JP2024009327A - Mixed injection device, mixed injection method, and mixed injection control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mixed injection device, a mixed injection method and a mixed injection control program in which an efficient use of medicine in a medicine container charged in the mixed injection device is supported, and an adverse effect can be suppressed.

SOLUTION: A mixed injection device 1 includes: a mixed injection processing unit 300 capable of executing the mixed injection processing for injecting the medicine in a first container into a second container based on preparation data; a mixed injection control unit 100 capable of assigning the medicine in the first container staying in the mixed injection processing based on the second preparation data different from the first preparation data, as the medicine used in the mixed injection processing based on the first preparation data executed by the mixed injection processing unit 300; and a first control unit 400 (notification processing unit) for performing notification when the deficiency occurs in the medicine in the mixed injection processing corresponding to the one or multiple preparation data with the change of the execution sequence or the execution cancel of the mixed injection processing corresponding to the preparation data.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

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

A mixed injection device is known that performs a mixed injection process in which a drug such as an anticancer drug contained in a drug container such as a vial is aspirated with a syringe, and the drug is injected into an infusion bag containing an infusion solution (for example, , see Patent Document 1). More specifically, a tray on which a drug container, an infusion bag, etc. for the drug indicated in the preparation data are placed is loaded into the mixed injection device, and the mixed injection is performed using the drug container, infusion bag, etc. placed on the tray. Processing is executed.

Japanese Patent Application Publication No. 2012-250016

By the way, for example, if the configuration is such that the medicine remaining in the medicine container after the execution of the first mixed injection process can be used in the second mixed injection process to be executed subsequently, the tray corresponding to the second mixed injection process has the corresponding one. There is no need to use a container for chemicals, and the chemicals can be used more efficiently. However, in this case, after the trays corresponding to the first mixed injection process and the second mixed injection process are loaded into the mixed injection apparatus, if the execution order of the first mixed injection process and the second mixed injection process is changed, the second mixed injection process The second mixed injection process cannot be performed due to a shortage of chemicals in the mixed injection process.

An object of the present invention is to provide a mixed injection device, a mixed injection method, and a mixed injection control program that can suppress the influence of harmful effects in order to support the efficient use of drugs in a drug container loaded in the mixed injection device. There is a particular thing.

The mixed injection device according to the present invention includes a mixed injection processing unit that can perform a mixed injection process of injecting a medicine in a first container into a second container based on preparation data, and a mixed injection processing unit that can perform a mixed injection processing that injects the medicine in a first container into a second container based on the first preparation data that is executed by the mixed injection processing unit. a mixed injection control unit capable of allocating a medicine in the first container remaining in the mixed injection process based on second preparation data different from the first preparation data as a medicine to be injected in the mixed injection process based on the preparation data; and a notification processing unit that notifies when a shortage of medicine occurs in the mixed injection process corresponding to one or more of the preparation data due to a change in the execution order or cancellation of the execution of the corresponding mixed injection process.

The mixed injection method according to the present invention is a mixed injection method in a mixed injection device including a mixed injection processing section capable of performing a mixed injection process of injecting a medicine in a first container into a second container based on preparation data, the mixed injection processing section Assigning a drug in the first container remaining in the mixed injection process based on second preparation data different from the first preparation data as the drug to be injected in the mixed injection process based on the first preparation data performed by , a step of notifying when a drug shortage occurs in the mixed injection processing corresponding to one or more of the preparation data due to a change in the execution order or cancellation of execution of the mixed injection processing corresponding to the preparation data; It is.

The mixed injection control program according to the present invention includes a control unit of a mixed injection device that includes a mixed injection processing unit capable of performing a mixed injection process of injecting a medicine in a first container into a second container based on preparation data. Allocating the medicine in the first container remaining in the mixed injection process based on second preparation data different from the first preparation data as the medicine to be flowed in the mixed injection process based on the first preparation data to be executed; A step of notifying when a drug shortage occurs in the mixed injection processing corresponding to one or more of the preparation data due to a change in the execution order or cancellation of the execution of the mixed injection processing corresponding to the preparation data. This is the program.

According to the present invention, there are provided a mixed injection device, a mixed injection method, and a mixed injection control program that can suppress the influence of harmful effects to support the efficient use of drugs in a drug container loaded in the mixed injection device. Ru.

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

Embodiments of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. Note that the following embodiments are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention. First, a first embodiment will be described. Note that in each of the embodiments described below, similar configurations or processes may be denoted by the same reference numerals, and a description thereof may be omitted.

[Mixed injection device 1]
As shown in FIGS. 1 and 2, the mixed injection device 1 according to the present embodiment includes a mixed injection control section 100, a drug loading section 200, a mixed injection processing section 300, a storage unit 700, and a stirring device 32. 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 unit 100 controls the operations of the co-infusion processing unit 300 and the storage unit 700 based on the preparation data, so that the syringe can be used to control anti-cancer drugs indicated in the preparation data. A mixed injection process is performed in which a predetermined amount of a drug is injected from a first container such as one or more ampoules or vials containing a predetermined amount of the drug into a second container such as an infusion bag. The mixed injection process also includes a process in which a syringe sucks a medicine from a first container such as an ampoule or a vial and injects it into a second container such as another ampoule or a vial.

[Mixed injection control unit 100]
First, a schematic configuration of the mixed injection control section 100 will be described with reference to FIG. 1. The co-infusion control unit 100 includes a first control unit 400 and a second control unit 500 that are communicably connected. The first control section 400 is provided on the medicine loading section 200 side, and the second control section 500 is provided on the mixed injection processing section 300 side. Further, a printer 506 (printing device) such as a monochrome printer, a color printer, or a label printer is connected to the second control unit 500, and the printer 506 is used to print various information on paper or labels.

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 co-injection control unit 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 section 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.

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

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

The CPU 401 is a processor that executes processing according to various control programs. The ROM 402 is a nonvolatile memory in which programs such as BIOS to be executed by the CPU 401 are stored in advance. The RAM 403 is a volatile memory or nonvolatile memory used by the CPU 401 to develop various control programs and temporarily store data.

The data storage unit 404 is a non-volatile storage device such as a hard disk that stores various application programs and various data for causing the CPU 401 to execute various processes. For example, the data storage unit 404 stores the preparation data input from the host system 600.

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

Further, the data storage unit 404 stores various databases such as, for example, a drug master, a patient master, a doctor master, a prescription category 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, topical medicine, etc.), specific gravity, drug type (regular medicine), etc. , anticancer drugs, poisonous drugs, narcotics, powerful drugs, antipsychotic drugs, therapeutic drugs, etc.), composition changes, excipient drugs, precautions, type of drug container (ampule, vial), drug storage capacity per drug container. (predetermined amount), container shape information of the drug container, and information such as the weight of the drug container. Further, in the medicine master, it is registered in advance that the medicine to be used as a leftover drug is a medicine to be stored as a leftover medicine, and the first control unit 400 controls the medicine registered as a medicine to be stored as a leftover medicine. It is conceivable that the container 10 is determined to be used as a leftover medicine.

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

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

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

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

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

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

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

[Chemical loading section 200]
Next, a schematic configuration of the chemical loading section 200 will be described with reference to FIGS. 2 and 3. Note that FIG. 3 is a diagram showing a main part of the internal configuration of the 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 that includes a door 201, a work table 202, a touch panel monitor 203, a barcode reader 204, and an air purifier 205. The drug loading section 200 and the mixed injection processing section 300 communicate with each other through a tray loading port 114 (see FIG. 6) and a tray discharge port 701 (see FIG. 21) formed on the side surface of the mixed injection processing section 300. There is.

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

The 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. Specifically, the touch panel monitor 203 displays preparation data and the like that are candidates for co-injection in the co-infusion device 1 . Note that the second control unit 500 can display information on the touch panel monitor 203 via the first control unit 400 and can receive operation input on the touch panel monitor 203 via the first control unit 400. It may be.

Further, the barcode reader 204 reads a barcode written on a prescription or a preparation instruction sheet, and inputs the contents of the barcode to the first control unit 400. The air purifying device 205 supplies air into the chemical loading section 200 through a predetermined filter. Note that the touch panel monitor 203 may be supported by, for example, a front panel 700A (see FIGS. 18 to 21) included in the housing unit 700.

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

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

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

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

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

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

The tray 101 is stored in the storage unit 700 after the user sets the medicine container 10, the syringe 11, the infusion bag 12, and other equipment. As will be described later, a plurality of trays 101 can be accommodated in the accommodation unit 700, and the trays 101 can be loaded from the accommodation unit 700 through the tray discharge port 701 and the tray loading port 114 as needed. It is automatically supplied to the mixed injection processing section 300. Thereafter, after the co-infusion process in the co-infusion processing section 300 is completed, the tray 101 is discharged from the tray outlet 15 (see FIG. 3) of the co-infusion processing section 300 with the infusion bag 12 accommodated therein; Alternatively, it is discharged from the tray discharge port 206 (see FIG. 3) of the chemical loading section 200 via the storage unit 700.

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

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

The main door 301 is opened and closed 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 addition to dispensing the infusion bag 12 filled with medicine, it is also possible to dispense the syringe 11 filled with medicine. Used when taking out.

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

The touch panel monitor 14 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. The touch panel monitor 14 can display, for example, images or videos taken by various cameras described below. Note that the first control section 400 can display information on the touch panel monitor 14 via the second control section 500, and can accept operation input on the touch panel monitor 14 via the second control section 500. It may be.

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

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

[Mixed injection processing room 104]
As shown in FIGS. 3 and 4, the mixed injection processing chamber 104 includes a first robot arm 21, a second robot arm 22, an ampere cutter 31, the stirring device 32, a loading shelf 33, a medicine reading section 34, and a weighing device. A total of 35 needle bending detectors 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, a dust cover 132a, and the like are provided. Further, as shown in FIG. 6, a tray confirmation camera 41, a syringe confirmation camera 42, a syringe needle attaching/detaching device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, etc. are provided on the ceiling side of the mixed injection processing chamber 104. There is.

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

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

As shown in FIG. 6, the first robot arm 21 includes a holding section 25 capable of holding instruments such as the drug container 10 and the syringe 11, and moves the holding section 25 within a predetermined movable range. It is possible to move it to any position within. The second robot arm 22 includes a holding section 26 capable of holding equipment such as the drug container 10 and the syringe 11, and holds the drug container 10, the syringe 11, etc. within a predetermined movable range. It is possible to move it to any position. Furthermore, the holding section 26 is capable of performing operations for suctioning and injecting medicine with the syringe 11.

As shown in FIG. 7, the holding part 25 of the first robot arm 21 includes a pair of gripping claws 25a, a motor 251, two screw shafts 252 and 253 rotated by the motor 251, and the screw Nut blocks 254 and 255 are screwed onto shafts 252 and 253. The pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. Then, the nut blocks 254 and 255 move due to the rotation of the screw shafts 252 and 253, and the pair of gripping claws 25a approach and separate from each other, so that the holding portion 25 holds the drug container 10 or the like. Release hold.

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

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

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

The plunger holding portion 262 includes a pair of gripping claws 262a that hold the flange of the plunger 11b of the syringe 11. The pair of gripping claws 262a are gripping parts that hold and release the flange of the plunger 11b of the syringe 11 by approaching and separating from each other by a mechanism similar to the drive mechanism used in the holding part 25. be. A gripping claw 262b is fixed to the upper surface of each of the gripping claws 262a. Each of the gripping claws 262b is a gripping portion that can be moved close to and separated from each other by moving the pair of gripping claws 262a closer to each other and separated from each other, and grips not only the syringe 11 but also other equipment such as the medicine container 10. A recess into which the flange of the plunger 11b is inserted is formed on the upper surface of the pair of gripping claws 262a facing each other. Furthermore, the tips of the pair of gripping claws 262b protrude more forward than the pair of gripping claws 262a, so that the pair of gripping claws 262b can easily grip instruments such as the ampoule 10A and the vial 10B. Note that the gripping claw 262b may be provided on the gripping claw 261a.

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

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

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

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

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

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

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

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

Further, as shown in FIG. 10, a bag elevating section 113 for elevating the infusion bag holding section 103 is provided at the tray conveyance terminal end section 110a located in the left side space of the co-infusion processing chamber 104. After the tray 101 is conveyed to the front of the bag elevating section 113, the second control section 500 hooks the hook section 113a of the bag elevating section 113 into the engagement hole section 103a from below. Then, the second control unit 500 raises the infusion bag holding unit 103 by rotationally driving the arcuate gear part 113b in which the hook part 113a is formed using the motor 113c, and opens the mixed injection port of the infusion bag 12. It is located at the mixed injection communication port 37. Further, the second control unit 500 controls the motor 113c to drive the bag elevating unit 113 to tilt the infusion bag holding unit 103 so that the mixed injection port of the infusion bag 12 is directed upward or downward. can do.

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

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

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

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

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

[Agitator 32]
When the vial bottle 10B contains a medicine that needs to be dissolved, such as a powder medicine, the stirring device 32 injects an infusion solution or medicine into the vial bottle 10B to dissolve the medicine, Used when producing mixed chemicals. Specifically, the stirring device 32 is used in a stirring step of stirring the medicine in the vial 10B. Note that the stirring device 32 is arranged at a position that can be accessed by the user when the main door 301 is opened.

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

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

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

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

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

[Placement shelf 33]
As shown in FIG. 4, the storage shelf 33 is used to temporarily store the drug container 10, the syringe 11, etc. during the mixed injection process performed in the mixed injection device 1. 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. On the shelf 33, the vial 10B is placed upright at a predetermined position. On the other hand, the shelf 33 is provided with an inclined holding part for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed in an inclined state on the inclined holding part. Further, the shelf 33 is formed with a neck holding hole of a predetermined diameter into which the neck of the syringe 11 is fitted, and the syringe 11 has a neck holding hole with a predetermined diameter into which the neck of the syringe 11 is fitted. Temporarily placed face down.

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

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

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

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

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

[Mixed injection communication port 37]
As shown in FIG. 3, the co-infusion communication port 37 is formed in a dome-shaped part of the side wall of the co-infusion processing chamber 104 that protrudes outward, and the infusion bag 12 is connected to the dome-shaped part in the vertical direction. A notch is formed to allow the mixed injection port to pass through. Therefore, when the infusion bag holding section 103 is raised, the mixed injection port of the infusion bag 12 is located within the mixed injection processing chamber 104. Thereby, the injection needle 11c of the syringe 11 held by the second robot arm 22 can be inserted into the mixed injection port of the infusion bag 12.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

For example, when transitioning from the retracted state to the usable state, the second transport section 920 may move upward while holding the tray 101 placed at a predetermined position on the first transport section 910. By moving the tray 101 to the third transport section 940, the tray 101 can be transported to and from the third transport section 940. Further, when the second transport section 920 shifts from the usable state to the retracted state, the second transport section 920 holds the tray 101 placed on the second transport section 920 while moving the first transport section 910 to the retracted state. and transfers the tray 101 to the first conveyance section 910.

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

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

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

[Mixed injection process]
Next, an example of a basic processing procedure of a mixed injection process executed by controlling the mixed injection processing section 300 by the mixed injection control section 100 in the mixed injection device 1 will be described. In the mixed injection process, as described below, the second control unit 500 controls the first robot arm 21, the second robot arm 22, etc. to perform one or more injections based on the preparation data. The medicine is aspirated from the medicine container 10 with the syringe 11, and the medicine is injected from the syringe 11 into another container such as the infusion bag 12.

[Mixed injection process using vial bottle 10B]
Next, when the medicine contained in the vial bottle 10B is a medicine such as a powder that needs to be dissolved, the basics of the mixed injection process when mixing the medicine with an infusion and injecting it into the infusion bag 12 will be explained. The operation will be explained. Further, here, a process after the tray 101 is supplied from the storage unit 700 to the mixed injection processing section 300 in the mixed injection process will be described. Note that a description of the mixed injection process using the ampoule 10A will be omitted.

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

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

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

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

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

Then, the second control unit 500 causes the second robot arm 22 to move the vial bottle 10B set in the medicine reading unit 34 to the storage shelf 33. Meanwhile, in parallel with this movement process, the second control section 500 causes the first robot arm 21 to move the injection needle 11c of the syringe 11 placed on the instrument placement section 102 so that the cap 11d The injection needle is set in the injection needle attachment/detachment device 43 in the attached state.

Next, the second control unit 500 uses the first robot arm 21 to take out the syringe 11 from the storage shelf 33 and sets it on the second robot arm 22 . Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the 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.

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

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

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

Here, the second control unit 500 executes an agitation inspection process for inspecting the agitation result of the agitation process after the agitation process is completed. In the stirring inspection process, the second control unit 500 controls the first robot arm 21 to move the vial 10B to a posture and position where the bottom or side surface of the vial 10B is visible to the user. , waits for a user's confirmation operation on the touch panel monitor 14 or the like. Further, the second control unit 500 controls the first robot arm 21 according to a predetermined operation on the touch panel monitor 14, so that the user can visually check the bottom or side of the vial 10B from different angles. A rocking process is executed to move the vial 10B to a plurality of states (postures and positions). This allows the user to check the degree of dissolution of the drug in the vial 10B from different angles.

Thereafter, when the confirmation operation is performed, the second control unit 500 advances the co-injection process to the next step. On the other hand, when the predetermined re-stirring operation is performed, the second control unit 500 sets the vial bottle 10B in the stirring device 32 again without proceeding with the next step of the mixed injection process. Rerun the stirring process. In addition, in the stirring inspection process, the second control unit 500 may display, on the touch panel monitor 14, a photographed image of the bottom or side surface of the medicine container 10 photographed after the stirring step.

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

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

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

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

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

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

Further, in the mixed injection process when injecting the medicinal solution contained in the vial bottle 10B as it is into the infusion bag 12, the mixed medicine is aspirated from the infusion bag 12, injected into the vial bottle 10B, and stirred. This is the same as the mixed injection process when injecting the powder contained in the vial bottle 10B into the infusion bag 12, except that the process for generating it is not performed.

Hereinafter, an example of the procedure of the mixed injection management process and the mixed injection control process executed by the mixed injection control unit 100 in the mixed injection apparatus 1 will be described with reference to FIGS. 22 to 30.

[Mixed injection management process]
First, the mixed injection management process will be described with reference to FIG. 22.

<Step S21>
In step S21, the first control unit 400 waits for the user to perform a loading preparation start operation using the touch panel monitor 203 (S21: 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 and confirms the preparation data to be processed on the prescription selection screen M1, it is determined that the loading preparation start operation has been performed (S21: Yes), and the process moves to step S22. do. Note that hereinafter, the preparation data to be processed selected here may be referred to as target preparation data.

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

When there are multiple selection candidates for the preparation data to be subjected to the co-infusion process in the co-infusion device 1, the preparation data of the selection candidates are displayed in a state arranged according to preset sorting conditions on the prescription selection screen M1. be done. The sorting conditions are determined, for example, by any one or a combination of the date and time of preparation by the co-infusion device 1, the date and time of administration, the prescription category, and the date and time of issue of the preparation data. Then, the user refers to the prescription selection screen M1 and selects the necessary number of medicine containers 10, syringes 11, and infusion bags 12 based on the target preparation data selected on the prescription selection screen M1. The tray 101 is placed on the tray 101, and the tray 101 is loaded into the storage unit 700.

The prescription display section D2 also displays, for each of the preparation data, the residue remaining in the medicine container 10 in the co-infusion process based on other preparation data that is executed before the co-infusion process based on the preparation data. A remaining drug presence/absence display section D21 is included that displays whether or not the prescription data includes a drug of the same type as the drug. That is, for each of the preparation data (first preparation data), the remaining drug presence/absence display section D21 displays other preparation data (first preparation data) different from the preparation data as a drug to be injected in the co-infusion process based on the preparation data. It is shown whether or not the medicine remaining in the medicine container 10 after the co-infusion process based on (2) preparation data can be allocated. For example, the remaining drug presence/absence display section D21 indicates whether or not the remaining drug is usable preparation data using information such as letters, symbols, figures, or illustrations.

It should be noted that there may be cases where it is not necessary to use the remaining medicine from the previous mixed injection process in the later mixed injection process. Therefore, the first control unit 400 can change ON/OFF of the function for using the remaining medicine, which uses the remaining medicine generated in the previous co-infusion process in the later co-infusion process, according to the user's operation during initial settings, etc. It is. Further, the first control unit 400 may be configured to be able to switch ON/OFF of the remaining medicine use function for each of the preparation data in accordance with a user operation on the prescription selection screen M1.

Furthermore, the first control unit 400 may automatically switch ON/OFF of the remaining medicine use function based on the preparation data. Specifically, the preparation data includes the medical treatment type (outpatient, inpatient, etc.), and the first control unit 400 automatically turns ON/OFF the leftover drug usage function according to the medical treatment type. It is possible to switch to For example, the first control unit 400 may set the remaining medicine usage function to OFF when the treatment type is outpatient, and set the remaining medicine usage function to ON when the treatment type is hospitalization. is possible.

By the way, the first control unit 400 receives, as the loading preparation start operation, an immediate start operation that immediately executes the mixed injection process based on the target preparation data, and also receives an immediate start operation that immediately executes the mixed injection process based on the target preparation data. It is also possible to accept a reservation mixed injection operation for reserving an expected completion time indicating a completion time zone. Specifically, when the target preparation data is selected on the prescription selection screen M1, the first control unit 400 displays a reservation registration screen P10 for reserving the co-infusion process based on the target preparation data on the touch panel monitor. 203.

Here, FIG. 24 is a diagram showing an example of the reservation registration screen P10. In FIG. 24, the reservation registration screen P10 is displayed as a pop-up on a loading check screen M2 for supporting loading of equipment into the tray 101. Note that the loading check screen M2 includes a display area A11 in which information that allows identification of the target preparation data is displayed, and the drug container 10, the infusion bag 12, etc. necessary for the co-infusion process based on the target preparation data. A display area A12 in which the equipment is displayed is included.

As shown in FIG. 24, on the reservation registration 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. Alternatively, the preparation ID and the time required for the co-infusion process based on the target preparation data are displayed. The time required 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 may be stored in the data storage unit 404, and the first control unit 400 may calculate the required time for the mixed injection process based on the calculation information. .

Furthermore, on the reservation registration screen P10, there are operation keys K11 to K13 for accepting an operation for selecting a reservation condition for the target preparation data, an operation key K14 for accepting an operation for executing a reservation for the target preparation data, and an operation key K14 for accepting an operation for executing a reservation for the target preparation data. Displayed are operation keys K15 and the like for accepting settings for availability.

The operation key K11 is an operation key for selecting, as a reservation condition, a reservation without time specification in which the co-infusion process based on the target preparation data is executed in the order in which the target preparation data is input. Then, when the reservation without time specification is made for the target preparation data, the first control unit 400 performs a co-infusion process based on other preparation data for which the interruption reservation was made, and when the reservation with time specification is made. If the mixed injection process based on the other preparation data that has been received is not executed, the mixed injection process based on the target preparation data for which the reservation without time specification was made is performed in the order in which the reservation without time specification was made. The control unit 500 executes the process.

The operation key K12 selects, as a reservation condition, an interrupt reservation in which co-infusion processing based on the target preparation data is executed with priority over other preparation data reserved by the reservation without time specification and the reservation with time specification described later. This is an operation key for Note that when the operation key K12 is selected, if the preparation data reserved by the interruption reservation already exists, even if the execution order of the preparation data for the plurality of interruption reservations can be selected. good. When the interrupt reservation is made for the target preparation data, the first control unit 400 causes the second control unit 500 to execute co-infusion processing based on the target preparation data with priority over other preparation data. let More specifically, if the co-infusion device 1 is not currently executing a co-infusion process based on other preparation data, the first control unit 400 controls the target preparation data for which the interrupt reservation has been made. The second control unit 500 immediately executes the co-infusion process based on the above. Note that if there is a mixed injection process based on the preparation data that has already been reserved, the execution start timing of the mixed injection process is reset to at least the timing after the execution of the mixed injection process based on the target preparation data related to the interrupt reservation. .

The operation key K13 is an operation key for selecting, as a reservation condition, a time-specified reservation in which co-infusion processing based on the target preparation data is executed based on an execution start timing preset by a user operation. The execution start 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. More specifically, when the operation key K13 is selected, the date and time for executing the co-infusion process based on the target preparation data can be set on the reservation registration screen P10. For example, the reservation registration screen P10 shown in FIG. 24 is in a state where a reservation with a time specification is set to perform the mixed injection process by 19:00 on August 22nd.

Further, in the reservation registration screen P10, when a reservation with a time specification is made, a margin time for the expected completion time of the mixed injection process can also be set. The margin time indicates a range that can be changed when the execution timing of the co-infusion process is advanced after the scheduled completion time is set, and for example, the time set for each drug in the drug master, or the reservation registration screen P10. This is the time input in response to user operations. For example, if the scheduled completion time of the target preparation data is 19:00 and the margin time is 30 minutes, the execution timing of the mixed injection process based on the target preparation data is 18:00, 30 minutes before the scheduled completion time. It can be changed as long as the mixed injection process is completed after 19:30 and before 19:00. Further, when the scheduled completion time is 19:00 and the margin time is 30 minutes, the execution timing of the mixed injection process is after 18:30, which is 30 minutes before the scheduled completion time. may be changeable within the range in which it is started.

Then, when the time-specified reservation is made for the target preparation data, the first control unit 400 finishes the co-infusion process based on the target preparation data at the scheduled completion time set in the time-specified reservation. The execution start timing is set so that. Note that the first control unit 400 can set reservations for the preparation data equal to or less than a preset maximum number of reservations equal to the number of the tray accommodating units 811. For example, if the time obtained by subtracting the time required for the mixed injection process from the scheduled completion time is set as the execution start timing, and the execution times of a plurality of the mixed injection processes overlap, then one or more of the mixed injection processes are executed. By advancing the start timing, the execution start timing is set so that the execution times of the plurality of mixed injection processes do not overlap. In addition, when the completion time slot is reserved, reservations are accepted in units of one hour, such as between 11:00 and 12:00, as the time range in which the mixed injection process is to be completed.

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

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 outpatients among the preparation data. Regarding the preparation data, it is also 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 preparation data, the preparation data corresponding to inpatients is permitted. It is also conceivable that the use of the remaining medicine in the above-mentioned co-infusion process is not permitted.

Further, on the reservation registration screen P10, it may be possible to set whether or not the remaining medicine generated in the co-infusion process based on the target preparation data can be used in a subsequent co-infusion process based on the other preparation data. Other embodiments are possible. Further, the first control unit 400, based on the patient information corresponding to the target preparation data, removes the remaining medicine generated in the co-infusion process based on the target preparation data in a subsequent co-infusion process based on the other preparation data. It is also possible to automatically determine whether or not it is available. Specifically, the first control unit 400 determines that, for preparation data corresponding to inpatients among the target preparation data, the remaining medicine generated in the co-infusion process can be used in the other subsequent co-infusion process. However, regarding the preparation data corresponding to outpatients among the preparation data, it may be determined that the remaining medicine generated in the co-infusion process cannot be used in the other co-infusion process thereafter. In addition, on the contrary, for the preparation data corresponding to outpatients among the target preparation data, it is determined that the remaining medicine generated in the co-infusion process can be used in the other co-infusion process, and the preparation data is Regarding the preparation data corresponding to inpatients among the data, it may be determined that the remaining medicine generated in the co-infusion process cannot be used in the other co-infusion process thereafter.

<Step S23>
In step S23, the first control unit 400 determines whether or not the remaining medicine stored in the co-infusion processing chamber 104 of the co-infusion device 1 can be used regarding the target preparation data. The determination is made based on the remaining medicine information D30. The remaining drug information D30 is information edited in step S26, which will be described later, and is stored in the data storage unit 404. Incidentally, in the case where a setting is made in the reservation registration screen P10 for the target preparation data not to use the remaining medicine, steps S23 to S25 are omitted.

Specifically, the first control unit 400 controls whether the same type of medicine as the medicine in the medicine container 10 used in the co-infusion process based on the target preparation data remains in the co-infusion device 1 at a preset reference time. When the remaining amount of usable medicine stored as medicine is greater than or equal to the amount of medicine required for co-infusion processing based on the target preparation data, it is determined that the remaining medicine can be used. For example, the reference time is the time when a co-injection process based on the target preparation data is started, or the time when the loading preparation start operation is performed for the target preparation data. Note that when it is determined whether the prescribed medicine included in the target preparation data and the leftover medicine match, it is not determined whether the standard amount of the medicine container 10 is the same, and the medicine It is determined whether the types are the same. As a result, even if the drugs are the same but have different standard amounts, it is determined that the drugs can be used as leftover drugs. For example, if the type of the remaining drug is "5-FU Note" and the standard amount is "1000mg", the drug name of the drug container 10 used in the mixed injection process based on the target preparation data is "5-FU Note". Note: If the standard amount is 500mg, it is determined that they are the same drug.

Further, the first control unit 400 controls the remaining medicines existing in the co-infusion device 1 at the reference time for the same type of medicine as the medicine in the medicine container 10 used in the co-infusion process based on the target preparation data. If the number of the trays 101 loaded corresponding to the target preparation data decreases due to utilization, it may be determined that the remaining medicine can be used. For example, when two drug containers 10 are required in a co-infusion process based on the target preparation data, by using the remaining medicine, the drug containers 10 can be placed in the tray 101 corresponding to the target preparation data. When the number of loaded medicines is one, it is determined that the remaining medicine can be used. On the other hand, in a case where two drug containers 10 are required in the mixed injection process based on the target preparation data, even if the remaining medicine is used, the drug containers 10 are not placed in the tray 101 corresponding to the target preparation data. If the number of bottles loaded is two, it is determined that the remaining medicine is not available.

By the way, if the number of punctures of the injection needle 11c into the drug container 10 increases, there is a risk that coring will occur. Therefore, the first control unit 400 sets a preset upper limit for the number of punctures of the injection needle 11c at the reference time among the medicine containers 10 that can be used as residual medicines in the co-infusion device 1 at the reference time. It is conceivable that the medicine container 10 that has exceeded the number of times is determined to be unusable as a leftover medicine. Specifically, the first control unit 400 predicts the number of punctures of the injection needle 11c into each of the drug containers 10 in the co-injection process based on each of the preparation data, based on each of the preparation data. Thereafter, the first control unit 400 determines whether or not the drug container 10 that can be used as a remaining drug in the co-infusion device 1 at the reference time point is available, depending on the number of punctures.

Here, the remaining amount of the remaining medicine existing in the co-infusion device 1 refers to the drug that is stored as a usable residual drug in the co-infusion device 1 when the co-infusion process based on the target preparation data is executed. is the sum of the amounts of More specifically, the remaining amount of the remaining drug is the remaining amount of the drug container 10 stored as a remaining drug in the storage shelf 33 at the time when the loading preparation start operation is performed for the target preparation data. , of the drug loaded in the co-injection device 1 along with other preparation data corresponding to one or more other co-infusion processes to be executed before the co-infusion process based on the target preparation data is executed. Subtract the total amount (total amount used) of the drug used in one or more other co-infusion processes performed before the co-infusion process based on the target preparation data is executed from the total amount. This is the amount. In particular, the remaining amount of the remaining medicine is the amount of the remaining medicine whose expiration date does not reach the time of starting or ending the co-infusion process based on the target preparation data, and the expiration date does not reach the expiration date by the start or end of the co-infusion process. The amount of remaining medicine that arrives is the subtracted value.

In addition, when the target preparation data includes information on the administration date and time, the first control unit 400 controls whether the remaining medicines shown in the remaining medicine information D30 are used before the administration date and time. It is also conceivable that the medicine whose expiration date has come is determined to be unusable. That is, the remaining amount of the remaining drug is a value obtained by excluding the remaining amount of the drug whose expiration date comes before the administration date and time from the remaining amount of the remaining drug shown in the remaining drug information D30. Note that the unit of the remaining amount of the remaining drug may be weight or volume, but is not limited to these, and may be, for example, a predetermined amount of the drug contained in a specific drug container 10 set in advance. Based on this, the remaining amount of the remaining medicine may be displayed in units of the number of medicine containers 10.

Here, FIG. 28(A) shows an example of the remaining drug information D30, and FIG. 28(B) shows preparation data corresponding to the tray 101 loaded in the storage unit 700. An example of correspondence information D31 is shown. Note that the remaining drug information D30 and the correspondence information D31 are stored in the data storage section 404 and updated by the first control section 400. On the other hand, the second control unit 500 also accesses the data storage unit 404 of the first control unit 400 to refer to and edit the remaining drug information D30 and the correspondence information D31 stored in the data storage unit 404. It is possible to do so.

As shown in FIG. 28(A), the remaining drug information D30 includes "Preparation No." which is the identification information of the preparation data, and the drug name and remaining amount of the drug remaining in the co-infusion process based on the preparation data. , date and time of opening, expiration date, scheduled use preparation data, etc. are stored in association with each other. The planned use preparation data is identification information for identifying preparation data for which the leftover medicine is scheduled to be used, and the first control unit 400 uses the leftover medicine recorded in the leftover medicine information D30 to transfer the leftover medicine to other preparations. data, and the assignment result is recorded in the remaining drug information D30. In addition, when the leftover medicine is a mixed medicine, the leftover medicine information D30 includes, for example, the components of the mixed medicine (drug name, solvent name), solvent amount, remaining amount, opening date and time, expiration date, and scheduled use preparation. Contains various types of information such as data information. Note that the remaining medicine information D30 also includes other information such as positional information on the storage shelf 33 where the medicine container 10 containing the remaining medicine is placed.

Specifically, the leftover medicine information D30 shown in FIG. 28(A) includes information on the medicine container 10 corresponding to the preparation data "Rp11" currently stored as leftover medicine in the storage shelf 33; Information on the medicine container 10 corresponding to the preparation data "Rp21" and "Rp22" which will be stored as leftover medicine in the storage shelf 33 in the co-infusion process to be executed in the future is included. Specifically, in the remaining medicine information D30, the drug container 10 contains "3.00 ml" of "5-FU Injection 1000 mg" and "5.00 ml" of "5-FU Injection 1000 mg" is stored. A total of three drug containers 10, including the drug container 10 containing "2.00 ml" of "5-FU injection 1000 mg", are stored in the storage shelf 33 as leftover drugs. It has been shown that Here, it is assumed that the current time is after the end of the mixed injection process based on the preparation data "Rp11" and before the start of the mixed injection process based on the preparation data "Rp21" and "Rp22".

As shown in FIG. 28(B), the correspondence information D31 includes the identification information "Preparation No." of the preparation data, the identification information "Tray ID" of the tray 101, and the It is associated with the identification information “accommodating unit No.” of the tray accommodating unit 811. In the correspondence information D31 shown in FIG. 28(B), each of the preparation data is displayed from the top in the order in which the co-infusion process is executed first. In addition, in the correspondence information D31, each of the preparation data includes the name of the drug used in the mixed injection process based on the preparation data, the amount used, the predetermined amount, whether the remaining drug is used, whether the drug is loaded or not, the execution start timing, etc. Information is also associated.

Here, as shown in FIG. 28(B), "20 ml" of "5-FU injection 1000 mg" is stored corresponding to the two preparation data in which the tray 101 is already loaded in the storage unit 700. It is assumed that two drug containers 10 are loaded into the storage unit 700. As shown in FIG. 28(B), in the two preparation data, "15 ml" and "18 ml" of chemicals are used, respectively. In this case, the remaining amount of the medicine placed on the storage shelf 33 at the start of the mixed injection process based on the initial preparation data "Rp21" is "3.00 ml", and the preparation data "Rp22" The remaining amount of the medicine placed on the storage shelf 33 at the start of the co-infusion process based on the formula is "8.00 ml", which is "3 ml" + "5 ml". Then, in the mixed injection process based on the preparation data "Rp22", "2 ml" of the drug is left as a remaining amount.

Here, an example will be considered in which the target preparation data processed after the preparation data "Rp22" is the preparation data "Rp23" shown in FIG. 28(C). In this case, the remaining amount of the medicine placed on the storage shelf 33 at the start of the mixed injection process based on the preparation data "Rp23" is "10. 00ml". Therefore, when the preparation data "Rp23" is the target preparation data, in step S23, the remaining medicine stored in the co-infusion processing chamber 104 of the co-infusion device 1 is used for the target preparation data. It will be determined that this is possible. In this case, the first control unit 400 can allocate the remaining medicine as the medicine to be injected in the co-infusion process based on the target preparation data. In addition, in the leftover medicine information D30, if information on preparation data that uses leftover medicine is entered in the scheduled use preparation data, the leftover medicine cannot be used in other preparation data different from the said planned use preparation data. It is judged that.

<Step S24>
Then, in step S24, when it is determined that the remaining medicine is available in the determination process of step S23 (S24: Yes), the first control unit 400 moves the process to step S25, and the remaining medicine is removed. If it is determined that it is not available (S24: No), the process moves to step S26.

<Step S25>
In step S25, the first control unit 400 displays a remaining drug usage guidance screen P20 that includes a message indicating that there is no need to load the drug container 10 corresponding to the remaining drug determined to be usable in step S23. (see FIG. 25) is displayed on the touch panel monitor 203. Note that when a confirmation operation is performed on the remaining medicine usage guidance screen P20, the remaining medicine usage guidance screen P20 is closed and the process moves to step S26.

Here, FIG. 25 is a diagram showing an example of the remaining medicine usage guidance screen P20. As shown in FIG. 25, if "5-FU Injection 1000 mg" can be omitted by using the leftover medicine, there is no need to load the medicine container 10 on the leftover medicine usage guidance screen P20. is displayed. As a result, the user loads the tray 101 with the equipment necessary for the co-infusion process based on the preparation data, except for the medicine container 10, which can be omitted by using leftover medicine.

For example, the remaining medicine usage guidance screen P20 may be displayed as a pop-up on the loading check screen M2 (see FIG. 26) where a message for instructing reading of the identification information attached to the medicine container 10 is displayed. It is displayed with priority over the loading check screen M2. Further, as shown in FIGS. 25 and 26, when the remaining medicine usage guidance screen P20 is displayed, a message prompting the user to read the medicine container 10 and the infusion bag 12 is displayed on the loading check screen M2. is not displayed, and after the remaining medicine usage guidance screen P20 is displayed, a message prompting the user to read the medicine container 10 and the infusion bag 12 is displayed on the loading check screen M2. Note that the loading check screen M2 may be displayed after the remaining medicine usage guidance screen P20 is displayed.

Here, on the leftover drug usage guidance screen P20, the identification information of the preparation data in which there is a leftover drug that can be used in the co-infusion process based on the target preparation data or the identification information of the patient corresponding to the preparation data is displayed. A configuration is also conceivable in which it is possible to select whether or not to use the remaining medicine. As a result, for example, if the available leftover medicine is a leftover medicine generated in the co-infusion process based on the preparation data for a patient with many cancellations, it is possible to choose not to use the leftover medicine. be. Furthermore, the first control unit 400 causes the touch panel monitor 203 to display a list of remaining drugs that can be selected as leftover drugs to be used in the co-infusion process based on the target preparation data, and causes the touch panel monitor 203 or the like to display a list of remaining drugs to be used in the co-infusion process based on the preparation target data. It is also conceivable that drugs can be arbitrarily selected according to user operations.

<Step S26>
In step S26, the first control unit 400 sets the remaining drug information D30 and the correspondence information based on the reservation content of the preparation data set in step S22 and whether or not the remaining drug is to be used for the preparation data. Edit D31.

Specifically, the first control unit 400 determines whether or not a medicine remains in the medicine container 10 that is used when the co-injection process targeting the target preparation data is performed. For example, the first control unit 400 determines whether the drug remains in the drug container 10 based on the amount of the drug used in the co-infusion process based on the preparation data and the predetermined amount of the drug contained in the drug container 10. It is possible to determine whether or not to do so before the end of the mixed injection process. Then, the first control unit 400 edits the remaining medicine information D30 based on the presence or absence of any remaining medicine in the medicine container 10.

For example, if the usage amount of the medicine is 20 ml and the predetermined amount of the medicine container 10 is 30 ml, the first control unit 400 can control the usage amount of 30 ml, which is the predetermined amount of one medicine container 10, and the usage amount. Based on the difference from 20 ml, it is determined that 10 ml of the medicine remains in the medicine container 10. Further, when the amount of the medicine to be used is 40 ml and the predetermined amount of the medicine container 10 is 30 ml, the first control unit 400 controls the total amount of the two medicine containers 10, 60 ml, and the usage amount. Based on the difference from 40 ml, it is determined that 20 ml of the medicine remains in the medicine container 10.

Further, when it is determined in step S23 that the leftover medicine can be used, the first control unit 400 transmits information that can identify the preparation data for which the leftover medicine is used. It is input into the item of scheduled use preparation data corresponding to the remaining medicine in the drug information D30. Specifically, in the example described above using FIGS. 28(A) to (C), in step S26, the remaining medicines corresponding to the preparation data "Rp11", "Rp21", and "Rp22" are The fact that it is scheduled to be used in "Rp23" is recorded in the planned use preparation data of the leftover medicine information D30 (see FIG. 28(D)), and the correspondence information D31 contains information about the remaining medicine for the preparation data "Rp23". It is recorded that the presence or absence of use is "Yes" and the presence or absence of chemical loading is "No" (see FIG. 28(E)). That is, the correspondence information D31 indicates that the remaining medicine is used in the co-infusion process based on the preparation data "Rp23", and that the tray 101 corresponding to the preparation data "Rp23" does not need to be loaded with the drug container 10. A certain fact is recorded. Note that the first control unit 400 uses the remaining medicine in the mixed injection process based on the preparation data, so that loading some of the drug containers 10 necessary for the mixed injection process is unnecessary. If so, the type, number, etc. of the drug containers 10 are stored in the correspondence information D30. Then, the first control unit 400 causes the loading check screen M2 to display chemical containers 10 that need to be loaded, chemical containers 10 that do not need to be loaded, etc., on the loading check screen M2 based on the correspondence information D30.

By the way, the first control unit 400 deletes the data on the leftover medicines whose expiration date has passed in the leftover medicine information D30 stored in the data storage unit 404, and deletes the data on the leftover medicines whose expiration date has passed, and the data on the leftover medicines corresponding to the leftover medicine information D30. It is conceivable that a control signal for discarding the drug container 10 is inputted to the second control section 500. Thereby, the second control unit 500 controls the first robot arm 21 or the second robot arm 22 in response to receiving the control signal, and stores the remaining medicine whose expiration date has passed. The chemical container 10 is discarded.

In addition, the first control unit 400 determines that, in the remaining drug information D30 stored in the data storage unit 404, the number of punctures of the injection needle 11c into the drug container 10 has reached a preset upper limit number or more. Delete data on leftover medicines. Further, the first control unit 400 inputs a control signal to the second control unit 500 to discard the drug container 10 containing the remaining medicine whose number of punctures has reached the upper limit number. dispose of it. Here, the first control section 400 when executing such processing is an example of a waste processing section. Then, the second control unit 500 controls the first robot arm 21 or the second robot arm 22 in response to receiving the control signal, and controls the drug container when the number of punctures reaches the upper limit number of times or more. Discard 10. Specifically, the first control unit 400 or the second control unit 500 counts and stores the number of punctures of the injection needle 11c into each of the drug containers 10 in the mixed injection process based on each of the preparation data. For example, the upper limit number of times is individually set for each type of medicine container 10 in the medicine master. Note that the first control unit 400 or the second control unit 500 may count the number of times the drug container 10 is punctured during execution of the mixed injection process, but the first control unit 400 or the second control unit 500 may count the number of punctures of the drug container 10 during execution of the mixed injection process; Based on this, the number of punctures of the drug container 10 may be predicted.

Note that, when the expiration date of the drug container 10 has passed or the number of punctures of the drug container 10 has reached the upper limit number of times or more, the first control section 400 controls whether or not the drug container 10 is discarded or whose storage is extended. It is conceivable to display an operation screen that allows the user to select either collection. Then, when the user selects to discard, the first control section 400 causes the second control section 500 to execute a discard process of discarding the drug container 10. Furthermore, if the user selects storage extension, the first control unit 400 may continue to store the drug container 10 in the storage shelf 33 for a preset extension period. . Further, when the user selects collection, the first control unit 400 controls the second control unit 500 to perform a collection process of moving the drug container 10 to a position accessible to the user, such as the stirring device 32. have it executed.

<Step S27>
By the way, by reserving the mixed injection process based on the target preparation data in the reservation setting process of step S22, the execution order of the mixed injection process based on other already registered preparation data may be changed. . In this case, if the remaining drug was scheduled to be used in the mixed injection process based on the other preparation data, the remaining drug will be used in the mixed injection process based on the target preparation data, and the other drug will be used in the mixed injection process based on the target preparation data. The remaining medicine may not be able to be used in the co-infusion process based on the preparation data.

Therefore, in step S27, the first control unit 400 determines whether there is any preparation data in which the leftover medicine cannot be used in the co-infusion process due to the editing of the leftover medicine information D30 and the correspondence information D31. to judge. Here, if it is determined that there is the preparation data for which the leftover medicine cannot be used (S27: Yes), the process moves to step S28, and the preparation data for which the leftover medicine can no longer be used exists. If it is determined that there is no preparation data (S27: No), the process moves to step S31.

Further, the first control unit 400 changes or executes the execution order of the mixed injection process based on the preparation data in which the tray 101 corresponding to the mixed injection management process has already been loaded into the storage unit 700, in accordance with a user operation. It may be possible to perform change processing such as cancellation. In this case, due to the change process, the remaining medicine cannot be used in the mixed injection process based on the other preparation data, and the mixed injection process may run out of medicine. Therefore, even when the remaining medicine cannot be used in the co-infusion process based on the other preparation data due to the change process, the first control unit 400 performs steps S28 to S30, which will be described later. and executes the processing of steps S40 to S41. That is, at the time when it becomes impossible to use the remaining medicine in the co-infusion process based on the other preparation data due to a change process such as changing the execution order or canceling the execution of the co-infusion process based on the preparation data, as described below. It is conceivable that a process for supporting reloading of the drug container 10 onto the tray 101 is executed in step S41.

<Step S28>
In step S28, the first control unit 400 causes the touch panel monitor 203 to display a warning display screen P31 containing a message indicating that there will be a shortage of medicine due to co-infusion processing based on other preparation data, and notifies the user of this fact. to be notified. Here, the first control section 400 that executes such notification processing is an example of a notification processing section. In addition, if there are multiple other preparation data that make it impossible to use the remaining medicine due to co-infusion processing based on other preparation data, a plurality of the warning display screens P31 will be displayed corresponding to each of the other preparation data. is displayed, or a list of the other preparation data is displayed on one of the warning display screens P31.

Here, FIG. 27 is a diagram showing an example of the warning display screen P31. As shown in FIG. 27, the warning display screen P31 includes a message indicating that there is a shortage of medicine, and an operation key for selecting whether or not to execute the reservation process for the preparation data in step S22. is displayed. For example, as shown in FIG. 27, the warning display screen P31 is pop-up displayed on the schedule display screen P30 on which the execution schedule of each of the preparation data is displayed. In addition, in FIG. 27, as a message indicating that there is a shortage of medicines, the warning display screen P31 displays "A new discrepancy in remaining medicines will occur due to the schedule change. Do you want to execute the process?" , the content of the message is only an example. For example, as a message indicating that there is a shortage of medicine, a message such as "If you execute the reservation process, there will be a shortage of medicine due to other mixed injection processes. Do you want to continue the reservation process?" may be displayed.

Further, the first control unit 400 is configured to identify, on a preparation data list screen such as the prescription selection screen M1, characters or symbols that can identify that the preparation data makes it impossible to use the leftover drug. It is also possible to display information in association with the preparation data. Thereby, the user can grasp the preparation data, the tray 101, etc., which will no longer be able to use the remaining medicine.

<Step S29>
In step S29, the first control unit 400 determines whether an operation to perform a reservation process for the preparation data has been performed. Here, if it is determined that an operation to execute the reservation process for the preparation data has been performed (S29: Yes), the process moves to step S30. On the other hand, if an operation to the effect that the preparation data reservation process is not executed is performed (S29: No), the process moves to step S291.

<Step S291>
In step S291, the first control unit 400 cancels the reservation in step S22 and returns the process to step S21. Specifically, the first control unit 400 cancels the changes in the remaining drug information D30 and the correspondence information D31 in step S26, and returns the process to step S21.

<Step S30>
On the other hand, in step S30, the first control unit 400 indicates that a process for loading the medicine container 10 into the tray 101 corresponding to the preparation data that makes it impossible to use the remaining medicine is performed. The reloading information is stored in the data storage unit 404 in association with the preparation data.

<Step S31>
After that, in steps S31 to S35, the first control unit 400 sets the medicine container 10, the syringe 11, the infusion bag 12, etc. necessary for the co-infusion process on the tray 101 based on the preparation data. Execute processing to support.

Specifically, in step S31, the first control unit 400 includes a message and an image for instructing reading of identification information such as a GS1 data bar attached to the infusion bag 12 or the medicine container 10. The loading check screen M2 is displayed on the touch panel monitor 203. Specifically, the loading check screen M2 displays the type of the infusion bag 12, the type of the medicine container 10, etc. included in the preparation data. Here, on the loading check screen M2, for the medicine container 10 for which loading is judged to be omitted because the remaining medicine is used, based on the correspondence information D30, a mark such as "omitted" is displayed in the corresponding area A121. In addition to displaying characters, symbols, or marks, a display mode such as a character color or a background color corresponding to the drug container 10 is displayed in a different mode from other display modes. Thereby, the user can easily grasp the medicine container 10 that does not need to be loaded.

Then, when the identification information of the infusion bag 12 or the medicine container 10 is read by the barcode reader 204 and the comparison result with the preparation data matches, the first control unit 400 moves the process to step S32. . Note that, if the comparison result between the identification information of the infusion bag 12 or the medicine container 10 and the preparation data does not match, the first control unit 400 displays, for example, an error message.

<Step S32>
In step S32, the first control unit 400 displays messages and images on the touch panel monitor for guiding the arrangement of the infusion bag 12 or the medicine container 10, whose identification information was read in step S31, on the tray 101. 203. Thereby, the user can easily place the infusion bag 12 or the medicine container 10 at a predetermined position within the tray 101. Note that if there are a plurality of infusion bags 12 and drug containers 10 that need to be loaded on the tray 101, reading of the identification information of the infusion bags 12 and drug containers 10 that need to be loaded on the tray 101 is completed. Until then, steps S31 to S32 are repeatedly executed. However, among the drug containers 10 necessary for the mixed injection process based on the target preparation data, it is determined that the drug container 10 for which the remaining drug is to be used does not need to be loaded, and the identification information of the drug container 10 is If it is read, a message etc. will be displayed to the effect that loading is not necessary.

<Step S33>
In step S33, the first control unit 400 causes the touch panel monitor 203 to display messages and images for guiding the placement of the syringe 11 on the tray 101. Thereby, the user can easily place the syringe 11 at a predetermined position within the tray 101. Note that if a plurality of syringes 11 are required, step S33 is repeatedly executed.

Additionally, if it is necessary to divide and load the equipment corresponding to the preparation data into a plurality of trays 101, the first control unit 400 performs the processing of steps S31 to S33 for each tray 101. Execute repeatedly. This supports the work of setting necessary equipment on each of the trays 101. Note that when it is necessary to divide and load the plurality of trays 101, the instruments included in the preparation data are distributed to each of the trays 101 according to preset rules. For example, it is predetermined that the number of drug containers 10 that can be placed on one tray 101 is 10, and the number of drug containers 10 required in the mixed injection process based on the preparation data is 14. In some cases, ten medicine containers 10 are allocated to the first tray 101, and four medicine containers 10 are allocated to the second tray 101. Note that in steps S31 to S33, if loading of the drug container 10, the syringe 11, or the infusion bag 12 is not necessary for the tray 101 to be processed, the display process to prompt the loading is omitted.

<Step S34>
When the loading guidance for the equipment necessary for the co-injection process based on the preparation data is completed, in the subsequent step S34, the first control unit 400 displays that the preparation for loading with respect to the preparation data is completed, and Displays operation keys, etc. for accepting confirmation operations.

<Step S35>
In step S35, the first control unit 400 determines whether or not the confirmation operation has been performed, and if the confirmation operation has been performed (S35: Yes), the process moves to step S36, and the confirmation operation is performed. Until then (S35: No), the process is put on standby in step S35.

<Step S36>
In step S36, the first control unit 400 opens the shutter 712 of the accommodation unit 700. Specifically, the first control unit 400 transmits an instruction to open the shutter 712 to the second control unit 500. Accordingly, the second controller 500 controls the storage unit 700 to open the shutter 712, and the user can store the tray 101 in the tray storage section 811.

Note that, before opening the shutter 712, the second control unit 500 moves the movable case based on the correspondence information D31 so that the unused tray accommodating portion 811 is placed at the first moving position. Control the position of body 810. Specifically, the tray accommodating section 811 that is not stored in the correspondence 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 correspondence 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.

For example, while the accommodation unit 700 is on standby (inactive), the second control unit 500 controls the accommodation unit 700 so that the unused tray accommodation section 811 is placed at the first movement position. It is possible to do so. Further, after receiving the opening instruction transmitted from the first control unit 400 in step S36, the second control unit 500 moves the movable casing 810 to remove the unused tray storage unit 811. It may be arranged at the first movement position. Note that, when there are a plurality of unused tray accommodating sections 811, the second control section 500 controls the movable housing required for movement to the first movement position among the plurality of tray accommodating sections 811. It is conceivable that the tray accommodating section 811 having the smallest amount of movement of the tray accommodating section 810 is selected and the tray accommodating section 811 is moved to the first moving position.

<Step S37>
Then, in step S37, when the tray 101 is accommodated in the tray accommodating section 811 of the accommodating unit 700, the first control section 400 controls the preparation data, the identification information of the tray 101, and the tray accommodating section 811. Execute the process of associating with. Specifically, the first control unit 400 updates the correspondence information D31 indicating the correspondence between the preparation data, the identification information of the tray 101, and the tray storage unit 811. Here, the first control section 400 that executes such processing is an example of a storage processing section. Thereby, the first control section 400 and the second control section 500 can recognize the correspondence relationship between the preparation data, the identification information of the tray 101, and the tray storage section 811 based on the correspondence information D31. It is possible.

For example, the first control unit 400 uses the IC reader 207 provided on the work table 202 to collect the identification information of the tray 101 from the IC tag 101b of the tray 101 placed on the work table 202. Read. Then, the first control unit 400 uses the identification information read from the IC tag 101b as the identification information of the tray 101 corresponding to the preparation data selected as the processing target, and causes the data storage unit 404 to process the identification information. It is stored in the information D31. Further, in the correspondence information D31, leftover medicine 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 the correspondence between the preparation data and the tray 101, the correspondence between the preparation data or the tray 101 and the tray accommodating section 811, and the correspondence between the preparation data and the leftover medicine usage information are determined individually. It may also be managed in a database. Further, the correspondence relationship between the preparation data and the tray 101 is stored in the data storage unit 404 of the first control unit 400, and the correspondence relationship between the preparation data or the tray 101 and the tray storage unit 811 is stored in the second control unit 400. It may be stored in the data storage unit 504 of the control unit.

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

<Step S38>
Next, in step S38, the first control section 400 controls the accommodation unit 700 to perform a confirmation operation to confirm the correspondence between the tray 101 accommodated in the tray accommodation section 811 and the preparation data. Execute. This prevents the wrong tray 101 from being accommodated in the tray accommodating section 811.

Specifically, the first control unit 400 causes the tray accommodating section 811, which was placed at the first movement position when the shutter 712 was opened in step S36, to be placed at the second movement position. The movable housing 810 is moved downward as shown in FIG. Thereafter, the first control section 400 discharges the tray 101 accommodated in the tray storage section 811 to the first conveyance section 910 of the tray conveyance section 900, and The IC reader 930 reads the identification information of the tray 101 from the tag 101b of the tray 101. Then, the first control unit 400 corresponds to the identification information of the tray 101 read by the IC reader 930 and the preparation data stored in the correspondence information D31 in association with the tray storage unit 811. It is compared with the identification information of the tray 101. Here, if the comparison result is a match, the first control unit 400 returns the tray 101 to the tray accommodating unit 811, ends the series of the mixed injection management process, and moves the process to step S39. On the other hand, if the comparison results do not match, the first control unit 400 causes the touch panel monitor 203 etc. to notify the error via the first control unit 400 and directs the tray 101 toward the tray ejection port 206. Discharge. Thereby, the user can take out the tray 101 from the tray outlet 206.

<Step S39>
In step S39, the first control unit 400 transmits the target preparation data to the second control unit 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. 404 is also considered.

<Step S40>
In step S40, the first control unit 400 determines whether the reloading information is stored in the data storage unit 404. Here, if it is determined that the reloading information is stored (S40: Yes), the process moves to step S41, and if it is determined that the reloading information is not stored (S40: No). , the process returns to step S21.

<Step S41>
In step S41, the first control unit 400 supports reloading of the drug container 10 into the tray 101 corresponding to the preparation data in which the remaining medicine can no longer be used, based on the reloading information. A reloading process is executed to delete the reloading information from the data storage unit 404. Specifically, the first control unit 400 controls the storage unit 700 and moves the tray 101 corresponding to the preparation data in which the remaining medicine can no longer be used to a position where it can be taken out from the tray outlet 206. Discharge. Then, the first control unit 400 displays on the touch panel monitor 203 a message prompting loading of the medicine container 10 into the tray 101 corresponding to the preparation data in which the remaining medicine can no longer be used. For example, the first control unit 400 displays the loading check screen M2 again, displays characters, symbols, or marks such as "missing" in the area A121 corresponding to the drug containers 10 that are missing, and , the display mode such as the font color or background color corresponding to the drug container 10 is displayed in a different mode from other display modes. Note that the tray 101 may be moved to a position where the tray 101 can be taken out when the shutter 712 is opened in the movable housing 810, and the shutter 712 may be opened.

Further, the first control unit 400 places the drug container 10 on a new tray 101, in addition to the tray 101 associated with the preparation data whose remaining medicine can no longer be used. It is also conceivable to provide a guidance display to the effect that the storage unit 700 is to be loaded, and to associate the tray 101 with the preparation data when the tray 101 is loaded. In this case, in the mixed injection processing based on the preparation data, the plurality of trays 101 associated with the preparation data are supplied from the storage unit 700 to the mixed injection processing section 300 for use.

Further, instead of steps S40 to S41, the operation of replenishing the tray 101 with the chemical containers 10 may be performed in step S53 of the mixed injection control process, which will be described later. Specifically, the second control section 500 controls the storage unit 700 to a position where the tray 101 corresponding to the preparation data in which the remaining medicine can no longer be used can be taken out from the tray outlet 206. discharge up to. Then, the second control unit 500 may display on the touch panel monitor 203 a message prompting loading of the drug container 10 into the tray 101 corresponding to the preparation data in which the remaining drug can no longer be used. It will be done. As a result, when the user loads the drug container 10 onto the tray 101, the second control unit 500 uses the tray 101 to execute the mixed injection process. In the present embodiment, a case will be described in which the presence or absence of the reloading operation is determined in the step S40, and the reloading process is executed as necessary in the step S41. It may be executed at other timings such as step S30.

[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. 29.

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

Further, when the user uses the operation unit 405 to perform an operation to select the preparation data and an operation to immediately start the co-infusion process based on the preparation data, the first control unit 400 controls the preparation data. It is conceivable that a request to start execution of the co-infusion process is sent to the second control unit 500. Furthermore, when the execution start timing of the co-infusion process based on the preparation data is reserved by the reserved co-infusion operation, when the execution start timing arrives, the first control unit 400 controls the It is conceivable to send a request to start execution of the co-infusion process to the second control unit 500. In this case, when the second control unit 500 receives the execution start request, it determines that the execution start timing has arrived.

Further, the second control unit 500 controls one or more of the preparation data that is set to use the remaining medicine in the co-infusion process out of the preparation data, which is stored as the remaining medicine in the co-infusion device 1. It is conceivable to suspend the mixed injection process based on the preparation data until the amount of medicine in the medicine container 10 (an example of a remaining drug container) reaches the amount of medicine required for the mixed injection process based on the preparation data. . Specifically, when the execution start timing of the preparation data has arrived, the second control unit 500 controls the amount of the one or more medicine containers 10 stored as leftover medicines in the co-infusion device 1. If the amount of medicine has not reached the amount of medicine required for the co-infusion process based on the preparation data, it is determined in step S50 that the execution start timing has not arrived. Then, the second control unit 500 determines whether the amount of the drug in one or more of the drug containers 10 stored as residual drugs in the co-infusion device 1 is the amount of drug necessary for the co-infusion process based on the preparation data. The preparation data that has not reached the above is skipped, and the mixed injection processing based on the other preparation data is started. On the other hand, when the execution start timing of the preparation data has arrived, the second control unit 500 controls the amount of the drug in the one or more drug containers 10 stored as remaining drugs in the co-infusion device 1. However, if the amount of chemicals required for the co-injection process based on the preparation data has been reached, it is determined that the timing to start executing the co-injection process based on the preparation data has arrived.

<Step S51>
In step S51, the second control unit 500 determines whether or not to use the remaining drug from the previously executed co-infusion process in the co-infusion process based on the target preparation data. Specifically, the second control unit 500 determines whether or not the remaining medicine is to be used in the co-infusion process, based on the remaining medicine information D30 and the correspondence information D31. For example, the second control unit 500 sets the use of leftover medicine for the target preparation data in the correspondence information D31, and the target preparation data is registered as the scheduled use preparation data in the leftover medicine information D30. , and when the content of the remaining drug information D30 satisfies preset usage conditions, it is determined that the remaining drug is to be used in the co-infusion process based on the target 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. Here, when the second control unit 500 determines that the remaining medicine is to be used (Yes side of S51), the process moves to step S53, and when it is determined that the leftover medicine cannot be used (No side of S51), the second control unit 500 moves the process to step S53. The process proceeds to step S52.

<Step S52>
In step S52, the second control section 500 controls the mixed injection processing section 300 based on the preparation data inputted from the first control section 400, so that the food is placed on the tray 101 corresponding to the preparation data. The normal mixed injection process of injecting medicine from the medicine container 10 placed into the infusion bag 12 is executed.

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

<Step S53>
On the other hand, in step S53, the second control unit 500 controls the co-infusion processing unit 300 based on the preparation data input from the first control unit 400, the remaining drug information D30, and the correspondence information D31. As a result, the exceptional mixed injection process of injecting medicine into the infusion bag 12 using the remaining medicine is executed. That is, the second control unit 500 controls each of the preparation data (first preparation data) to be processed into other preparation data (second preparation data) different from the preparation data in the co-infusion process based on the preparation data. It is possible to cause the mixed injection processing unit 300 to use the medicine in the medicine container 10 that remains after the mixed injection processing based on this method. 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 storage unit 700, and moves the tray 101 associated with the preparation data whose execution start timing has arrived to the storage unit 700. The mixture is automatically supplied from the tray accommodating section 811 to the mixed injection processing section 300. In the mixed injection process, the second control unit 500 aspirates the medicine indicated in the preparation data from the medicine container 10 placed on the storage shelf 33 with the syringe 11. The infusion solution is injected into the infusion bag 12 from the infusion solution. In addition, in the mixed injection process based on the target 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.

Further, in the mixed injection process executed in step S53, the medicine container 10 stored as a leftover drug is used, and the drug container 10 is placed on the tray 101 corresponding to the preparation data to be processed in the mixed injection process. There may also be a situation in which the medicine containers 10 that have been left over are not used. In this case, the second control section 500 may store the unused drug container 10 as a leftover medicine in the storage shelf 33; It is conceivable to place the medicine container 10 on the tray 101 and discharge it. For example, when the drug container 10 is not used, the second control unit 500 causes the touch panel monitor 203 to display a message asking the user whether or not to take out the drug container 10. When a request for taking out the drug container 10 is made by a user operation on the touch panel monitor 203, the second control unit 500 sends a message prompting loading of the tray 101 to take out the drug container 10. Displayed on the touch panel monitor 203. Thereafter, the second control unit 500 takes in the tray 101, places the medicine container 10 thereon, and discharges the tray 101 toward the tray discharge port 206 or the tray discharge port 15.

Note that the second control unit 500 controls the first robot arm 21 to move the drug container 10 from the storage shelf 33 to the stirring device 32, or to move the drug container 10 to the stirring device 32. In another embodiment, the medicine container 10 can be taken out by the user by moving it close to the main door 301 or the syringe take-out door 302. The first robot arm 21 is provided with an adjustment section that allows the holding section 25 to manually release the grip of the drug container 10, and the user uses the adjustment section to adjust the holding section. It is possible to take out the drug container 10 from 25.

Further, when the co-infusion process based on the preparation data is completed in step S53, the second control unit 500 adds residual drug usage information indicating whether or not the remaining drug is used in the co-infusion process and its contents to the preparation data. It is conceivable that the remaining drug usage information can be stored in the data storage unit 504 in association with each other and displayed on the touch panel monitor 14 or the like in the preparation inspection process. Further, the second control unit 500 can also print, using the printer 506, a preparation recording sheet or the like that includes the remaining medicine usage information in the printed content. Here, FIG. 30 is a diagram showing an example of the printed matter M3 printed as the preparation recording paper. As shown in FIG. 30, the printed matter M3 includes various information such as patient information and prescription details corresponding to the preparation data for which the co-infusion process was performed, as well as drugs used in the co-infusion process, as well as residual medicines. Information indicating whether or not there is one is also printed. Specifically, in the example shown in FIG. 30, "5-FU Injection 1000mg (DVO)" is written in area A31, and "5-FU Injection 1000mg (DVO)" is written in area A31, indicating that the drug with the drug name "5-FU Injection 1000mg" is a leftover drug. Contains the words "DVO". On the other hand, in the example shown in FIG. 30, in area A32, "5-FU Injection 1000mg-1" is written, and "DVO" indicates that the drug with the drug name "5-FU Injection 1000mg" is a leftover drug. Contains no characters. Of course, the information indicating whether or not leftover medicine is used is not limited to an abbreviation such as "DVO", but may also be characters such as "leftover medicine", or a predetermined mark or symbol.

<Step S54>
When the co-infusion process is completed, the second control unit 500 determines whether or not any medicine remains in the medicine container 10 in step S54. The process of determining whether there is a residual drug in step S54 may be the same process as step S26 executed by the first control unit 400, but the second control unit 500 may The judgment may be made based on the content. 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 vial bottle 10B, that the drug container 10 is registered as a drug to be stored in the drug master, and that the drug container 10 is free of remaining drugs. 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.

By the way, among the judgment conditions, the identification information of the drug container 10 is successfully read by the barcode reader 34b, the number of punctures of the drug container 10 is within the upper limit, and the use of the drug container 10 is required. Regarding the fact that the deadline has not passed, it is possible that the user wants to take out the drug container 10 without discarding it even if the conditions are not met. In particular, the second control unit 500 is capable of receiving an arbitrary take-out operation (take-out reservation operation) of the drug container 10 containing the remaining medicine generated in the mixed-infusion process during the execution of the mixed-infusion process. There are several possible configurations. In this case, the second control unit 500 causes the data storage unit 504 to store the drug container 10 that is the object of the retrieval reservation operation in association with a collection flag indicating that the container is to be collected. Note that the second control unit 500 can execute a collection process of controlling the mixed injection processing unit 300 to move the drug container 10 to a position where the user can take it out, as in the case where the mixed injection process is not executed. The collection process is executed for the chemical container 10 associated with the collection flag at the appropriate timing. In step S55, among the determination conditions, the identification information of the drug container 10 is successfully read by the barcode reader 34b, the number of punctures of the drug container 10 is within the upper limit number, and Regarding the condition that the expiration date of the drug container 10 has not passed, even if the condition is not met, the judgment condition is still met for the drug container 10 to which the collection flag is associated. It is possible that it will be determined that the requirements are met.

Further, in the co-infusion device 1, the drug container 10 containing a drug that can be used as a leftover drug is placed on the placement shelf 33, and the drug container that can be placed on the placement shelf 33 is There is a limit to the number of 10. Therefore, even when the storage condition is satisfied and the drug container 10 to be newly stored is placed on the storage shelf 33, the second control section 500 controls the storage condition of the drug container. If the number of 10 does not exceed the preset upper limit number that can be placed on the storage shelf 33, the drug container 10 is placed on the storage shelf 33. On the other hand, when the storage conditions are met and the number of drug containers exceeds the upper limit number when the drug container 10 to be newly stored is placed on the storage shelf 33, It is conceivable that the second control unit 500 determines whether or not the medicine container 10 is stored in the storage shelf 33 according to a preset storage priority. In addition, since the storage shelf 33 is also used for temporary storage of equipment in the mixed injection process, the upper limit number is considered to be smaller than the maximum number that can be placed on the storage shelf 33. . In addition, another embodiment may include a configuration in which a shelf dedicated to leftover medicines for storing the medicine containers 10 containing leftover medicines is provided separately from the storage shelf 33.

More specifically, the second control unit 500 controls the number of drug containers 10 to be placed on the storage shelf 33 to a preset upper limit number in the case where a drug remains due to the co-infusion process. If the storage priority is exceeded, the drug container of the drug with the lowest storage priority among the drug containers 10 that currently have leftover drugs and the drug containers 10 that have already been placed on the storage shelf 33 as leftover drugs. It is conceivable to dispose of the chemical container 10 in the garbage storage chamber 13a and place the chemical container 10 that has a higher preservation priority than the chemical container 10 on the shelf 33. That is, the second control unit 500 controls, according to preset conditions, the medicine container 10 in which medicine remains in the medicine container 10 due to the mixed injection process, to the medicine container 10 already stored in the storage shelf 33. It is possible to save it by replacing it with

Note that the storage priority may be set in the medicine master. Furthermore, it may be possible to set the same storage priority for a plurality of drugs in the drug master. However, the number of medicine containers 10 placed on the storage shelf 33 has reached the upper limit, and the medicine containers 10 in which the leftover medicines have occurred this time and the medicine containers 10 that have been stored on the storage shelf 33 have already been stored as leftover medicines. If there are a plurality of drug containers 10 with the lowest storage priority among the drug containers 10 that are present, the drug container 10 to be placed on the storage shelf 33 cannot be selected. Therefore, when there are a plurality of drug containers 10 that are disposal candidates with the lowest storage priority, the second control unit 500 stores each of the drug containers 10 as a leftover drug according to preset storage priority conditions. It is conceivable to determine whether to save or not. Specifically, the preservation priority conditions may include conditions regarding items such as drug price, remaining amount, opening time, and number of punctures. The opening time is stored in the remaining medicine information D30 by the first control unit 400 or the second control unit 500 as the time when the injection needle 11c is first punctured into the drug container 10 in the mixed injection process. It's time. For example, the storage priority conditions may include, among the plurality of drug containers 10, giving priority to those with a high drug price, giving priority to those with a large amount remaining, giving priority to those that take a long time to open, and giving priority to those with a small number of punctures. It is possible to give priority to Furthermore, when the storage priority conditions include conditions for a plurality of items, it is possible that the priority order of application of each of the items can be set in advance.

Further, as another embodiment, the second control unit 500 controls the medicine container 10 (hereinafter sometimes referred to as "target medicine container 10C") in which the remaining medicine generated in the co-infusion process is stored, as described above. It is also conceivable to determine whether or not to place the medicine on the storage shelf 33 and store it as a leftover medicine according to the following storage procedures (1) to (7). Note that the second control unit 500 executes determination processing in accordance with the following storage procedures (1) to (7), and places the target drug container 10C on the storage shelf 33 in any of the storage procedures. If it is determined that the storage procedure is to be placed on the storage device, the determination processing for subsequent storage procedures is not executed.

(1) The second control unit 500 determines whether or not there is space on the storage shelf 33, and if there is space, stores the target drug container 10C on the storage shelf 33.

(2) If there is a drug container 10 that has already been reserved for disposal among the drug containers 10 included in the remaining drug information D30, the second control section 500 discards the drug container 10. Then, the target medicine container 10C is stored on the storage shelf 33. Specifically, the second control unit 500 may accept any disposal operation (disposal reservation operation) of the drug container 10 containing the remaining medicine generated in the mixed injection process during execution of the mixed injection process. Possible configurations are possible. In this case, the second control unit 500 causes the data storage unit 504 to store the drug container 10 that is the object of the disposal reservation operation in association with a disposal flag indicating that the container is to be discarded. The second control unit 500 controls the mixed injection processing unit 300 to perform a disposal process in which the chemical container 10 is moved to the garbage storage chamber 13a and disposed of, as in the case where the mixed injection process is not executed. The disposal process is executed for the chemical container 10 associated with the disposal flag at an executable timing.

(3) If the second control unit 500 does not store the collection flag indicating that the collection is to be collected in accordance with the retrieval reservation operation, and there is a medicine container 10 whose expiration date has passed. , the drug container 10 is discarded and the target drug container 10C is stored in the storage shelf 33.

(4) If there is a medicine container 10 associated with and stored with the collection flag, the second control unit 500 executes a collection operation to move the medicine container 10 to a position where the user can collect it. , the target drug container 10C is stored on the storage shelf 33.

(5) If there is a drug container 10 whose expiration date has passed and the collection flag is stored in association with the collection flag, the second control unit 500 discards the drug container 10 and removes the target drug. The container 10C is stored on the storage shelf 33. However, even if the drug container 10 is to be disposed of, if the user performs a collection operation, the drug container 10 is moved to a position such as the stirring device 32 where the user can collect it without discarding the drug container 10. A retrieval operation is performed.

(6) The second control unit 500 specifies the medicine container 10 with the lowest preservation priority among the medicine containers 10 placed as leftover medicines on the storage shelf 33 as a comparison target container. Note that, when there are a plurality of drug containers 10 with the lowest storage priority, the second control section 500 specifies the drug container 10 with the least remaining amount among them as the comparison target container. Furthermore, if there are a plurality of drug containers 10 having the lowest storage priority and the remaining amounts of the plurality of drug containers 10 are the same, the second control section 500 controls the opening time among them. The chemical container 10 with the fastest rate is specified as the comparison target container. Then, the second control unit 500 compares the storage priority of the target drug container 10C and the comparison target container, and if the storage priority of the target drug container 10C is low, discards the target drug container 10C. However, if the storage priority of the target medicine container 10C is high, the comparison target container is discarded and the target medicine container 10C is stored on the storage shelf 33. That is, the target medicine container 10C is stored in the storage shelf 33 in place of the comparison target container.

(7) The second control unit 500 selects, as a comparison target, a medicine container 10 having the same type of medicine as the target medicine container 10C, among the medicine containers 10 placed on the storage shelf 33 as leftover medicines. Identify as a container. Note that, when there are a plurality of drug containers 10 containing the same type of drug, the second control section 500 specifies the drug container 10 with the least remaining amount among them as the comparison target container. Further, if there are a plurality of drug containers 10 containing the same type of drug and the remaining amounts of the plurality of drug containers 10 are the same, the second control section 500 controls the opening time among them. The earliest drug container 10 is specified as the comparison target container. Then, the second control unit 500 compares the remaining amount in the target drug container 10C and the comparison target container, and if the remaining amount in the target drug container 10C is small, discards the target drug container 10C, and If there is a large amount remaining in the drug container 10C, the comparative container is discarded and the target drug container 10C is stored on the shelf 33. That is, the target medicine container 10C is stored in the storage shelf 33 in place of the comparison target container. On the other hand, if it is not determined that the target medicine container 10C is to be saved, the target medicine container 10C is discarded.

Note that in the case where the recovery flag is stored in association with the drug container 10 determined to be replaced with the target drug container 10C and discarded in (2) to (7), the second control unit 500: It is conceivable to display an operation screen for selecting either disposal or collection for the chemical container 10, and to execute the disposal operation or the collection operation according to the user's operation. Furthermore, if the user has arbitrarily selected a drug container 10 to be disposed of among the drug containers 10 stored as leftover drugs, the drug container 10 is discarded without the user's confirmation operation. Ru.

Further, even if it is determined that the drug container 10 to be replaced does not exist based on (2) to (7) above, if the user performs a collection operation, the target drug container 10C is discarded. First, a collection operation may be performed for the target drug container 10C. Note that the swapping processes in (2) and (3) may be executed without requiring user confirmation, and the swapping processes in (4) to (7) may be executed in response to user confirmation. . Further, the determination process in step S55 may be executed in step S26 of the mixed injection management process executed by the first control unit 400, and may be performed as appropriate independently of the mixed injection management process or the mixed injection control process. May be executed.

Further, when the medicine contained in the medicine container 10 is a powder medicine, and the powder medicine is dissolved in a solvent such as saline, the medicine container 10 is placed on the shelf 33. After the chemical is removed, it may not be possible to visually determine the solvent and concentration within the chemical container 10. Therefore, the second control unit 500 arranges the medicine containers 10 so that two or more medicine containers 10 having the same type of medicine but different at least one of solvent or concentration do not exist on the storage shelf 33. It is conceivable to control whether or not the product is placed on the storage shelf 33. Specifically, in the drug master, for each drug, it is thought that one type of solvent and concentration (solvent amount) predetermined as a solvent are stored in association with each other when the use as a leftover drug is permitted. It will be done. Then, the second control unit 500 controls the leftover medicine of the medicine only when the combination of the medicine in the medicine container 10 and the solvent injected into the medicine container 10 is a combination defined in the medicine master. If the drug is used in other combinations, the use of the drug as leftover drug is prohibited. In addition, as another embodiment, the second control unit 500 may control, in the step S55, if the type of medicine is the same as that of the medicine container 10 to be placed on the storage shelf 33, and the medicine is a solvent or a solvent. When another drug container 10 having at least one different concentration is already placed on the shelf 33, it is possible to discard the drug container 10 without placing it on the shelf 33. Further, the second control unit 500 controls the other medicine containers 10 already placed on the storage shelf 33 and the medicine container to be placed on the storage shelf 33 in step S55. It is also conceivable to select one of the 10 and place it on the storage shelf 33 according to the priority or the priority condition, and discard the other.

<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 reusable state. 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 preparation data in the co-infusion device 1 as a remaining drug container, and transfers the drug in the remaining drug container to the target drug. It can be used in the mixed injection process based on preparation data. Further, the second control unit 500 updates various information registered in the remaining drug 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 discard the medicine container 10 into the waste storage chamber 13a in step S541. 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 storage shelf 33. is discarded.

[Other embodiments]
By the way, it is conceivable that the drug container 10 stored as a residual medicine in the co-infusion processing chamber 104 of the co-infusion device 1 can be taken out at a timing desired by the user. Specifically, the first control unit 400 causes the remaining medicine information D30 to be displayed on the touch panel monitor 203 in response to a specific operation by the user.

Thereafter, when any of the remaining medicines included in the remaining medicine information D30 is selected and a removal operation is performed, the first control unit 400 controls the first robot arm 21, the second robot arm 22, etc. Then, the medicine container 10 corresponding to the remaining medicine is taken out from the shelf 33 and moved to a position where it can be taken out when the user opens the main door 301. For example, the first control unit 400 places the medicine container 10 on the stirring device 32 disposed near the main door 301.

Further, the first control unit 400 transmits label printing information regarding the medicine container 10 to be taken out to the printer 506, and causes the printer 506 to print the label printing information on a label. Here, the first control section 400 that executes such processing is an example of a print processing section. The label printing information includes various information necessary for the subsequent use of the drug container 10, such as the type of drug in the drug container 10, the remaining amount, the expiration date, and the number of punctures. Thereby, by attaching the label to the drug container 10, the user can easily grasp information on the remaining medicine in the drug container 10 even after taking out the drug container 10 from the co-infusion device 1. It is possible to use. Note that the label may be automatically affixed to the drug container 10 by the first robot arm 21 and the second robot arm 22 of the co-infusion device 1. Moreover, the co-infusion device 1 may be separately provided with a pasting device that automatically pastes the label on the medicine container 10.

Furthermore, code information such as a one-dimensional code or a two-dimensional code indicating the label printing information may be printed on the label. Then, when the code information on the label is read, the first control unit 400 sets the drug container 10 corresponding to the code information to a state in which it can be used again in the co-infusion device 1 based on the code information. It is possible to do so. Specifically, the first control unit 400 may update the remaining drug information D30 based on the label printing information. As a result, the first control unit 400 performs a process of comparing the medicine contained in the medicine container 10 with the preparation data, acquiring information on the remaining amount of the medicine, checking the expiration date of the medicine, and performing the puncture process. It is possible to check the number of times, etc. Note that the first control unit 400 performs a retrieval process on the drug container 10 and then performs the mixed injection management process on the preparation data that allows the drug container 10 to be used as a leftover drug. It is also conceivable to display the presence of the container 10 on the touch panel monitor 203.

In addition, it can be used as leftover medicine in the co-infusion device 1 when a preset time such as the end of work time has arrived, or when a user performs a predetermined end-of-work operation on the co-infusion device 1. It is conceivable that the medicine container 10 containing the medicine remains. Therefore, the first control unit 400 or the second control unit 500 controls the amount of the drug in the co-infusion processing chamber 104 based on the remaining drug information D30 at a preset time or when a task end operation is performed. Determine whether or not the drug container 10 remains, and if the drug container 10 remains in the mixed injection processing chamber 104, display a message to that effect on display means such as the touch panel monitor 14 or the touch panel monitor 203. It is possible to notify the user by doing so.

Further, the first control unit 400 or the second control unit 500 may select whether to discard, take out, or hold the drug container 10 remaining in the mixed injection processing chamber 104 according to a user operation. is possible. Then, when discarding the drug container 10 is selected, the second control unit 500 discards the drug container 10, and the information on the drug in the drug container 10 is deleted from the remaining drug information D30. When the user selects to take out the drug container 10, the second control unit 500 causes the user to place the drug container 10 in the vicinity of the stirring device 32, the main door 301, or the syringe take-out door 302. The drug container 10 is moved to a position where it can be taken out, and information on the drug in the drug container 10 is deleted from the remaining drug information D30. Further, when the holding of the drug container 10 is selected, the drug container 10 is stored as is in the mixed injection processing chamber 104.

[Example of injection process]
Here, an example of an injection process performed by the second control unit 500 controlling the second robot arm 22 when injecting a liquid such as an infusion or a drug solution in the syringe 11 into the medicine container 10 I will explain about it. The same applies when injecting the liquid in the syringe 11 into the infusion bag 12.

Note that, as shown in FIG. 31(A), when the tip of the injection needle 11c of the syringe 11 is directed vertically downward and the syringe 11 is filled with the liquid MD1, the operation of pushing out the entire amount of the liquid MD1 is performed. In the case of using the syringe 11, even if the last flush operation of reciprocating the plunger 11b is performed, as shown in FIG. The liquid MD1 adhering to the distal end surface 11a-1 of 11a may remain.

On the other hand, when injecting the entire amount of the liquid MD1 in the syringe 11 into the drug container 10, the second control unit 500 first controls the second robot arm 22 to fill the syringe 11 with the liquid MD1. An air suction operation is performed to take in air AR1. As a result, as shown in FIG. 31(C), in the syringe 11a, the liquid MD1 exists in the lower layer and the air AR1 exists in the upper layer, and the liquid MD1 and the tip surface 11b-1 of the plunger 11b and are separated. Note that the air suction operation may be performed while the injection needle 11c of the syringe 11 is stuck in the medicine container 10; 10 may be performed before being punctured. Particularly, if the air suction operation is performed before the medicine container 10 is punctured, the time required for the injection needle 11c of the syringe 11 to puncture the medicine container 10 is limited to the amount of time the air suction operation takes place before the medicine container 10 is punctured. It is possible to use the time to separate MD1 from the tip surface 11b-1 of the plunger 11b.

Thereafter, the second control unit 500 controls the second robot arm 22 to perform an operation of pushing out the entire amount of the liquid MD1 in the syringe 11. As a result, as shown in FIG. 31(D), the liquid MD1 in the syringe 11 is pushed out by the air AR1 present in the upper layer, so compared to the case where the air AR1 does not exist. , it is possible to suppress remaining of the liquid MD1 in the syringe 11.

Further, for example, when the liquid MD1 is injected from the syringe 11 into the infusion bag 12, the syringe 11 is tilted with respect to the vertical direction as shown in FIG. 31(E). Operations may occur. In this case, if the syringe 11 is tilted at an angle at which the liquid MD1 does not come into contact with at least the distal end surface 11b-1 of the plunger 11b, the effect of the air suction operation can be achieved. Further, the second control unit 500 increases the amount of the air AR1 sucked into the syringe 11 as the angle of the syringe 11 becomes steeper, so that the distal end surface 11b-1 of the plunger 11b and the liquid MD1 increase. It is also possible to avoid contact with Here, a case has been described in which the syringe 11 is injected into the infusion container 10 or the infusion bag 12. However, by operating the plunger 11b, the liquid in the syringe 11 is transferred to a trash can or bucket provided in the co-infusion device 1. In the case of discarding the entire amount to a waste liquid section, the air suction operation may be similarly performed before pushing the plunger 11b.

[Bulk air bubble discharge function]
As shown in FIG. 32(A), when the second robot arm 22 sucks the drug solution MD2 from the drug container 10 with the syringe 11, air bubbles AR2 may be generated in the syringe 11. On the other hand, it is conceivable that the second control unit 500 has a bubble discharge function capable of extinguishing the bubbles AR2.

Specifically, after sucking the drug solution MD2 from the drug container 10 with the syringe 11, the plunger 11b is pulled by a predetermined amount with the tip of the injection needle 11c of the syringe 11 facing vertically downward, thereby removing the syringe. If air AR3 is taken into 11a, as shown in FIG. 32(B), it is possible to combine air bubble AR2 with air AR3 and eliminate air bubble AR2. Thereafter, as shown in FIG. 32(C), if the plunger 11b is pushed out by a predetermined amount while the tip of the injection needle 11c of the syringe 11 is directed vertically upward, the state shown in FIG. 32(D) is obtained. Thus, it is possible to discharge the air AR3. Hereinafter, such an operation will be referred to as a bubble discharging operation.

On the other hand, in the mixed injection process, the second control unit 500 may suck the drug solution MD2 from the plurality of drug containers 10 with the syringe 11 by controlling the second robot arm 22. In this case, if the bubble evacuation operation is performed each time the drug solution MD2 is sucked from each of the drug containers 10, the time required for the mixed injection process will become longer.

Therefore, when sucking the drug solution MD2 from the plurality of drug containers 10, the second control section 500 performs the bubble evacuation operation only once after the drug solution MD2 has been sucked from the plurality of drug containers 10. It is conceivable to provide a collective bubble evacuation function. This saves time compared to the case where the bubble evacuation operation is performed individually for each chemical container 10.

In addition, the second control unit 500 controls the operation of the second control unit 500 in such a manner that if the number of drug containers 10 to which the drug solution MD2 is sucked is large, the number of air bubbles AR2 will increase in the process of repeating the suction of the drug solution MD2. There is a possibility that AR2 will combine. Therefore, when sucking the drug solution MD2 from a predetermined number or more of the drug containers 10, the second control unit 500 omits the step of sucking the air AR3, and In another embodiment, when sucking the drug solution MD2 from the drug container 10, a step of sucking the air AR3 may be executed.

[Example of infusion injection process]
In the infusion injection step in which the liquid in the syringe 11 is injected into the infusion bag 12, the plunger 11b is pushed while the injection needle 11c of the syringe 11 is stuck in the rubber stopper of the infusion bag 12. The liquid in the syringe 11a is injected into the infusion bag 12. Here, as shown in FIG. 33, when the injection needle 11c is inserted into the rubber stopper 12a of the infusion bag 12, the tip of the injection needle 11c comes into contact with the inner surface 12b of the rubber stopper 12a. If the plunger 11a is stuck in the inner surface 12b, the liquid in the syringe 11a will not be discharged even if the plunger 11b is pushed, and the inside of the syringe 11a may become under positive pressure. If the injection needle 11c is removed from the rubber stopper 12a in this state, there is a risk that the liquid in the syringe 11a, which is under positive pressure, will be forced out from the injection needle 11c.

Therefore, the second control unit 500 controls the second robot arm 22 to pierce the rubber stopper 12a with the injection needle 11c of the syringe 11, and push the plunger 11b according to the amount of liquid to be injected. After performing this, it is conceivable to perform a pressure adjustment operation of pulling the plunger 11b by a predetermined amount before removing the injection needle 11c from the rubber stopper 12a. This reduces the level of positive pressure within the syringe 11a of the syringe 11, reducing the possibility that liquid will leak from the needle 11c when the needle 11c of the syringe 11 is pulled out of the rubber stopper 12a. Is possible.

Note that the second control unit 500 detects the load (torque) of a drive unit such as a motor provided in the moving unit 263, and when the load is equal to or higher than a preset upper limit, the second control unit 500 controls the syringe 11a. It may be determined that no liquid was discharged from the The second control unit 500 executes the pressure adjustment operation when determining that the liquid has not been discharged from the syringe 11a, and executes the pressure adjustment operation when determining that the liquid has been discharged from the syringe 11a. Do not perform pressure adjustment operations. This allows the pressure adjustment operation to be performed only when necessary. Further, the second control unit 500 controls the second robot arm 22 to push out the plunger 11b of the syringe 11, and before the injection needle 11c comes out of the rubber stopper 12a. It is conceivable that the holding of the plunger 11b by the plunger holding part 262 is released and the plunger 11b waits for a predetermined period of time in a freely movable state. As a result, when the inside of the syringe 11a has a positive pressure, the plunger 11b is naturally pushed out, and the positive pressure inside the syringe 11a is eliminated.

[Syringe drop function]
The second control unit 500 causes the second robot arm 22 to drop the used syringe 11 into the waste storage chamber 13a and discard it. More specifically, the second control section 500 separates the pair of gripping claws 261a (see FIG. 8) provided on the holding section 26 of the second robot arm 22 that holds the syringe 11. , the syringe 11 is dropped from the holding portion 26 into the dust storage chamber 13a.

By the way, when the syringe 11 is held by the pair of gripping claws 261a as shown in FIG. 34(A), the pair of gripping claws 261a are separated as shown in FIG. 34(B). In this case, there is a risk that the syringe 11 may be caught by one of the gripping claws 261a and not fall.

Therefore, the second control unit 500 has a syringe drop function that executes a syringe drop process in which the syringe 11 is brought into contact with the edge of the input port of the garbage storage chamber 13a and the syringe 11 is dropped from the gripping claw 261a. It is possible to prepare for this.

Specifically, as shown in FIG. 34(C), when discharging the syringe 11 held by the holding part 26 into the waste storage chamber 13a, the second control part 500 first controls the second control part 500 to 2. Control the robot arm 22 to move the grip part 26 so that at least a part of the syringe 11a or the injection needle 11c of the syringe 11 is located within the input port 13a-1 of the waste storage chamber 13a. . Thereafter, the second control unit 500 controls the second robot arm 22 so that a part of the syringe 11 comes into contact with the edge 13a-2 of the inlet 13a-1. to move in one or more directions: front, back, left, or right. Thereby, the syringe 11 can be brought into contact with the edge 13a-2, and the positional relationship between the syringe 11 and the gripping part 26 can be changed relatively, and the syringe 11 can be removed from the gripping part 26 to remove the dust. It is possible to drop it into the storage chamber 13a.

Further, it is conceivable that the garbage storage chamber 13a is provided with an insertion detection section such as an optical sensor or an ultrasonic sensor for detecting the insertion of an object into the garbage storage chamber 13a. In this case, the second control unit 500 performs a discharging process for opening the grip part 26 of the second robot arm 22 and dropping the syringe 11 into the waste storage chamber 13a, and then controls the second control unit 500 for a preset time period. It is conceivable that the syringe drop process is executed when the injection detection section does not detect that the syringe 11 has fallen into the dust storage chamber 13a. On the other hand, the second control unit 500 executes a discharging process for opening the grip part 26 of the second robot arm 22 and dropping the syringe 11 into the waste storage chamber 13a, and then executes the discharge process within a preset time. If the injection detection unit detects that the syringe 11 has fallen into the dust storage chamber 13a, the syringe falling process is not executed. This prevents the syringe dropping process from being executed unnecessarily. Further, in the syringe drop processing, the grip portion 26 is not moved in any one or more of the front, back, left, and right directions in the dust storage chamber 13a until the drop of the syringe 11 is detected by the input detection unit. By executing this, it is possible to minimize the number of times the syringe 11 is moved.

[Embodiment of dissolution process]
By the way, in the dissolution step, the second control unit 500 injects the infusion in the syringe 11 into the vial bottle 10B by operating the plunger 11b with the second robot arm 22. At this time, the second control unit 500 pulls the plunger 11b to prevent the inside of the vial 10B from becoming a positive pressure, before injecting the infusion in the syringe 10 into the vial 10B. It is conceivable to perform a replacement step in which the air in the bottle 10B is sucked, and then the plunger 11b is pushed to inject the infusion in the syringe 10 into the vial bottle 10B. On the other hand, among the various types of vials 10B in which powder medicines are stored, there are some in which the inside of the vial 10B is in a negative pressure state at the time of arrival. No replacement step is required.

Therefore, it is conceivable that the drug master stored in the data storage unit 404 or the data storage unit 504 includes replacement determination information for determining the necessity of the replacement step for each drug. . For example, the replacement determination information may include flag information indicating whether or not the replacement step is necessary, flag information indicating whether or not the inside of the vial 10B is under negative pressure, or the pressure state (pressure value) inside the vial 10B. This is information that indicates.

Then, the second control unit 500 controls, based on the replacement determination information stored in the drug master for the vial bottle 10B of the drug to be subjected to the dissolution process, when injecting the infusion into the vial bottle 10B. It is conceivable to switch whether or not to execute the replacement step. As a result, for the vial bottle 10B that requires the replacement process, the inside of the vial bottle 10B is prevented from becoming positive pressure due to the replacement process, and for the vial bottle 10B that does not require the replacement process, the replacement process is prevented from becoming positive pressure in the vial bottle 10B. By omitting the process, it is possible to shorten the time required for the mixed injection process.

Further, even if the vial bottle 10B is in a negative pressure state upon arrival, the degree of negative pressure may vary for some drug types due to individual differences between the vial bottles 10B. In this case, when an infusion is injected into the vial 10B, it is possible that the inside of the vial 10B becomes positive pressure. Therefore, it is considered that individual difference information for determining whether there are individual differences in the degree of negative pressure is set in advance for each drug contained in the vial bottle 10B and registered in the drug master. It will be done. Even if the second control unit 500 determines that the replacement process is unnecessary based on the replacement determination information, the second control unit 500 controls whether the vial 10B has a negative pressure level based on the fixed difference information. If it is determined that there is a difference, the replacement step is executed without omitting it. Thereby, it is possible to prevent the vial bottle 10B from becoming under positive pressure due to the individual differences.

Furthermore, even if the vial 10B is under negative pressure upon arrival, the pressure inside the vial 10B may become positive depending on the amount of infusion fluid injected into the vial 10B. Therefore, it is conceivable that the threshold value is set in advance for each drug contained in the vial bottle 10B and registered in the drug master. Note that the threshold value may be a preset constant value. Then, even if the second control unit 500 determines that the replacement step is unnecessary based on the replacement determination information, the amount of infusion to be injected into the vial bottle 10B is determined in advance based on the threshold value. If it is determined that the replacement step is greater than or equal to the set threshold, it is possible to perform the replacement step without omitting it.

Further, the medicine master includes information indicating the degree of negative pressure in the vial bottle 10B, and the second control unit 500 performs the replacement in the replacement step according to the degree of negative pressure in the vial bottle 10B. It is possible to change the amount. Specifically, the second control unit 500 controls that the smaller the degree of negative pressure in the vial bottle 10B, the larger the amount of air sucked in the replacement step, and the larger the degree of negative pressure in the vial bottle 10B, the larger the amount of air sucked in the replacement step. It is conceivable to adjust the amount of air to be sucked in during the replacement process to be smaller. Thereby, it is possible to reduce the time required for the replacement process in the mixed injection process as much as possible while suppressing the positive pressure in the vial bottle 10B.

[Syringe stirring function]
When the viscosity of the medicinal solution injected into the infusion bag 12 using the syringe 11 is high, the medicinal solution is difficult to be dissolved in the infusion bag 12 by the infusion. Therefore, when the entire amount of the drug solution in the syringe 11 is injected into the infusion bag 12, the second control section 500 stirs the drug solution and the infusion solution in the syringe 11a of the syringe 11 to mix them. It is conceivable to have an in-syringe agitation function that performs an in-syringe agitation process for injecting into the infusion bag 12. Note that the in-syringe stirring process may be executed only when the drug targeted for the mixed injection process is registered as a highly viscous drug in the drug master. Further, the in-syringe stirring process may be performed for all chemicals.

Specifically, in the syringe stirring process, the second control unit 500 may control the second robot arm 22 to sequentially execute the steps (11) to (17) below.

(11) Puncture the rubber stopper of the infusion bag 12 with the injection needle 11c of the syringe 11 so that the syringe 11 can aspirate the infusion in the infusion bag 12.

(12) The second control unit 500 pulls the plunger 11b so that the syringe 11 aspirates the infusion from the infusion bag 12 by a preset first suction amount.

(13) The second control unit 500 causes the medicinal solution in the syringe 11a to be injected into the infusion bag 12 by a preset first injection amount that is the same as the first suction amount or smaller than the first suction amount. Push in the plunger 11b so that it appears. In addition, the said predetermined amount may be changed each time according to the amount of chemical|medical solution accommodated in the said syringe 11a.

(14) The second control unit 500 repeats the steps (12) and (13) a predetermined number of times. At this time, the first injection amount may be the same, or the first injection amount may gradually decrease.

(15) The second control unit 500 pulls the plunger 11b so that the syringe 11 aspirates the infusion from the infusion bag 12 by a preset second suction amount. Note that the first suction amount and the second suction amount may be the same, or may be different values.

(16) The second control unit 500 pushes the plunger 11b so that the medical solution in the syringe 11a is injected into the infusion bag 12 by a preset second injection amount that is larger than the second suction amount. .

(17) The second control unit 500 repeats the steps (15) and (16) until the liquid in the syringe 11a runs out. At this time, the second injection amount may be the same, or the second injection amount may gradually increase.

Here, in a state where 10 ml of the drug solution is stored in the syringe 11a, the entire amount of the drug solution is injected from the syringe 11a into the infusion bag 12, and the in-syringe stirring process is executed. This will be explained using an example. Note that the first suction volume is 4 ml, the first injection volume is 3 ml, the second suction volume is 3 ml, and the second injection volume is 5 ml. Further, it is assumed that the above (12) and (13) are executed three times in total.

In this case, in (11) to (14) above, the amount of drug in the syringe 11a changes from 10 ml to 14 ml to 11 ml to 15 ml to 12 ml to 16 ml to 13 ml.

Thereafter, in (15) to (17), the amount of the drug in the syringe 11a is changed from 13ml to 16ml to 11ml to 14ml to 9ml to 12ml to 7ml to 10ml to 5ml to 8ml to 3ml to 6ml to 1ml to 4ml to 0ml. and changes.

In this way, when the in-syringe stirring process is executed, it becomes possible to mix the medicinal solution and the infusion solution in the syringe 11a by stirring and then inject them into the infusion bag 12. It is possible to increase miscibility with infusions.

[Embodiment of stirring inspection processing]
In the stirring inspection process, the second control unit 500 moves the vial 10B to a posture and position (on the front side of the co-infusion device 1) where the bottom or side surface of the vial 10B can be viewed by the user. By the way, even after the medicine and the infusion solution are stirred in the vial 10B in the stirring process, the powder medicine tends to collect near the liquid level in the vial 10B, and the color of the drug solution in the vial 10B tends to change. For certain chemicals, such as those that become concentrated, it may be difficult to check the degree of dissolution from the bottom or side of the vial bottle 10B.

Therefore, it is conceivable that the drug master stored in the data storage unit 404 or the data storage unit 504 includes specific drug information indicating whether each drug is the specific drug or not. Then, the second control unit 500 determines whether or not the drug to be subjected to the co-infusion process is the specific drug based on the specific drug information of the drug master, and determines that it is the specific drug. In this case, the posture and position of the vial bottle 10B in the stirring inspection process may be changed from those in the case where the specified drug is not used.

Specifically, when the drug to be subjected to the mixed injection process is the specific drug, in the stirring inspection process, the second control unit 500 changes the position of the vial 10B to the drug to be subjected to the mixed injection process. It is conceivable to control the first robot arm 21 so that the drug is at a lower position than when the drug is not the specific drug. Thereby, the user can check the liquid level in the vial bottle 10B from above, and even if the drug targeted for the mixed injection process is the specific drug, the powder medicine in the vial bottle 10B can be dissolved. It becomes easier to understand the degree. Furthermore, when the drug to be subjected to the mixed injection process is the specific drug, the second control unit 500 may change the position of the vial 10B to the drug to be subjected to the mixed injection process in the stirring inspection process. After the first robot arm 21 is moved to the same position as when it is not the specific medicine, the first robot arm 21 may be further controlled to be at a position lower than the position. In addition, in the said stirring inspection process, when the said vial bottle 10B is photographed, it is conceivable that the said vial bottle 10B is similarly photographed from above.

[Coring prevention function]
Irregularities may be formed on the surface of the rubber stopper of the drug container 10 or the infusion bag 12. For example, letters, symbols, or figures may be formed by unevenness on the rubber stopper. In this case, when the rubber stopper is punctured by the injection needle 11c of the syringe 11, if the puncture position is at the uneven position, coring in which a part of the rubber stopper is scraped off is likely to occur. Become. Therefore, the second control unit 500 has a coring prevention function that allows the injection needle 11c of the syringe 11 to avoid the uneven position when the injection needle 11c of the syringe 11 is inserted into the rubber stopper. It is conceivable to have the following.

Specifically, the drug master stored in the data storage unit 404 or the data storage unit 504, etc. may include unevenness information indicating the position of the unevenness for each of the drug container 10 or the infusion bag 12. Conceivable. In this case, the second control unit 500 controls the medicine container 10 based on the unevenness information registered in the medicine master corresponding to the medicine container 10 or the infusion bag 12 to be processed in the mixed injection process. Alternatively, it is possible to acquire the positions of the unevenness on the rubber stopper of the infusion bag 12.

The second control unit 500 also controls the surface of the rubber stopper of the medicine container 10 or the infusion bag 12 to be photographed by an imaging unit provided in the co-infusion device 1, such as the tray confirmation camera 41 or the syringe confirmation camera 42. The position of the unevenness may be acquired based on the image taken by the imaging unit.

Then, the second control unit 500 punctures the injection needle 11c while avoiding the position of the unevenness in the rubber stopper. For example, when the infusion bag 12 is set in the infusion bag holding section 103 in a predetermined posture, the second control section 500 controls the injection needle in the rubber stopper of the infusion bag 12 based on the predetermined posture. It is possible to adjust the puncture position of 11c. Note that the second control unit 500 captures the surface of the rubber stopper of the drug container 10 or the infusion bag 12 using an imaging unit provided in the co-infusion device 1, such as the tray confirmation camera 41 or the syringe confirmation camera 42. The puncture position of the injection needle 11c may be adjusted based on the image taken by the imaging unit. Further, when the barcode of the medicine container 10 is read by the medicine reading part 34, the second control part 500 controls the rotation of the medicine container 10 by the medicine reading part 34 when the barcode is read. By stopping the first robot arm 21, the medicine container 10 can be held in a predetermined posture, and the puncture position of the injection needle 11c may be adjusted based on this posture.

[Barcode damage response function]
As described above, in the co-infusion device 1, in the co-infusion process based on the target preparation data, residual medicines remaining from the previously executed co-infusion process may be used. By the way, there is a possibility that the bar code attached to the vial bottle 10B placed on the storage shelf 33 as a leftover drug may be damaged for some reason and become unreadable. For example, when the first robot arm 21 grips the vial 10B with the gripping claws 25a, there is a risk that the label of the vial 10B may be caught and torn. As described above, the barcode attached to the vial 10B is checked in step S31 executed by the first control unit 400 when the vial 10B is set on the tray 101. It is read by the barcode reader 204 and compared with the preparation data.

On the other hand, in the co-infusion device 1, the attitude of the vial 10B when held by the first robot arm 21 and the second robot arm 22 is determined by the barcode of the vial 10B detected by the drug reading unit 34. It may be controlled to a predetermined posture depending on the reading timing. For example, the puncture position on the upper surface of the vial bottle 10B where the injection needle 11c is punctured is determined so that the puncture position of the injection needle 11c into the vial bottle 10B stored as a leftover medicine does not overlap with the first puncture position. may be done. For example, for each vial bottle 10B, the first puncture position in the predetermined posture is stored in the data storage unit 504, and based on the puncture position, the second puncture position is controlled so as not to overlap. In this case, when the drug reading section 34 reads the barcode of the vial 10B, the drug reading section 34 stops rotating the vial 10B, and the vial 10B is transferred to the first robot arm 21. If the vial bottle 10B is held by the first robot arm 21, the positional relationship in the circumferential direction of the upper surface of the vial bottle 10B can be kept constant. However, if the barcode of the vial bottle 10B stored in the storage shelf 33 as a leftover drug is unreadable, the positional relationship in the circumferential direction of the top surface of the vial bottle 10B is unknown using the barcode. becomes.

On the other hand, when a plurality of vials 10B are used for the same type of medicine in one co-infusion process and the vial 10B is left behind as a residual medicine in the co-infusion process, It is conceivable to provide a barcode damage response function that controls the vial bottle 10B with a damaged barcode so that it is not left behind as a residual drug.

Specifically, in the co-infusion process, the second control unit 500 sequentially takes out the vials 10B from the equipment placement unit 102 with the first robot arm 21, and reads the vials 10B with the drug reading unit 34. Read the barcode. Thereafter, the vial bottle 10B set in the medicine reading section 34 is placed on the storage shelf 33 by the second robot arm 22. At this time, the data storage unit 504 stores damage information regarding whether or not the barcode of each vial bottle 10B has been read normally.

Thereafter, the second control unit 500 causes the first robot arm 21 to sequentially take out the vials 10B from the shelf 33 and use them. At this time, the second control unit 500 determines whether the barcode of the vial bottle 10B could not be read normally by the drug reading unit 34 based on the damage information stored in the data storage unit 504. The vial bottle 10B is selected and used first. As a result, if the vial bottle 10B whose bar code is not damaged among the plurality of vial bottles 10B is used later and there is a residual drug, the vial bottle 10B whose bar code is not damaged is used first. It will be left on the writing shelf 33. Therefore, when the vial 10B stored in the storage shelf 33 as a remaining drug is used in the subsequent co-infusion process, the puncture position of the vial 10B is set to the barcode position as described above. The injection needle 11c is prevented from being punctured twice at the same position in the vial 10B.

For example, when two vials 10B of the same standard each containing 5 ml of the same kind of medicine are used in the mixed injection process, the second control unit 500 may contain 3 ml of the medicine remaining in the mixed injection process. A case will be considered in which one of the vials 10B is stored in the storage shelf 33 as a leftover medicine for future use. In this case, each of the vials 10B is sequentially taken out from the equipment placement section 102, the barcode is read, and the vial bottles 10B are moved to the pre-listing shelf 33. Here, for example, the barcode is not normally read from the vial bottle 10B (hereinafter referred to as "first vial bottle 10B1") that was previously taken out from the instrument mounting section 102, and Assume that the barcode is successfully read from the vial 10B (hereinafter referred to as "second vial 10B2") taken out from the vial. In this case, in the mixed injection process, the second vial 10B2, which was later taken out from the instrument placement section 102, is first taken out from the placement shelf 33 and used, and then first taken out from the instrument placement section 102. The first vial 10B1 taken out from 102 is taken out from the storage shelf 33 and used. As a result, at the end of the co-infusion process, the first vial 10B1 whose barcode has been successfully read will be stored in the storage shelf 33 as a remaining drug. Therefore, when using the first vial 10B1 in the mixed injection process to be executed subsequently, the second control unit 500 controls the injection needle 11c to the same position as the previous time. It is possible to perform control based on the predetermined posture so as not to be punctured in a certain position.

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

Claims (1)

a mixed injection processing unit capable of performing a mixed injection process of injecting the medicine in the first container into the second container based on the preparation data;
As a medicine to be injected in the mixed injection processing performed by the mixed injection processing unit based on first preparation data that is one of the preparation data, a first preparation data that is one of the preparation data and different from the first preparation data is used. 2. A mixed injection control unit that can allocate the chemicals remaining in the first container when the mixed injection processing based on the preparation data is performed;
a notification processing unit that notifies when a drug shortage occurs in the mixed injection processing corresponding to one or more of the first preparation data due to execution cancellation of the mixed injection processing corresponding to the second preparation data;
A co-infusion device comprising: