JP2023159480A - Member mounting apparatus and control program - Google Patents

Abstract

To provide a member mounting apparatus capable of supporting the operation of mounting a relay member on a dispenser, and a control program.SOLUTION: A member mounting apparatus (1) according to the present invention comprises: a holding part that holds a relay member for relaying connection between a dispenser storing medicine and an administration instrument for use in administration of the medicine to a patient from the dispenser; and a member mounting processing part (500) in which the relay member held by the holding part is mounted on the dispenser.SELECTED DRAWING: Figure 1

Description

The present invention relates to a member mounting device for mounting a relay member on a dispensing container into which a medicine is injected.

A mixed injection device is known that performs a mixed injection process in which drugs such as anticancer drugs stored in a drug container such as a vial are aspirated with a syringe, and the drugs are injected into a dispensing container such as an infusion bag containing an infusion solution. (For example, see Patent Document 1).

By the way, in preparation for administering medicine stored in a dispensing container to a patient, a relay member that relays the connection between the dispensing container and an administration device such as an intravenous drip device used for administration to the patient is installed in the dispensing container. It may be installed. For example, the relay member may be a closed drug delivery system. As a result, at the site of administering drugs to patients, the worker only needs to connect the dosing device to the relay member, which makes it easier to dispense medicines on-site, compared to the case where the dosing device is directly connected to the dispensing container. This prevents chemical leakage from containers and radiation exposure of workers and patients.

JP 2019-721 Publication

However, the work of attaching the relay member to the dispensing container as a preparatory work for administering the drug contained in the dispensing container to a patient becomes a burden on the operator.

An object of the present invention is to provide a member mounting device and a control program that can support the work of mounting a relay member on a dispensing container.

The member mounting device according to the present invention includes a holding part that holds a relay member that relays the connection between a dispensing container containing a medicine and an administration device used for administering the medicine from the dispensing container to a patient. Be prepared.

The control program according to the present invention has one or more processors hold a relay member that relays a connection between a dispensing container containing a medicine and an administration device used for administering the medicine from the dispensing container to a patient. This is a control program for executing a member holding step.

According to the present invention, it is possible to provide a member mounting device and a control program that can support the work of mounting a relay member on a dispensing container.

FIG. 1 is a block diagram showing the configuration of a co-infusion system 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 diagram showing an example of a relay member used in the co-infusion device according to the embodiment of the present invention. FIG. 6 is a perspective view showing a tray used in the co-infusion device according to the embodiment of the present invention. FIG. 7 is a perspective view showing an infusion bag holding section used in the co-infusion device according to the embodiment of the present invention. FIG. 8 is a perspective view showing an infusion bag used in the co-infusion device according to the embodiment of the present invention. FIG. 9 is a perspective view showing an infusion bag holding section used in the co-infusion device according to the embodiment of the present invention. FIG. 10 is a perspective view showing an infusion bag holding section used in the co-infusion device according to the embodiment of the present invention. FIG. 11 is a perspective view showing a fixing member used in the co-infusion device according to the embodiment of the present invention. FIG. 12 is a perspective view showing a tray used in the co-infusion device according to the embodiment of the present invention. FIG. 13 is a perspective view showing a tray used in the co-infusion device according to the embodiment of the present invention. FIG. 14 is a perspective view showing a mounting section used in the co-infusion device according to the embodiment of the present invention. FIG. 15 is a perspective view showing a mounting section used in the co-infusion device according to the embodiment of the present invention. FIG. 16 is a perspective view of the co-infusion device according to the embodiment of the present invention, viewed from below. FIG. 17 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. 18 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. 19 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. 20 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. 21 is a schematic plan view showing the tray conveyance section of the co-infusion device according to the embodiment of the present invention. FIG. 22 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. 23 is a diagram for explaining the attachment detection section of the co-infusion device according to the embodiment of the present invention. FIG. 24 is a diagram showing the medicine reading section of the co-infusion device according to the embodiment of the present invention. FIG. 25 is a diagram showing the configuration of the accommodation unit of the co-infusion device according to the embodiment of the present invention. FIG. 26 is a flowchart illustrating an example of the procedure of mixed injection management processing executed by the mixed injection control device according to the embodiment of the present invention. FIG. 27 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 28 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 29 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 30 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 31 is a flowchart illustrating an example of the procedure of the mixed injection control process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 32 is a diagram for explaining a housing member for a relay member used in a co-infusion device according to an embodiment of the present invention. FIG. 33 is a diagram showing a resin pharmaceutical liquid container used in the co-infusion device according to the embodiment of the present invention. FIG. 34 is a diagram for explaining an example of a puncturing process performed by the co-infusion device according to the embodiment of the present invention. FIG. 35 is a schematic diagram showing a state in which a certain type of relay member is inserted into the mouth of an infusion bag. FIG. 36 is a diagram for explaining an example of a screen displayed on a touch panel monitor.

The following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention. In addition, below, description may be made using the front-back, left-right, and up-down directions defined in each figure.

[Co-infusion system 2] As shown in FIG. 1, the co-infusion system 2 according to the present embodiment includes a co-infusion device 1, a host system 600, a printer 506, and the like. The co-infusion device 1, the host system 600, the printer 506, and the like are connected to be able to communicate wirelessly or by wire.

[Mixed injection device 1] As shown in FIGS. 1 and 2, the mixed injection device 1 according to the present embodiment includes a mixed injection control device 100, a drug loading section 200, a mixed injection processing section 300, and a storage unit 700. The co-infusion device 1 is installed in a medical facility such as a hospital. In the co-infusion device 1, the co-infusion control device 100 controls the operations of the co-infusion processing section 300 and the storage unit 700 based on the preparation data, so that the anticancer drug indicated in the preparation data is injected into the syringe. A mixed injection process is performed in which drugs such as the following are injected from one or more drug containers containing a predetermined amount of drugs into a dispensing container such as an infusion bag. In this embodiment, the co-injection device 1 that executes the co-injection process will be described as an example of a component mounting device according to the present invention, but the component mounting device according to the present invention is a device different from the co-injection device 1. may be configured. In this case, after the co-infusion process in the co-infusion device 1 is executed, a member mounting operation, which will be described later, in the member mounting device will be performed.

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

The co-infusion control device 100 includes a first control section 400 and a second control section 500 that are communicably connected. The first control section 400 is provided on the drug loading section 200 side, and the second control section 500 is provided on the mixed injection processing section 300 side. Further, a printer 506 such as a monochrome printer, a color printer, or a label printer is connected to the first control unit 400 or the second control unit 500, and the printer 506 prints various information on paper or labels. used for.

The processing division of each of the first control unit 400 and the second control unit 500 described in this embodiment is only an example, and each process executed by the mixed injection control device 100 is The process may be executed by either one of the two control units 500. Moreover, as another embodiment, it is also possible that the co-infusion control device 100 is one control section or has three or more control sections. Note that 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.

The first control unit 400 is capable of communicating with the higher-level system 600 and receives the preparation data from the higher-level system 600. The host system 600 includes a control section 601 and a storage section 602. The control unit 601 is capable of accepting input of the preparation data, or generating the preparation data based on prescription data, and transmitting the preparation data to the first control unit 400. The storage unit 602 stores the prescription data or the preparation data. The preparation data is preparation data generated based on the prescription data or the prescription data itself. Note that the storage unit 602 may store various databases such as a pharmaceutical master, a patient master, a doctor master, a prescription category master, a clinical department master, and a ward master, which will be described later.

The prescription data includes prescription date, patient ID, patient name, patient date of birth, drug information (drug code, drug name, dose, etc.), therapy, 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 hospital room. The preparation data includes preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescribed amount of drug, type of drug container (ampule with drug solution, vial with drug solution, vial with powder drug). ), regimen type, preparation content information (type and number of drug containers, syringes, and needles used for co-infusion processing, etc.), preparation procedure information (work content, dissolving drug, solvent, amount of dissolved drug, amount of solvent, sampling This includes the date of preparation, prescription classification, date of administration, department, ward, and time required for preparation (preparation time).

The first control unit 400 is a computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, an operation unit 405, and the like. Furthermore, various electrical components such as a touch panel monitor 203, a barcode reader 204, an air purifying device 205, and an IC reader 207 provided in the chemical loading section 200 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. Specifically, the data storage unit 404 stores a first mixed injection control program for causing the CPU 401 to execute mixed injection management processing, which will be described later. Further, the data storage unit 404 stores the preparation data input from the host system 600.

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

The data storage unit 404 stores various databases such as a pharmaceutical master, a patient master, a doctor master, a prescription classification master, a clinical department master, and a ward master. The drug master includes the drug code, drug name, JAN code (or RSS), drug bottle code, category (dosage form: powdered medicine, tablet, solution, external medicine, etc.), specific gravity, viscosity, 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 storage capacity (predetermined amount), container shape information of the drug container, and weight of the drug container is included. Note that the drug master also includes information on the infusion bag 12 (an example of a dispensing container) containing an infusion such as saline or glucose. Further, in the drug master, it is registered in advance that the drug to be used as a leftover drug is a drug to be stored as a leftover drug, and the first control unit 400 controls the It is conceivable that the medicine container 10 is determined to be used as a leftover medicine.

Further, in the drug master, it is previously specified that a drug to which a relay member 90 (described later) is attached to the infusion bag 12 before being injected into the infusion bag 12 and dispensed is a drug to which the relay member 90 is attached. Registered. For example, highly volatile chemicals are not suitable for prior attachment of the relay member and are therefore excluded from the attachment target chemicals. Furthermore, in the medicine master, it is registered in advance that the infusion bag 12 to which the relay member 90 is attached is a dispensing container to be attached. For example, the infusion bag 12 larger than a preset size is not suitable for mounting the relay member 90 in the co-infusion device 1, and is therefore excluded from the dispensing containers to be mounted. The information on the drug to be attached or the information on the dispensing container to be attached in the drug master is used to determine whether or not to attach the relay member 90 to the infusion bag 12. In addition, in the drug master, if the information is such that it is possible to determine whether or not the relay member 90 needs to be installed, for example, types of medicines or types of infusion bags 12 that do not use the relay member 90 are not applicable for installation. Information to that effect may be registered.

Furthermore, the type of regimen indicated in the preparation data may be used to determine whether or not it is necessary to attach the relay member 90. Furthermore, information on whether or not to use a dosing pump during infusion using the infusion bag 12 outputted in the preparation data is registered in advance in the data storage unit 404, and based on the information, the relay member 90 It may be determined whether or not it is necessary to wear the device. In addition, when administering medicine to one patient from a plurality of the infusion bags 12, that is, when it is necessary to change the connection between the infusion device and the infusion bag 12 during the infusion, the relay is sent to each of the infusion bags 12. If the member 90 is attached, the work of reconnecting the infusion bag 12 is easy. Therefore, for example, if it is determined based on the preparation data that the relay member 90 is to be attached when medicines are administered to one patient from a plurality of the infusion bags 12, and only one infusion bag 12 is used. It may be determined that the relay member 90 is not attached.

Further, the data storage unit 404 stores remaining medicine information D30, standby information D31, and reservation correspondence information D32. The remaining medicine information D30 records information on the remaining medicines present in the co-infusion device 1, and the standby information D31 records the preparation data indicating that the co-infusion device 1 is waiting for execution of the co-infusion process. . The remaining drug information D30 and the standby information D31 are updated by the first control section 400 and the second control section 500. Note that updating of the remaining drug information D30 and the standby information D31 includes new registration, modification, deletion, etc. of data. The reservation correspondence information D32 is set or updated by the first control section 400 or the second control section 500 according to a user operation.

As shown in FIG. 29(A), the remaining drug information D30 includes the "preparation ID" which is the identification information of the preparation data, the "drug name", " "Remaining amount", "Date and time of opening", "Expiration date", "Preparation data scheduled for use", "Number of punctures", etc. are associated with each other. The planned use preparation data is identification information such as a preparation ID for identifying preparation data for which the remaining medicine is planned to be used. Note that the remaining medicine information D30 also includes other information such as positional information on a shelf 33, which will be described later, on which the medicine container 10 containing the remaining medicine is placed. In addition, when the leftover medicine is a mixed medicine, the leftover medicine information D30 includes the components of the mixed medicine (drug name, solvent name), solvent amount, remaining amount, opening date and time, expiration date, scheduled use preparation data, and various information such as the number of punctures.

As shown in FIG. 29(B), the standby information D31 includes "preparation ID" which is the identification information of the preparation data, "tray ID" which is the identification information of the tray 101, and the storage location of the tray 101. The identification information of the tray accommodating section 811 "accommodating section No." is associated with it. In addition, in the standby information D31, each of the preparation data includes "drug name", "amount used", "predetermined amount", "whether leftover drug is used", " Information such as "chemical loading/absence" and "execution timing" is also associated. In the standby information D31 shown in FIG. 29(B), each of the preparation data is displayed from the top in the order in which the co-infusion process is executed first.

As shown in FIG. 30(A), in the reservation correspondence information D32, a reference item D321 and a reservation condition D322 corresponding to the reference item D321 are associated.

The reference item D321 indicates the content of information that is referred to when reserving the execution timing of the co-infusion process based on the preparation data, among various information included in the preparation data to be reserved. For example, the reference item D321 is a ward, a hospital room, a therapy, a drug name, a treatment type, a patient ID, or the like. Hereinafter, in this embodiment, as shown in FIG. 30(A), a case where the content of the reference item D321 is information on the ward of the patient corresponding to the preparation data will be described as an example.

The reservation condition D322 is information used to set the execution timing of the co-infusion process based on the preparation data. Specifically, the reservation condition D322 is a reservation time slot, a reservation date, a reservation day of the week, or the like. Hereinafter, in this embodiment, as shown in FIG. 30(A), a case where the content of the reservation condition D322 is the reservation time slot will be described as an example.

More specifically, in the reservation correspondence information D32 shown in FIG. 30(A), when the ward is "Ward A", the reservation time slot is "before 9 o'clock", and when the ward is "Ward B", the reservation time slot is "before 9 o'clock". In some cases, the reservation time slot is set to be "9:00 to 10:00". That is, in the reservation correspondence information D32, the execution timing of the co-infusion process based on the preparation data corresponding to the patient admitted to ward A is before 9 o'clock, and the execution timing is based on the preparation data corresponding to the patient admitted to ward B. It is determined that the execution timing of the mixed injection process should be between 9:00 and 10:00.

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

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

The CPU 501 is a processor that executes processing according to various control programs. The ROM 502 is a 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 a second mixed injection control program for causing the CPU 501 to execute mixed injection control processing, which will be described later. 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 from the first control section 400.

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 medicine loading section 200, and the description of the storage unit 700 is omitted.

As shown in FIGS. 2 and 3, the chemical loading section 200 is a clean bench equipped with a door 201, a work table 202, a touch panel monitor 203, a barcode reader 204, an air purifier 205, a tray outlet 206, etc. be. The drug loading section 200 and the mixed injection processing section 300 communicate with each other through a tray loading port 114 (see FIG. 16) and a tray discharge port 701 (see FIG. 24) formed on the side surface of the mixed injection processing section 300. There is.

The door 201 is provided on the front surface of the chemical loading section 200, and is a transparent member that can be opened and closed vertically and vertically. As shown in FIG. 2, the user opens the door 201 slightly and puts his/her hand into the drug loading section 200, and performs preparation work for the mixed injection process to be executed by the mixed injection device 1.

Specifically, the co-infusion device 1 includes a tray 101 used for loading a drug container 10, a syringe 11, an infusion bag 12, a relay member 90, etc. into the co-infusion device 1. The tray 101 placed on the work table 202 accommodates a drug container 10, a syringe 11, an infusion bag 12, a relay member 90, etc. used in the co-infusion process performed by the co-infusion device 1. . 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 infusion bag 12 contains a predetermined amount of infusion, such as physiological saline, glucose, or high-calorie infusion, corresponding to the type of the infusion bag 12 . In this embodiment, the infusion bag 12 is an example of a dispensing container dispensed from the co-infusion device 1. The infusion bag 12 includes, for example, a soft bag or a hard bottle.

The relay member 90 relays the connection between the infusion bag 12 and an administration device such as an intravenous drip device used to administer medicine from the infusion bag 12 to a patient. Specifically, as shown in FIG. 5, the relay member 90 includes a puncture section 91, a connecting section 92, a body section 93, a fitting section 94, and the like. Note that the relay member 90 may be referred to as a closed system drug transfer device (CSTD).

The puncture part 91 is a needle part that punctures the infusion bag 12. The relay member 90 is attached to the infusion bag 12 by puncturing the infusion bag 12 with the puncturing part 91 . An opening 91A is formed in the puncture section 91, and the opening 91A and the connecting section 92 communicate with each other through the internal space of the body section 93. Then, when the administration device such as the drip device is attached to the relay member 90, the connection portion provided on the administration device and the connection portion 92 are connected. Thereby, the administration device and the inside of the infusion bag 12 are communicated via the relay member 90, and it is possible to administer the medicine in the infusion bag 12 to the patient using the administration device. For example, the relay member 90 may be Chemosaflock "KL-BS01" manufactured by Terumo Corporation, and the connection part 92 and the connection part of the administration device can be connected without using a needle part. It is. Note that the relay member 90 may be any member used to suppress radiation exposure when the infusion bag 12 and the administration device are connected, and is not particularly limited to the one described here. For example, in another embodiment, a rubber stopper is provided in the connecting part 92 of the relay member 90, and when the connecting part 92 and the connecting part of the administration device are connected, the needle part of the connecting part is inserted into the connecting part. By puncturing the portion 92, the connecting portion 92 and the connecting portion of the administration device may be connected.

The fitting portion 94 is used for positioning, etc. when the relay member 90 is placed on the tray 101. Specifically, the fitting portion 94 is an elliptical plate-shaped portion having two major diameter portions, each of the major diameter portions protruding outward from the body portion 93 when viewed from the axial direction of the puncture portion 91. ing. Note that the fitting portion 94 may be inclined with respect to the axial direction of the puncturing portion 91 as long as it protrudes to the outside of the body portion 93 when viewed from the axial direction of the puncturing portion 91 . Further, the fitting portion 94 is not limited to an elliptical shape, but may be a polygonal shape such as a rectangle, or a rod shape.

The body portion 93 has a fitting portion 264a and a fitting portion 264b of a holding portion 264 (described later) provided on the holding portion 26 when held by the holding portion 26 of the second robot arm 22 (described later). A fitting portion 93A and a fitting portion 93B are provided. Thereby, the relay member 90 is stably held by the holding portion 26. In this embodiment, the fitting portion 93A is a concave portion that fits into the fitting portion 264a, which is a convex portion, and the fitting portion 93B is a convex portion, which fits into the fitting portion 264b, which is a concave portion. It is. Note that the body portion 93 may have only one of the fitting portion 93A and the fitting portion 93B. Although not shown, the relay member 90 is set on the tray 101 with a cap attached to the puncture section 91.

In the preparation work, for example, the drug container 10, the syringe 11, the infusion bag 12, the relay member 90, etc. are placed at predetermined positions on the tray 101 as necessary, and the tray 101 is placed in the housing. A loading operation for loading the unit 700 is included. In this embodiment, a case will be described in which the drug container 10 is a vial. On the other hand, the drug container 10 may be a drug container in another shape such as an ampoule.

The work table 202 is used to prepare for the co-infusion process executed by the co-infusion device 1, and the work table 202 includes the touch panel monitor 203, the barcode reader 204, the tray 101, etc. It will be placed. Furthermore, the 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 the IC reader 207 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 touch panel monitor 203 has 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 from the user. include.

The barcode reader 204 reads a barcode written on a prescription or preparation instruction, 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.

Here, an example of the structure of the tray 101 will be described with reference to FIGS. 6 to 15. Note that the structure of the tray 101 is not limited to that described here.

As shown in FIG. 6, the tray 101 includes electronic paper 101a provided on the front surface of the tray 101, and an IC tag 101b provided on the bottom surface of the tray 101. The electronic paper 101a is used to display characters such as patient name (patient identification information), regimen name (regimen identification information), and administration. The IC tag 101b is an RFID (Radio Frequency Identification) tag on which various types of information can be read and written, and identification information for identifying the tray 101 is stored therein.

The tray 101 includes an equipment placement section 102 on which the drug container 10, the syringe 11, the relay member 90, etc. are placed, and an infusion bag placement section 103 on which the infusion bag 12 is placed. . Furthermore, an infusion bag holding section 103A (see FIG. 7) that holds the infusion bag 12 is removably attached to the infusion bag placement section 103. Note that the equipment placement section 102 is also removable from the tray 101.

As shown in FIG. 7, the infusion bag holding section 103A includes a fixing member 140 for fixing the infusion bag 12, and an engagement hole 103a used when raising and lowering the infusion bag holding section 103A. has. Note that, as shown in FIG. 8, the infusion bag 12 includes a mouth portion 12A, a neck portion 12B, a main body portion 12C, and a rubber stopper 12D for sealing the mouth portion 12A.

As shown in FIGS. 9 and 10, the fixing member 140 is removable from the mounting portion 140A of the infusion bag holding portion 103A. In particular, in the infusion bag holding section 103A, a plurality of types of fixing members 140 corresponding to a plurality of types of the infusion bags 12 can be selectively attached to the mounting section 140A.

As shown in FIG. 11, the fixing member 140 has a pair of gripping parts 140B that grip the neck 12B of the infusion bag 12. The pair of gripping parts 140B have elasticity in opposing directions, and can grip the neck part 12B of the infusion bag 12 from above and below. Thereby, the fixing member 140 can grip a plurality of types of the infusion bags 12 with neck portions 12B having different diameters within the allowable range of elastic deformation of the gripping portion 140B.

Further, as shown in FIG. 11, the fixing member 140 has a pair of ribs 140C that protrude further forward than the front edge 140D of the gripping part 140. When the infusion bag 12 of the type in which the length of the neck portion 12B is short and the diameter of the mouth portion 12A is smaller than the distance between the pair of ribs 140C is fixed to the fixing member 140, the grip portion The edge 140D of the infusion bag 140B contacts the edge 12E (see FIG. 8) of the mouth 12A of the infusion bag 12, thereby restricting the infusion bag 12 from moving backward. On the other hand, when the infusion bag 12 of a type in which the length of the neck portion 12B is long and the diameter of the mouth portion 12A is larger than the distance between the pair of ribs 140C is fixed to the fixing member 140, the grip portion 140B The rib 140C, rather than the edge 140D, comes into contact with the edge 12E (see FIG. 8) of the opening 12A of the infusion bag 12, thereby restricting the rearward movement of the infusion bag 12. Note that when the infusion bag 12 moves forward, the edge 12F (see FIG. 8) of the main body 12C of the infusion bag 12 comes into contact with the fixing member 140 or the wall of the infusion bag holding part 103A. limited by. In this manner, in the fixing member 140, the gripping portion 140B and the rib 140C can restrict the movement of at least two types of infusion bags 12 having different lengths of the section beauty 12B in the front-rear direction. be.

Returning to the explanation of FIG. 6, the instrument mounting section 102 is provided with a plurality of instrument support sections 102A that support the drug container 10, the syringe 11, and the like. In particular, the equipment mounting section 102 has an inclined surface that supports the drug container 10, the syringe 11, etc. in a tilted state. As shown in FIG. 18, the syringe 11 includes a syringe 11a, a plunger 11b, and an injection needle 11c, and when the syringe 11 is placed on the equipment support section 102A, the syringe 11a, the plunger 11b and the injection needle 11c may be in an assembled state, or the syringe 11a and the plunger 11b and the injection needle 11c may be in a separated state.

In addition, as shown in FIGS. 12 and 13, in the equipment mounting section 102, a mounting section 102C on which the relay member 90 can be mounted is connected to one or more of the equipment supporting sections 102A. It can be attached to and detached from the support portion 102B. That is, the specific support portion 102B can be used both for placing instruments such as the drug container 10 or the syringe 11, and for placing the placement portion 102C. In addition, as another embodiment, the device placement section 102C may be fixed or integrally formed at a predetermined position of the instrument placement section 102.

As shown in FIGS. 14(A) and 14(B), the mounting portion 102C includes a member supporting portion 102D, a fitting portion 102E, a side wall portion 102E1, a bottom surface 102F, a bottom surface 102G, a top surface 102H, etc. . The fitting portion 102E is an opening formed in the member support portion 102D, passing through the member support portion 102D in the vertical direction, and is capable of fitting into the fitting portion 94 of the relay member 90. The opening size of the fitting part 102E is such that the fitting part 94 of the relay member 90 can be inserted therethrough, and the opening size of the fitting part 94 inserted into the fitting part 102E is large enough to allow the fitting part 94 to be inserted into the fitting part 102E in the front-rear direction and the left-right direction. The size is such that movement can be restricted. Note that the fitting portion 102E may be a groove or a recess into which the fitting portion 94 can fit.

The mounting portion 102C is supported in an inclined state, with the bottom surface 102F and the bottom surface 102G being inclined as shown in FIG. 13 by the inclined surface formed on the specific support portion 102B. In particular, when the mounting portion 102C is attached to the specific support portion 102B, the direction in which the fitting portion 102E passes through the member support portion 102D is inclined with respect to the vertical direction. For example, the penetration direction may be perpendicular to the inclined surface of the specific support portion 102B, or may be a vertical direction.

Then, as shown in FIGS. 15(A) and 15(B), the fitting part 94 of the relay member 90 is inserted into the fitting part 102E of the mounting part 102C from above, and the fitting part 94 is inserted into the fitting part 102E of the mounting part 102C from above. 94 and the fitting portion 102E are fitted, the relay member 90 is supported in a specific posture by the mounting portion 102C. Specifically, in the relay member 90, the fitting portion 94 is supported by the inner surface of the opening of the fitting portion 102E, and the body portion 93 is supported by the member support portion 102D. In this way, the fitting portion 94 and the fitting portion 102E can fit into each other when the relay member 90 is in the specific posture. For example, the specific posture is a posture in which the fitting portion 94 of the relay member 90 can be inserted into the fitting portion 102E, and one of the two major diameter portions of the fitting portion 94 of the relay member 90 is This is a state in which the fitting portion 102E is oriented in the depth direction of the opening.

Specifically, the side wall portion 102E1 has a pair of side walls sandwiching the fitting portion 102E, and the width between each of the side walls is larger than the short axis of the elliptical fitting portion 94, It is smaller than the major axis of the fitting part 94. Therefore, when the relay member 90 is in the specific posture in which the longer diameter portion of the fitting portion 94 is oriented in the depth direction of the opening of the fitting portion 102E, the fitting portion 94 is connected to the fitting portion 102E. It can be placed on the mounting portion 102C while being inserted through the portion 102E. On the other hand, when the relay member 90 is in a posture in which the short diameter portion of the fitting portion 94 is directed in the depth direction of the opening of the fitting portion 102E, the fitting portion 94 is connected to the side wall portion 102E1. Since the insertion into the fitting portion 102E is restricted by contacting with, it is not possible to place it on the placement portion 102C in this position. That is, the relay member 90 cannot be placed on the mounting portion 102C unless it is in the specific posture in which the longer diameter direction of the fitting portion 94 and the side wall of the side wall portion 102E1 are approximately parallel. The relay member 90 is prevented from being placed on the mounting portion 102C in a posture different from the predetermined specific posture.

In particular, the displacement of the posture of the relay member 90 on the mounting portion 102C is restricted by the fitting portion 94 being inserted into the fitting portion 102E. Specifically, in the relay member 90, the rotation of the puncturing part 91 around the axis is restricted by the fitting of the fitting part 94 and the fitting part 102E, and the movement in the left-right direction and the front-back direction is restricted. limited. Thereby, the relay member 90 is stably supported by the mounting portion 102C. On the other hand, when the relay member 90 is placed on the mounting portion 102C while the relay member 90 is not in the specific posture, that is, the fitting portion 94 is not inserted into the fitting portion 102E, the The displacement of the relay member 90 is not restricted, resulting in an unstable state. Therefore, when placing the relay member 90 on the placement section 102C, the user can easily determine whether or not the relay member 90 is placed in the correct position or posture. , it is prevented from being placed in an incorrect posture.

The tray 101 is loaded into the storage unit 700 after the user sets the medicine container 10, the syringe 11, the infusion bag 12, the relay member 90, and other equipment. As will be described later, the plurality of trays 101 can be accommodated in the accommodation unit 700, and the trays 101 can be delivered from the accommodation unit 700 to the mixed injection process through the tray discharge port 701 and the tray loading port 114 as needed. 300 automatically. Thereafter, after the co-infusion process in the co-infusion processing unit 300 is completed, the tray 101 is discharged from the tray outlet 15 of the co-infusion processing unit 300 with the infusion bag 12 accommodated therein, or 700 and is discharged from the tray discharge port 206 of the chemical loading section 200.

Incidentally, the work of attaching the relay member 90 to the infusion bag 12 as a preparation for administering medicine to a patient from the infusion bag 12 using a dosing device such as an intravenous drip device places a burden on the operator. In contrast, in the co-infusion device 1 according to the present embodiment, the infusion bag 12 can be dispensed with the relay member 90 attached to the infusion bag 12, and the relay member 90 can be attached to the infusion bag 12. 90 can be supported.

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

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

The main door 301 is opened and closed to access the mixed injection processing chamber 104 for the purpose of cleaning the mixed injection processing chamber 104 provided in the mixed injection processing section 300 or taking out the drug container 10, for example. . In the co-infusion device 1, in addition to dispensing the infusion bag 12 filled with medicine, it is also possible to dispense the syringe 11 filled with medicine, and the syringe take-out door 302 is used for the co-infusion process. It is used when taking out the syringe 11 from the 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 execution of the co-infusion process in the co-infusion process chamber 104 .

The touch panel monitor 14 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 second control section 500, and an operation section such as a touch panel that accepts touch operations from the user. include.

[Mixed injection processing chamber 104] As shown in FIGS. 3 and 4, the mixed injection processing chamber 104 includes a first robot arm 21, a second robot arm 22, a stirring device 32, a mounting shelf 33, and a medicine reading section 34. , a weighing scale 35, a needle bending detection section 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, and a dust cover 132a. Further, as shown in FIG. 16, a tray confirmation camera 41, a syringe confirmation camera 42, a needle attachment/detachment device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, etc. are provided on the ceiling of the mixed injection processing chamber 104. There is. The needle insertion confirmation camera 44 can photograph the state of puncturing the syringe 11 or the relay member 90 into the rubber stopper 12D of the infusion bag 12.

[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 have a base end on the ceiling side of the co-infusion processing chamber 104. It is fixed and installed in a hanging shape. Note that the first robot arm 21 is an example of a first drive section according to the present invention, and the second robot arm 22 is an example of a second drive section according to the present invention.

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. 16, the first robot arm 21 includes a holding section 25 capable of holding instruments such as the drug container 10, the syringe 11, and the relay member 90 in a movable manner. It is possible to move the holding part 25 to any position within a predetermined movable range. The second robot arm 22 includes a holding part 26 that can displaceably hold instruments such as the drug container 10, the syringe 11, and the relay member 90, It is also possible to move the relay member 90 and the like to any position within a predetermined movable range. Further, the holding section 26 is an operation section that can perform suction and injection operations using the syringe 11.

As shown in FIG. 17, the holding section 25 of the first robot arm 21 includes a pair of gripping sections 25a, a motor 251, two threaded shafts 252 and 253 rotated by the motor 251, and the Nut blocks 254 and 255 are screwed onto threaded shafts 252 and 253.

The pair of gripping parts 25a are gripping parts having recesses suitable for holding the medicine container 10. The pair of gripping parts 25a are fixed to the nut blocks 254 and 255, respectively. Then, the nut blocks 254 and 255 move due to the rotation of the screw shafts 252 and 253, and the pair of gripping parts 25a approach and separate from each other, and the holding part 25 holds the chemical container 10, the relay member 90, etc. hold or release the hold. The holding portion 25 can also hold the injection needle 11c or the syringe 11 by the pair of gripping portions 25a.

As shown in FIG. 18, the holding section 26 of the second robot arm 22 includes a syringe holding section 261 (an example of a first holding section), a plunger holding section 262 (an example of a second holding section), and a moving section 263. Equipped with The syringe holding section 261 includes a pair of gripping sections 261a that hold the syringe 11a of the syringe 11. The pair of gripping parts 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 parts 261a, an inclined part 261b that slopes downward from the upper end surface of the gripping part 261a toward the opposing surface is formed on the opposing surfaces that face each other.

The plunger holding section 262 includes a pair of gripping sections 262a that hold the flange of the plunger 11b of the syringe 11. The pair of gripping parts 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 driving mechanism used in the holding part 25. be.

Specifically, a grip portion 262b is fixed to the upper surface of each of the grip portions 262a. Each of the gripping portions 262b is a gripping portion that can be moved close to and separated from each other by moving the pair of gripping portions 262a close to each other and separated from each other, and grips not only the syringe 11 but also other instruments such as the drug container 10 and the relay member 90. It is. Note that a recess into which the flange of the plunger 11b enters is formed on the upper surface of the pair of gripping portions 262a facing each other. Moreover, the tips of the pair of gripping parts 262b protrude more forward than the pair of gripping parts 262a, so that the pair of gripping parts 262b can easily grip equipment such as the medicine container 10. Note that the gripping portion 262b may be provided on the gripping portion 261a.

Although omitted in FIG. 18, in the co-infusion device 1 according to the present embodiment, as shown in FIGS. 19 and 20, the gripping portion 262b includes a pair of holding portions that grip the relay member 90. 264 (an example of the third holding part) is fixed. Note that the holding portion 264 is removable from the gripping portion 262b.

The pair of holding parts 264 grip and release the relay member 90 by approaching and separating from each other along with the approaching and separating of the pair of grip parts 262b. Further, the pair of holding parts 264 is arranged such that the puncture part 91 of the relay member 90 is in one direction (forward direction) in the moving direction of the plunger holding part 262 (the front-rear direction in FIGS. 18 to 20). ) The relay member 90 is held in a protruding state.

Further, the pair of holding parts 264 include a fitting part 264a and a fitting part 2 that fit into the fitting part 93A and the fitting part 93B of the relay member 90.
64b. In this embodiment, the fitting portion 264a is a convex portion, and the fitting portion 264b is a concave portion. As shown in FIG. 20, when the relay member 90 is held by the pair of holding parts 264, the fitting part 264a and the fitting part 264b, the fitting part 93A and the fitting part 93B, and the rotation of the relay member 90 around the axis is restricted. Thereby, the relay member 90 is stably held by the holding portion 264.

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.

Furthermore, by moving the plunger holding section 262 along the moving direction, the moving section 263 can move the relay member 90 held by the holding section 264 in the same direction. Thereby, the second control unit 500 controls the second robot arm 22 to execute a puncturing process of puncturing the puncturing part 91 of the relay member 90 into a dispensing container such as the infusion bag 12. is possible. That is, in the co-infusion device 1, the second robot arm 22 used for the co-infusion process can be used to attach the relay member 90 to the infusion bag 12.

[Tray Conveyance Unit 110] The mixed injection processing unit 300 also includes a unit capable of reciprocating the tray 101 between the tray loading port 114 at the right end in FIG. 16 and the tray conveyance terminal end 110a at the left end in FIG. A tray transport section 110 is provided.

Here, FIG. 21 is a schematic plan view showing an example of the conveyance path of the tray 101 in the tray conveyance section 110. As shown in FIG. 21, 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 cover 132a. It is provided so that it can be transported by

In FIG. 21, the trays 101 moving within the tray conveyance section 110 are shown with chain double-dashed lines in order to show the conveyance path of the tray conveyance section 110. The tray 101 does not exist. Furthermore, 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, the tray transport section 110 is provided with 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 103A of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags. The IC reader 101c is provided at a tray transport start section 110b into which the tray 101 is loaded from the tray loading port 114. Further, the IC reader 15a is provided at the tray conveyance terminal end portion 110a where the tray 101 is discharged from the tray discharge port 15.

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 opened by sliding 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. 21 shows a state in which the instrument mounting section 102 is exposed in the mixed injection processing chamber 104.

The tray transport section 110 is provided with a tray lifting section 112 that raises and lowers the instrument mounting section 102 of the tray 101 that has been moved into the tray transport section 110 through the tray loading port 114. As shown in FIG. 22, 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 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, the relay member 90, 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, syringes 11, and relay members 90 indicated by the preparation data. It is determined whether or not any of the above items are present on the equipment mounting section 102.

Further, as shown in FIG. 22, a bag elevating section 113 for elevating and lowering the infusion bag holding section 103A 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 section 500 raises the infusion bag holding section 103A by rotationally driving the arcuate gear section 113b in which the hook section 113a is formed using the motor 113c. 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 103A, so that the opening 12A of the infusion bag 12 faces upward or downward. It can be done.

Further, as shown in FIG. 16, 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. ing. 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.

Further, in the tray conveyance terminal end portion 110a, when the relay member 90 is attached to the infusion bag 12, an attachment detection unit 122 is provided for determining whether or not the relay member 90 is properly attached to the infusion bag 12. is provided, and the detection result by the attachment detection section 122 is input to the second control section 500. For example, the attachment detection section 122 is a transmissive or reflective optical sensor.

Specifically, when the attachment detection section 122 is a transmission type optical sensor, as shown in FIGS. 23(A) and 23(B), the attachment detection section 122 includes a light emitting section 122A and a light receiving section. 122B. Then, the attachment detection section 122 irradiates the laser beam L1 from the light emitting section 122A, and depending on whether or not the laser beam L1 is received by the light receiving section 122B, the relay member 90 attaches to the infusion bag 12. to detect whether the device is properly attached. Specifically, the light emitting section 122A and the light receiving section 122B, as shown in FIG. 23(A), when the relay member 90 is inserted into the infusion bag 12 by a predetermined amount , the rear end of the relay member 90 is not on the optical path of the laser beam L1, and as shown in FIG. 23(B), the relay member 90 is inserted into the infusion bag 12 by less than the predetermined amount. If not, the rear end of the relay member 90 is installed in a positional relationship such that it is on the optical path of the laser beam K1. Note that the attachment detection unit 122 detects whether the relay member 90 is attached after the infusion bag 12 has moved to a predetermined position different from the position of the infusion bag 12 when the drug is injected into the infusion bag 12. It may be provided at a position where it is possible to detect the suitability of the test.

[Agitator 32] The agitator 32 stirs the medicine in the medicine container 10 by swinging one or more medicine containers 10 set in the agitator 32.

[Placement Shelf 33] As shown in FIG. 4, the placement shelf 33 is used to temporarily store equipment such as the drug container 10 and the syringe 11 during the mixed injection process performed in the mixed injection device 1. It will be done. Further, the storage shelf 33 is also used to store the medicine container 10 in which the medicine used in the mixed injection process remains. The storage shelf 33 is provided at a position accessible to both the first robot arm 21 and the second robot arm 22.

The storage shelf 33 includes an equipment mounting area where the equipment used in the mixed injection process is placed, and a storage area where the medicine containers 10 containing the chemicals used in the mixed injection process are placed. A medicine placement area is provided. One or more preset medicine containers 10 can be placed in the remaining medicine placement area. A presence detection sensor for detecting the presence of equipment is provided on the first robot arm 21 or the second robot arm 22, and the first robot arm 21 or the second robot arm 22 is moved horizontally in front of the storage shelf 33. The co-infusion device 1 may also be moved in the vertical direction so that the co-infusion device 1 can determine whether or not an instrument is present on the storage shelf 33. Furthermore, by providing a sensor that detects not only the presence but also the type of the equipment present in place of the presence detection sensor, the co-infusion device 1 can detect what kind of equipment is present on the storage shelf 33. It may be possible to understand it.

[Drug Reading Unit 34] The drug reading unit 34 reads a barcode written on a label affixed to the drug container 10 such as the ampoule or the vial and indicating drug information of the contained drug. Specifically, the medicine reading section 34 includes two rollers 34a and a barcode reader 34b, as shown in FIG. 24. The rollers 34a are arranged facing 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 in the circumferential direction, and 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 Meter 35] The weighing scale 35 is used to measure the weight of the syringe 11 in the co-infusion process executed in the co-infusion device 1, and the measurement result by the weighing scale 35 is sent to the second control unit 500. is input. 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.

[Mixed injection communication port 37] As shown in FIG. 3, the mixed injection communication port 37 is formed in a dome-shaped portion that projects outward in the wall that partitions the tray conveyance terminal end 110a and the mixed injection processing chamber 104. It is an opening. Further, a notch is formed in the dome-shaped portion to allow the opening 12A of the infusion bag 12 to pass through in the vertical direction. Therefore, when the infusion bag holding section 103A rises, the opening 12A of the infusion bag 12 is located within the co-infusion processing chamber 104. Thereby, the injection needle 11c of the syringe 11 held by the second robot arm 22 or the puncture portion 91 of the relay member 90 can be inserted into the mouth portion 12A of the infusion bag 12.

[Accommodation Unit 700] Next, the accommodation unit 700 will be described with reference to FIG. 25. Note that the following description may be made using the up, down, left, and right directions shown in FIG. 25 .

The accommodation unit 700 includes a tray loading section 712, a lifting unit 800, and the like, and is controlled by the mixed injection control device 100. The tray loading section 712 and the lifting unit 800 are arranged behind the work table 202. The storage unit 700 can accommodate a plurality of trays 101, and the mixed injection control device 100 can carry out any tray 101 from the storage unit 700 to the mixed injection processing section 300. 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 712 is opened and closed to load the tray 101 into the lifting unit 800 in the storage unit 700. The user can load the tray 101 into the lifting unit 800 by sliding the tray 101 backward on the work table 202.

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 vertically within the movable housing 810, and the like. 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 accommodation unit 700. The movable housing 810 is configured such that at least the tray accommodating section 811 at the topmost stage is located above the tray loading section 712, and the tray accommodating section 811 at the bottom stage is located below the tray loading section 712. It is possible to move up and down between the two states.

The storage unit 700 also includes a transport mechanism (not shown) that can transport the trays 101 loaded in each tray storage section 811 from the tray storage section 811 to the mixed injection processing section 300 via the tray discharge port 701. ). Further, the transport mechanism (not shown) can transport the trays 101 supplied from the mixed injection processing unit 300 to each of the tray storage units 811. That is, in the mixed injection device 1, the tray 101 can be transported from the tray storage section 811 to the mixed injection processing section 300, and the tray 101 after the execution of the mixed injection processing can be stored in the tray storage section 811. It is possible to do so.

[Mixed Injection Process] Next, an example of a procedure of a mixed injection process executed in the mixed injection device 1 by controlling the mixed injection processing section 300 by the mixed injection control device 100 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. In the mixed injection process, after the medicine is injected into the infusion bag 12, the relay member 90 is attached to the infusion bag 12 as necessary, and the infusion bag 12 is discharged.

Here, the medicine contained in the medicine container 10 is a powder-like medicine that needs to be dissolved, and a mixed injection process will be described when the medicine is mixed with an infusion and then injected into the infusion bag 12. Further, here, processing after the tray 101 is supplied from the storage unit 700 to the mixed injection processing section 300 will be described.

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 detects the medicine container 10, the syringe 11, and the relay member 90 placed on the equipment placement unit 102 by image recognition processing based on the image taken by the tray confirmation camera 41. Understand the location and orientation of equipment such as equipment. In particular, each time the second control unit 500 takes out the drug container 10, the syringe 11, or the relay member 90 from the equipment placement unit 102, the second control unit 500 photographs the equipment placement unit 102 with the tray confirmation camera 41. Then, the latest positions and orientations of the drug container 10 and the syringe 11 are grasped from the captured image.

In particular, as described above, when the relay member 90 is properly placed on the mounting portion 102C, the relay member 90 is in the specific posture. Therefore, the second control unit 500 searches for the relay member 90 placed in the specific posture, for example, in the captured image of the tray confirmation camera 41, and makes sure that the relay member 90 is properly placed. It can be easily determined whether the Then, the second control unit 500 uses the tray confirmation camera 41 to notify an error etc. when the relay member 90 is not properly placed on the equipment placement section 102C of the equipment placement section 102.

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. Note that the second control unit 500 may set the syringe 11 on the second robot arm 22 without temporarily placing the syringe 11 on the storage shelf 33 using the first robot arm 21 . Next, the first robot arm 21 temporarily places the relay member 90 placed on the equipment placement section 102 on the placement shelf 33 . Thereafter, the second control section 500 causes the first robot arm 21 to set the medicine container 10 placed on the equipment placement section 102 in the medicine reading section 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 opening 12A of the infusion bag 12 held by the infusion bag holding unit 103A of the tray 101 to the mixed injection process. It is located at the mixed injection communication port 37 formed in the chamber 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 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 syringe 11a of the syringe 11 attached. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted. By the way, if the threading between the injection needle 11c and the syringe 11a in the syringe 11 set on the tray 101 is not sufficient, there is a risk of liquid leakage from the injection needle 11c during the mixed injection process or the injection There is a risk that the needle 11c may fall off. Further, if the injection needle 11c and the syringe 11a are screwed together more than necessary, there is a possibility that the injection needle 11c is tilted. Therefore, when the injection needle 11c is attached to the syringe 11a of the syringe 11 and set on the tray 101, the second control unit 500 uses the injection needle attaching/detaching device 43 to 11c and the syringe 11a may be appropriately screwed together.

For example, the second control unit 500 controls the second robot arm 22 and the injection needle attaching/detaching device 43, and rotates the injection needle 11c screwed into the syringe 11a in a direction in which the screwing is loosened. , the injection needle 11c is rotated in the direction for screwing again (referred to as the first screwing mode). Then, when the torque when rotating the injection needle 11c by the injection needle attaching/detaching device 43 reaches a preset predetermined value at which the screwed state is appropriate, the second control unit 500 controls the injection The rotation of the needle 11c is stopped. Thereby, the injection needle 11c and the syringe 11a are screwed together in an appropriate screwed state. Note that the second control unit 500 may switch whether or not to execute the first screwing mode according to a user operation.

The second control unit 500 also prevents the injection needle 11c screwed onto the syringe 11a from rotating in a direction in which the injection needle 11c screwed onto the syringe 11a is loosened. It is also conceivable to perform only the operation of rotating in the direction of screwing (referred to as the second screwing mode). Note that the second control unit 500 may be capable of switching whether or not to execute the second screwing mode. Furthermore, the second control unit 500 may be able to switch between the first screwing mode and the second screwing mode according to a user operation.

Subsequently, the second control unit 500 inserts the injection needle 11c of the syringe 11 into the rubber stopper 12C of the mouth portion 12A of the infusion bag 12, which has been transported to the tray transport end portion 110a by the second robot arm 22. A transfusion suction process is performed in which the transfusion bag 12 is punctured to aspirate an amount of transfusion indicated by the preparation data from the transfusion bag 12. In the infusion suction step, the infusion bag 12 placed on the tray 101 is not used, but the infusion bag 12 that has been loaded in the co-infusion device 1 in advance for common use in a plurality of co-infusion processes for a plurality of patients. The infusion solution may be aspirated from a dissolution infusion container such as a dissolution infusion bag. 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 . Further, the weight of the syringe 11 after the infusion suction step is measured, and based on the measurement result, it is determined whether the amount of infusion that is supposed to be aspirated based on the preparation data is aspirated into the syringe 11, If it is determined that the amount of infusion that should have been aspirated has not been aspirated, the user may be notified of this fact.

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 executes an infusion injection step of injecting the infusion in the syringe 11 into the medicine container 10 by operating the plunger 11b with the second robot arm 22. In this way, when the drug is a powder, the mixed injection process includes the infusion suction step of drawing out the infusion from the infusion bag 12 with the syringe 11, and the infusion step of injecting the infusion from the syringe 11 into the drug container 10. An infusion injection step is performed. As a result, the medicine in the medicine container 10 is dissolved in the infusion solution and becomes a medicine solution. At this time, the postures of the syringe 11 and the drug container 10 are such that the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the drug container 10 is directed vertically upward.

Next, the second control unit 500 uses the first robot arm 21 to set the medicine container 10 on the stirring device 32 and stir the medicine and infusion in the medicine container 10 using the stirring device 32. Execute the stirring process. The stirring time in the stirring step is predetermined, for example, depending on the type of the chemical. Further, the stirring time may be predetermined for each combination of the drug and the infusion solution, or may be changed depending on the amount of the drug in the drug container 10. 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.

Here, the second control unit 500 takes out the drug container 10 after stirring by the first robot arm 21, and then moves the drug container 10 to a preset low position by the first robot arm 21. It is conceivable to move the chemical container 10 to a lower position so that the liquid level of the chemical container 10 can be shown to the operator. For example, the low position is a position lower than the eye level of a worker standing in front of the co-infusion device 1, and is a position determined in accordance with a preset height of the worker. That is, the low position is a position where the operator can visually check the liquid level in the chemical container 10 from above. Thereby, the operator can easily check the degree of dissolution of the medicine by looking at the liquid level in the medicine container 10.

Note that the second control unit 500 may execute the lowering position movement step only when the medicine to be dissolved in the medicine container 10 is a predetermined specific medicine. The specific medicine is, for example, a medicine that floats on the liquid surface when it is not sufficiently dissolved in the medicine container 10. Further, the second control unit 500 executes the lower position moving step for the medicine floating on the liquid surface when the dissolution in the medicine container 10 is not sufficient, and when the medicine is not sufficiently dissolved in the medicine container 10, For drugs that sink to the bottom, the first robot arm 21 moves the drug container 10 to a preset high position to show the bottom of the drug container 10 to the operator, instead of the lower position moving step. A high position movement step may also be performed. For example, the high position is a position higher than the eye level of a worker standing in front of the co-infusion device 1, and is a position determined in accordance with a preset height of the worker. That is, the high position is a position where the operator can visually check the bottom surface of the medicine container 10 from below.

Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to puncture the injection needle 11c of the syringe 11 into the drug container 10, and causes the second robot arm 22 to By operating the plunger 11b, a drug suction step is performed in which the drug in the drug container 10 is sucked into the syringe 11. At this time, the syringe 11 and the drug container 10 are in such a state that the mouth of the drug container 10 is directed vertically downward, and the injection needle 11c of the syringe 11 is directed vertically upward. The postures of the syringe 11 and the drug container 10 are such that at least the tip of the injection needle 11c of the syringe 11 is directed above the horizontal direction, and the opening of the drug container 10 is directed below the horizontal direction. It suffices as long as it is directed.

Thereafter, the second control unit 500 inserts the injection needle 11c of the syringe 11 into the rubber stopper 12C of the mouth portion 12A of the infusion bag 12, which has been transported to the tray transport end portion 110a by the second robot arm 22. A drug injection step is performed in which the drug in the syringe 11 is injected into the infusion bag 12 by puncturing. In this manner, the mixed injection process includes the drug suction step in which the drug is sucked from the drug container 10 with the syringe 11, and the drug injection step in which the drug is injected from the syringe 11 into the infusion bag 12. executed. Further, the weight of the syringe 11 immediately before the drug injection step is measured, and based on the measurement result, it is determined whether the weight of the drug in the syringe 11 is the same as the amount to be injected into the infusion bag 12, and the same amount is determined. If it is determined that the amount is not enough, the user may be notified to that effect.

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

In the mixed injection process, after the medicine is injected into the infusion bag 12, the second control unit 500 controls the second robot arm 22 to hold the relay member 90 with the holding unit 264. Then, a member mounting operation for mounting the relay member 90 on the infusion bag 12 is performed. That is, in the co-infusion device 1, the second robot arm 22 used in the co-infusion process can also be used for the member mounting operation. Note that the co-infusion device 1 may be provided with a drive device such as a robot arm that can perform the member mounting operation separately from the second robot arm 22.

First, in the member mounting operation, the second control section 500 executes a member holding step of holding the relay member 90 by the holding section 264 provided on the holding section 26 of the second robot arm 22. Specifically, the second control unit 500 controls the first robot arm 21 and the second robot arm 22, takes out the relay member 90 from the storage shelf 33, and removes the relay member 90 from the first robot arm 21. It is moved to the holding part 26 of the second robot arm 22. At this time, the second control section 500 opens and closes the holding section 264 of the second robot arm 22 to hold the relay member 90 in the holding section 264 .

Note that when a cap is attached to the puncture section 91 of the relay member 90, the cap of the puncture section 91 of the relay member 90 held by the holding section 264 of the second robot arm 22 is attached to the puncture section 91 of the relay member 90. 1 by using the holding section 25 of the robot arm 21. Further, the cap of the puncturing part 91 of the relay member 90 held by the holding part 25 of the first robot arm 21 may be removed using the holding part 26 of the second robot arm 22.

Next, in the member mounting operation, the second control section 500 controls the second robot arm 22 to mount the relay member 90 held by the holding section 264 onto the infusion bag 12 in a member mounting step. Execute. The second control unit 500 that executes the member mounting unit step is an example of the member mounting processing unit according to the present invention.

Specifically, the second control section 500 controls the second robot arm 22 to move the puncture section 91 of the relay member 90 to a position in front of the mouth section 12A. Then, the second control unit 500 controls the moving unit 263 to move the relay member 90 by a predetermined amount in a direction approaching the mouth portion 12A, so that the puncture portion of the relay member 90 A puncturing process is performed in which the puncturing part 91 punctures the rubber stopper 12D of the mouth part 12A to a specific position at 91. In this way, since the relay member 90 is pierced into the rubber plug 12D by the moving unit 263, the driving shaft of the second robot arm 22 is controlled to pierce the relay member 90 into the rubber plug 12D. The processing load on the second control unit 500 and the operational load on the second robot arm 22 can be suppressed compared to the above configuration. On the other hand, in another embodiment, the relay member 90 is held by the gripping part 261a or the gripping part 262a of the holding part 26 of the second robot arm 22, and the drive shaft of the second robot arm 22 is controlled. The relay member 90 may be inserted into the rubber stopper 12D.

In the puncturing process, the second control unit 500 punctures the puncturing part 91 at a predetermined OUT port position in the rubber stopper 12D. For example, the OUT port is the center of the rubber stopper 12D. Further, the second control unit 500 may puncture the puncturing part 91 into a region where the injection needle 11c of the syringe 11 is not punctured in the co-infusion process. In addition, since the second control unit 500 controls the second robot arm 22 to puncture the injection needle 11c into the rubber stopper 12D, it is possible to know the puncture position of the injection needle 11c in the rubber stopper 12D. It is.

By the way, when puncturing the rubber plug 12D with the puncturing part 91, it is also conceivable to puncture the puncturing part 91 into the rubber plug 12D at once and release the grip of the relay member 90 by the holding part 264. . However, if the operation of puncturing the rubber plug 12D with the puncturing part 91 is performed at once, the puncturing part 91 is inserted into the rubber plug 12D with the rubber plug 12D being bent in the puncturing direction of the puncturing part 91. Even if the puncturing part 91 moves by the specific amount, the puncturing part 91 may not puncture the rubber stopper 12D to the specific position. In this case, when the grip of the relay member 90 by the holding section 264 is released, the repulsive force generated when the bending of the rubber plug 12D is released causes the relay member 90 to move to the side opposite to the puncturing direction. will be moved to. That is, the relay member 90 may be attached to the infusion bag 12 without the puncturing portion 91 of the relay member 90 being punctured to the specific position.

Therefore, the second control unit 500 includes a step of moving the puncturing part 91 in the first direction to pull it out from the rubber plug 12D after the puncturing part 91 penetrates the rubber plug 12D, and moving the puncturing part 91 to the first direction. and moving in a second direction opposite to the first direction, respectively, are performed once or multiple times.

Specifically, the second control section 500 controls the second robot arm 22 to move the tip of the puncture section 91 to a predetermined initial position in front of the rubber stopper 12D. Then, the second control section 500 controls the moving section 263 of the second robot arm 22 to move the puncture section 91 by a first predetermined amount from the initial position toward the rubber stopper 12D. A penetrating operation is performed to penetrate the rubber stopper 12D. For example, the first predetermined amount is the specific amount that is predetermined for puncturing the rubber stopper 12D with the puncturing part 91 to the specific position. As shown in FIG. 35, the relay member 90 may include a pair of slip-off prevention members 90Z that are caught on the edge 12E. The pair of slip-off preventing members 90Z are biased in a direction in which the tips 90Y approach each other, and when the puncture section 91 is inserted into the mouth 12A, the tips 90Y are caught on the edge 12E, thereby causing the puncture section to close to each other. 91 from coming off from the opening 12A. When the relay member 90 includes the slippage prevention member 90Z, the relay member 90 is moved to a position where the distal end 90Y of the slippage prevention member 90Z is caught on the edge 12E in the puncturing step. When the mouth portion 12A is thin (the length in the extending direction of the neck 12B is short), the puncture portion 91 punctures the rubber stopper 12D when the tip 90Y of the slip-off preventing member 90Z is caught on the edge 12E. In some cases, the rubber stopper 12D is not reached. When the mouth portion 12A is thin, the relay member 90 is held until the puncture portion 91 punctures the rubber stopper 12D, regardless of whether the tip 90Y of the slip-off prevention member 90Z is caught on the edge 12E. It is brought close to the mouth portion 12A. Furthermore, if the mouth portion 12A is thick, even if the puncture portion 91 is inserted into the rubber stopper 12D to the maximum extent, the tip 90Y of the slip-off prevention member 90Z may not reach the edge portion 12E. When the mouth portion 12A is thick, the relay member is inserted until the puncture portion 91 is fully punctured into the rubber stopper 12D, regardless of whether the tip 90Y of the slip-off prevention member 90Z reaches the edge 12E. 90 is brought close to the mouth portion 12A. Note that two pairs of the slip-off prevention members 90Z may be provided on the relay member 90.

Next, the second control unit 500 controls the moving unit 263 of the second robot arm 22 to execute a pull-back operation to move the puncture part 91 by a second predetermined amount in the direction of pulling it out from the rubber stopper 12D. . The second predetermined amount is set in advance as a distance at which the tip of the puncture section 91 is not pulled out from the rubber stopper 12D, depending on either or both of the type of the infusion bag 12 and the type of the relay member 90. This is the value. For example, the second predetermined amount is about half or one third of the first predetermined amount.

Subsequently, the second control section 500 controls the moving section 263 of the second robot arm 22 to perform a pushing operation to move the puncture section 91 by a third predetermined amount toward the rubber stopper 12D. At this time, since the frictional force between the puncture part 91 and the rubber plug 12D is smaller than that when the puncture part 91 has penetrated the rubber plug 12D in the penetrating operation, the frictional force between the puncture part 91 and the rubber plug 12D is smaller, so that the puncture part 91 slips due to the movement of the puncture part 91. The amount of deflection of the rubber plug 12D becomes smaller, and the amount of puncturing of the rubber plug 12D by the puncture portion 91 increases. For example, the third predetermined amount is the same as the second predetermined amount.

In this way, in the puncturing step, when the pulling back motion and the pushing motion are each performed at least once after the penetrating motion, the performance is greater than when the puncturing portion 91 is punctured into the rubber stopper 12D at once. The puncture portion 91 can be punctured into the rubber stopper 12D all the way. Therefore, even if the grip of the relay member 90 by the holding section 264 is released, the repulsive force by the rubber plug 12D does not act or the repulsive force is small, and the relay member 90 punctures to the specific position. The needle is maintained in a punctured state or in a state in which it is punctured to a position close to the specific location.

Note that the second control unit 500 may execute the pull-back operation and the push-in operation multiple times, and the number of repetitions of the pull-back operation and the push-in operation depends on the type of the infusion bag 12 and the relay member 90. It may be set in advance depending on either or both types. Further, the relationship between the first predetermined amount, the second predetermined amount, and the third predetermined amount may be set in advance, and is not limited to the one described here.

Thereafter, the second control section 500 releases the holding section 264 from holding the relay member 90 . Then, the second control section 500 controls the bag lifting section 113 to lower the infusion bag holding section 103A containing the infusion bag 12 to the tray 101. In addition, in the tray conveyance terminal part 110a, after the relay member 90 is attached to the infusion bag 12 accommodated in the infusion bag holding part 103A, the relay member 90 A space is secured so that 90 does not come into contact with other members. Then, the second control unit 500 discharges the tray 101 on which the infusion bag 12 is placed from the tray discharge port 15.

Further, when the relay member 90 is attached to the infusion bag 12, the second control unit 500 determines whether the relay member 90 is properly attached before the tray 101 is ejected. Determine. Specifically, the second control section 500 detects that the puncture section 91 of the relay member 90 is inserted into the infusion bag 12 to the specific position by the attachment detection section 122 (FIG. 23(A), ( (see B)), it is determined that the mounting of the relay member 90 is appropriate. Here, if the second control unit 500 determines that the relay member 90 is not properly attached to the infusion bag 12, the second control unit 500 may notify the operator of an error, or if the infusion bag 12 is not placed properly. It is conceivable to interrupt the ejection of the tray 101. This prevents the infusion bag 12 from being discharged from the apparatus without the relay member 90 being properly attached to the infusion bag 12. In another embodiment, the second control unit 500 may determine whether or not the relay member 90 is properly attached based on an image taken by the needle insertion confirmation camera 44.

It is also conceivable that the medicine contained in the medicine container 10 is a medicine such as a medicine solution that does not need to be dissolved. In this case, the mixed injection process is such that the medicine contained in the medicine container 10 is a medicine such as a powder medicine that needs to be dissolved, except that the infusion suction process, the infusion injection process, and the stirring process are not performed. Since this is the same as the mixed injection process described above in the case of , the explanation will be omitted. Further, even when the medicine contained in the medicine container 10 is a liquid, the stirring step may be performed depending on the type of medicine. Furthermore, before the attachment of the relay member 90 to the infusion bag 12 in a certain mixed injection process is completed, the tray 101 containing the equipment to be used in the next mixed injection process is placed in the mixed injection processing chamber 104. Then, the first robot arm 21 may take out the equipment to be used in the next mixed injection process from the tray 101 and place it on the storage shelf 33. Even if all the instruments used in the next mixed injection process are not taken out from the tray 101 at the time when the certain mixed injection process is completed, the injection needle 11c used in the next mixed injection process is used for the injection. The injection needle 11c may be set in the needle attaching/detaching device 43 by the first robot arm 21, and the injection needle 11c may be set in the syringe 11 to be used in the next co-injection process. After that, the equipment that has not been taken out may be taken out from the tray 101. In order for the user to later confirm whether or not the mixed injection process was carried out normally, an image taken of the mixed injection process is recorded at an arbitrary timing during the mixed injection process, and the recorded image is recorded according to the user's instructions. The co-infusion device 1 may have a function of displaying on the touch panel monitor 14. Examples of the timing of imaging include before and after the infusion suction step, before and after the infusion injection step, before and after the medicine suction step, and before and after the medicine injection step. The syringe 11 is reflected in the images taken at these timings, and by comparing the images before and after each step, the user can confirm the magnitude of change in the amount of infusion or medicine in the syringe 11 due to each step. Can be done. Another example of the timing of imaging is after the stirring step. The drug container 10 is reflected in the image taken at this timing, and by viewing this, the user can confirm the degree of dissolution of the drug due to stirring. FIG. 36 is an example of an operation screen for displaying the above image. The icon 361 is for displaying images before and after the infusion suction step, before and after the infusion injection step, before and after the medicine suction step, and before and after the medicine injection step. By touching the icon 361, images taken before and after each process are sequentially displayed on the touch panel monitor 14. The icon 362 is for displaying an image photographed after the stirring step. By touching the icon 362, an image of the chemical container 10 after the stirring process is displayed on the touch panel monitor 14. The icons 361 and 362 include a pattern related to an image displayed when touched. This makes it easy for the user to recognize the relationship between the icon and the image displayed by touching the icon, and allows the user to touch the icon of the image he or she wants to see without making a mistake. Further, the co-injection device 1 may record, together with the identification ID of the co-injection process, that the co-injection process is normally performed if all images or preset images are displayed. Note that if you log in to the co-infusion device 1 with a non-pharmacist account, the image will not be displayed even if you touch the icons 361, 362, and if you log in to the co-infusion device 1 with a pharmacist account, you will not be able to display the image if you touch the icons 361, 362. The image may then be displayed. Although it has been explained above that an image is displayed by touching an icon, selection with a mouse may be used instead of touching.

Hereinafter, an example of the procedure of the mixed injection management process and the mixed injection control process executed by the mixed injection control device 100 in the mixed injection device 1 will be described with reference to FIGS. 26 to 30.

[Mixed injection management process] First, an example of the mixed injection management process executed by the first control unit 400 will be described with reference to FIG. 26.

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

Here, FIG. 27 is a diagram showing an example of the prescription selection screen M1. The prescription selection screen M1 shown in FIG. 27 includes a search condition display section D1 in which input fields for search conditions for narrowing down the selection candidates are arranged, and a prescription display in which the preparation data of the selection candidates are arranged side by side. Part D2 etc. are included. In addition, in the prescription display section D2, information of one adjustment data is displayed for each line. An extraction key D11 for starting an extraction process for narrowing down selection candidates of the preparation data according to the search conditions is arranged in the search condition display section D1.

<Step S21> In step S21, the first control unit 400 determines whether a request for execution of the co-infusion process based on the target preparation data has been made. Here, if it is determined that the execution request has been made (S21: Yes), the process moves to step S22, and until the execution request is made (S21: No), the process waits in step S21. do.

Specifically, in step S21, the first control unit 400 causes the touch panel monitor 203 to display an execution instruction screen P10 for instructing execution of the co-infusion process based on the target preparation data. Here, FIG. 28 is a diagram showing an example of the execution instruction screen P10.

In FIG. 28, the execution instruction screen P10 is displayed as a pop-up on a loading check screen M11 for supporting loading of equipment into the tray 101. The loading check screen M11 includes a display area A11 in which various information such as the clinical department, treatment type, and ward included in the target preparation data is displayed, and a display area A11 in which various information such as the medical department, treatment type, and ward included in the target preparation data is displayed, and information necessary for the mixed injection process based on the target preparation data. A display area A12 in which equipment such as the medicine container 10 and the infusion bag 12 are displayed is included.

As shown in FIG. 28, on the execution instruction screen P10, information regarding the target preparation data includes, for example, a patient ID and patient name for identifying the patient, and a management number for identifying the target preparation data. (Preparation ID) and the required preparation time for the mixed injection process based on the target preparation data are displayed. The required preparation time for the co-infusion process is stored in the data storage unit 404 for each preparation content (regimen) specified by the target preparation data. Further, calculation information for calculating the required time for preparation is stored in the data storage unit 404, and the first control unit 400 calculates the required time for preparation for the mixed injection process based on the calculation information. Good too. Note that the first control unit 400 may reflect the presence or absence of the member mounting operation in which the relay member 90 is mounted when calculating the required preparation time.

On the execution instruction screen P10, there are operation keys K11 to K13 for accepting an operation for selecting a reservation method for the target preparation data, an operation key K14 for accepting an operation for reserving a reservation for the target preparation data, and an operation key for selecting a reservation method for the target preparation data. Operation keys K15 and the like are displayed for accepting the setting of permission/denial.

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

Further, the operation key K11 is an operation key for selecting, as a reservation method, a reservation without time specification in which the co-infusion process based on the target preparation data is executed in the order in which the target preparation data is input.

The operation key K12 is an operation key for selecting a time-specified reservation as a reservation method in which the co-infusion process based on the target preparation data is executed based on an execution timing preset by a user operation. The execution timing is set by inputting a preparation end time indicating the scheduled completion time of the mixed injection process, or inputting a scheduled start time indicating the scheduled start time of the mixed injection process.

The operation key K13 is an operation key for selecting, as a reservation method, an automatic reservation process in which a reservation is automatically made based on preset automatic reservation conditions for the co-infusion process based on the target preparation data.

The operation key K15 is an operation unit for receiving a setting as to whether or not the remaining medicine can be used in the co-infusion process based on the target preparation data. Then, the first control unit 400 controls whether or not the remaining medicine is to be used depending on whether or not the remaining medicine can be used by using the operation key K15. Furthermore, it is also conceivable that the first control unit 400 automatically determines whether or not the remaining medicine can be used in the co-infusion process based on the target preparation data, based on patient information corresponding to the target preparation data. Specifically, the first control unit 400 allows the use of the remaining medicine in the co-infusion process for the preparation data corresponding to inpatients among the target preparation data, and allows the use of the remaining medicine in the co-infusion process for the preparation data corresponding to inpatients among the target preparation data. Regarding the preparation data, it is conceivable that the use of leftover medicine in the above-mentioned co-infusion process is not permitted. In addition, on the contrary, for the preparation data corresponding to outpatients among the target preparation data, the use of leftover medicine in the co-infusion process is permitted, and among the target preparation data, the preparation data corresponding to inpatients is permitted. It is conceivable that the use of leftover medicine in the co-infusion process is not permitted.

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

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

For example, when the operation key K11 is operated and the reservation without time specification is selected, the first control unit 400 executes the co-infusion process based on the target preparation data in the order in which execution instructions are given. The standby information D31 is updated accordingly. On the other hand, when the operation key K12 is operated and the reservation with time specification is selected, the first control unit 400 selects the preparation date included in the target preparation data and the scheduled completion time or scheduled start time. Based on this, the execution timing of the mixed injection process based on the target preparation data is set so that the execution timing of the mixed injection process does not overlap, and the standby information D31 is updated.

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

Specifically, in the automatic reservation process, the first control unit 400 reads the reservation correspondence information D32 from the data storage unit 404. Then, the first control unit 400 reserves the execution timing of the co-infusion process based on the target preparation data, based on the reservation correspondence information D32 and the specific information included in the target preparation data. For example, the first control unit 400 may provide information regarding the co-infusion process based on the target preparation data ("drug name", "amount used", "predetermined amount", "whether leftover drug is used", "whether medicine is loaded or not"), Information such as "execution timing") is newly added to the standby information D31.

For example, when the automatic reservation process is executed based on the reservation correspondence information D32 shown in FIG. The execution timing is set to satisfy the condition of "before 9 o'clock" on the preparation date included in the target preparation data.

In this embodiment, a case will be described in which the reference item D321 in the reservation correspondence information D32 is "ward" and the reservation condition D322 is "reservation time slot". On the other hand, as shown in FIG. 30(B) or FIG. 30(C), the reference item D321 may be information on other items such as "medical treatment type" and "prescription category." For example, in FIG. 30(B), a "reservation time slot" is set for each treatment type such as "outpatient" and "inpatient." Similarly, in FIG. 30(C), a "reservation time slot" is set for each prescription category such as "regular" and "temporary".

Further, a plurality of the reservation correspondence information D32 having different reference items D321 may be stored in the data storage unit 404, and a priority order may be set in advance for each reservation correspondence information D32.

<Step S23> In step S23, the first control unit 400 controls the drug container 10, the syringe 11, the infusion bag 12, the relay member 90, etc. necessary for the co-infusion process based on the target preparation data. An equipment preparation support process for supporting the work of setting the tray 101 is executed.

For example, in step S23, the first control unit 400 controls the loading information including a message and image for instructing reading of identification information such as GS1 data bar attached to the infusion bag 12 and the medicine container 10. A check screen M11 is displayed on the touch panel monitor 203. Specifically, the loading check screen M11 includes the type of the infusion bag 12, the type of the syringe 11, the type of the drug container 10, and setting the relay member 90 to the tray 101 included in the target preparation data. Whether or not it is necessary (or whether or not the relay member 90 is attached to the infusion bag 12 after the co-infusion process) is displayed.

Here, whether or not it is necessary to set the relay member 90 on the tray 101 depends on either or both of the medicine master, the type of medicine and the type of infusion bag 12 shown in the target preparation data. This is determined by the first control unit 400 based on the following. For example, the first control unit 400 sets the relay member 90 on the tray 101 when the type of medicine indicated in the target preparation data is registered as the attachment target medicine in the medicine master. Determine that it is necessary. Further, the first control unit 400 transfers the relay member 90 to the tray 101 when the type of infusion bag 12 indicated in the target preparation data is registered as the dispensing container to be installed in the medicine master. It may be determined that it is necessary to set it. On the other hand, the first control unit 400 controls whether at least one of the type of drug indicated in the target preparation data or the type of infusion bag 12 indicated in the target preparation data is the drug to be installed in the drug master. If the relay member 90 is not registered as such, it may be determined that there is no need to set the relay member 90 on the tray 101.

In addition, as another embodiment, when the host system 600 generates the target preparation data based on the prescription data, the type of medicine in the medicine container 10 and the infusion bag 12 shown in the target preparation data are It may be determined whether or not it is necessary to set the relay member 90 on the tray 101 based on one or both of the types, and the target preparation data including the determination result may be generated.

When the first control unit 400 determines that it is necessary to set the relay member 90 on the tray 101, it indicates the need to set the relay member 90 on the tray 101 and the position to set it. Display messages, etc. In addition, when a plurality of types of relay members 90 can be used in the co-infusion device 1, the first control unit 400 controls one of the types of medicine in the medicine container 10 and the type of the infusion bag 12. Alternatively, the type of the relay member 90 may be selected based on both, and the type of the relay member 90 may be displayed. Note that when the first control unit 400 determines that the relay member 90 does not need to be attached, the first control unit 400 does not display the message or the like.

Further, the first control unit 400 may be able to arbitrarily switch whether or not the relay member 90 needs to be attached for each of the co-infusion processes corresponding to each of the preparation data, depending on a user operation. For example, it is conceivable that the first control unit 400 can accept a selection operation as to whether or not the relay member 90 needs to be attached on the loading check screen M11. Further, the first control unit 400 performs an operation for selecting whether or not to attach the relay member 90 on the operation screen where the loading preparation start operation or the execution request for the mixed injection process in step S20 or step S21 is performed. may be accepted. Note that the first control unit 400 can accept a setting as to whether or not the relay member 90 is required to be installed as an initial setting of the co-infusion device 1, and determines whether or not the relay member 90 is required to be installed according to the initial setting. You can judge.

Then, when the barcode reader 204 reads the identification information of the infusion bag 12 and the medicine container 10, and the matching results match the target preparation data, the first control unit 400 shifts the process to step S24. let Note that, if the identification information of the infusion bag 12 or the drug container 10 and the target preparation data do not match, the first control unit 400 causes the touch panel monitor 203 to display an error message or the like. Further, in step S23, the first control unit 400 uses the IC reader 207 to extract the identification information of the tray 101 currently placed on the work table 202 from the IC tag 101b of the tray 101. A process of reading information for identifying the tray 101 corresponding to the target preparation data is also executed.

Here, when the relay member 90 and the like are placed on the tray 101 on the work table 202, the first control unit 400 is configured to take a photographed image photographed by a camera (not shown) capable of photographing the tray 101. Based on this, it may be determined whether or not the relay member 90 is appropriately placed on the equipment placement section 102C of the equipment placement section 102, and if the relay member 90 is not placed appropriately, a notification may be made to that effect. Note that, as described above, when the relay member 90 is properly placed on the mounting portion 102C, the relay member 90 is in the specific posture. Therefore, the first control unit 400 searches the captured image for the relay member 90 placed in the specific posture, for example, and determines whether or not the relay member 90 is placed appropriately. can be easily determined.

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

<Step S25> In step S25, the first control section 400 opens the tray loading section 712 of the storage unit 700. Specifically, the first control section 400 transmits an instruction to open the tray loading section 712 to the second control section 500 . Accordingly, the second controller 500 controls the storage unit 700 to open the tray loading section 712, and the user can store the tray 101 in the tray storage section 811.

Note that, before opening the tray loading section 712, the second control section 500 moves the unused tray accommodating section 811 to a position where the tray 101 can be accommodated based on the standby information D31. The position of the movable housing 810 is controlled so that the movable housing 810 is positioned. Specifically, the tray accommodating section 811 that is not stored in the standby information D31 as the tray accommodating section 811 corresponding to the tray 101 is determined to be unused. Note that the second control section 500 edits the standby information D31 when loading the tray 101 into the tray accommodating section 811 and when discharging the tray 101 from the tray accommodating section 811.

<Step S26> Then, in step S26, when the tray 101 is accommodated in the tray accommodating section 811 of the accommodating unit 700, the first control section 400 stores the target preparation data and the identification information of the tray 101. A process of associating the tray accommodating section 811 with the tray accommodating section 811 is executed. Specifically, the first control unit 400 records the correspondence between the target preparation data, the identification information of the tray 101, and the tray storage unit 811 in the standby information D31. Thereby, the first control unit 400 and the second control unit 500 recognize the correspondence among the target preparation data, the identification information of the tray 101, and the tray storage unit 811 based on the standby information D31. Is possible.

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

Note that if the equipment such as the drug container 10, the syringe 11, and the infusion bag 12 necessary for the mixed injection process based on the target preparation data cannot be placed on one tray 101, the first control unit 400 may execute a process of associating the target preparation data selected as a process target with a plurality of trays 101 and storing them in the standby information D31. In the mixed injection process based on the target preparation data, equipment such as the drug container 10 supplied from the plurality of trays 101 is used.

<Step S27> In step S27, the first control section 400 transmits the target preparation data to the second control section 500. Note that the first control unit 400 generates mixed injection control data for causing the mixed injection processing unit 300 to execute mixed injection processing based on not only the target preparation data itself, but also the target preparation data, and uses the mixed injection control data may be transmitted to the second control unit 500. Preparation data identification information that can identify the target preparation data is transmitted to the second control unit 500, and the second control unit 500 transfers the target preparation data corresponding to the preparation data identification information to the data storage unit. It is also conceivable that the information is read from 404.

Further, in step S27, when transmitting the target preparation data to the second control unit 500, the first control unit 400 sends an attachment request indicating whether or not the relay member 90 needs to be attached to the infusion bag 12. The rejection information is transmitted to the second control unit 500 together with the target preparation data. Thereby, the second control unit 500 can determine whether or not it is necessary to attach the relay member 90 to the infusion bag 12 based on the attachment necessity information in the co-infusion process based on the target preparation data. It is possible.

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

<Step S50> In step S50, the second control unit 500 determines whether the execution timing of the co-infusion process has arrived for any of the preparation data registered in the standby information D31. If it is determined that the execution timing has arrived (S50: Yes), the process moves to step S51, and if the execution timing has not arrived (S50: No), the process waits in step S50. The preparation data for which it is determined in step S50 that the execution timing of the co-injection process has arrived may be referred to as execution preparation data.

<Step S510> Next, in step S510, in the co-infusion process based on the execution preparation data, the second control unit 500 controls the medicine container 10 loaded in the co-infusion device 1 in accordance with the execution preparation data. When using the drug container 10, it is determined whether or not a drug remains in the drug container 10. Here, if the second control unit 500 determines that there is a residual medicine in the medicine container 10 (S510: Yes), the second control unit 500 moves the process to step S51, and determines that there is no medicine left in the medicine container 10. If it is determined (S510: No), the process moves to step S52.

<Step S51> In step S51, the second control unit 500 determines whether or not to use the remaining medicine from the previously executed co-infusion process in the co-infusion process based on the execution preparation data. Here, if the second control unit 500 determines that the leftover medicine is to be used (Yes side of S51), the process moves to step S53, and if it is determined that the leftover medicine is not to be used (No side of S51), The process moves to step S52.

Specifically, the second control unit 500 determines, based on the remaining drug information D30 and the standby information D31, whether or not the remaining drug is to be used in the co-infusion process based on the execution preparation data. For example, the second control unit 500 executes the execution when the standby information D31 sets the use of leftover medicine for the execution preparation data and the content of the leftover medicine information D30 satisfies preset usage conditions. It is determined that the remaining medicine will be used in the co-infusion process based on the preparation data. The usage conditions include, for example, that the expiration date of the leftover medicine stored in the leftover medicine information D30 has not passed, that a predetermined time has not passed since the date and time of opening the leftover medicine, or that the leftover medicine has not been stored in the medicine container 10. For example, the number of punctures of the injection needle 11c has not reached the upper limit number of times.

<Step S52> In step S52, the second control unit 500 controls the mixed injection processing unit 300 based on the execution preparation data input from the first control unit 400, thereby responding to the execution preparation data. The normal mixed injection process of injecting medicine from the medicine container 10 placed on the tray 101 into the infusion bag 12 is performed.

Specifically, in step S<b>52 , the second control unit 500 controls the accommodation unit 700 and moves the tray 101 associated with the execution preparation data whose execution timing has arrived to the storage unit 700 . It is supplied from the tray accommodating section 811 to the mixed injection processing section 300. In the mixed injection process, the second control unit 500 aspirates the medicine indicated in the execution preparation data from the one or more medicine containers 10 placed on the tray 101 with the syringe 11, and Inject from the syringe 11 into the infusion bag 12.

Thereafter, the second control unit 500 executes a member mounting operation for mounting the relay member 90 on the infusion bag 12 as necessary, and moves the tray 101 on which the infusion bag 12 is placed to the tray outlet port. Discharge from 15. Specifically, the second control unit 500 determines whether or not to perform the member attachment operation of attaching the relay member 90 to the infusion bag 12 based on the attachment necessity information received from the first control unit 400. to decide. Note that the tray 101 may be accommodated in the accommodation unit 700 in a state in which it can be taken out afterwards, or may be discharged from the tray outlet 206 of the drug loading section 200 via the accommodation unit 700. .

<Step S53> On the other hand, in step S53, the second control unit 500 performs the co-infusion process based on the execution preparation data input from the first control unit 400, the remaining drug information D30, and the standby information D31. By controlling the unit 300, the exceptional mixed injection process of injecting medicine into the infusion bag 12 using the remaining medicine is executed. That is, in the mixed injection process based on each piece of preparation data to be processed, the second control unit 500 controls the remaining medicine in the drug container 10 from the mixed injection process based on other preparation data different from the preparation data to the mixed injection processing unit. 300 can be used. Therefore, for example, when a medicine remains in the medicine container 10 after the co-injection process, the medicine is effectively utilized and waste of the medicine is suppressed.

Specifically, in step S53, the second control unit 500 controls the accommodation unit 700, and moves the tray 101 associated with the execution preparation data whose execution timing has arrived to the storage unit 700. It is supplied from the tray accommodating section 811 to the mixed injection processing section 300. In the mixed injection process, the second control unit 500 aspirates the medicine indicated in the execution preparation data from the medicine container 10 placed on the storage shelf 33 with the syringe 11, and 11 into the infusion bag 12. In addition, in the mixed injection process based on the execution preparation data, one or more of the drug containers 10 placed on the tray 101 are used together with the drug containers 10 stored as leftover drugs in the storage shelf 33. Sometimes it happens.

Furthermore, when leftover medicine is used in the co-infusion process, the second control unit 500 stores, in the data storage unit 504, etc., leftover medicine performance information regarding the performance of using the leftover medicine and its effects. It is possible that For example, when a leftover medicine is used in the mixed injection process, the second control unit 500 may input the preparation ID (identification information) of the preparation data in which the leftover medicine occurred in the mixed injection process, and transfer the leftover medicine to the mixed injection process. It is conceivable to associate the preparation ID (identification information) of the preparation data used in the above and record it as the remaining drug record information. Further, the second control unit 500 may record the identification information of the medicine reduced by using the leftover medicine and the amount of reduction thereof as the leftover medicine performance information. For example, the reduction amount is the difference between the number of medicine containers 10 required when the leftover medicine is not used and the number of medicine containers 10 required when the leftover medicine is used. Note that when calculating the difference in the number of medicine containers 10, fractions less than one may be rounded up. Thereby, by referring to the remaining drug performance information, the operator can easily grasp the usage history of the remaining medicines, the effects of the use of the remaining medicines, and the like.

Also, in the co-infusion process in step S53, the second control unit 500 executes a member mounting operation for mounting the relay member 90 on the infusion bag 12 as necessary, as in step S52, The tray 101 on which the infusion bag 12 is placed is discharged from the tray discharge port 15.

<Step S54> When the co-injection process is completed, in step S54, the second control unit 500 determines whether or not the medicine remains in the medicine container 10. The process of determining whether there is a residual drug in step S54 may be the same process as step S510, or may be determined by the second control unit 500 based on the result of the mixed injection process. Here, if the second control unit 500 determines that the drug remains (Yes in S54), the process proceeds to step S55, and if it determines that the drug does not remain (No in S54), The process moves to step S541.

<Step S55> In step S55, the second control unit 500 executes a determination process to determine whether or not the medicine container 10 is to be stored in the storage shelf 33 as a leftover medicine. Specifically, the second control unit 500 determines that the medicine container 10 is to be stored as a leftover medicine when preset storage conditions are met. The storage conditions include one or more preset determination conditions. For example, the judgment conditions include that the drug container 10 is the drug container 10, that the drug container 10 is registered as a drug to be stored in the drug master, and that the drug container 10 is the drug container 10 that is the drug container 10. The remaining amount is at least a preset minimum remaining amount, the identification information of the drug container 10 is successfully read by the barcode reader 34b, and the number of punctures of the drug container 10 is within the upper limit number of times. , or the expiration date of the medicine container 10 has not passed. Note that when a plurality of the determination conditions are set as the storage conditions, it is determined that the storage conditions are satisfied if all of the determination conditions are satisfied.

<Step S56> In step S56, the second control unit 500 stores the medicine in the medicine container 10 in the mixed injection processing chamber 104 in a reusable state. More specifically, the second control unit 500 controls the first robot arm 21 of the mixed injection processing unit 300 to place the drug container 10 on the storage shelf 33 in a state where it can be used again. let That is, the co-infusion processing unit 300 stores the drug container 10 in which the drug remains after the co-infusion process based on the execution preparation data in the co-infusion device 1 as a remaining drug container, and transfers the drug in the remaining drug container to other medicines. can be used in the mixed injection process based on the preparation data. Further, the second control unit 500 updates various information registered in the remaining medicine information D30 as necessary.

<Step S541> On the other hand, if no medicine remains in the medicine container 10, the second control unit 500 causes the first robot arm 21 to dispose of the medicine container 10 in the garbage storage chamber 13a in step S541. do. That is, basically, if the medicine in the medicine container 10 is not used up, the medicine container 10 is returned to the storage shelf 33, and if the medicine in the medicine container 10 is used up, the medicine container 10 is returned to the shelf 33. is discarded.

As explained above, in the co-infusion device 1, after the medicine is injected into the infusion bag 12 in the co-infusion process, the relay member 90 is attached to the infusion bag 12 as necessary. This eliminates the need for the operator to attach the relay member 90 to the infusion bag 12 after the infusion bag 12 has been discharged from the co-infusion device 1, and allows the operator to attach the relay member 90 to the infusion bag 12 near the patient. Radiation exposure to workers and patients when wearing the device is also suppressed.

In the present embodiment, an example has been described in which the holding part 264 dedicated to holding the relay member 90 is fixed to the gripping part 261b of the second robot arm 22. On the other hand, as another embodiment, a holding part used for holding other equipment in the mixed injection process, such as the holding part 261a or the holding part 261b, may hold the relay member 90 and the rubber of the relay member 90. It may also be used to puncture the stopper 12D.

Furthermore, in this embodiment, the case where the relay member 90 is attached to the infusion bag 12 using the second robot arm 22 which is also used for the co-infusion process has been described as an example; In addition to the second robot arm 22, a member mounting device for mounting the relay member 90 on the infusion bag 12 may be provided. Moreover, a member mounting device that can attach the relay member 90 to the infusion bag 12 discharged from the co-infusion device 1 may be configured separately from the co-infusion device 1. For example, in the member mounting device, the infusion bag holder 103A or the tray 101 on which the infusion bag 12 after the mixed injection process is placed can be set, and the relay member 90 is attached to the infusion bag 12. Ru. Further, in this case, the member mounting device receives information on the puncture position of the rubber stopper 12D in the mixed injection process from the co-infusion device 1, information on the position of the OUT port on the rubber stopper 12D, etc., and It is conceivable to puncture the puncture section 91 in a region avoiding the position of the OUT port or at the position of the OUT port.

By the way, when a worker such as a pharmacist performs a mixed injection process similar to the mixed injection process based on the preparation data, a connecting device such as a vial adapter is used to connect the drug container 10 and the syringe 11a for safety. Therefore, the same number of connection devices as the number of drug containers 10 are required. However, since the billable amount (billable points) that can be billed to the patient for the co-infusion work is the same, even if there are multiple connected devices, the cost cannot be added to the billed amount. Therefore, depending on the number of connecting devices used in the mixed injection work, that is, the number of drug containers 10, there is a possibility that the cost of the connecting devices may exceed the billed amount when the mixed injection work is performed by a worker. . Therefore, the first control unit 400 executes a presentation process that presents the user with a determination index for determining whether the mixed injection process is to be performed by the mixed injection device 1 or the mixed injection work is to be performed by the operator. It is possible that For example, when the preparation data is selected on the prescription selection screen M1 shown in FIG. Based on the unit price of the equipment, the cost when the worker performs the mixed injection work is calculated. Thereafter, if the calculated expenses exceed the claimable amount, the first control unit 400 will say, "The cost of the equipment used for manual preparation will exceed the billed cost for manual preparation by approximately XX yen." A message like this is displayed on the display section 25. The first control unit 400 also displays judgment indicator information such as text, flags, or icons indicating whether or not the expenses exceed the claimable amount for each of the preparation data on the prescription selection screen M1 shown in FIG. may be displayed. The presentation process may be executed by either the co-infusion device 1 or the host system 600, and the execution timing of the presentation process is the timing at which the co-infusion device 1 or the host system 600 receives the preparation data. etc. Furthermore, the first control unit 400 or the host system 600 automatically switches whether the mixed injection process is executed by the mixed injection device 1 or the mixed injection work is executed by a worker, depending on the expenses. Good too.

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

[Accommodating Member for Relay Member] In general, there are various products of the relay member 90, and the structure of the relay member 90 differs depending on the type of the relay member 90. Furthermore, even if only one type of relay member 90 is to be used in the co-infusion device 1, it is necessary to match the shape of the holding portion 264 to a shape that allows the relay member 90 to be held. Therefore, in the co-infusion device 1, a housing member 900 capable of accommodating one or more types of the relay members 90 is used as an attachment member for using the plurality of types of the relay members 90 in the co-infusion device 1. It is possible that

As shown in FIGS. 32(A) and 32(B), the housing member 900 is a bottomed cylindrical member having opening/closing members 901 and 902, and includes the gripping portion 261a of the holding portion 26 or the gripping portion 262a and the like have a shape that allows the housing member 900 to be easily held. The opening/closing members 901 and 902 are pivotally supported by a rotation shaft 903 so as to be openable and closable. Specifically, when the portions of the opening/closing members 901, 902 rearward of the rotation shaft 903 are pinched, the distal ends of the opening/closing members 901, 902 rotate around the rotation shaft 903 and are opened. Ru.

Further, a space is formed in the accommodation member 900 in which at least a part of the relay member 90 can be accommodated, and the relay member 90 is held by a gripping portion (not shown) provided in the accommodation member 900. The puncture section 91 is held in an exposed state. For example, the gripping portion grips the fitting portion 94 of the relay member 90. In addition, in this embodiment, as shown in FIG. 32(A), the housing member 900 can accommodate all parts of the relay member 90 except for the puncturing part 91.

In the co-infusion device 1, in the member mounting operation, as shown in FIG. The distal end portion in front of the housing member 900 (on the puncture section 91 side) is gripped, and the rear end portion of the housing member 900 behind the rotation axis 903 is gripped by the gripping portion 262a. Thereafter, as shown in FIG. 32(A), the second control section 500 controls the second robot arm 22 to remove the puncture section with the relay member 90 housed in the housing member 900. 91 is inserted into the rubber stopper 12A, and the relay member 90 is attached to the infusion bag 12. Subsequently, the second control unit 500 controls the second robot arm 22 to open the gripping part 261a and close the gripping part 262a, as shown in FIG. 32(B). As a result, in the housing member 900, the opening/closing members 901 and 902 rotate around the rotation shaft 903 and open, and the relay member 90 is exposed. The second control unit 500 controls the second robot arm 22 to remove the housing member 900.
is moved in a direction away from the relay member 90 (backwards), and the housing member 900 is removed from the relay member 90.

According to such a configuration, the relay member 90 accommodated in the accommodation member 900 is attached to the infusion bag 12 using the gripping parts 261a and 262a of the holding part 26 of the second robot arm 22. be able to. Therefore, the gripping parts 261a and 262a for gripping and operating the drug container 10, the syringe 11, etc. can also be used for the member mounting operation, and the holding part 264 for gripping the relay member 90 can be omitted. be able to. Note that by placing the storage member 900 on the equipment placement section 102 of the tray 101 in the same manner as the drug container 10, the placement section 102C for placing the relay member 90 can also be omitted. It is. Moreover, if the housing member 900 has a structure that can accommodate a plurality of types of the relay members 90, it becomes possible to use the plurality of types of the relay members 90 in the co-infusion device 1. Furthermore, since the relay member 90 is accommodated in the housing member 900 until it is attached to the infusion bag 12, contamination of the relay member 90 in the co-infusion processing chamber 104 is also suppressed. Ru.

Additionally, air is blown from the tray conveyance end portion 110a (an example of a first region) on which the infusion bag 12 is placed toward the mixed injection processing chamber 104 (an example of a second region) via the mixed injection communication port 37. A blower unit (not shown) such as a blower fan may be provided at the tray transport end portion 110a. Then, the second control unit 500 drives the ventilation unit at a preset timing, such as before the start of the member attachment operation for attaching the relay member 90 to the infusion bag 12 or during execution of the member attachment operation. let For example, the second control unit 500 drives the air blowing unit at the start of the operation of removing the accommodation member 900 from the relay member 90 after puncturing the rubber stopper 12D of the infusion bag 12 with the relay member 90, The ventilation section may be stopped after the infusion bag 12 is discharged from the tray conveyance terminal end section 110a. As a result, at least after the operation in which the relay member 90 is removed from the housing member 900, the air blower is in a driven state, and contamination of the relay member 90 is suppressed.

In addition, when the accommodation member 900 is used, a label or the like on which code information such as a one-dimensional code or a two-dimensional code that can identify the accommodation member 900 is printed may be affixed to the accommodation member 900. Conceivable. Then, in the equipment preparation support process (step S23) corresponding to the co-infusion process in which the relay member 90 is used, the first control unit 400 uses the barcode reader 204 to control the infusion bag 12 and the medicine container 10. If the identification information read from the storage member 900 matches the target preparation data and the code information of the housing member 900 is read, the process may proceed to step S24. On the other hand, even if the identification information read from the infusion bag 12 and the medicine container 10 by the barcode reader 204 matches the target preparation data, the first control unit 400 controls the code information of the storage member 900 to If it has not been read, an error message to that effect will be reported. This prevents the housing member 900 from being omitted from being placed. Note that instead of the housing member 900, a label may be attached to the relay member 90 on which code information with which the relay member 90 can be identified is printed.

[Resin Pharmaceutical Container Gripping Function] As shown in FIG. 33, in the mixed injection process in the mixed injection device 1, a resin pharmaceutical liquid container 10D may be used as the drug container 10. The resin pharmaceutical liquid container 10D includes a flexible body part 10a, a hard neck part 10b that is harder than the body part 10a, an opening 10c formed in the upper part of the hard neck part 10b, and a hole that closes the opening 10c. A plug portion 10d formed to be removable from the portion 10c, a gripping piece portion 10e formed on the plug portion 10d, and a surface passing through the central axis of the body portion 10a (hereinafter referred to as “rib forming surface”). ), rib portions 10f are formed at two locations along the outer wall surfaces of the body portion 10a and the rigid neck portion 10b. The gripping piece portion 10e is also formed within the rib forming surface.

By the way, when the resin pharmaceutical liquid container 10D is held by the gripping part 25a of the holding part 25 of the first robot arm 21, the hard neck part 10b of the resin pharmaceutical liquid container 10D is gripped. However, in the resin pharmaceutical liquid container 10D, the outer peripheral shape of the hard neck portion 10b may be deformed, and the hard neck portion 10b may not be symmetrical with respect to the rib-forming surface as the plane of symmetry. In this case, when gripping the resin pharmaceutical liquid container 10D with the gripping part 25a of the holding part 25 of the first robot arm 21, the resin pharmaceutical liquid container 10D is avoided by the rib part 10f of the resin pharmaceutical liquid container 10D. If it is held, there is a risk that the resin pharmaceutical liquid container 10D will be tilted.

On the other hand, in the resin pharmaceutical liquid container 10D, the shape of the hard neck portion 10b of the rib portion 10f is unlikely to be deformed. Therefore, when the first robot arm 21 holds the resin pharmaceutical liquid container 10D, the second control section 500 causes the gripping section 25a to grip the hard neck section 10b at the position of the rib section 10f. . Thereby, it is possible to suppress the inclination of the resin pharmaceutical liquid container 10D and hold the resin pharmaceutical liquid container 10D with the grip portion 25a.

Specifically, a label 10g made of, for example, a material that does not transmit light is attached to the body portion 10a of the resin pharmaceutical liquid container 10D. In addition to information on contents, capacity, and expiration date, a barcode 10h containing these information is printed on the label 10g. The barcode 10h is a one-dimensional code, a two-dimensional code, or the like. For example, the positional relationship between the barcode 10h and the rib portion 10f can be determined by comparing the information on the resin pharmaceutical liquid container 10D specified in the preparation data with the data on the pharmaceutical master. Further, the height positions of the hard neck portion 10b and the gripping piece 10e in the resin pharmaceutical liquid container 10D are also checked against the information of the resin pharmaceutical liquid container 10D specified in the preparation data and the data of the pharmaceutical master. You can judge by this.

Then, the second control section 500 uses the medicine reading section 34 to cause the gripping section 25a to grip the hard neck section 10b at the position of the rib section 10f. Specifically, when holding the resin pharmaceutical liquid container 10D with the holding unit 25 of the first robot arm 21, the second control unit 500 sets the resin pharmaceutical liquid container 10D in the medicine reading unit 34. do. Thereafter, the second control unit 500 rotates the roller 34a and stops the roller 34a after a predetermined period of time after the barcode reader 34a recognizes the barcode 10h of the label 10g. The predetermined time is the time from when the barcode reader 34a recognizes the barcode 10h of the label 10g until the rib forming surface becomes parallel to a plane containing the central axes of the two rollers 34a. It is. Thereby, the resin pharmaceutical liquid container 10D is brought into a state in which the rib-formed surface is parallel to a surface including the central axes of the two rollers 34a. Thereafter, the second control unit 500 controls the resin pharmaceutical liquid by controlling the gripping portions 25a in a state where the gripping direction of the pair of gripping portions 25a is parallel to a plane including the central axes of the two rollers 34a. Grasp the hard neck 10b of the container 10D. Thereby, the pair of gripping parts 25a can grip the hard neck part 10b at the position of the rib part 10f on the hard neck part 10b, and the inclination of the resin pharmaceutical liquid container 10D is suppressed.

[An example of puncture position control] In the mixed injection process, the injection needle 11c of the syringe 11 is punctured into the rubber stopper 12D of the infusion bag 12 in the infusion suction process, the drug suction process, and the like. That is, in the mixed injection process, the injection needle 11c is punctured into the rubber stopper 12D multiple times. Therefore, the rubber stopper 12D may be provided with a plurality of IN ports at predetermined intervals to indicate the puncture position of the injection needle 11c. However, the number of punctures of the injection needle 11c into the rubber stopper 12D during the co-infusion process may exceed the number of IN ports.

Therefore, if the number of punctures of the injection needle 11c into the rubber stopper 12D in the co-infusion process to be executed from now on does not exceed the number of IN ports, the second control unit 500 controls The positions are used as puncture positions in a preset order. On the other hand, if the number of punctures of the injection needle 11c into the rubber stopper 12D in the co-infusion process to be executed from now on exceeds the number of IN ports, the second control unit 500 controls Instead, positions at preset intervals are sequentially used as puncture positions according to the number of punctures. For example, if three IN ports are provided at 120° intervals in the rubber stopper 12D, and the number of punctures is four, the puncture positions are set at four 90° intervals. It is possible that Further, the IN port and the puncture position are not limited to a plurality of positions on the same circle, but may be a plurality of positions on a concentric circle, and may be any position on the rubber plug 12D that avoids the out port. You can.

[An example of puncturing process] In the medicine suction process, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to insert the injection needle 11c of the syringe 11 into the medicine container. A puncturing step is performed to puncture the rubber plug 10C of No. 10. At this time, when puncturing the injection needle 11c into the rubber stopper 10C of the drug container 10 or pulling out the injection needle 11c from the rubber stopper 10C of the drug container 10, the steps shown in FIG. 34(A) are as follows. It is conceivable that the injection needle 11c is directed above the horizontal plane, and the medicine container 10 is directed below the horizontal plane.

However, as shown in FIGS. 34(B) and 34(C), an elongated opening 11d is formed at the tip of the injection needle 11c along the longitudinal direction (axial direction) of the injection needle 11c. The length of the opening 11d varies depending on the type of the injection needle 11c. The opening 11d is formed at the tip of the injection needle 11c as an open end on the tip side of the hollow portion of the injection needle 11c. When the length of the opening 11d of the injection needle 11c is longer than the thickness of the rubber stopper 10C of the medicine container 10, the injection needle 11c is When the rubber stopper 10C is punctured or when the injection needle 11c is pulled out from the rubber stopper 10C, the opening 11d exists between the inside and outside of the rubber stopper 10C of the medicine container 10. When the inside and outside of the medicine container 10 are brought into communication, there is a possibility that the liquid inside the medicine container 10 leaks to the outside through the opening 11d.

Therefore, based on the length of the opening 11d of the injection needle 11c used in the mixed injection process, the second control unit 500 controls whether the injection needle 11c is inserted into the medicine container 10 or the injection needle It is conceivable to change the relative positional relationship when 11c is removed from the drug container 10. Specifically, an equipment master in which information such as the length of the opening 11d corresponding to each type of the injection needle 11c and the thickness of the rubber stopper 10C of the drug container 10 is registered in the data storage unit 504 in advance. is memorized. Thereby, the second control unit 500 can determine the length of the opening 11d of the injection needle 11c and the thickness of the rubber stopper 10C of the medicine container 10 based on the equipment master.

Then, when the length of the opening 11d of the injection needle 11c is less than a preset lower limit value, the second control unit 500 directs the injection needle 11c upward from the horizontal plane, In the first state where the drug container 10 is oriented downward from the horizontal plane (see FIG. 34(A)), the injection needle 11c is inserted into the rubber stopper 10C of the drug container 10, or the injection needle 11c is inserted into the rubber stopper 10C of the drug container 10. Pull it out from the rubber stopper 10C. For example, the lower limit value may be the thickness of the rubber stopper 10C of the medicine container 10, or may be a predetermined value regardless of the thickness of the rubber stopper 10C of the medicine container 10. On the other hand, when the length of the opening 11d of the injection needle 11c is equal to or greater than the lower limit value, the second control unit 500 directs the injection needle 11c downward from the horizontal plane, and the medicine container 10 In the second state where the injection needle 11c is directed upward from the horizontal plane (see FIG. 34(D)), the injection needle 11c is inserted into the rubber stopper 10C, or the injection needle 11c is pulled out from the rubber stopper 10C. Thereby, it is possible to prevent liquid from leaking through the opening 11d of the injection needle 11c.

The second control unit 500 controls the relative position of the injection needle 11c when puncturing the rubber stopper 10C or when pulling out the injection needle 11c from the rubber stopper 10C as shown in FIG. Even in the first state, when a liquid is aspirated with the syringe 11, the state may be changed to the second state shown in FIG. 34(A). Further, the object to be punctured by the injection needle 11c is not limited to the medicine container 10, but the same applies when the injection needle 11c is punctured or withdrawn from another container containing a liquid. Note that, instead of the second control section 500, the first control section 400 may perform a similar determination process and transmit a control instruction to the second control section 500.

[Co-infusion distribution function] By the way, the co-infusion system 2 may include a plurality of the co-infusion devices 1 connected to the host system 600. In this case, in the co-infusion system 2, the preparation data is transmitted from the host system 600 to each of the co-infusion devices 1, and in each of the co-infusion devices 1, the preparation data is arbitrarily selected by the operator and the co-infusion process is executed. It is possible that That is, it is conceivable that the co-injection apparatus 1 that executes the co-infusion process based on the preparation data is assigned by an operator.

However, in each of the co-infusion devices 1, the contents of the co-infusion process that can be executed by the co-infusion device 1 may be limited depending on the model of the co-infusion device 1 or the settings of the co-infusion device 1. For example, depending on the model of the co-infusion device 1, the types of the drug container 10, the syringe 11, the infusion bag 12, or the relay member 90 that can be used in the co-infusion process may differ.

Therefore, in the host system 600, the control unit 601 may be able to specify, depending on the contents of the preparation data, the co-infusion device 1 that can execute the co-infusion process based on the preparation data. For example, a code reader capable of reading code information such as a one-dimensional code or a two-dimensional code for identifying the preparation data is connected to the host system 600. On the other hand, in the storage unit 602 of the host system 600, information such as the model or setting of each of the co-infusion devices 1 is associated with information indicating the content of the co-infusion process that can be executed by the co-infusion device 1. Device information is stored.

Then, when the code information written in the prescription or preparation instruction sheet is read by the code reading unit, the control unit 601 controls the control unit 601 to enable the co-infusion process to be executed based on the preparation data corresponding to the code information. The co-infusion device 1 is specified based on the device information. Thereafter, the control unit 601 presents the co-infusion device 1 specified as capable of executing the co-infusion process to the operator, or presents the co-infusion device 1 specified as capable of executing the co-infusion process to the operator. The mixed injection process is automatically executed.

Furthermore, when there are a plurality of co-infusion devices 1 capable of executing the co-infusion process based on the preparation data, the control unit 601 may select the co-infusion device 1 suitable for executing the co-infusion process. .

For example, the control unit 601 acquires the standby information D31 stored in the data storage unit 404 of each of the co-infusion devices 1, and stores the standby information D31 in the storage unit along with information that can be identified by the co-infusion device 1. 602. Thereby, the control unit 601 can grasp the standby status of the co-infusion process in each of the co-infusion devices 1 based on the standby information D31 corresponding to each of the co-infusion devices 1. Then, the control unit 601 selects, based on the standby information D31, the co-infusion device 1 that can execute the co-infusion process based on the preparation data most quickly as the co-infusion device 1 suitable for executing the co-infusion process. . Thereafter, the control unit 601 presents the selected co-infusion device 1 to the operator, or causes the selected co-infusion device 1 to automatically execute the co-infusion process.

Further, the control unit 601 selects, from among the plurality of co-infusion devices 1, the co-infusion device 1 whose remaining medicine can be used in the co-infusion process based on the preparation data as the co-infusion device 1 suitable for executing the co-infusion process. It may be possible. In this case, the control unit 601 acquires the remaining drug information D30 stored in the data storage unit 404 of each of the co-infusion devices 1, and stores the remaining drug information D30 together with information that can be identified by the co-infusion device 1. The information is stored in the storage unit 602. Thereby, the control unit 601 can grasp information on the remaining medicines present in each of the co-infusion devices 1 based on the remaining drug information D30 corresponding to each of the co-infusion devices 1. Then, when the code information is read by the code reading unit, the control unit 601 controls the co-infusion device 1 in which a drug that can be used in the co-infusion process based on the preparation data corresponding to the code information exists as a remaining drug. is selected based on the remaining drug information D30. Thereafter, the control unit 601 presents the selected co-infusion device 1 to the operator, or causes the selected co-infusion device 1 to automatically execute the co-infusion process. For example, the control unit 601 may indicate the use of the co-infusion device 1 that can use the remaining drugs, such as "There is some remaining medicine in the co-infusion device of machine No. 0. Please use the co-infusion device of machine No. 0." Present a prompting message to the worker. Thereby, it becomes possible to efficiently use the remaining medicine in the co-infusion system 2 as a whole.

In addition, as another embodiment, instead of the host system 600, the first control section 400 is connected to a plurality of the co-infusion devices 1, and the first control section 400 controls the control system based on the preparation data. The mixed injection device 1 that can perform the mixed injection process may be specified. Furthermore, instead of the host system 600, a mobile terminal capable of communicating with the host system 600 or the co-infusion device 1, etc., controls the co-infusion device 1 that executes the co-infusion process based on the preparation data in response to a user operation. It may be selectable. In this case, the mobile terminal acquires various information such as the preparation data, the remaining drug information D30, and the standby information D31 from each of the host system 600 and the co-infusion device 1, and It is conceivable to present the number of preparation data items on standby, the contents of the preparation data, information on remaining medicines present in the co-infusion device 1, etc. to the operator as reference information. Further, the mobile terminal may present, as the reference information, whether the patient corresponding to the preparation data is an inpatient or an outpatient, based on the preparation data. Further, in each of the co-infusion devices 1, the standby information D31 indicates whether the preparation data has been automatically distributed by the host system 600 or the like as described above, or the preparation data has been distributed by the mobile terminal. etc. may be stored, and the mobile terminal may present that information as the reference information.

[Error notification function] In the co-infusion device 1, the first robot arm 21, the second robot arm 22, the stirring device 32, the medicine reading section 34, the weighing scale 35, the needle bending detection section 36, etc. Various sensors are provided to detect the states of various controlled objects. Then, when an abnormality is detected in the co-infusion process executed by the co-infusion device 1 based on the detection results of the various sensors, the first control unit 400 or the second control unit 500 notifies the co-infusion process to that effect. It has an error notification function that provides notification using a speaker or a display unit provided in the co-infusion device 1. Thereby, an operator such as a pharmacist who uses the co-infusion device 1 can grasp an abnormality in the co-infusion device 1.

By the way, an operator such as a pharmacist who uses the co-infusion device 1 is not necessarily present near the co-infusion device 1 when the co-infusion process is executed by the co-infusion device 1 . Therefore, when an abnormality is detected in the co-infusion device 1, the first control unit 400 or the second control unit 500 notifies the co-infusion device 1, and then confirms the abnormality in the co-infusion device 1. Waits for user operation to do so. Thereafter, if the user operation is not performed within a preset waiting time, the first control unit 400 or the second control unit 500 transmits abnormality information to a preset destination. The destination is an email address, SNS address, telephone number, etc. for transmitting the abnormality information to an information processing device such as a personal computer, a mobile terminal, or a smartphone of the worker that is used separately from the co-infusion device 1. be. Thereby, the information processing device notifies the worker of the abnormality information. Therefore, even if the operator is located away from the co-infusion device 1, it is possible to detect the occurrence of an abnormality in the co-infusion device 1.

[Execution Pending Reservation Function] As described above, in the mixed injection system 2, it is possible to reserve the execution timing of the mixed injection process based on the preparation data. On the other hand, it is conceivable that the first control unit 400 has an execution pending reservation function that reserves the execution timing of the co-infusion process based on the adjustment data in a pending state. Specifically, on the execution instruction screen P10 of FIG. 28, the first control unit 400 suspends the execution timing of the co-infusion process along with operation keys K11 to K13 for accepting an operation for selecting a reservation method for the preparation data. Displays the hold operation key for making a reservation.

Then, in the co-infusion management process, when the hold operation key is selected and a request to execute the co-infusion process based on the preparation data is made (S21: Yes), the first control unit 400 causes the process to proceed to step S22. Transition. Thereafter, the first control unit 400 determines in step S22 not to execute the automatic reservation process (S22: No), and in step S221, the execution timing of the co-infusion process based on the preparation data is on hold. The standby information D31 is updated so that (S221). For example, in the standby information D31, "on hold" is recorded as "execution timing" information corresponding to the preparation data to be put on hold. Note that after executing step S221, the first control unit 400 executes steps S23 to S27. As a result, in the co-infusion device 1, the tray 101 corresponding to the preparation data is accommodated in the storage unit 700, and the co-infusion process based on the preparation data is not automatically executed. Mixed injection processing based on the data is put on hold. Furthermore, the first control unit 400 is capable of suspending execution of the mixed injection process in response to a user operation for the preparation data that is registered in the standby information D31 and for which the mixed injection process has not been performed. Good too.

Thereafter, when the preparation data reserved in the pending state is selected in the standby information D31 by a user operation and a request is made to start execution of the co-infusion process based on the preparation data, the first control unit 400 It is determined that the execution timing of the preparation data has arrived, and a request to start execution of the co-infusion process regarding the preparation data is transmitted to the second control unit 500. Thereby, in the mixed injection control process, the second control unit 500 determines that it is time to execute the mixed injection process (S50: Yes), and executes the mixed injection process based on the preparation data. Further, when the second control unit 500 selects the preparation data reserved in the pending state in the standby information D31 by a user operation and requests to start execution of the co-infusion process based on the preparation data, , it may be determined that it is time to execute the mixed injection process (S50: Yes), and the mixed injection process based on the preparation data may be executed.

Claims (2)

A member mounting device comprising: a holding part that holds a relay member that relays a connection between a dispensing container containing a medicine and an administration device used for administering the medicine from the dispensing container to a patient. causing one or more processors to perform a member holding step of holding a relay member that relays the connection between a dispensing container containing a drug and an administration device used for administering the drug from the dispensing container to a patient; Control program for.