from the medicine container 10, and there is a problem that the time required for the mixed injection process becomes long.

Therefore, when the amount of the drug required for the mixed injection treatment is smaller than the amount of the remaining drug in the remaining drug container 10A, the second control unit 500 does not use the remaining drug container 10A and said the drug. It is conceivable to have a residual drug use restriction function for executing the mixed injection process using the container 10.

More specifically, the second control unit 500 has the same amount of chemicals required for the mixed injection treatment based on the preparation data as the capacity of the chemical container 10 for one bottle, and is contained in the residual medicine container 10A. When the amount of the medicine remaining in the medicine container 10 is less than the capacity of the medicine container 10 for one bottle, the tray 101 loaded in accordance with the preparation data without using the remaining medicine container 10A. The mixed injection process is performed using the chemical container 10 placed on the container 10.

On the other hand, the second control unit 500 has the same amount of chemicals required for the mixed injection treatment based on the preparation data as the capacity of the chemical container 10 for one bottle, and remains in the residual medicine container 10A. When the amount of the chemicals used is equal to or greater than the capacity of the chemical container 10 for one bottle, the mixed injection treatment is performed using the residual chemical container 10A.

As described above, in the mixed injection treatment, when the mixed injection treatment can be completed with only one residual medicine container 10A, the residual medicine container 10A is used, and the residual medicine container 10A is used alone. If the mixed injection process cannot be completed, the residual drug container 10A is not used and a new drug container 10 is used. Therefore, neither the residual medicine container 10A nor the new medicine container 10 is used, and the time required for the mixed injection treatment is shortened.

[Remaining drug withdrawal function]
As described above, in the mixed injection device 1, the syringe 11 can be discharged from the syringe take-out door 302 in a state where the syringe 11 is filled with a chemical. By the way, in the mixed injection device 1, the residual medicine container 10A may be placed in the residual medicine placement area of the above-mentioned storage shelf 33. Therefore, in the mixed injection device 1, the second control unit 500 can execute the residual drug dispensing process in which the drug in the residual drug container 10A is sucked by the syringe 11 and discharged from the syringe take-out door 302. It is conceivable to have a payout function.

More specifically, in the second control unit 500, the residual drug container 10A to be dispensed is selected by a specific user operation set in advance, and the syringe 11 used for dispensing the drug in the residual drug container 10A. When the tray 101 on which the is placed is loaded, the residual drug dispensing process is executed. In the residual drug dispensing process, the second control unit 500 controls the first robot arm 21 to take out the residual drug container 10A from the above-mentioned storage shelf 33, and controls the second robot arm 22 to control the residual drug. The medicine in the remaining medicine container 10A is sucked by the syringe 11 placed on the tray 101. Then, the syringe 11 after sucking the medicine is moved to the vicinity of the syringe take-out door 302. Further, the second control unit 500 may place the syringe 11 sucking the medicine in the residual medicine container 10A on the tray 101 and discharge the tray 101 from the tray discharge port 15. Then, according to the residual drug dispensing function, it is possible to take out the drug in the residual drug container 10A to the outside and effectively use it.

Further, the second control unit 500 may print the withdrawal residual drug information indicating the information of the residual drug to be dispensed by the syringe 11 on the label with the printer 506 in the residual drug withdrawal process. Specifically, in the dispensed residual drug information, "preparation No." and "drug name (drug identification)" stored in the residual drug information D30 as information on the drug remaining in the residual drug container 10A. Information) ”,“ remaining amount ”,“ opening date / time ”,“ expiration date ”, and various other information referred to when the drug in the syringe 11 is subsequently used.

As a result, the user can easily grasp and use the information on the remaining medicine in the syringe 11 even after the syringe 11 is taken out from the mixed injection device 1 by attaching the label to the syringe 11. Is possible. The label may be automatically attached to the syringe 11 by the first robot arm 21 and the second robot arm 22 of the mixed injection device 1. Further, the mixed injection device 1 may separately include a sticking device for automatically sticking the label to the syringe 11.

Further, it is conceivable that code information such as a one-dimensional code or a two-dimensional code indicating the withdrawal residual drug information is printed on the label. Then, when the code information on the label is read, the second control unit 500 makes the syringe 11 corresponding to the code information available again in the mixed injection device 1. It is conceivable to do. Specifically, the second control unit 500 may add the withdrawal residual drug information to the residual drug information D30. As a result, the second control unit 500 performs collation processing between the drug contained in the syringe 11 and the preparation data, acquisition of information on the remaining amount of the drug, checking of the expiration date of the drug, and the drug container. It is possible to check the number of punctures of 10 and the like. When the second control unit 500 executes the residual drug dispensing process for the syringe 11 and then executes the mixed injection management process for the prepared data in which the drug in the syringe 11 can be used as the residual drug. It is also conceivable to display the presence of the syringe 11 on the touch panel monitor 203.

Claims (17)

A mixed injection control device that controls a mixed injection device that executes a mixed injection process of injecting the chemicals in the first container into the second container based on the preparation data.
Reservation processing that reserves the execution timing of the mixed injection process based on the preparation data based on the reservation correspondence information in which the content of the specific information included in the preparation data and the reservation condition related to the execution timing of the mixed injection process are associated with each other. Equipped with a part
Mixed injection control device. When the reservation processing unit receives the execution request of the mixed injection process based on the preparation data, the reservation processing unit reserves the execution timing of the mixed injection process based on the preparation data.
The mixed injection control device according to claim 1. The specific information is information on a patient's ward, medical treatment type, or prescription category corresponding to the preparation data.
The reservation condition is a reservation time zone, a reservation date, or a reservation day of the week.
The mixed injection control device according to claim 1 or 2. When the residual drug is used in the mixed injection process based on the preparation data, the reservation processing unit reserves the execution timing of the mixed injection process based on the expiration date of the residual drug.
The mixed injection control device according to any one of claims 1 to 3. Based on the expiration date of the remaining drug, the reservation processing unit sets the remaining time until the expiration date of the remaining drug elapses or the remaining time until the expiration date of the remaining drug reaches a predetermined time or more. , Reserve the execution timing of the mixed injection process,
The mixed injection control device according to claim 4. When the execution time of the mixed injection process based on the plurality of preparation data overlaps, the reservation processing unit changes the execution timing of the mixed injection process based on the one or a plurality of already reserved preparation data.
The mixed injection control device according to any one of claims 1 to 5. To the processor provided in the mixed injection control device that controls the mixed injection device that executes the mixed injection process of injecting the chemicals in the first container into the second container based on the preparation data.
A step of reserving the execution timing of the mixed injection process based on the preparation data based on the reservation correspondence information associated with the content of the specific information included in the preparation data and the reservation condition relating to the execution timing of the mixed injection process. ,
A step of executing the mixed injection process by the mixed injection device based on the execution timing, and
A mixed injection control program for executing. An input device capable of inputting the preparation data into the mixed injection support device that displays the content of the mixed injection work to be performed by the operator based on the input preparation data.
Equipment conversion showing the correspondence between the information on the first equipment that can be included in the preparation data and the information on the second equipment that can be used in the mixed injection device that executes the mixed injection process that injects the chemicals in the first container into the second container. A conversion processing unit that generates conversion preparation data obtained by converting the information of the first equipment in the preparation data into the information of the second equipment based on the information.
A mixed injection device that executes the mixed injection process based on the conversion preparation data generated by the conversion processing unit, and a mixed injection device.
A mixed injection system. The conversion processing unit generates the conversion preparation data based on the preparation data before being input to the mixed injection device or the preparation data after being input.
The mixed injection system according to claim 8. An operation unit that can operate the syringe and
With the tip of the injection needle of the syringe punctured into the drug container and the tip of the injection needle pointed upward from the horizontal direction, the operation unit is controlled to pull the plunger of the syringe. A replacement processing unit that executes a drug suction step a plurality of times, including a second step of controlling the operation unit and pushing the plunger of the syringe.
A first change processing unit that changes the pulling speed of the plunger in the first step according to the viscosity of the chemical in the chemical container.
A second change processing unit that changes the waiting time from the execution of the first step to the start of the second step according to the viscosity of the chemical in the chemical container.
A mixed injection device. In the first change processing unit, the higher the viscosity of the chemical, the slower the pulling speed in the first step.
The second change processing unit shortens the waiting time as the viscosity of the chemical increases.
The mixed injection device according to claim 10. The first change processing unit is
When the viscosity of the chemical is equal to or higher than the specific value, the pulling speed is set to a preset first speed, and when the viscosity of the chemical is less than the specific value, the pulling speed is set to be higher than the first speed. Also fast Set to a preset second speed,
The mixed injection device according to claim 11. The second change processing unit is
When the viscosity of the chemical is equal to or higher than a specific value, the waiting time is set to a preset first time, and when the viscosity of the chemical is less than the specific value, the waiting time is set from the first time. Also set to a long preset second time,
The mixed injection device according to claim 11 or 12. The first drive unit that holds the chemical container in a displaceable manner,
The second drive unit that holds the syringe in a displaceable manner,
With the injection needle of the syringe punctured into the drug container, the first drive unit and the second drive unit are controlled to displace the syringe and the drug container, and the drug in the drug container is stirred. The control unit that executes the stirring process and
A mixed injection device. The control unit swings the syringe and the drug container synchronously by the first drive unit and the second drive unit in a state where the injection needle of the syringe is punctured into the drug container.
The mixed injection device according to claim 14. The control unit maintains the relative posture of the syringe and the drug container by the first drive unit and the second drive unit in a state where the injection needle of the syringe is punctured into the drug container. Rotate the syringe and the drug container,
The mixed injection device according to claim 14. The control unit
An infusion suction step of sucking the total amount of the infusion amount corresponding to each of the medicine containers with the syringe based on the infusion amount used for dissolving the medicine in the medicine container preset for each medicine container. After running
An infusion injection step of injecting a part or all of the liquid in the syringe into the medicine container, the stirring step executed after the infusion injection step, and the medicine from the medicine container with the syringe after the execution of the stirring step. The chemical suction step of sucking is continuously performed for each of the chemical containers.
The mixed injection device according to any one of claims 14 to 16.

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