JP2023155508A - Coinjection device - Google Patents

Abstract

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

Description

The present invention relates to a mixed injection device that performs 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 performs a mixed injection process in which a drug such as an anticancer drug contained in a drug container such as a vial is aspirated with a syringe, and the drug is injected into an infusion container containing an infusion solution (for example, , see Patent Document 1). Here, if the medicine contained in the medicine container is a powder medicine, in the mixed injection process, a stirring step is performed in which a solution such as an infusion solution is injected into the medicine container and the medicine in the medicine container is stirred. Ru. Moreover, when the chemical|medical agent is liquid, the said stirring process may be performed.

Japanese Patent Application Publication No. 2012-250016

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

An object of the present invention is to provide a mixed injection device that can efficiently perform mixed injection processing including a stirring step of stirring chemicals.

The mixed injection device according to the present invention includes a mixed injection processing unit that executes a mixed injection process including an injection step of injecting a medicine in a first container into a second container based on preparation data, and the first container used in the mixed injection process. A stirring device used in the stirring step of stirring the chemicals in the container, and a pre-stirring processing unit capable of executing the stirring step before the execution start timing of the mixed injection processing based on the preparation data.

Further, the mixed injection device according to the present invention includes a mixed injection processing unit that executes a mixed injection process including an injection step of injecting the medicine in a first container into a second container based on preparation data, and an execution start set by a user operation. A reservation with a time specification for executing the mixed injection process based on timing; a reservation without a time specification for executing the mixed injection process at a timing when the execution start timing is not set by a user operation and other mixed injection processes are not executed; The apparatus includes a reservation setting processing unit that can selectively accept as a reservation condition a reservation with time specification and a temporary reservation for executing the mixed injection process with priority over the preparation data reserved in the reservation without time specification.

According to the present invention, a mixed injection device is provided that can efficiently perform a mixed injection process including a stirring step of stirring chemicals.

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

[First embodiment]
Embodiments of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. Note that the following embodiments are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention.

[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 section 100, a drug loading section 200, a mixed injection processing section 300, a storage unit 700, and a stirring device 32. In the co-infusion device 1, the co-infusion control unit 100 controls the operations of the co-infusion processing unit 300 and the storage unit 700 based on the preparation data, so that the syringe can be used for anti-cancer treatment indicated in the preparation data. A mixed injection process is performed in which a predetermined amount of a drug is injected from a first container such as one or more ampoules or vials containing a predetermined amount of the drug into a second container such as an infusion bag. The mixed injection process also includes a process in which a syringe sucks the medicine from a first container such as an ampoule or a vial and injects it into a second container such as another ampoule or vial.

[Mixed injection control unit 100]
First, a schematic configuration of the mixed injection control section 100 will be described with reference to FIG. 1. The co-infusion control unit 100 includes a first control unit 400 and a second control unit 500 that are communicably connected. The first control section 400 is provided on the medicine loading section 200 side, and the second control section 500 is provided on the mixed injection processing section 300 side.

Note that the processing division of the first control unit 400 and the second control unit 500 described in this embodiment is only an example, and each processing procedure such as the co-injection process is performed by the first control unit 400 and the second control unit 500. It may be executed by any one of the control units 500. Further, it is also possible that the co-injection control section 100 has only one control section or three or more control sections as other embodiments. Further, part or all of the processing executed by the first control section 400 and the second control section 500 may be executed by an electronic circuit such as an ASIC or a DSP.

Further, the first control unit 400 is capable of communicating with a host system 600 such as an electronic medical record system or a dispensing management system that inputs preparation data into the co-infusion device 1 . The preparation data is preparation data generated based on prescription data or the prescription data itself. The prescription data includes, for example, prescription issue date, patient ID, patient name, patient date of birth, drug information (drug code, drug name, dose, etc.), dosage form information (oral use, external use, etc.), and usage information ( Includes information such as three times a day (after each meal, etc.), type of treatment (outpatient, inpatient, etc.), department, ward, and room. In addition, the preparation data includes, for example, preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescribed amount of drug, type of drug container (ampule containing drug solution, vial bottle containing drug solution, or powder drug). (e.g., vial filled with liquid, etc.), preparation content information (drug container, syringe, type and number of needles used for mixed injection processing, etc.), preparation procedure information (work content, dissolving drug, solvent, amount of dissolved drug, amount of solvent, amount to be sampled) ), preparation date, prescription category, medication date, clinical department, ward, designated preparation end time (or scheduled start time), required time, etc.

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

The CPU 401 is a processor that executes processing according to various control programs. The ROM 402 is a nonvolatile memory in which programs such as BIOS to be executed by the CPU 401 are stored in advance. The RAM 403 is a volatile memory or nonvolatile memory used by the CPU 401 to develop various control programs and temporarily store 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. For example, the data storage unit 404 stores the preparation data input from the host system 600.

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

Further, the data storage unit 404 stores various databases such as, for example, a needle master, a medicine master, a patient master, a doctor master, a prescription category master, a clinical department master, and a ward master. The needle master stores the shape of the tip of the injection needle for each type of injection needle. The shape of the needle tip of the injection needle includes the outer diameter of the needle tube of the injection needle, the angle of the tip, the length of the cut surface (slanted surface), and the like. In addition, the drug master includes drug code, drug name, JAN code (or RSS), drug bottle code, classification (dosage form: powdered medicine, tablet, solution, external medicine, etc.), specific gravity, drug type ( common drugs, anticancer drugs, poisonous drugs, narcotics, powerful drugs, antipsychotic drugs, therapeutic drugs, etc.), combination changes, excipient drugs, precautions, type of drug container (ampule, vial), drug container unit. Information such as the capacity (predetermined amount) and the weight of the drug container is included. Note that the drug master includes information on the infusion bag 12 that stores infusions such as saline or glucose, such as the container type of the infusion bag 12 (soft bag, hard type, AL type), and the infusion bag. Information such as the amount of infusion stored in the infusion bag 12 and the amount of liquid that can be injected into the infusion bag 12 is also included.

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

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

The second control unit 500 is a personal computer that includes 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 provided in the mixed injection processing unit 300, which will be described later. Various electrical components such as a confirmation camera 41 and a syringe confirmation camera 42 are connected.

The CPU 501 is a processor that executes processing according to various control programs. The ROM 502 is a nonvolatile memory in which programs such as BIOS to be executed by the CPU 501 are stored in advance. The RAM 503 is a volatile memory or nonvolatile memory used by the CPU 501 to develop various control programs and temporarily store data.

The data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU 501 to execute various processes. Specifically, the data storage unit 504 stores in advance a second co-injection control program for causing the CPU 501 to execute a co-injection process, which will be described later. The second co-infusion control program is read from a recording medium such as a CD, DVD, BD, or flash memory by a reading device (not shown) included in the second control unit 500 and installed in the data storage unit 504. It's okay. Further, the data storage unit 504 also stores the medicine master similar to the data storage unit 404, and the second control unit 500 can refer to the medicine master. In another embodiment, the second control section 500 may be configured to be able to acquire information on the drug master via the first control section 400.

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

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

[Chemical loading section 200]
Next, a schematic configuration of the chemical loading section 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 section 200.

As shown in FIGS. 2 and 3, the chemical loading section 200 is a clean bench that includes a door 201, a work table 202, a display 203, a barcode reader 204, and an air purifier 205. The drug loading section 200 and the mixed injection processing section 300 are communicated through a tray loading port 114 (see FIG. 6) and a tray discharge port 701 (see FIG. 21) formed on the side surface of the mixed injection processing section 300. There is.

The work table 202 is used to prepare for the co-infusion process executed by the co-infusion device 1, and the barcode reader 204, the tray 101, and the like are placed on the work table 202. Furthermore, a tray discharge port 206 is provided on the front surface of the work table 202 and is opened and closed when the tray 101 is discharged from the storage unit 700. Also, provided within the work table 202 is an IC reader 207 (see FIG. 21) that can read information from the IC tag 101b of the tray 101 placed on the work table 202. Note that the reading result by the IC reader 207 is input to the first control section 400.

The display 203 is a display unit such as a liquid crystal display or an organic EL display that displays various information according to control instructions from the first control unit 400. Specifically, the display 203 displays preparation data and the like that are candidates for co-infusion in the co-infusion device 1 . Further, the barcode reader 204 reads a barcode written on a prescription or a preparation instruction sheet, and inputs the contents of the barcode to the first control unit 400. The air purifying device 205 supplies air into the chemical loading section 200 through a predetermined filter. Note that the display 203 may be supported, for example, by a front panel 700A (see FIGS. 18 to 21) included in the accommodation unit 700.

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 and vertically. As shown in FIG. 2, the user opens the door 201 a little and puts his/her hand into the medicine loading section 200, and performs preparation work for the mixed injection process to be executed by the mixed injection device 1. Specifically, as shown in FIG. 5, on the tray 101 placed on the work table 202, there is a medicine container 10 (an example of a first container) used in the mixed injection process performed by the mixed injection device 1. , a syringe 11, an infusion bag 12 (an example of a second container), and the like. Note that the infusion bag 12 accommodates a specified amount of infusion, such as saline, glucose, or high-calorie infusion, corresponding to the type of the infusion bag 12. Further, the medicine contained in the medicine container 10 is, for example, an anticancer drug, but it may be a medicine other than an anticancer drug. The preparation work includes, for example, a loading work of placing the drug container 10, the syringe 11, and the infusion bag 12 at predetermined positions on the tray 101, and loading the tray 101 into the storage unit 700. . Hereinafter, when the drug container 10 is an ampoule, the drug container 10 may be referred to as an ampoule 10A, and when the drug container 10 is a vial, the drug container 10 may be referred to as a vial bottle 10B. be.

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

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

As shown in FIG. 5, the instrument mounting section 102 is provided with a support section 102A that supports the ampoule 10A in an inclined state. The ampoule 10A is set in an obliquely erected state on the support portion 102A. This prevents chemicals from accumulating in the neck of the ampoule 10A. In addition to the ampoule 10A, the injection needle 11c with the cap 11d attached thereto is also set in an obliquely upright state on the support portion 102A.

The injection needle 11c also includes an injection needle with a syringe filter. Specifically, when the ampoule 10A is used, fragments from the neck of the ampoule 10A are injected from the syringe 11 into the infusion bag 12, or the fragments flow into the syringe 11. To prevent this, injection needles with syringe filters are used. The syringe filter is generally referred to as a block type filter, and has a function of preventing foreign matter other than medicine from passing through. For example, a syringe filter manufactured by Nippon Pall Co., Ltd. is generally known.

On the other hand, the vial bottle 10B and the syringe 11 are set in a lying state on the equipment placement section 102, as shown in FIGS. 5 and 9. In addition, at this time, the syringe 11a and the injection needle 11c of the syringe 11 are in a separated state. Of course, the arrangement form in the equipment mounting section 102 described here is merely an example, and the present invention is not limited thereto.

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

The tray 101 is accommodated in the storage unit 700 after the drug container 10, the syringe 11, and the infusion bag 12 are set by the user. Note that, as described later, a plurality of trays 101 can be accommodated in the accommodation unit 700. As a result, as will be described later, the tray 101 is automatically supplied from the storage unit 700 to the mixed injection processing unit 300 through the tray discharge port 701 and the tray loading port 114 as necessary. Thereafter, after the co-infusion process in the co-infusion processing section 300 is completed, the tray 101 is discharged from the tray outlet 15 (see FIG. 3) of the co-infusion processing section 300 with the infusion bag 12 accommodated therein; Alternatively, it is discharged from the tray discharge port 206 (see FIG. 3) of the chemical loading section 200 via the storage unit 700. Note that the mixed injection processing section 300 may be provided with an entrance through which the user can directly supply the tray 101 from the chemical loading section 200 to the mixed injection processing section 300.

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

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

The main door 301 is opened and closed in order to access the inside of the mixed injection processing chamber 104, for example, when cleaning the inside of the mixed injection processing chamber 104 provided in the mixed injection processing section 300. Further, in the co-infusion device 1, in addition to dispensing the infusion bag 12 into which the medicine has been injected, it is also possible to dispense the syringe 11 filled with the medicine. The syringe take-out door 302 is opened and closed when the syringe 11 is taken out from the mixed injection processing chamber 104.

The garbage storage chamber door 13 is for removing the waste from the garbage storage chamber 13a in which waste such as the drug container 10 and the syringe 11 after being used in the mixed injection processing 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 medicines have been mixedly injected by the mixed injection process in the mixed injection processing chamber 104.

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

Further, as shown in FIG. 4, the waste storage chamber 13a includes a waste container 13b for discarding liquid such as an infusion contained in the infusion bag 12, and a weighing scale for measuring the weight of the waste container. 13c is provided. Note that the waste container 13b can be attached to and removed from the garbage storage chamber 13a with the garbage storage chamber door 13 open. Furthermore, a communication port (not shown) communicating with the waste container 13b is formed above the waste container 13b on the bottom surface of the mixed injection processing chamber 104. A second robot arm 22, which will be described later, can operate the syringe 11 and discard the liquid in the syringe 11 from the communication port into the waste container 13b. The weighing scale 13c has a load cell that inputs an electric signal corresponding to the weight of the waste container 13b to the second control unit 500, for example.

Thereby, the second control unit 500 acquires the amount of liquid to be discarded when disposing of the liquid, based on the results of weighing the waste container 13b by the weighing scale 13c before and after disposing of the liquid in the waste container 13b. Is possible. For example, the second control unit 500 compares the amount of liquid to be discarded from the syringe 11 with the amount of liquid to be discarded that is determined based on the preparation data, etc., and if the comparison results do not match, the second control unit 500 displays an error on the touch panel monitor 14. etc. to inform the user. Further, the second control unit 500 records the verification result in the data storage unit 504 as history information of the mixed injection process. Thereby, it is possible to accurately check the consistency of the amount of waste liquid from the syringe 11 and manage the amount of waste liquid.

Incidentally, a case in which the liquid using the syringe 11 is discarded is, for example, when the amount of liquid in the infusion bag 12 exceeds the maximum allowable amount preset for the infusion bag 12 in the mixed injection process. Another possibility is that the infusion solution is extracted from the infusion bag 12 in advance and disposed of. Further, in such a case, the second control unit 500 weighs the amount of liquid extracted from the infusion bag 12 by the syringe 11 using a weighing scale 35 or the like provided in the mixed injection processing chamber 104, It may be compared with the preparation data. Furthermore, the second control unit 500 may compare the weighing result by the weighing meter 35 with the weighing result by the weighing meter 13c.

[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, an ampere cutter 31, the stirring device 32, a loading shelf 33, a medicine reading section 34, and a weighing device. A total of 35 needle bending detectors 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, a dust cover 132a, and the like are provided. Further, as shown in FIG. 6, a tray confirmation camera 41, a syringe confirmation camera 42, a syringe needle attaching/detaching device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, etc. are provided on the ceiling side of the mixed injection processing chamber 104. There is.

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

Specifically, the second control unit 500 individually drives drive motors provided at each joint of the first robot arm 21 and the second robot arm 22, and The robot arm 22 is caused to perform each work in the mixed injection process. Note that the mixed injection processing unit 300 may have a structure that can execute the mixed injection processing, for example, a configuration including one robot arm, a configuration including three or more robot arms, or a configuration without using a robot arm. It may be.

As shown in FIG. 6, the first robot arm 21 includes a holding section 25 capable of holding instruments such as the drug container 10 and the syringe 11, and moves the holding section 25 within a predetermined movable range. It is possible to move it to any position within. The second robot arm 22 is capable of holding and moving equipment such as the drug container 10 and the syringe 11 to any desired position, and also performs operations for sucking and injecting the drug with the syringe 11. It is provided with a holding part 26 that can be moved. Furthermore, the second robot arm 22 can move the drug container 10, the syringe 11, etc. to any position within a predetermined movable range.

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

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

Further, the holding portion 25 can also hold the injection needle 11c or the syringe 11 with the cap 11d attached by the pair of gripping claws 25a. By the way, the second control section 500 can measure the diameter of the syringe 11 according to the amount of drive of the motor 251 when the syringe 11 is held by the pair of gripping claws 25a of the holding section 25. It is possible. Therefore, the second control unit 500 can determine whether the syringe 11 is the syringe specified by the preparation content information of the preparation data.

As shown in FIG. 8, the holding section 26 of the second robot arm 22 includes a syringe holding section 261, a plunger holding section 262, and a moving section 263. The syringe holding portion 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 parts that hold and release the syringe 11a of the syringe 11 by approaching and separating from each other by a mechanism similar to the drive mechanism used in the holding part 25. Further, in the pair of gripping claws 261a, an inclined portion 261b that slopes downward from the upper end surface of the gripping claws 261a toward the opposing surfaces is formed on opposing surfaces thereof.

The plunger holding portion 262 includes a pair of gripping claws 262a that hold the flange of the plunger 11b of the syringe 11. The pair of gripping claws 262a are gripping parts that hold and release the flange of the plunger 11b of the syringe 11 by approaching and separating from each other by a mechanism similar to the drive mechanism used in the holding part 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 can be moved close to and separated from each other by moving the pair of gripping claws 262a closer to each other and separated from each other, and grips not only the syringe 11 but also other equipment such as the medicine container 10. A recess into which the flange of the plunger 11b is inserted is formed on the upper surface of the pair of gripping claws 262a facing each other. Furthermore, the tips of the pair of gripping claws 262b protrude more forward than the pair of gripping claws 262a, so that the pair of gripping claws 262b can easily grip instruments such as the ampoule 10A and the vial 10B. Note that the gripping claw 262b may be provided on the gripping claw 261a.

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

[Tray transport section 110]
Further, the mixed injection processing section 300 is provided with a tray conveyance section 110 that can reciprocate the tray 101 between the tray loading port 114 at the right end in FIG. 6 and the tray conveyance terminal end section 110a at the left end. It is being

Here, FIG. 9 is a schematic plan view showing an example of the conveyance path of the tray 101 in the tray conveyance section 110. Note that the pressure inside the tray transport section 110 is set to be higher than that inside the mixed injection processing chamber 104. As shown in FIG. 9, the tray transport unit 110 allows the tray 101 to pass through the rear side of the dust storage chamber 13a located below the mixed injection processing chamber 104 and under the dust lid 132a. It is arranged to be transported. Thereby, the dust storage chamber 13a can be accessed from the front side of the co-infusion device 1. In FIG. 9, the tray 101 moving within the tray transport section 110 is shown by a two-dot chain line in order to show the transport path of the tray transport section 110. 101 does not exist. Note that the tray transport section 110 may be configured to be able to transport a plurality of trays 101 simultaneously between the tray loading port 114 and the tray transport terminal end 110a within the tray transport section 110.

The tray conveyance start section 110b of the tray conveyance section 110 has a mechanism capable of pulling the tray 101 inserted from the tray loading opening 114 into the tray or ejecting the tray 101 from the tray loading opening 114. The illustrated belt conveyor is provided. Further, an IC reader 101c and an IC reader 15a that can read information from the IC tag 101b provided on the infusion bag holding section 10 of the tray 101 are provided. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags. The IC reader 101c is provided at the tray transport start section 110b where the tray 101 is loaded from the tray loading port 114, and the IC reader 15a is installed at the tray transport start section 110b where the tray 101 is loaded from the tray loading port 114. It is provided at the tray conveyance terminal end portion 110a.

When the second control unit 500 determines that the tray 101 has been inserted into the tray transport start unit 110b from the tray loading port 114 based on a sensor output (not shown), the IC reader 101c causes the IC Information is read from the tag 101b. Further, when the second control unit 500 determines that the tray 101 has been inserted into the tray conveyance end portion 110a based on a sensor output (not shown), the second control unit 500 reads information from the IC tag 101b using the IC reader 15a. . Similarly, when the tray 101 is transported from the tray transport start section 110b toward the storage unit 700 via the tray loading port 114, the second control section 500 controls the IC reader 101c to Information can be read from the IC tag 101b. Then, the second control unit 500 executes a tray verification process to determine whether the tray 101 is appropriate or not, depending on the reading results by the IC reader 101c and the IC reader 15a.

Further, when the second control unit 500 determines that the tray 101 has passed through the tray loading port 114 and reached a predetermined position within the tray transport unit 110, based on the output of a sensor (not shown), for example, , the shutter 111 that communicates with and shields the tray transport section 110 and the mixed injection processing chamber 104 is slid in the horizontal direction. When the shutter 111 is opened, the instrument mounting section 102 is exposed into the co-infusion processing chamber 104. FIG. 9 shows a state in which the instrument mounting section 102 is exposed in the mixed injection processing chamber 104.

As shown in FIG. 10, the tray conveyance section 110 includes a tray for raising and lowering the instrument mounting section 102 on the tray 101 that has been moved into the tray conveyance section 110 through the tray loading port 114. A lifting section 112 is provided. The tray lifting section 112 lifts the instrument mounting section 102 upward from below, for example, by vertically driving four shafts 112a that are provided so as to be able to rise and fall.

Then, the second control section 500 causes the tray confirmation camera 41 to take an image after raising the instrument placement section 102 using the tray lifting section 112. The tray confirmation camera 41 photographs the drug container 10, the syringe 11, etc. placed on the predetermined equipment placement section 102 from above. The second control unit 500 executes image recognition processing using the captured image of the tray confirmation camera 41, and identifies the number of drug containers 10 and syringes 11 (syringes 11a and injection needles) indicated in the preparation data. 11c) and the like are present on the equipment mounting section 102.

Further, as shown in FIG. 10, a bag elevating section 113 for elevating the infusion bag holding section 103 is provided at the tray conveyance terminal end section 110a located in the left side space of the co-infusion processing chamber 104. After the tray 101 is conveyed to the front of the bag elevating section 113, the second control section 500 hooks the hook section 113a of the bag elevating section 113 into the engagement hole section 103a from below. Then, the second control unit 500 raises the infusion bag holding unit 103 by rotationally driving the arcuate gear part 113b in which the hook part 113a is formed using 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 controls the motor 113c to drive the bag elevating unit 113 to tilt the infusion bag holding unit 103 so that the mixed injection port of the infusion bag 12 is directed upward or downward. can do.

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

Specifically, in the drug master, for each type of the infusion bag 12, the upper limit injection amount that can be injected into the infusion bag 12 without air removal, and the upper limit injection amount that is set when the upper limit injection amount is exceeded. An exceptional inclination angle, which is the inclination angle of the mixed injection port of the infusion bag 12, is stored. Then, in the co-infusion process based on the preparation data, if the amount of liquid injected into the infusion bag 12 exceeds the upper limit injection amount, the second control unit 500 controls the syringe 11 to An air bleed process is performed to bleed air from the infusion bag 12. In this case, the amount of air within the infusion bag 12 decreases. Therefore, if the inclination of the infusion bag 12 increases, the liquid in the infusion bag 12 may come into contact with the rubber stopper of the mixed injection port of the infusion bag 12, and when the injection needle 11c is pulled out from the rubber stopper, the liquid may leak out.

On the other hand, in the co-infusion device 1, the second control unit 500 controls the inclination angle of the co-infusion port of the infusion bag 12 when the amount of liquid injected into the infusion bag 12 is below the upper limit injection. Set to a preset specified angle. The specified angle is, for example, a value set as an inclination angle of the co-infusion port common to a plurality of types of the infusion bags 12.

On the other hand, if the amount of liquid injected into the infusion bag 12 in the mixed injection process exceeds the upper limit injection amount, the second control unit 500 sets the inclination angle of the mixed injection port of the infusion bag 12 to the exceptional inclination angle. do. The exceptional inclination angle is an angle in which the inclination angle of the mixed injection port of the infusion bag 12 with respect to the vertical direction is smaller than at least the specified angle. That is, the exceptional inclination angle is an angle at which the infusion bag 12 is closer to vertical than the specified angle. As a result, when the inclination angle of the mixed injection port of the infusion bag 12 is set to the exceptional inclination angle, the possibility that the liquid in the infusion bag 12 will come into contact with the rubber stopper of the mixed injection port is reduced, and the The possibility that liquid will leak out when the injection needle 11c is pulled out of the rubber stopper is reduced. Note that the exceptional inclination angle may be used, for example, when the type of the infusion bag 12 is a so-called AL type in which the amount of air inside is small.

Further, as shown in FIG. 6, a dome-shaped light 120 and an infusion camera 121 for illuminating the infusion bag 12 conveyed to the tray conveyance terminal end 110a are provided above the tray conveyance terminal end 110a. There is. The infusion camera 121 is provided at the center of the dome-shaped light 120 and reads the barcode attached to the surface of the infusion bag 12. Thereby, the second control unit 500 can determine whether or not the infusion bag 12 is appropriate according to the barcode information read by the infusion camera 121.

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

The file portion 31a is a member for notching the neck of the ampoule 10A, and debris generated by notching the file portion 31a falls onto the waste tray 31b. Specifically, in the co-infusion device 1, the first robot arm 21 holds the ampoule 10A, and slides the neck of the ampoule 10A against the file portion 31a, thereby applying pressure to the neck of the ampoule 10A. Notch processing is applied.

The head insertion part 31c is located at a hole 31d into which the notched head of the ampoule 10A is inserted from below, and at a side of the head of the ampoule 10A that protrudes upward from the hole 31d. It has a pusher 31e. On the other hand, the drive box 31f has a cam provided therein and a drive motor that drives the cam, and when the cam is driven by the drive motor, the pusher 31e is moved by the cam to the ampoule 10A. It moves back and forth in the direction of approaching and away from the head of the person.

In the co-infusion device 1, the first robot arm 21 holds the ampoule 10A with the gripping claw 25a, inserts the head of the ampoule 10A into the hole 31d from below, and lifts the head above the neck upward. make it stand out. Thereafter, when the drive motor of the drive box 31f is driven by the second control unit 500 and the pusher 31e is moved in the direction of pushing the head of the ampoule 10A, the head is pushed by the pusher 31e. be broken. At this time, the head broken by the pusher 31e falls into the waste box 31g. The grip portion 31h is used by the user to grip the ampere cutter 31 when sliding the ampere cutter 31 along a rail 31i (see FIG. 4) that slidably supports the ampere cutter 31.

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

As shown in FIG. 12, the stirring device 32 is provided with a roller 32a, a pressing part 32b, a rotating support part 32c, a support stand 32d, a horizontal swing mechanism 32e, a support part 32f, a drive motor 32g, etc. There is. The two rollers 32a are arranged facing each other with a predetermined distance apart. One of the rollers 32a is rotatably supported, and the other roller 32a is connected to the drive motor 32g. Note that each of the rollers 32a is elongated in the axial direction, and the stirring device 32 can simultaneously stir the two vials 10B placed on both ends of the roller 32a in the axial direction. .

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

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

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

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

[Placement shelf 33]
As shown in FIG. 4, the storage shelf 33 is used to temporarily store the drug container 10, the syringe 11, etc. during the mixed injection process performed in the mixed injection device 1. The storage shelf 33 is provided at a position accessible to both the first robot arm 21 and the second robot arm 22. On the shelf 33, the vial 10B is placed upright at a predetermined position. On the other hand, the shelf 33 is provided with an inclined holding part for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed in an inclined state on the inclined holding part. Further, the shelf 33 is formed with a neck holding hole of a predetermined diameter into which the neck of the syringe 11 is fitted, and the syringe 11 has a neck holding hole with a predetermined diameter into which the neck of the syringe 11 is fitted. Temporarily placed face down. Note that the size of the storage shelf 33 is desirably determined in advance based on the number of trays 101 that can be accommodated in the storage unit 700. For example, the size of the storage shelf 33 corresponds to the number of trays 101 that can be accommodated in the storage unit 700, and the equipment such as the drug container 10 and the syringe 11 used in the mixed injection process can be placed at the same time. It is possible that the size is large.

[Drug reading section 34]
The drug reading unit 34 reads barcodes that are written on labels attached to the drug containers 10 such as the ampoule 10A and the vial bottle 10B and indicate drug information of the contained drugs. Specifically, the medicine reading section 34 includes two rollers 34a and a barcode reader 34b, as shown in FIG. 13. The rollers 34a are arranged opposite to each other with a predetermined distance apart. One of the rollers 34a is rotatably supported, and the other roller 34a is connected to a drive motor (not shown). The two rollers 34a are driven by the drive motor to rotate the medicine container 10 placed between the rollers 34a in the circumferential direction. Thereby, the medicine container 10 can be rotated once in the circumferential direction, so that the entire area of the label affixed to the medicine container 10 can be directed toward the barcode reader 34b. Then, the barcode reader 34b reads a barcode from the label of the medicine container 10 rotated by the roller 34a.

[Weighing scale 35]
The scale 35 is used to measure the weight of the syringe 11 in the co-infusion process performed in the co-infusion device 1, and the measurement result by the scale 35 is input to the second control unit 500. Note that the weighing scale 35 is disposed within the movable range of the second robot arm 22 and measures the weight of the syringe 11 placed by the second robot arm 22. In addition to the weighing scale 35, it is also conceivable that a weighing scale for weighing the medicine container 10 or the syringe 11 is provided on the shelf 33.

[Needle bending detection unit 36]
As shown in FIG. 14, the needle bend detection section 36 is formed with a long hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. Further, the needle bending detection unit 36 irradiates and receives detection light across the elongated hole 36a, and a first optical sensor 361 and a second optical sensor 362 are arranged so that the detection lights are non-parallel to each other. Equipped with That is, the irradiation directions of the detection light of the first optical sensor 361 and the second optical sensor 362 are different. The detection results from the first optical sensor 361 and the second optical sensor 362 are input to the second control unit 500.

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

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

[Mixed injection communication port 37]
As shown in FIG. 3, the co-infusion communication port 37 is formed in a dome-shaped part of the side wall of the co-infusion processing chamber 104 that protrudes outward, and the infusion bag 12 is connected to the dome-shaped part in the vertical direction. A notch is formed to allow the mixed injection port to pass through. Therefore, when the infusion bag holding section 103 is raised, the mixed injection port of the infusion bag 12 is located within the mixed injection processing chamber 104. Thereby, 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.

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

[Syringe confirmation camera 42]
Further, the syringe confirmation camera 42 is arranged on the ceiling of the mixed injection processing section 300, as shown in FIG. The syringe confirmation camera 42 is used to photograph the syringe 11 in order to confirm the presence and amount of medicine sucked into the syringe 11. The syringe confirmation camera 42 may take images within a pre-fixed imaging range, but the position and size of the imaging range may be arbitrarily changed by being controlled by the second control unit 500. It may be possible. Furthermore, as will be described later, in the co-infusion device 1, the syringe confirmation camera 42 photographs the syringe 11 and the drug container 10 at the same time, providing a highly reliable inspection image. The second control unit 500 controls the data storage unit 404 and the data storage unit in order to visually inspect the image taken by the syringe confirmation camera 42 to determine whether or not the co-infusion process executed by the co-infusion device 1 is appropriate, for example. 504, or in a storage unit such as a hard disk provided outside the co-infusion device 1. Then, the second control unit 500 causes the image taken by the syringe confirmation camera 42 to be displayed on a display device such as the touch panel monitor 14 or the display 203 during the inspection by the user.

[Syringe needle attachment/detachment device 43]
In the injection needle attachment/detachment device 43, as shown in FIGS. 15 and 16, the tip of an injection needle 11c with a cap 11d attached thereto is inserted upward into a hole 43b of a chuck part 43a in which a notch is formed. When the motor 43c is driven, the hole 43b of the chuck portion 43a is expanded by a cam mechanism (not shown), and the injection needle 11c can be inserted together with the cap 11d. When the drive of the motor 43c is stopped, the holding state of the cap 11d and the injection needle 11c is maintained by the spring 43d. When the needle rotation motor 43e is driven, the gear 43f and the gear 43g are rotated, the chuck portion 43a is rotated, and the cap 11d and the injection needle 11c are rotated.

The injection needle 11c and the cap 11d are each provided with ribs that come into contact when the cap 11d rotates in the circumferential direction while attached to the injection needle 11c. Therefore, when the cap 11d of the injection needle 11c is rotated by the chuck portion 43a, the injection needle 11c rotates together with the cap 11d, and is attached to and removed from the syringe 11a. In addition, in the syringe needle attaching/detaching device 43, the second robot arm 22 moves the syringe 11 toward or away from the chuck portion 43a while the cap 11d is held by the chuck portion 43a. It is also possible to automatically attach and detach the cap 11d to and from the cap 11c. In addition, in the injection needle attaching/detaching device 43, since the tip of the injection needle 11c faces upward, the tip opening of the syringe 11a from which the injection needle 11c is removed faces upward, and liquid drips from the neck opening of the syringe 11a. can be prevented.

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

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

Next, the accommodation unit 700 will be explained with reference to FIGS. 18 to 21. 18 is a front view of the chemical loading section 200 and the storage unit 700, FIG. 19 is a sectional view taken along line II in FIG. 18, and FIG. 20 is a sectional view taken along line II-II in FIG. 18. Further, FIG. 21 is a schematic diagram showing the internal configuration of the accommodation unit 700. Note that the following description may be made using the up, down, left, right, and front/back directions shown in FIGS. 18 to 21.

The accommodation unit 700 includes a tray loading section 710, a lifting unit 800, a tray transport section 900, and the like, and is controlled by the mixed injection control device 100. The tray loading section 710 and the lifting unit 800 are arranged behind the work table 202, and the tray transport section 900 is arranged below the work table 202. A plurality of trays 101 can be accommodated in the accommodation unit 700, and the mixed injection control device 100 can carry out any tray 101 from the accommodation unit 700. Note that the specific configuration of the accommodation unit 700 is not limited to the configuration described here as long as it can achieve the same function.

The tray loading section 710 includes a shutter 712 that opens and closes a tray loading port 711 used to load the tray 101 into the storage unit 700, and a drive section 713 that opens and closes the shutter 712. The driving unit 713 is, for example, a belt conveyor including a motor, a gear, a tension roller, and a belt, and when the tension roller is rotated by the motor and the gear, the shutter 712 connected to the belt is rotated. is opened and closed. When the shutter 712 is opened, the user can load the tray 101 into the lifting unit 800 of the storage unit 700 by sliding the tray 101 backward on the work table 202. Become. Note that the tray loading port 711 is arranged at a position spaced apart from the tray discharging port 206 in the vertical direction, and specifically, the tray loading port 711 is disposed at a position higher than the tray discharging port 206. has been done.

The elevating unit 800 includes a movable housing 810 that is supported so as to be vertically movable, a plurality of tray accommodating portions 811 arranged in the vertical direction within the movable housing 810, and a It includes drive units 812 and 813 used for loading and unloading the tray 101, and a lifting mechanism 820 that lifts and lowers the movable housing 810 in the vertical direction. Note that the movable housing 810 is supported so as to be slidable in the vertical direction, for example, by a rail portion (not shown) formed on the inner surface of the housing of the storage unit 700. The movable housing 810 is configured such that at least the tray accommodating section 811 at the top stage is located above the tray loading port 711, and the tray accommodating section 811 at the bottom stage is located below the tray loading port 711. It is possible to move up and down between the two states. In particular, the movable housing 810 moves each of the tray accommodating sections 811 into a state where the tray 101 is movable between the tray accommodating section 811 and the tray loading section 710, and a state where the tray 101 is movable between the tray accommodating section 811 and the tray transport section 710. The tray 101 is moved up and down between the sections 900 within a range that allows it to be placed in a movable state.

The tray accommodating portion 811 includes a pair of left and right belts 814 that can support the tray 101, a plurality of tension rollers 815 that support each of the belts 814 in a movable manner, and one of the tension rollers 815. A belt conveyor including a connected magnet gear 816. The drive unit 812 and the drive unit 813 are motors that can rotate the magnet gears 812a and 813a in a forward rotation direction and a reverse rotation direction. The magnet gears 812a and 813a can synchronously rotate the magnet gear 816, which is disposed at opposing positions, by magnetic force. That is, the driving force of the driving parts 812 and 813 is transmitted from the magnetic gears 812a and 813a to the magnetic gear 816 of the tray accommodating part 811 in a non-contact manner. The magnet gear 816 causes the tension roller 815 and the belt 814 to run.

Therefore, in the elevating unit 800, even when three or more stages of the tray accommodating sections 811 are provided, it is possible to drive each of the tray accommodating sections 811 using the two driving sections 812 and 813. . Therefore, in the co-infusion device 1, dust generation and cost in the lifting unit 800 can be suppressed compared to the case where a drive unit such as a motor is provided for each tray storage unit 811, and the It is possible to reduce the weight of the mobile housing 810.

Here, the magnet gear 812a and the magnet gear 813a are arranged at different positions in the vertical direction. Specifically, the magnet gear 812a is located at a position opposite to the magnet gear 816 of the tray accommodating portion 811, which is disposed at a position where the tray 101 can be loaded from the work table 202 through the tray loading port 711. It is located. Further, the magnet gear 813a is located below the magnet gear 812a, and the tray accommodating section 811 is arranged at a position where the tray 101 can be moved between the tray accommodating section 811 and the tray transport section 900. The magnet gear 816 is disposed at a position opposite to the magnet gear 816 .

Thereby, in the storage unit 700, the area below the work table 202 can be effectively used to transport the tray 101 between the tray storage section 811 and the tray transport section 900, for example. be. Hereinafter, the position of the tray accommodating part 811 where the tray 101 can be carried from the work table 202 to the tray accommodating part 811 will be referred to as a first movement position, and the position between the tray accommodating part 811 and the tray transporting part 900 The position of the tray accommodating portion 811 to which the tray 101 can be moved may be referred to as a second movement position.

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

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

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

For example, when transitioning from the retracted state to the usable state, the second transport section 920 may move upward while holding the tray 101 placed at a predetermined position on the first transport section 910. By moving the tray 101 to the third transport section 930, the tray 101 can be transported to and from the third transport section 930. Further, when the second transport section 920 shifts from the usable state to the retracted state, the second transport section 920 holds the tray 101 placed on the second transport section 920 while moving the first transport section 910 to the retracted state. and transfers the tray 101 to the first conveyance section 910.

Thereby, the second transport section 920 can transport the tray 101 discharged from the tray storage section 811 onto the first transport section 910 to the third transport section 940 in the usable state. It is possible. Further, in the usable state, the second conveyance section 920 receives the tray 101 supplied from the mixed injection processing section 300 through the tray discharge port 701 via the third conveyance section 940, and It is possible to transport it to the first transport section 910.

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

In addition, as another embodiment, the co-infusion device 1 further includes a stock shelf capable of accommodating a plurality of the trays 101, and the storage unit 700 transports the trays 101 to the stock shelf and stores the stock shelves. A configuration in which the tray 101 can be carried out arbitrarily from the shelf is also conceivable. Thereby, it is possible to temporarily stock a large number of the trays 101 on the stock shelf and automatically discharge them as necessary. Such a configuration is suitable, for example, when the mixed injection device 1 has a batch preparation inspection function described later and it is necessary to temporarily stock a plurality of trays 101 that have not been inspected after the completion of the mixed injection process. suitable.

Further, the stock shelf is provided with a door with a lock that can be opened and closed in order to take out the trays 101 from a position different from the storage unit 700 side with respect to the individual storage portion in which each of the trays 101 is individually stored. It is conceivable that Thereby, for example, the user can take out each of the trays 101 from the stock shelf and inspect them all at once, as needed, and the user who can take out the trays 101 can be assigned to a specific person who has the key to the door. Can be restricted to users.

[Mixed injection processing]
Next, an example of a basic processing procedure of a mixed injection process executed by controlling the mixed injection processing section 300 by the mixed injection control section 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, etc. to perform one or more injections based on the preparation data. The medicine is aspirated from the medicine container 10 with the syringe 11, and the medicine is injected from the syringe 11 into another container such as the infusion bag 12.

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

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

Next, the second control section 500 photographs the instrument placement section 102 using the tray confirmation camera 41. Then, the second control section 500 determines the position and orientation of the instruments such as the ampoule 10A and the syringe 11 placed on the instrument mounting section 102 by image recognition processing based on the image taken by the tray confirmation camera 41. Understand. In particular, each time the second control section 500 takes out the ampoule 10A or the syringe 11 from the instrument mounting section 102, the second control section 500 photographs the instrument mounting section 102 with the tray confirmation camera 41, and updates the The position and orientation of the ampoule 10A and the syringe 11 are ascertained.

Subsequently, the second control section 500 causes the first robot arm 21 to move the syringe 11 placed on the instrument placement section 102 exposed in the mixed injection processing chamber 104 to the placement shelf 33. Place it temporarily. Further, the second control unit 500 causes the first robot arm 21 to set the ampoule 10A placed on the equipment placement unit 102 in the medicine reading unit 34. Then, the second control unit 500 reads information such as the type of medicine contained in the ampoule 10A using the medicine reading unit 34.

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

Then, when all the instruments on the instrument mounting section 102 are taken out, the second control section 500 lowers the instrument mounting section 102 using the tray elevating section 112 of the tray conveying section 110 and places the instrument on the tray 102. Return to The second control section 500 checks whether all the instruments on the instrument mounting section 102 have been taken out by image recognition processing based on the image taken by the tray confirmation camera 41.

Thereafter, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport end portion 110a. Next, the second control unit 500 causes the bag elevating unit 113 of the tray transport unit 110 to move the mixed injection port of the infusion bag 12 held 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 causes the second robot arm 22 to move the ampoule 10A set in the medicine reading unit 34 to the storage shelf 33. Next, the second control unit 500 uses the first robot arm 21 to take out the syringe 11 from the storage shelf 33 and sets it on the second robot arm 22 . Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the syringe needle attaching/detaching device 43 to set the syringe needle 11c on the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detection unit 36, and detects whether or not the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 with the injection needle 11 attached to the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Next, the second control unit 500 uses the first robot arm 21 to take out the ampoule 10A from the shelf 33, and uses the ampoule cutter 31 to break the head of the ampoule 10A. Then, the second control unit 500 causes the ampoule 10A and the syringe 11 to approach each other using the first robot arm 21 and the second robot arm 22, so that the injection needle 11c of the syringe 11 is transferred to the ampoule 10A. Insert inside. Thereafter, the second control unit 500 operates the plunger 11b using the second robot arm 22 to aspirate a predetermined amount of medicine from the ampoule 10A with the syringe 11 according to the preparation data.

At this time, the first robot arm 21 and the second robot arm 22 gradually obliquely position the ampoule 10A and the syringe 11. For example, with the mouth of the ampoule 10A facing vertically upward and the injection needle 11c of the syringe 11 facing vertically downward, a certain amount of medicine is sucked up from the ampoule 10A, and then the ampoule 10A is directed vertically downward. The medicine is tilted by about 10 degrees based on the direction, and a state is formed in which the medicine is moved to the mouth side (neck part). Thereby, it becomes possible to suck up the medicine without leaving the tip of the injection needle 11c of the syringe 11 on the bottom of the ampoule 10A as much as possible.

Thereafter, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 to suck the ampoule 10A and the medicine after the medicine has been sucked. The syringe 11 in this state is moved within the photographing range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the ampoule 10A and the syringe 11 at once using the syringe confirmation camera 42, and records the photographed image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 photographs the predetermined photographing range. Meanwhile, the second control unit 500 controls the syringe confirmation camera 42 so that the ampoule 10A and the syringe 11 after being moved by the first robot arm 21 and the second robot arm 22 can be photographed at the same time. It is also conceivable that the photographing range can be changed.

Next, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to replace the injection needle 11c of the syringe 11. Specifically, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detection unit 36, and detects whether or not the injection needle 11c is bent. Then, the second robot arm 22 moves the syringe 11 to the needle attaching/detaching device 43 and attaches the cap 11d to the needle 11c. Then, the second control unit 500 rotates the cap 11d using the injection needle attachment/detachment device 43, and removes the injection needle 11c from the syringe 11. Note that the injection needle 11c may be removed by rotation of the cap 11d by the first robot arm 21 and the second robot arm 22.

Then, the second control unit 500 opens the dust lid 132a, and the first robot arm 21 moves the injection needle 11c held by the injection needle attaching/detaching device 43 to the cap attached to the injection needle 11c. 11d and are dropped into the garbage storage chamber 13a and discarded. Thereafter, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter attached to the injection needle attachment/detachment device 43 from the storage shelf 33. Then, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle attaching/detaching device 43, and attaches the needle 11c to the syringe 11. In this case as well, the second control section 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection section 36 and detects whether or not the injection needle 11c is bent. In this manner, in the co-infusion device 1, the injection needle 11c is exchanged between when sucking the medicine from the ampoule 10A and when injecting the infusion into the infusion bag 12, and fragments of the ampoule 10A are removed from the infusion bag 12. 12 is prevented.

Then, the second control unit 500 causes the injection needle 11c of the syringe 11 to puncture the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport end portion 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12. Meanwhile, the second control unit 500 opens the dust lid 132a and causes the first robot arm 21 to drop the ampoule 10A into the dust storage chamber 13a and discard it. Further, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle attaching/detaching device 43 and attaches the cap 11d to the needle 11c of the syringe 11, and then The syringe 11 is dropped into the dust storage chamber 13a and discarded.

Thereafter, the second control unit 500 executes a preparation inspection process for inspecting the result of the mixed injection process after the completion of the mixed injection process. In the preparation inspection process, the second control unit 500 displays, for example, various photographed images taken in the co-injection process on the touch panel 14, and accepts an operation to complete the inspection of the co-injection process. Thereby, the user can inspect the suitability of the co-injection process while looking at the touch panel monitor 14. When the second control unit 500 receives the inspection completion operation, the second control unit 500 transports the tray 101 to the tray discharge port 15 and makes the tray 101 ready for removal.

[Mixed injection process using vial bottle 10B]
Next, when the medicine contained in the vial bottle 10B is a medicine such as a powder that needs to be dissolved, the basics of the mixed injection process when mixing the medicine with an infusion and injecting it into the infusion bag 12 will be explained. The operation will be explained.

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

Next, the second control section 500 photographs the instrument placement section 102 using the tray confirmation camera 41. Then, the second control unit 500 determines the position of the instruments such as the vial bottle 10B and the syringe 11 placed on the instrument mounting unit 102 through image recognition processing based on the image taken by the tray confirmation camera 41. Understand the direction. In particular, every time the vial bottle 10B or the syringe 11 is taken out from the instrument mounting section 102, the second control section 500 photographs the instrument mounting section 102 with the tray confirmation camera 41, and from the photographed image. The latest positions and orientations of the vial bottle 10B and the syringe 11 are ascertained.

Subsequently, the second control section 500 causes the first robot arm 21 to move the syringe 11 placed on the instrument placement section 102 exposed in the mixed injection processing chamber 104 to the placement shelf 33. Place it temporarily. Further, the second control unit 500 causes the first robot arm 21 to set the vial 10B placed on the equipment placement unit 102 in the medicine reading unit 34. Then, the second control unit 500 uses the medicine reading unit 34 to read information such as the type of medicine contained in the vial 10B.

Next, when all the instruments on the instrument mounting section 102 are taken out, the second control section 500 lowers the instrument mounting section 102 using the tray lifting section 112 of the tray conveyance section 110 to place the instrument on the tray. Return to 101. Note that the second control section 500 checks whether all the instruments on the instrument mounting section 102 have been taken out by image recognition processing based on the image taken by the tray confirmation camera 41.

Thereafter, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport end portion 110a. Next, the second control unit 500 causes the bag elevating unit 113 of the tray transport unit 110 to move the mixed injection port of the infusion bag 12 held 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 causes the second robot arm 22 to move the vial bottle 10B set in the medicine reading unit 34 to the storage shelf 33. Meanwhile, in parallel with this movement process, the second control section 500 causes the first robot arm 21 to move the injection needle 11c of the syringe 11 placed on the instrument placement section 102 so that the cap 11d The injection needle is set in the injection needle attachment/detachment device 43 in the attached state.

Next, the second control unit 500 uses the first robot arm 21 to take out the syringe 11 from the storage shelf 33 and sets it on the second robot arm 22 . Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle attaching/detaching device 43 to set the needle 11c on the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detection unit 36, and detects whether or not the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 with the syringe 11a of the syringe 11 attached. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Subsequently, the second control unit 500 causes the injection needle 11c of the syringe 11 to puncture the rubber stopper of the mixed injection port of the infusion bag 12 that has been transported to the tray transport terminal end 110a by the second robot arm 22. Then, from the infusion bag 12, the amount of infusion indicated by the preparation data is aspirated. On the other hand, the second control unit 500 uses the first robot arm 21 to take out the vial 10B placed on the storage shelf 33.

Then, the second control unit 500 causes the vial bottle 10B and the syringe 11 to approach each other by using the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 into the Puncture the vial 10B. Thereafter, the second control unit 500 injects the infusion in the syringe 11 into the vial bottle 10B by operating the plunger 11b with the second robot arm 22. In this way, when the medicine is a powder medicine, in the mixed injection process, a dissolution step is performed in which the infusion is drawn out from the infusion bag 12 with the syringe 11 and the infusion is injected from the syringe 11 into the vial bottle 10B. be done. As a result, the medicine in the vial bottle 10B is dissolved in the infusion solution. At this time, the syringe 11 and the vial 10B are in such a state that the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the vial 10B is directed vertically upward.

Next, the second control unit 500 causes the first robot arm 21 to set the vial 10B into which the infusion solution has been injected into the stirring device 32. As a result, the stirring device 32 executes a stirring step in which the medicine and infusion in the vial bottle 10B are stirred. The stirring time in the stirring step is predetermined, for example, depending on the type of the chemical. Furthermore, the stirring time may be predetermined for each combination of the drug and the infusion, or may be changed depending on the amount of the drug in the vial 10B. When the stirring process by the stirring device 32 is completed, the second control unit 500 uses the first robot arm 21 to take out the vial 10B from the stirring device 32.

Here, the second control unit 500 executes an agitation inspection process for inspecting the agitation result of the agitation process after the agitation process is completed. In the stirring inspection process, the second control unit 500 controls the first robot arm 21 to move the vial 10B to a posture and position where the bottom or side surface of the vial 10B is visible to the user. , waits for a user's confirmation operation on the touch panel monitor 15 or the like. Further, the second control unit 500 controls the first robot arm 21 according to a predetermined operation on the touch panel monitor 15, so that the user can visually check the bottom or side of the vial 10B from different angles. A rocking process is executed to move the vial 10B to a plurality of states (postures and positions). This allows the user to check the degree of dissolution of the drug in the vial 10B from different angles.

Thereafter, when the confirmation operation is performed, the second control unit 500 advances the co-injection process to the next step. On the other hand, when the predetermined re-stirring operation is performed, the second control unit 500 sets the vial bottle 10B in the stirring device 32 again without proceeding to the next step of the mixed injection process. Rerun the stirring process. In the stirring inspection process, the second control unit 500 may display, on the touch panel monitor 15, a photographed image of the bottom or side surface of the drug container 10 photographed after the stirring step.

Then, the second control unit 500 causes the vial bottle 10B and the syringe 11 to approach each other by using the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 into the Puncture the vial 10B. Thereafter, the second control unit 500 causes the second robot arm 22 to operate the plunger 11b to aspirate the mixed medicine in the vial 10B with the syringe 11. At this time, the syringe 11 and the vial 10B are in such a state that the mouth of the vial 10B is directed vertically downward, and the injection needle 11c of the syringe 11 is directed vertically upward.

Thereafter, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 to remove the vial 10B and the medicine from which the medicine has been sucked. The syringe 11 in the aspirated state is moved within the photographing range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the vial bottle 10B and the syringe 11 at once using the syringe confirmation camera 42, and records the photographed image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 photographs the predetermined photographing range. Meanwhile, the second control unit 500 controls the syringe confirmation camera so that the vial bottle 10B and the syringe 11 after being moved by the first robot arm 21 and the second robot arm 22 can be photographed at the same time. It is also conceivable that the photographing range of 42 can be changed.

Then, the second control unit 500 causes the injection needle 11c of the syringe 11 to puncture the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal end 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12. In this manner, in the mixed injection process, an injection step is performed in which the drug is sucked from the vial bottle 10B with the syringe 11 and the drug is injected from the syringe 11 into the infusion bag 12.

Meanwhile, the second control unit 500 opens the garbage lid 132a, causes the first robot arm 21 to drop the vial 10B into the garbage storage chamber 13a, and discards it. Further, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle attaching/detaching device 43 and attaches the cap 11d to the needle 11c of the syringe 11, and then The syringe 11 is dropped into the dust storage chamber 13a and discarded.

After that, the second control unit 500 executes a preparation inspection process for inspecting the result of the mixed injection process after the mixed injection process is completed. In the preparation inspection process, the second control unit 500 displays, for example, various photographed images taken in the co-injection process on the touch panel 14, and accepts an operation to complete the inspection of the co-injection process. Thereby, the user can inspect the suitability of the co-injection process while looking at the touch panel monitor 14. When the second control unit 500 receives the inspection completion operation, the second control unit 500 transports the tray 101 to the tray discharge port 15 and makes the tray 101 ready for removal.

It is also conceivable that the medicine contained in the vial bottle 10B is a medicine such as a liquid medicine that does not need to be dissolved. The mixed injection process in this case is similar to the mixed injection process when the medicine contained in the vial 10B is a powder-like medicine that needs to be dissolved, except that the stirring step is not performed. Therefore, the explanation will be omitted. Further, even if the medicine contained in the vial bottle 10B is liquid, the stirring step may be performed depending on the type of medicine.

[Pre-stirring function]
By the way, the stirring process that may be executed in the mixed injection process may take a relatively long time, and the waiting time until the stirring process is completed may impede the efficiency of the mixed injection process. . On the other hand, the co-infusion device 1 according to the present embodiment has a pre-stirring function that allows the stirring step in the co-injection process to be performed in advance before the execution start timing of the co-injection process. Specifically, the co-injection control unit 100 uses the first control unit 400 or the second control unit 500 to perform loading preparation processing and co-injection control, which will be described later, according to the first co-injection control program or the second co-injection control program. By executing the process, the pre-stirring function is realized. Here, the mixed injection control device 100 that executes the loading preparation process and the mixed injection control process is an example of a pre-stirring processing unit. Note that the first control unit 400 and the second control unit 500 may set the pre-stirring function to be effective when the drug container 10 is the vial bottle 10B.

[Loading preparation process]
First, an example of the loading preparation process executed by the mixed injection control device 100 will be described with reference to FIG. 22.

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

By the way, the first control unit 400 receives, as the loading preparation start operation, an operation to immediately execute the mixed injection process based on the preparation data, and also receives information such as the completion time or completion time period of the mixed injection process regarding the preparation data. It is possible to accept reservations for the expected completion time. Note that when the completion time slot is reserved, reservations are accepted in units of one hour, such as between T1 o'clock and T2 o'clock, as the time range in which the co-infusion process is to be completed. For example, the first control unit 400 can set reservations for the preparation data equal to or less than a preset maximum number of reservations equal to the number of tray accommodating units 811. Note that the reservation processing may be executed not only at the start of the loading preparation process but also at the end of the loading preparation process.

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

Further, the first control unit 400 may accept reservations for the preparation data not only for the scheduled completion time but also for the scheduled start time indicating the start time or completion time zone of the co-infusion process. good. Note that when the start time slot is reserved, reservations are accepted in hourly units, such as between T1 and T2, as the time range in which the co-infusion process is to be started. For example, when the scheduled start time is set for the preparation data, the first control unit 400 sets the scheduled start time as the execution start timing of the co-infusion process. Furthermore, as a time range from the start to the completion of the co-infusion process, reservations for execution time slots may be accepted in units of one hour, such as from T1 o'clock to T2 o'clock, for example. When the execution time slot is set for the preparation data, the first control unit 400 sets the execution start timing of the mixed injection process so that the mixed injection process is completed within the execution time slot. Note that the first control unit 400 may be able to reserve only the co-infusion process for one piece of the preparation data. Further, the reservation target is not limited to the scheduled completion time, scheduled start time, or execution time of the mixed injection process, but also the completion of the injection step of injecting the drug solution collected from the drug container 10 into the infusion bag 12 in the mixed injection process. The scheduled time, scheduled start time, and execution time slot may be reservable.

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

<Step S3>
Thereafter, in steps S3 to S8, the first control unit 400 sets the medicine container 10, the syringe 11, the infusion bag 12, etc. necessary for the co-infusion process on the tray 101 based on the preparation data. Execute processing to support. Specifically, first in step S3, the first control unit 400 adds a message, an image, etc. for instructing reading of identification information such as a GS1 data bar attached to the infusion bag 12 to the preparation data. It is displayed on the display 203 together with information including the type of the infusion bag 12 included. Then, when the identification information of the infusion bag 12 is read by the barcode reader 204 and the comparison result with the preparation data matches, the first control unit 400 shifts the process to step S4. Note that, if the verification results between the identification information of the infusion bag 12 and the preparation data do not match, the first control unit 400 displays, for example, an error message.

<Step S4>
In step S4, the first control unit 400 causes the display 203 to display messages and images for guiding the placement of the infusion bag 12 on the tray 101. Thereby, the user can easily place the infusion bag 12 at a predetermined position within the tray 101.

<Step S5>
In step S5, the first control unit 400 transmits a message, an image, etc. for instructing reading of identification information such as a GS1 data bar attached to the drug container 10 to the drug container included in the preparation data. It is displayed on the display 203 together with information including the 10 types. Then, when the identification information of the medicine container 10 is read by the barcode reader 204 and the comparison result with the preparation data matches, the first control unit 400 moves the process to step S6. Note that, if the comparison result between the identification information of the drug container 10 and the preparation data does not match, the first control unit 400 displays, for example, an error message.

<Step S6>
In step S6, the first control unit 400 causes the display 203 to display a message, an image, etc. for guiding the arrangement of the drug container 10 on the tray 101. Thereby, the user can easily place the medicine container 10 at a predetermined position within the tray 101. Note that if a plurality of the drug containers 10 are required, steps S5 to S6 are repeatedly executed.

<Step S7>
In step S7, the first control unit 400 causes the display 203 to display messages and images for guiding the placement of the syringe 11 on the tray 101. Thereby, the user can easily place the syringe 11 at a predetermined position within the tray 101. Note that if a plurality of syringes 11 are required, step S7 is repeatedly executed.

<Step S8>
When the guidance of all the equipment necessary for the co-injection process based on the preparation data is completed, in the subsequent step S8, the first control unit 400 displays that the preparation for loading with respect to the preparation data is completed, and Displays operation keys, etc. for accepting confirmation operations.

<Step S9>
In step S9, the first control unit 400 determines whether or not the confirmation operation has been performed, and if the confirmation operation has been performed (S9: Yes), the process moves to step S10, and the confirmation operation is performed. Until then (S9: No), the process is put on standby in step S9.

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

Note that, before opening the shutter 712, the second control unit 500 controls the position of the movable housing 810 so that the unused tray accommodating portion 811 is placed at the first moving position. For example, while the accommodation unit 700 is on standby (inactive), the second control unit 500 controls the accommodation unit 700 so that the unused tray accommodation section 811 is placed at the first movement position. It is possible to do so. Furthermore, after receiving the opening instruction in step S10, the second control unit 500 may move the movable casing 810 to place the unused tray accommodating portion 811 at the first moving position. good. Note that, when there are a plurality of unused tray accommodating sections 811, the second control section 500 controls the movable housing required for movement to the first movement position among the plurality of tray accommodating sections 811. It is conceivable to select the tray accommodating section 811 with the smallest amount of movement of the tray 810 and move it to the first movement position.

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

<Step S11>
Then, in step S11, when the tray 101 is accommodated in the tray accommodating section 811 of the accommodating unit 700, the second control section 500 performs a process of associating the identification information of the tray 101 with the tray accommodating section 811. Execute. Specifically, the second control unit 500 updates the storage table information stored in the data storage unit 504 based on the correspondence between the identification information of the tray 101 and the tray storage unit 811. Thereby, the second control unit 500 can recognize the tray accommodating section 811 in which each of the trays 101 is accommodated based on the accommodating table information. Note that whether or not the tray 101 is accommodated in the tray accommodating section 811 is detected by an optical sensor (not shown) provided in the tray accommodating section 811.

<Step S12>
Next, in step S12, the second control section 500 controls the accommodation unit 700 to perform a confirmation operation to confirm the correspondence between the tray 101 accommodated in the tray accommodation section 811 and the preparation data. Execute. This prevents the wrong tray 101 from being accommodated in the tray accommodating section 811.

Specifically, the second control unit 500 moves the movable housing 810 so that the tray accommodating portion 811 determined to accommodate the tray 101 in step S11 is disposed at the second moving position. move downward. Thereafter, the second control section 500 discharges the tray 101 accommodated in the tray storage section 811 to the first conveyance section 910 of the tray conveyance section 900, and The IC reader 930 reads the identification information of the tray 101 from the tag 101b of the tray 101. Then, the second control unit 500 compares the identification information of the tray 101 read by the IC reader 930 with the identification information of the tray 101 corresponding to the preparation data received from the first control unit 400. . Here, if the comparison result is a match, the second control section 500 returns the tray 101 to the tray accommodating section 811, completes the series of loading preparation processes, and returns the process to step S1. On the other hand, if the comparison results do not match, the second control section 500 causes the display 203 etc. to notify the error via the first control section 400 and ejects the tray 101 toward the tray ejection port 206. do. Thereby, the user can take out the tray 101 from the tray outlet 206.

[Mixed injection control process]
Next, an example of the mixed injection control process will be described with reference to FIG. 23.

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

For example, when the user uses the operation unit 405 to perform an operation to select the preparation data and immediately start the co-infusion process based on the preparation data, the first control unit 400 controls the preparation data. A request to start execution of the mixed injection process is transmitted to the second control unit 500. Further, if the execution start timing of the mixed injection process based on the preparation data has been reserved, the first control unit 400 starts execution of the mixed injection process regarding the preparation data when the execution start timing has arrived. A request is sent to the second control unit 500.

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

<Step S22>
In step S22, the second control unit 500 checks whether the preparation data reserved by the first control unit 400 includes preparation data to be subjected to a pre-stirring process for executing the stirring process in advance. to decide. Specifically, in the drug master, a pre-stirring target flag is stored in association with each drug, indicating whether or not the drug is subject to the pre-stirring process. Then, when the preparation data includes a drug set as a target of the pre-stirring process by the pre-stirring target flag, the second control unit 500 controls whether the preparation data is the target of the pre-stirring process. It is determined that Further, the second control unit 500 determines whether or not the pre-stirring process is to be performed, depending on the combination of the medicine in the medicine container 10 and the infusion solution in the infusion bag 12 that are stirred in the stirring step. may be judged. Note that, if a user operation for selecting any of the preparation data as a target of the pre-stirring process has been performed in advance, the second control unit 500 controls the selected preparation data to be a target of the pre-stirring process. It is also possible to determine that it is a target of pre-stirring processing. If it is determined that there is a target for the pre-stirring process (S22: Yes), the process moves to step S23, and if it is determined that there is no target for the pre-stirring process (S22: No). ), the process returns to step S21.

<Step S23>
In step S23, the second control unit 500 determines whether the pre-stirring process is executable. For example, the second control unit 500 may determine whether or not the mixed injection process is being executed, and determine that the pre-stirring process is executable when the mixed injection process is not being executed. Conceivable. Furthermore, it is also conceivable that the second control unit 500 determines that the pre-stirring process is executable during a preset specific time period such as at night or late at night. Note that the index for determining whether or not the pre-stirring process is executable is not limited to the one described here. If it is determined that the pre-stirring process is executable (S23: Yes), the process moves to step S24, and if it is determined that the pre-stirring process is not executable (S23: No). ), the process returns to step S21. Note that the second control unit 500 executes the pre-stirring process for the preparation data when a user operation is performed to select the preparation data and start the pre-stirring process. Good too.

Further, in step S23, the second control unit 500 sets a condition that the required time of the stirring step associated with the drug in the drug container 10 in the drug master is equal to or longer than a predetermined lower limit required time. It is also conceivable that the pre-stirring process is determined to be performed. That is, if the required time of the stirring step is less than the lower limit required time, the product is excluded from the pre-stirring process. As a result, the pre-stirring process is executed only when the stirring step takes a long time, and unnecessary execution of the pre-stirring process is suppressed. Note that the second control unit 500 can arbitrarily set the lower limit required time according to a user's operation. On the other hand, the second control unit 500 performs the pre-stirring on the condition that the required time of the stirring step associated with the drug in the drug container 10 in the drug master is less than a predetermined upper limit required time. It is also conceivable that the process is determined to be executed. That is, if the time required for the stirring step is equal to or longer than the upper limit required time, it may be excluded from the pre-stirring process. In this case, the pre-stirring process will be executed only when the stirring process does not require a long time, and due to the pre-stirring process, the mixed injection process etc. based on the other preparation data will be performed. Delays, etc. are suppressed. Note that the second control unit 500 can arbitrarily set the upper limit required time according to a user's operation.

<Step S24>
In step S24, the second control section 500 controls the mixed injection processing section 300 and the accommodation unit 700 to execute the pre-stirring process. Note that if a plurality of the preparation data to be subjected to the pre-stirring process are reserved, in steps S21 to S24, the preparation data to be processed are sequentially selected and the pre-stirring process is executed. Ru.

Note that the order of the preparation data selected as the processing target of the pre-stirring process is based on a temporal element such as the scheduled completion time or the execution start timing that is set in advance corresponding to the preparation data. Not exclusively. For example, as other embodiments, the preparation data may be selected in the order in which they are received from the host system 6, or the preparation data may be selected at random. Further, the preparation data may be selected such that the preparation data including a drug that requires a long time for the stirring step set in advance is selected preferentially, or the preparation data using the same drug or infusion is consecutive. It is possible that the order is determined. Furthermore, it is also possible that an index value indicating ease of coagulation after execution of the stirring process is stored in the drug master, and the preparation data is selected in order of difficulty in coagulating based on the index value. It will be done.

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

First, the second control section 500 controls the accommodation unit 700 and transfers the tray 101 associated with the preparation data selected as a processing target from the tray accommodation section 811 of the accommodation unit 700 to the mixed injection. The tray is automatically transported to the tray transport section 110 of the processing section 300. Note that the second control unit 500 identifies the tray storage unit 811 in which the tray 101 corresponding to the preparation data is stored based on the storage table information.

Thereafter, the second control unit 500 controls the first robot arm 21 to set the drug container 10 placed on the tray 101 on the stirring device 32 and use the stirring device 32 to remove the drug container 10. The above-mentioned stirring step of stirring the chemicals in the container is carried out.

Specifically, 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 using the IC reader 101c. Then, the second control unit 500 opens the shutter 111 when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process. Thereafter, the second control section 500 raises the instrument mounting section 102 of the tray 101 using the tray lifting section 112 of the tray transport section 110 to expose it to the mixed injection processing chamber 104 .

Next, the second control section 500 photographs the instrument placement section 102 using 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 placed on the equipment placement unit 102 by image recognition processing based on the image taken by the tray confirmation camera 41. Understand the direction. In particular, every time the drug container 10 or the syringe 11 is taken out from the instrument mounting section 102, the second control section 500 photographs the instrument mounting section 102 with the tray confirmation camera 41, and from the photographed image. The latest positions and orientations of the drug container 10 and the syringe 11 are ascertained.

Subsequently, the second control section 500 causes the first robot arm 21 to move the syringe 11 placed on the instrument placement section 102 exposed in the mixed injection processing chamber 104 to the placement shelf 33. Place it temporarily. Further, the second control unit 500 causes the first robot arm 21 to set the medicine container 10 placed on the equipment placement unit 102 in the medicine reading unit 34 . Then, the second control unit 500 reads information such as the type of medicine contained in the medicine container 10 using the medicine reading unit 34 .

Next, when all the instruments on the instrument mounting section 102 are taken out, the second control section 500 lowers the instrument mounting section 102 using the tray lifting section 112 of the tray conveyance section 110 to place the instrument on the tray. Return to 101. Note that the second control section 500 checks whether all the instruments on the instrument mounting section 102 have been taken out by image recognition processing based on the image taken by the tray confirmation camera 41.

Thereafter, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport end portion 110a. Next, the second control unit 500 causes the bag elevating unit 113 of the tray transport unit 110 to move the mixed injection port of the infusion bag 12 held 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 causes the second robot arm 22 to move the medicine container 10 set in the medicine reading unit 34 to the storage shelf 33. Meanwhile, in parallel with this movement process, the second control unit 500 causes the first robot arm 21 to attach and detach the injection needle 11c of the syringe 11 placed on the instrument placement unit 102. Set it in the device 43.

Next, the second control unit 500 uses the first robot arm 21 to take out the syringe 11 from the storage shelf 33 and sets it on the second robot arm 22 . Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle attaching/detaching device 43 to set the needle 11c on the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detection unit 36, and detects whether or not the injection needle 11c is bent.

Subsequently, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 that has been transported to the tray transport terminal end 110a by the second robot arm 22. Then, from the infusion bag 12, the amount of infusion indicated by the preparation data is aspirated. On the other hand, the second control unit 500 uses the first robot arm 21 to take out the drug container 10 placed on the storage shelf 33 .

Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to bring the drug container 10 and the syringe 11 closer to each other, and moves the injection needle 11c of the syringe 11 into the Puncture the drug container 10. Thereafter, the second control unit 500 injects the infusion in the syringe 11 into the medicine container 10 by operating the plunger 11b with the second robot arm 22.

Note that a dedicated container containing an infusion solution used in the pre-stirring process is housed in the co-infusion processing chamber 104, and in the pre-stirring process, the infusion solution in the dedicated container is transferred to the drug container 10. May be injected. It is also conceivable that a plastic ampoule containing an infusion or the like to be used in the pre-stirring process is set in the tray 101 in advance, and the infusion in the plastic ampoule is used in the pre-stirring process.

Next, the second control unit 500 uses the first robot arm 21 to set the medicine container 10 into which the infusion solution has been injected into the stirring device 32 . As a result, the stirring device 32 executes a stirring process in which the medicine and the infusion in the medicine container 10 are stirred. When the stirring process by the stirring device 32 is completed, the second control unit 500 uses the first robot arm 21 to take out the drug container 10 from the stirring device 32.

Then, the second control unit 500 controls the first robot arm 21 to move and place the drug container 10 on the storage shelf 33 in the mixed injection processing unit 300, and also The position on the storage shelf 33 is stored in the data storage unit 504 in association with the identification information of the preparation data. In addition, the said shelf 33 is an example of the 1st mounting part in which the said several said medicine container 10 can be mounted, and the said medicine container 10 after performing the said stirring process is mounted on the said shelf 33. The second control section 500 that executes the process for causing the image to be placed is an example of the first placement processing section. Further, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to move and place the syringe 11 on the shelf 33 in the mixed injection processing unit 300. At the same time, the position of the syringe 11 on the storage shelf 33 is stored in the data storage unit 504 in association with the identification information of the preparation data. Thereby, the second control unit 500 can specify the positions of the drug container 10 and the syringe 11 used in the co-infusion process based on the preparation data. Note that the syringe 11 used in the pre-stirring process may be a dedicated syringe used in the pre-stirring process and provided in advance on the shelf 33 for each type of infusion. .

Meanwhile, the second control section 500 controls the tray transport section 110 to return the infusion bag 12 to the tray 101 and move the tray 101 from the tray transport end section 110a to the tray transport start section 110b. let Thereafter, the second control section 500 controls the belt conveyor (not shown) provided at the tray conveyance start section 110b of the tray conveyance section 110, and passes the tray through the tray loading port 114 to the storage unit 700 side. The tray 101 is supplied to. The second control section 500 controls the storage unit 700 to store the tray 101 in the tray storage section 811 . The tray accommodating section 811 used at this time is associated with the identification information of the tray 101 in the accommodating table information. In this case as well, the second control unit 500 uses the IC reader 101c and the IC reader 930 to check the correspondence between the identification information of the tray 101 and the preparation data. In this way, in the pre-stirring process, the tray 101 is moved from the accommodation unit 700 to the mixed injection processing section 300, but the tray 101 is not carried into the mixed injection processing chamber 104 and is moved to the accommodation unit 700. It will be returned to 700. Therefore, contamination of the tray 101 during the pre-stirring process is prevented, and contamination of the tray accommodating section 811 on which the tray 101 returned from the mixed injection processing section 300 is placed is also prevented.

In the mixed injection device 1, the dedicated syringe 11, the plastic ampoule, etc. used in the pre-stirring process can be placed on the storage shelf 33, and the dedicated syringe 11, the plastic ampoule, etc. The pre-stirring process may be performed. For example, in the mixed injection device 1, the second control unit 500 performs an operation to request replenishment of the dedicated syringe 11 or the plastic ampoule used in the pre-stirring process, and also causes the mixed injection processing unit 300 to When the tray on which the syringe 11 or the plastic ampoule dedicated for use in the pre-article stirring process is loaded, the second robot arm 22 is controlled to move the syringe 11 or the plastic ampoule forward. It is set on the writing shelf 33. Further, the dedicated syringe 11 or the plastic ampoule used in the pre-stirring process may be placed at a predetermined position on the shelf 33 by the user.

By the way, if there is a plurality of preparation data that have the same combination and concentration of the drug and solution to be stirred in the pre-stirring process among the preparation data currently being reserved, It is conceivable that the pre-stirring process is executed only for a smaller number of the preparation data than the total number. Thereby, it becomes possible to use the chemical container 10 after the pre-stirring process for the mixed injection process corresponding to any one of the plurality of preparation data. Specifically, it is conceivable that the second control unit 500 reassigns the drug container 10 corresponding to one of the preparation data as a drug container 10 to be used in another of the preparation data. Thereby, wastage of the drug container 10 when the mixed injection process based on any of the preparation data is canceled is suppressed compared to the case where the pre-stirring process is executed for all the preparation data. . Note that the second control unit 500 may require a preset confirmation operation by the user when reassigning the drug container 10 and the preparation data. For example, at the start of the co-infusion process based on the preparation data, the second control unit 500 may cause the medicine containers 10 that have the same combination and concentration of medicine and infusion included in the preparation data to be placed in the storage unit 33. If the drug container 10 is already placed, an operation screen is displayed for selecting whether or not to use the drug container 10 in the mixed injection process based on the preparation data. Then, when an operation to use the drug container 10 is performed on the operation screen, the second control section 500 uses the drug container 10 in the mixed injection process.

<Step S211>
On the other hand, when the execution start timing of the mixed injection process has arrived (S21: Yes), the second control unit 500 executes the mixed injection process in subsequent steps S211 to S212. As described above, the second control unit 500 executes the co-infusion process, for example, when the user performs the immediate start operation or when the reserved execution start timing arrives. That is, the execution start timing of the co-infusion process includes the time when the reserved execution start timing arrives or the time when the user performs the immediate start operation. Specifically, in step S211, the second control unit 500 controls the accommodation unit 700, and moves the tray 101 associated with the preparation data whose execution start timing has arrived to the storage unit 700. The mixture is automatically supplied from the tray accommodating section 811 to the mixed injection processing section 300.

At this time, the second control unit 500 uses identification information of the tray 101 read from the IC tag 101b of the tray 101 that has been carried out from the tray accommodating unit 811 and placed on the first transport unit 910. , and the identification information of the tray 101 associated with the preparation data. Then, the second control unit 500 supplies the tray 101 to the mixed injection processing unit 300 when the comparison result is a match, and when the comparison result is a match, the second control unit 500 notifies the error and sends the tray 101 to the mixed injection processing unit 300. The tray 101 is discharged toward the tray discharge port 206. This ensures the accuracy of the correspondence between the tray 101 and the preparation data.

<Step S212>
In step S212, the second control unit 500 executes the mixed injection process based on the preparation data. However, if the preparation data is preparation data in which the stirring step has already been performed by the pre-stirring process, the mixed injection is performed using the chemical container 10 that has been stirred by the pre-stirring process. The process is performed and the stirring step is omitted.

Specifically, in the mixed injection process, the chemical container 10 that was the target of the pre-stirring process is not taken out from the tray 101, and is not placed on the storage shelf 33 during the pre-stirring process. The chemical container 10 placed thereon after the stirring process is used. Similarly, in the mixed injection process, the process of taking out the syringe 11 used in the pre-stirring process from the tray 101 was not performed, and the syringe 11 was placed on the shelf 33 during the pre-stirring process. The syringe 11 is used.

Then, the second control unit 500 omits the stirring step for the drug container 10 in the mixed injection process using the drug container 10 that has been already stirred by performing the stirring step in the pre-stirring process. do. As a result, the time required after the execution start timing of the co-infusion process arrives is shortened. In addition, the second control unit 500 performs the stirring step in the mixed injection process for the drug container 10 that has been stirred in the pre-stirring process compared to the case where the pre-stirring process is not performed. It is also conceivable to shorten the execution time.

As described above, in the co-infusion device 1, the pre-stirring process can be performed for the co-infusion process based on the preparation data using time such as when the co-infusion device 1 is not in use. be. Therefore, when the mixed injection process is subsequently executed based on the preparation data on which the pre-stirring process has been performed, the time required for the mixed injection process is shortened, and it is possible to efficiently execute the mixed injection process. Become.

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

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

On the other hand, the co-infusion device 1 includes the storage unit 700 that can accommodate a plurality of trays 101 as described above. Therefore, the mixed injection device 1 stocks the plurality of trays 101 after performing the mixed injection process in the storage unit 700, and executes the preparation inspection process on the preparation data corresponding to each of the trays 101. It is conceivable to have a batch preparation inspection function. Specifically, the co-injection control unit 100 uses the first control unit 400 or the second control unit 500 to execute the batch preparation inspection process described below according to the first co-injection control program or the second co-injection control program. By doing so, the batch preparation inspection function is realized. Note that the second control unit 500 can enable and disable the batch preparation inspection function according to a user's operation, and the same applies to other functions provided in the co-infusion device 1. Here, the mixed injection control section 100 when executing the batch preparation inspection process is an example of the accommodation processing section and the preparation inspection processing section.

[Batch preparation inspection processing]
Hereinafter, with reference to FIG. 24, an example of the batch preparation inspection process executed by the co-infusion device 1 when the batch preparation inspection function is enabled will be described.

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

<Step S32>
In step S32, the second control unit 500 executes a process for stocking the storage unit 700 with the tray 101 containing the infusion bag 12 after the co-infusion process. Specifically, the second control unit 500 controls the tray transport unit 110 to return the infusion bag 12 to the tray 101, and move the tray 101 from the tray transport end portion 110a to the tray transport start portion 110b. move it to. Subsequently, the second control section 500 controls the tray transport section 110 to supply the tray 101 to the storage unit 700 through the tray loading port 114.

Thereafter, the second controller 500 controls the storage unit 700 to store the tray 101 in the tray storage section 811 of the lifting unit 800. At this time, the second control section 500 updates the storage table information indicating the correspondence between the identification information of the tray 101 and the tray storage section 811. Further, the second control unit 500 reads the identification information of the tray 101 with the IC reader 930 before the tray 101 is accommodated in the tray accommodating section 811 of the accommodating unit 700, and reads the identification information of the tray 101 in the preparation process. It is compared with the identification information of the tray 101 associated with the data.

<Step S33>
In step S33, the second control unit 500 determines whether a predetermined preparation inspection start operation has been performed on the touch panel monitor 14 or the like. For example, the second control unit 500 causes the touch panel monitor 14 to display a list of the preparation data for which the co-infusion process has been performed in response to a user operation, and when one or more of the preparation data is selected, It is determined that the preparation inspection start operation has been performed for one or more pieces of the preparation data. Here, if it is determined that the preparation inspection start operation has been performed (S33: Yes), the process moves to step S34, and if the preparation inspection start operation has not been performed (S33: No), the process moves to step S31. will be returned to.

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

The second control unit 500 controls the tray corresponding to the preparation data every time the inspection completion operation indicating that the result of the mixed injection process is appropriate in the preparation inspection process corresponding to the preparation data is performed. 101 are sequentially discharged from the storage unit 700 toward the tray discharge port 206. Thereby, the user can take out the tray 101 from the tray outlet 206. Note that the tray 101 is not ejected until the inspection completion operation is performed. That is, the second control unit 500 restricts the removal of the tray 101 after the execution of the mixed injection process until the result of the mixed injection process is determined to be appropriate in the preparation inspection process.

In this manner, in the co-infusion device 1, the batch preparation inspection function allows the preparation inspection process to be executed in sequence for each piece of preparation data. Therefore, there is no need for the user to perform a confirmation operation every time the mixed injection process is completed, and the burden of user operations is reduced.

[Batch stirring inspection function]
Further, in the co-infusion device 1, as described above, after the stirring step is finished, the stirring inspection process is executed to inspect the stirring result of the stirring step. On the other hand, as described above, the co-infusion device 1 includes the storage unit 700 that can accommodate a plurality of the trays 101, and may perform the pre-stirring process on a plurality of the drug containers 10. Here, also in the pre-stirring process, if the agitation inspection process is executed every time the agitation process is completed, the user needs to check the agitation result each time.

Therefore, the co-infusion device 1 stores a plurality of drug containers 10 stirred in the stirring process executed by a plurality of pre-stirring processes on the storage shelf 33, and stores a plurality of drug containers 10 in the storage shelf 33. It is conceivable to provide a batch agitation inspection function that can execute the agitation inspection process for the containers 10 all at once. Specifically, the co-injection control unit 100 uses the first control unit 400 or the second control unit 500 to execute a batch stirring inspection process described below according to the first co-injection control program or the second co-injection control program. By doing so, the above-mentioned batch stirring inspection function is realized.

[Batch stirring inspection process]
Hereinafter, with reference to FIG. 25, an example of the batch stirring inspection process executed by the co-infusion device 1 when the batch stirring inspection function is enabled will be described.

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

<Step S42>
In step S42, the second control unit 500 executes a process for stocking the drug containers 10 after the stirring process on the storage shelf 33. Here, the second control section 500 that executes such processing is an example of a placement processing section. Specifically, the second control unit 500 controls the first robot arm 21 to move the medicine container 10 to the storage shelf 33 . Note that the data storage unit 504 stores arrangement table information indicating the correspondence between the identification information of the medicine container 10 and the arrangement on the storage shelf 33, and the second control unit 500 In S42, the arrangement table is updated.

<Step S43>
In step S43, the second control unit 500 determines whether a predetermined stirring inspection start operation has been performed on the touch panel monitor 14 or the like. For example, the second control unit 500 causes the touch panel monitor 14 to display a list of the drug containers 10 that have undergone the stirring process in response to a user operation, and if one or more of the drug containers 10 is selected; Then, it is determined that the stirring inspection start operation has been performed for one or more of the drug containers 10. Here, if it is determined that the agitation inspection start operation has been performed (S43: Yes), the process moves to step S44, and if the agitation inspection start operation has not been performed (S43: No), the process moves to the step S41. will be returned to.

<Step S44>
In step S<b>44 , the second control unit 500 executes the stirring inspection process for one or more of the chemical containers 10 placed on the storage shelf 33 and subjected to the stirring process. Here, the second control section 500 that executes such processing is an example of an agitation inspection processing section. Specifically, the second control unit 500 sequentially executes the stirring inspection process for one or more of the medicine containers 10 selected when the stirring inspection start operation is performed.

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

In this way, in the co-injection device 1, the batch stirring inspection function allows the stirring inspection process to be executed in sequence for each of the drug containers 10 that were subjected to the preliminary stirring process. Therefore, it is not necessary for the user to perform a confirmation operation every time the stirring step is completed, and the load on the user's operations is reduced.

[Schedule management function]
As described above, the co-infusion device 1 has a schedule management function that allows reservation of the co-infusion process for one or more of the preparation data. Specifically, the co-infusion control unit 100 uses the first control unit 400 or the second control unit 500 to execute the schedule management process described below according to the first co-infusion control program or the second co-infusion control program. This realizes the schedule management function.

[Schedule management processing]
An example of the schedule management process will be described below with reference to FIG. 26.

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

Specifically, when a predetermined operation for displaying the prescription selection screen P0 is performed using the operation unit 405, the first control unit 400 displays the prescription selection screen P0, and A reservation setting operation for the co-infusion process based on the preparation data is accepted in response to an operation on the operation unit 405 while the prescription selection screen P0 is displayed. In the reservation setting operation, the preparation data to be reserved is selected, and the scheduled completion time of the co-infusion process of the preparation data is specified.

Here, FIG. 27 is a diagram showing an example of the prescription selection screen P0. As shown in FIG. 27, on the prescription selection screen P0, there is an area A1 where a list of one or more of the preparation data input to the co-infusion device 1 is displayed, and the preparation data displayed in the area A1. An area A2 in which conditions for extracting data can be set is displayed. The area A1 includes a selection operation section A3 that allows you to arbitrarily select preparation data to be reserved from among the preparation data, and an input area A4 that allows you to input the expected completion time of each of the preparation data.

The first control unit 400 operates on the prescription selection screen P0 when the reservation setting key A5 is selected as a reservation target by the selection operation unit A3 and the scheduled completion time is input in the input area A4. If so, it is determined that the reservation setting operation has been performed. Note that it may be determined that the reservation setting operation has been performed on the condition that the selection operation section A3 selects the reservation target.

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

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

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

For example, the data storage unit 404 stores the required time for each preparation content specified by the preparation data, or stores information for calculating the required time, and the first control unit 400 A required time for the mixed injection process is calculated based on the required time. Then, the first control unit 400 sets the execution start timing based on the expected completion time and the time required for the co-infusion process. In addition, when the scheduled start time of the mixed injection process is specified by the reservation setting operation, the execution start timing is set according to the scheduled start time, for example, the scheduled start time is set as the execution start timing. Ru. Further, the calculation of the time required for the mixed injection process and the setting of the execution start timing may be performed in consideration of whether or not the pre-stirring process is to be executed.

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

Specifically, as shown in FIG. 27, on the prescription selection screen P0, the estimated completion time is input into each of the five input areas A4, and the five selection operation sections A3 are operated to input the preparation data. When selected as a reservation target, the first control unit 400 sets the execution start timing of each of the preparation data so that each of the preparation data is completed by the scheduled completion time. Note that FIG. 28A is a diagram showing the setting results of the execution start timings of the five preparation data shown in FIG. 27. The first control unit 400 displays an error on the display 203 to notify the user when the execution start timing cannot be set so that the five preparation data items are completed before the scheduled completion time. inform.

<Step S54>
Further, in step S54, the first control unit 400 determines whether or not a reservation change start operation to start changing the schedule information has been performed on the operation unit 405, and determines whether the reservation change start operation If it has been performed (S54: Yes), the process moves to step S55. For example, the first control unit 400 determines that the reservation change start operation has been performed when the reservation list key A6 displayed on the prescription selection screen P0 is operated. Note that if the reservation change start operation is not performed (S54: No), the process returns to step S51.

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

As shown in FIGS. 28A to 28C, the first control unit 400 displays the execution start timing of each of the preparation data along the time axis on the schedule setting screen P1 based on the schedule information. Here, the first control section 400 that executes such processing is an example of a display processing section. Thereby, the user can easily grasp the execution start timing of the co-infusion process corresponding to each of the preparation data by looking at the schedule setting screen P1. In addition, in the schedule setting screen P1, other information such as the scheduled completion time or the scheduled start time may be specified, in addition to the execution start timing of the co-infusion process corresponding to each of the preparation data.

<Steps S56 to S57>
In steps S56 and S57, the first control unit 400 executes a change process of changing the execution start timing corresponding to each of the preparation data. Here, the first control section 400 that executes the change processing is an example of a change processing section.

First, in step S56, the first control unit 400 determines whether an operation to change the execution start timing, scheduled start time, scheduled completion time, etc. of the preparation data has been performed on the operating unit 403. . Here, if it is determined that the change operation has been performed (S56: Yes), the process moves to step S57, and if it is determined that the change operation has not been performed (S56: No), the process moves to the step S55. do.

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

Specifically, the first control unit 400 can change the execution start timing of each of the preparation data in response to a user operation on the operation unit 405 while the schedule setting screen P1 is displayed. For example, in FIG. 28A, on the schedule setting screen P1, five preparation data whose patient IDs are "0007", "0004", "0008", "0002", and "0006" are reserved. An example is shown. In addition, in FIG. 28A to FIG. 28C, in the display area of each of the preparation data, the start point is the execution start timing of the co-infusion process, the end point is the execution end timing of the co-infusion process, and the period between is the execution of the co-infusion process. Each is shown below. Note that the schedule setting screen P1 includes not only the patient ID but also the order number. etc. may be displayed.

Then, as shown in FIG. 28A, the user performs an operation to move the area to a later date by dragging and dropping the area corresponding to the preparation data whose identification information is "0008" on the schedule setting screen P1. This may be performed as the above-mentioned change operation. In this case, the first control unit 400 shifts and displays the execution start timing of the preparation data whose identification information is "0008", as shown in FIG. 28B. Subsequently, as shown in FIG. 28B, the change operation is performed by the user to move the area corresponding to the preparation data whose identification information is "0002" forward by a drag-and-drop operation. It is sometimes done as. In this case, the first control unit 400 shifts and displays the execution start timing of the preparation data whose identification information is "0002" forward, as shown in FIG. 28C.

Thereafter, when a predetermined confirmation operation is performed, the first control unit 400 confirms the change in the execution start timing of the preparation data and updates the schedule information. In this way, in the co-infusion device 1, the user can easily change the execution start timing of the preparation data by intuitively moving the execution start timing of the preparation data on the schedule setting screen P1. be. Note that, when the change operation is performed or the confirmation operation is performed, if the execution times of the mixed injection processing based on a plurality of the preparation data overlap, The user is notified of this by displaying a warning message or the like on the schedule setting screen P1 to call attention to this fact.

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

In the co-infusion device 1, as described above, when the first control unit 400 determines in the co-infusion control process (FIG. 23) that the timing to start executing the reserved preparation data has arrived (S21 :Yes), the second control unit 500 is notified of this, and the mixed injection process based on the preparation data is executed. Here, the first control section 500 and the second control section 500 that execute such processing are an example of a reservation execution processing section.

[Batch total collection inspection function]
By the way, in the mixed injection process, when the entire amount of the drug in the drug container 10 is collected, a full amount collection inspection may be performed in which the user confirms that no drug remains in the drug container 10. . For example, the progress of the co-infusion process may be restricted until the user performs a confirmation operation after the user is notified of the completion of the total volume collection each time the total volume collection is completed. In this case, if the entire amount of medicine is collected from a plurality of drug containers 10 in the mixed injection process based on the preparation data, the entire amount collection inspection is performed every time the entire amount is collected for each of the drug containers 10. will be done. Therefore, it is necessary for the user to operate the co-injection device 1 every time the entire amount of the drug container 10 has been collected.

On the other hand, it is conceivable that the co-injection device 1 is provided with a collective whole-volume collection inspection function that executes the whole-volume collection inspection of a plurality of medicine containers 10 all at once. Specifically, the co-injection control unit 100 uses the first control unit 400 or the second control unit 500 to perform the below-described batch total collection inspection process according to the first co-injection control program or the second co-injection control program. By executing this, the above-mentioned batch total collection inspection function is realized.

[Batch total collection and inspection processing]
Hereinafter, with reference to FIG. 29, an example of the batch whole volume collection inspection process executed by the co-infusion device 1 when the batch whole volume collection inspection function is enabled will be described. Note that the batch total collection inspection process is executed together with the mixed injection process.

<Step S61>
In step S61, the second control unit 500 determines whether there are a plurality of drug containers 10 that are to be collected in the entire amount in the mixed injection process based on the preparation data. Here, if it is determined that there are a plurality of drug containers 10 to be collected in their entirety (S61: Yes), the process moves to step S62, and if there is no plurality of drug containers 10 to be collected in their entirety (S61: Yes), the process proceeds to step S62. If it is determined (S61: No), the batch total collection process ends.

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

<Step S63>
In step S63, the second control unit 500 controls the first robot arm 21 to place the drug container 10 to be collected, which is determined to have been completed in step S62, on the storage shelf 33. place At this time, the second control section 500 associates the medicine container 10 with the arrangement on the storage shelf 33 and stores it in the data storage section 504. Note that the above-mentioned placing shelf 33 is an example of a second placing part, and the above-mentioned second placing shelf 33 is an example of a second placing section, and the above-mentioned placing shelf 33 is an example of a second placing section, and the second placing section 33 is a second placing section when carrying out a process for placing the drug container 10 on the above-mentioned placing shelf 33 after the execution of the entire amount collection. The second control unit 500 is an example of the second placement processing unit. In addition, in this embodiment, the above-mentioned placing shelf 33 is an example of the above-mentioned first placing part and the above-mentioned second placing part, but the above-mentioned first placing part and the above-mentioned second placing part are provided individually. You can leave it there.

<Step S64>
In step S64, the second control unit 500 determines whether or not the entire amount has been collected for all of the plurality of drug containers 10 that are targets of the entire amount collection in the preparation data. Here, if it is determined that all the total amount collection has been completed (S64: Yes), the process moves to step S65, and if it is determined that all the total amount collection has not been completed (S64: No), the process The process moves to step S62.

<Step S65>
In step S65, the second control unit 500 notifies that the entire amount collection has been completed for all of the plurality of drug containers 10 that are targets of the entire amount collection in the preparation data. For example, the second control unit 500 causes the touch panel monitor 14 to display the completion of all collection. Further, the second control unit 500 may display the completion of the entire collection on the display 203 via the first control unit 400.

<Step S66>
In step S66, the second control unit 500 determines whether or not the touch panel monitor 14 has been operated to start a complete collection inspection. Here, if it is determined that the operation to start the total sample collection inspection has been performed (S66: Yes), the process moves to step S67, and the process continues until the operation to start the total sample collection inspection is performed (S66: No). The process waits in step S66.

<Step S67>
In step S67, the second control unit 500 sequentially executes a total amount collection inspection process for inspecting the results of the total amount collection for each of the drug containers 10 after the total amount collection. Here, the second control section 500 that executes such processing is an example of a total collection inspection processing section. Specifically, in the whole amount collection inspection process, the second control unit 500 controls the first robot arm 21 so that the bottom or side surface of the drug container 10 is in a position and posture that is visible to the user. The medicine container 10 is moved. After that, when the second control unit 500 receives the user's inspection confirmation operation for the drug container 10, it starts the whole amount collection inspection process for the next drug container 10. Thereafter, when the entire amount collection and inspection process for all of the drug containers 10 is completed, the inspection results are stored in the data storage section 504.

In addition, the second control unit 500 controls the first robot arm 21 in response to a user's operation, and changes the position to a plurality of positions in which the bottom or side surface of the drug container 10 can be confirmed from a plurality of angles. It is possible that Thereby, the user can view and confirm the drug container 10 from different angles, and can appropriately judge whether or not the entire amount of the drug container 1 has been properly collected. . Further, the second control unit 500 may sequentially display one or more images in which the bottom or side surface of the drug container 10 is photographed in advance, without changing the drug container 10 to a visible position and posture. can also be considered.

In addition, although a case has been described here in which the total volume collection inspection process is executed after the completion of all the volume collections included in the mixed injection process, as another embodiment, the second control unit 500 may perform the batch preparation inspection process. It is also conceivable to perform a complete collection inspection process during processing.

[Pre-inflation function]
In the co-infusion device 1, the second control unit 500 controls the second robot arm 22, and after suctioning the infusion into the infusion bag 12 using the syringe 11, the injection needle 11c is inserted into the infusion bag. It is conceivable that a predetermined amount of air inside the infusion bag 12 be sucked before the infusion bag 12 is extracted. Thereby, after the injection needle 11c of the syringe 11 is removed from the infusion bag 12, when the syringe 11 is moved, the possibility of dripping of the infusion from the injection needle 11c is suppressed.

On the other hand, in recent years, as the infusion bag 12 used in the co-infusion process, a special container also called an AL type, which contains an extremely small amount of air, has been known. In this manner, when the infusion bag 12 is the special container, the process of sucking a predetermined amount of air from the infusion bag 12 as described above may not be executed. For example, when the air in the infusion bag 12 is aspirated with the syringe 11, the injection needle 11c of the syringe 11 may come into contact with the infusion in the infusion bag 12 and unnecessarily aspirate the infusion. Therefore, the co-infusion device 1 has a pre-air injection function that allows air to be injected into the infusion bag 12 in advance when the infusion bag 12 used in the co-infusion process is the special container set in advance. It is conceivable to have the following.

Specifically, the drug master stored in the data storage unit 404 stores the type of container for each of the infusion bags 12. For example, the drug master stores a special flag indicating whether the infusion bag 12 is the special container such as the AL type. Then, based on the preparation data and the medicine master, if the infusion bag 12 used in the mixed injection process is the special container, the first control unit 400 informs the second control unit 500 to that effect. to notify. Accordingly, for example, at the start of the co-infusion process, the second control unit 500 executes a pre-air injection step of injecting a predetermined amount of air, which is set in advance, into the infusion bag 12 into the infusion bag.

Note that the preliminary air injection step is performed before a suction step of sucking an infusion from the infusion bag 12 or an injection step of injecting a liquid into the infusion bag 12 is performed in the co-infusion process. The execution start timing is not limited to the start of the mixed injection process. On the other hand, if the infusion bag 12 is not the special container, the preliminary air injection step is not performed. Note that instead of the first control section 400, the second control section 500 may determine whether or not the preliminary air injection step is necessary based on the preparation data and the drug master.

As explained above, when the co-infusion device 1 has the pre-air injection function, it is possible to increase the amount of air in the infusion bag 12 before the suction step or the injection step. be. Therefore, in the suction step or the injection step, before pulling out the injection needle 11c of the syringe 11 from the infusion bag 12, a predetermined amount of air in the infusion bag 12 is sucked and the infusion is dripped from the injection needle 11c. It is possible to suppress the

[Interrupt processing function]
In the mixed injection device 1, the tray 101 can be temporarily accommodated in the accommodation unit 700. Therefore, the co-infusion device 1 has an interrupt processing function that executes the co-infusion process based on the other preparation data in the middle of the co-infusion process while the co-infusion process is in progress. is possible. Thereby, the user of the co-infusion device 1 can preferentially execute the co-infusion process based on the preparation data when the preparation data with high urgency occurs.

Specifically, the first control unit 400 controls the second control unit when the preparation data to be interrupted is selected and a predetermined interrupt request operation is performed on the operation unit 405. 500, an interrupt request for the preparation data is sent. If the second control unit 500 receives the interrupt request while executing the mixed injection process, the second control unit 500 temporarily suspends the currently executed mixed injection process and responds to the interrupt request. The mixed injection process is executed based on the preparation data, and then the interrupted mixed injection process is restarted.

For example, when interrupting the co-infusion process, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to control the drug used in the co-infusion process currently being executed. The container 10 and the syringe 11 are placed on the placement section 33. Further, the second control section 500 controls the tray transport section 110 to place the infusion bag 12 on the tray 101, and return the tray 101 to the storage unit 700 to accommodate it. Then, the second control section 500 controls the accommodation unit 700 to supply the tray 101 corresponding to the preparation data corresponding to the interrupt request to the mixed injection processing section 300, and The mixed injection process is executed based on the corresponding preparation data. Thereafter, when the mixed injection processing is completed, the second control unit 500 causes the storage unit 700 to supply the tray 101 corresponding to the interrupted mixed injection processing again to the mixed injection processing unit 300, and performs the mixed injection processing. resume.

[Parallel preparation function]
In the co-infusion device 1, only one infusion bag holding section 103, one bag elevating section 113, one co-infusion communication port 37, and one tray conveying section 110 are provided, and the co-infusion process using the tray 101 is We have explained the case where the steps are executed individually and sequentially. On the other hand, as another embodiment, the co-infusion device 1 may include a plurality of sets of the infusion bag holding section 103, the bag elevating section 113, the co-infusion communication port 37, and the tray transport section 110. In the co-infusion device 1 configured in this way, the second control unit 500 can transport a plurality of trays 101 within the co-infusion device 1, and performs the co-infusion processing based on a plurality of pieces of preparation data in substantially parallel. It is conceivable to have a parallel preparation function that can be executed in parallel.

Specifically, a case will be considered in which the second control unit 500 executes a first co-injection process based on first preparation data and a second co-injection process based on second preparation data substantially in parallel. In this case, the second control unit 500 controls the second mixed injection process based on the second preparation data while the stirring step is being executed in the first mixed injection process based on the first preparation data. It is conceivable to carry out a process of loading equipment such as the medicine container 10, the syringe 11, and the infusion bag 12 from the tray 101 into the co-infusion processing unit 300 during the process.

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

In this way, in the co-infusion device 1 having the parallel preparation function, a plurality of the preparation data can be executed in parallel, so the idle time in each of the co-infusion processes can be effectively utilized and the plurality of preparation data can be processed in parallel. It becomes possible to efficiently perform the co-infusion processing based on the above-described method.

[Second embodiment]
Other embodiments of the present invention will be described below. Specifically, in this embodiment, another example of the schedule management function will be described. Note that the same configurations, processing procedures, etc. as in the first embodiment are given the same reference numerals, and their explanations will be omitted.

As shown in FIG. 30, the co-infusion device 1 according to the present embodiment is placed in a position where another worker can operate the operation unit 405, the display 203, etc. at a different position from the worker who performs the work. A touch panel monitor 208 is provided. Note that the display and operation using the touch panel monitor 208 described in this embodiment may be performed using the operation unit 405 and the display 203.

The touch panel monitor 208 includes a display section such as a liquid crystal display or an organic EL display that displays various information according to control instructions from the first control section 400, and an operation section such as a touch panel that accepts touch operations on the display section. Equipped with. Thereby, for example, the work of placing instruments on the tray 101 using the operation unit 405, the display 203, the barcode reader 204, etc., and the work of reserving the preparation data using the touch panel monitor 208 are performed. Can be executed in parallel.

In the co-infusion device 1 according to the present embodiment, the first control unit 400 can also display the prescription selection screen P0 on the touch panel monitor 208. Further, in the prescription selection screen P0, it is not possible to input the expected completion time of the preparation data in the input area A3, and the input area A4 is used as a display area for the expected completion time of the preparation data after reservation. Then, the first control unit 400 controls a state in which the preparation data is selected as a reservation target by the selection operation unit A3 on the prescription selection screen P0, or a state in which any of the preparation data is selected in the area A1. When the operation key A5 is operated, a reservation registration screen P10 for reserving a co-infusion process based on the preparation data is displayed on the touch panel monitor 208 for each preparation data. Here, FIG. 31 is a diagram showing an example of the reservation registration screen P10.

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

Further, on the reservation registration screen P10, operation keys K11 to K13 for accepting selection operations of reservation conditions for the preparation data and operation keys K14 for accepting execution of reservation for the preparation data are displayed. The operation key K11 is an operation key for selecting as a reservation condition a reservation without time specification in which the co-infusion process based on the preparation data to be reserved is executed in the idle time when no other co-infusion process is executed in the co-infusion device 1. . The operation key K12 is used to set, as a reservation condition, a temporary reservation in which co-infusion processing based on the preparation data to be reserved is executed with priority over other preparation data reserved by the reservation without time specification and the reservation with time specification described later. This is an operation key for selection. Note that when the operation key K12 is selected, if the preparation data reserved by the temporary reservation already exists, the execution order of the preparation data to be reserved can also be selected.

The operation key K13 is an operation key for selecting, as a reservation condition, a time-specified reservation in which co-infusion processing based on the preparation data to be reserved is executed based on an execution start timing preset by a user operation. Note that, as described above, the execution start timing is set by inputting the expected completion time of the mixed injection process (corresponding to the "preparation end time" in FIG. 31) or inputting the scheduled start time of the mixed injection process. . More specifically, when the operation key K13 is selected, the date and time for executing the co-infusion process based on the preparation data can be set on the reservation registration screen P10. For example, the reservation registration screen P10 shown in FIG. 31 is in a state where a reservation with a time specification is set to execute the mixed injection process by 19:02 on August 22nd.

Further, in the reservation registration screen P10, when a reservation with a time specification is made, a margin time for the expected completion time of the mixed injection process can also be set. The margin time indicates a changeable range in the case of advancing the execution timing of the co-infusion process after the scheduled completion time is set, and for example, the time set for each drug in the drug master, or the time set in the reservation registration screen P10. This is the time input according to user operations. For example, if the scheduled completion time is 19:02 and the margin time is 30 minutes, the execution timing of the mixed injection process is 18:32 or 19:02, which is 30 minutes before the scheduled completion time. It can be changed as long as the co-injection process is completed previously. Further, when the scheduled completion time is 19:02 and the margin time is 30 minutes, the execution timing of the mixed injection process is after 18:32, which is 30 minutes before the scheduled completion time. may be changeable within the range in which it is started.

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

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

When the temporary reservation is made for the preparation data, the first control section 400 causes the second control section 500 to execute the co-infusion process based on the preparation data with priority over other preparation data. More specifically, if the co-infusion device 1 is not currently executing a co-infusion process based on other preparation data, the first control unit 400 controls the co-infusion process based on the preparation data for which the temporary reservation was made. The second control unit 500 is caused to immediately execute the mixed injection process. In this case, if there is a mixed injection process based on the preparation data that has already been reserved, the execution start timing of the mixed injection process is at least reset to the timing after the execution of the mixed injection process based on the preparation data related to the temporary reservation. Set.

Further, in the case where the co-infusion device 1 is currently executing a co-infusion process based on other preparation data, the first control unit 400 may be configured to The second control unit 500 is caused to execute a co-infusion process based on the preparation data. Further, if a co-infusion process based on other preparation data is currently being executed, the first control unit 400 temporarily suspends the co-infusion process and restarts the co-infusion process based on the preparation data for which the temporary reservation was made. The second control unit 500 may be made to execute the process. Specifically, the second control unit 500 places the medicine container 10, the syringe 11, and other equipment related to the co-infusion process in progress on the storage shelf 33, and also places the infusion bag 12 on the tray. 101 and returns the tray 101 to the tray accommodating section 811 of the accommodating unit 700. Then, the second control unit 500 executes the mixed injection process based on the preparation data related to the temporary reservation, and resumes the interrupted mixed injection process after finishing the mixed injection process.

Further, when the reservation without time specification is made for the preparation data, the first control unit 400 performs a mixed injection process based on the preparation data for which the temporary reservation was made, and a preparation process for which the reservation with time specification was made. If the co-infusion process based on the data is not executed, the second control unit 500 executes the co-infusion process based on the preparation data in which the reservations without time specification were made in the order in which the non-time specification reservations were made. .

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

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

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

As described above, on the schedule setting screen P11, the first control section 400 adjusts the execution time of the co-infusion process based on the preparation data by dragging and dropping the index section P112 corresponding to the preparation data. It is possible to change. At this time, the first control section 400 may limit the drag-and-drop movable range of the index section P112 to within the margin time indicated by the index section P113. This prevents the execution time of the mixed injection process from being changed beyond the margin time.

Further, even when arbitrary preparation data is selected on the schedule setting screen P11 and the reservation editing key K21 is operated to start changing the reservation contents for the preparation data, the change operation is performed in step S56. It is determined that this has been performed (S56: Yes). In this case, the first control unit 400 pops up a reservation change screen P12 similar to the reservation registration screen P10 on the schedule setting screen P11, as shown in FIG. Note that the same information as the reservation registration screen P10 is displayed on the reservation change screen P12, and the first control unit 400 changes the reservation contents of the preparation data according to the operation on the reservation change screen P12.

Further, when the monitor key K22 is operated on the schedule setting screen P11, the first control section 400 displays the current status of each of the preparation data on the schedule setting screen P11, as shown in FIG. Display information indicating. Specifically, the schedule setting screen P11 shows the status of each of the preparation data, such as waiting for delivery, waiting for inspection, preparing, preparation error, waiting, etc., and the time required for mixed injection processing based on the preparation data. Preparation time is displayed. In addition, the state of the preparation data indicates that the confirmation process (S2 to S8) when the equipment such as the drug container 10 used in the mixed injection process based on the preparation data is placed on the tray 101 has been completed. This also includes "already prepared" indicating that the tray 101 on which equipment such as the drug container 10 is placed has been loaded into the storage unit 700.

Further, on the schedule setting screen P11, an operation section P114 that accepts operations regarding the mixed injection process based on each of the preparation data, and an operation section P115 that accepts operations regarding the tray 101 corresponding to each of the preparation data are displayed. There is. For example, the operation unit P114 includes various operations such as an inspection key that accepts an operation to start an inspection of the mixed injection process based on the preparation data, and a change key that accepts an operation to change the reservation details of the mixed injection process. A key is displayed. Furthermore, an eject key for ejecting the tray 101 from the tray ejection port 206 is displayed on the operation section P115. Note that if the mixed injection process among the preparation data has not been inspected, the take-out key is not displayed on the operation section P115, and the take-out key indicates that the mixed injection process has been inspected. The conditions are displayed on the operation section P115.

Further, on the schedule setting screen P11, a tab key P31 for displaying details of the preparation data selected on the schedule setting screen P11, and a tab key P32 for displaying the status of the co-infusion device 1 are displayed. . Then, when the tab key P31 is selected, the first control unit 400 displays the details of the preparation data, as shown in FIG. 32, and when the tab key P32 is selected, , the status of the co-infusion device 1 is displayed as shown in FIG. For example, as the state of the co-infusion device 1, the number of unused tray accommodating sections 811 among the tray accommodating sections 811 in the accommodating unit 700 is displayed.

Note that the touch panel monitor 208 is omitted, and the prescription selection screen P0, reservation registration screen P10, schedule setting screen P11, etc. related to the schedule management function are displayed on the display 203, and user operations are performed using the operation unit 405. It is also possible in other embodiments that the following is accepted.

Further, the storage unit 700 is not limited to storing the tray 101 on which equipment such as the drug container 10 used in the mixed injection process based on the preparation data is placed, but also for storing the empty tray 101. It is conceivable that it may be used. Specifically, the first control unit 400 performs processing for accommodating the empty tray 101 in the accommodating unit 700 and discharging the empty tray 101 from the accommodating unit 700 in response to a user operation. Execute the process to do so. This makes it possible to use the unused tray accommodating section 811 in the accommodating unit 700 to store the tray 101. For example, a user who is working can store the tray 101 without leaving the drug loading section 200. It becomes possible to acquire it from the accommodation unit 700.

[Third embodiment]
In this embodiment, another example of the loading preparation process will be described. Here, FIG. 36 is a flowchart showing another example of the loading preparation process. In the first embodiment and the second embodiment, after the preparation data reservation work is executed (S1), when various instruments are subsequently placed on the tray 101 corresponding to the preparation data, The case where the confirmation process (S2 to S8) is executed has been described. That is, in the first embodiment and the second embodiment, the task of reserving the preparation data corresponding to the tray 101 and the task of placing equipment on the tray 101 are performed in this order as a series of tasks. be done.

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

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

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

That is, in the co-infusion device 1 according to the present embodiment, the first control unit 400 performs the following operations on the condition that the confirmation process when placing various instruments on the tray 101 corresponding to the preparation data is completed. It becomes possible to make a time-specific reservation for mixed injection processing based on the preparation data. Therefore, the work of placing equipment on the tray 101 and the work of reserving the preparation data corresponding to the tray 101 are executed as a series of work. As a result, the preparation data is reserved on the condition that the equipment is correctly placed on the tray 101, and the preparation data is reserved before the equipment is correctly placed on the tray 101. Reservation work is prevented from being performed.

[Fourth embodiment]
Here, FIG. 37 is a diagram showing another form of the accommodation unit 700. As shown in FIG. 37, the storage unit 700 according to the present embodiment includes a fourth transport section 950 and a fifth transport section for temporarily retracting the tray 101 stored in the tray storage section 811. 960. The fourth transport section 950 can transport the tray 101 in the front-back direction, and the fifth transport section 960 can transport the tray 101 between the first transport section 910 and the fourth transport section 950 in the left and right directions. It can be transported in the direction. The fourth conveyance unit 950 and the fifth conveyance unit 960 are belt conveyors including a motor, a gear, a tension roller, a belt, etc., and the belt is driven by the motor, the gear, and the tension roller. As a result, the tray 101 held on the belt can be transported.

Furthermore, in the storage unit 700 according to the present embodiment, the tray discharge port 206 is arranged in front of the fourth transport section 950 instead of in front of the first transport section 910. The fourth conveyance section 950 is configured to be movable in the vertical direction, and is in a usable state in which the tray 101 placed on the fifth conveyance section 960 can be conveyed in the front-rear direction, and in a usable state in which it can be conveyed in the front-rear direction. It is possible to move between the enabled state and the retracted state in which it is retracted downward. More specifically, the fourth transport section 950 can transport the tray 101 placed on the fifth transport section 960 toward the tray discharge port 206. That is, in the accommodation unit 700, the tray 101 accommodated in the accommodation unit 700 includes the first conveyance section 910, the second conveyance section 920, the fifth conveyance section 960, and the fourth conveyance section 950. The trays are sequentially conveyed to the tray discharge port 206.

The fourth conveyance section 950 and the fifth conveyance section 960 can also be used to temporarily evacuate the tray 101 accommodated in the accommodation unit 700. Specifically, when all the tray accommodating sections 811 in the accommodating unit 700 are in use when the co-infusion process based on the preparation data is executed by the immediate start operation, the immediate start operation is performed. The tray 101 used in the mixed injection process that is started accordingly cannot be loaded into the mixed injection processing section 300 via the tray discharge port 701 and the tray loading port 114. On the other hand, when the second control unit 500 executes the co-infusion process based on the preparation data by the immediate start operation, if all the tray storage units 811 in the storage unit 700 are in use, In this step, the tray 101 accommodated in any of the tray accommodating sections 811 in the accommodating unit 700 is evacuated to the fourth transfer section 950 or the fifth transfer section 960. Then, the second control unit 500 controls the storage unit 700 to move the tray 101 on which chemicals and the like used in the mixed injection process executed by the immediate start operation to the tray loading port 114. and execute the mixed injection process. Note that the tray 101 evacuated to the fourth transport section 950 or the fifth transport section 960 is then returned to the tray accommodating section 811.

In particular, when the second control unit 500 executes the co-infusion process based on the preparation data by the immediate start operation, if all the tray storage units 811 in the storage unit 700 are in use, , among the trays 101 accommodated in the tray accommodating section 811 in the accommodating unit 700, the tray 101 corresponding to the mixed injection process based on the preparation data to be executed next is transferred to the fourth conveyance section 950 or the fourth conveyance section 950. 5 is evacuated to the transport section 960. Then, the second control unit 500 controls the storage unit 700 to move the tray 101 on which chemicals and the like used in the mixed injection process executed by the immediate start operation to the tray loading port 114. and execute the mixed injection process. Thereafter, the tray 101 evacuated to the fourth transport section 950 or the fifth transport section 960 is transferred to the tray discharge port 701 by the fifth transport section 960, the second transport section 920, and the third transport section 940. and is supplied to the mixed injection processing section 300.

1 Mixed injection device 10 Medicine container 11 Syringe 12 Infusion bag 21 First robot arm 22 Second robot arm 31 Amp cutter 32 Stirring device 33 Placement shelf 34 Medicine reading section 35 Weighing meter 36 Needle bending detection section 37 Mixed injection communication port 100 Mixed injection control Section 101 Tray 101a Electronic paper 101b IC tag 101c IC reader 110 Tray transport section 200 Chemical loading section 300 Mixed injection processing section 400 First control section 500 Second control section 600 Host system 700 Accommodation unit 800 Lifting unit 900 Tray transport section

Claims (1)

a mixed injection processing unit that executes mixed injection processing for injecting medicine from the medicine container into the infusion container;
a display section provided in a drug loading section used for placing the drug container or infusion container used in the mixed injection process on a tray on which the drug container or infusion container is placed in a predetermined position; and,
a control unit that displays on the display unit the type of the drug container or the type of the infusion container used in the co-infusion process;
a storage unit that includes a plurality of tray storage units that accommodate the trays and is capable of moving the trays between the mixed injection processing unit and the tray storage unit;
Equipped with
The control unit supplies the tray corresponding to the preparation data to be subjected to the mixed injection processing from the tray accommodating unit to the mixed injection processing unit, executes the mixed injection processing based on the preparation data, and performs the mixed injection processing to cause the drug to be removed by the mixed injection processing. accommodating the tray on which the infusion container in which is injected is placed from the mixed injection processing section into the tray accommodating section;
Mixed injection device.

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