JP5891684B2 - Mixed injection device - Google Patents

Description

  The present invention relates to a co-infusion apparatus for mixing and adjusting a drug such as an anticancer drug in an infusion solution (replacement fluid).

  Since drugs such as anticancer drugs mixed with the infusion liquid cause a risk of exposure, mixed injection processing for mixing and adjusting such drugs in the infusion liquid is performed in a safety cabinet set to a negative pressure. Then, when performing co-infusion using a vial bottle in which a powdered drug is enclosed as the drug, the drug compounder sucks the infusion solution from the infusion bag with a syringe, and inserts the injection needle of the syringe into the cap portion ( The infusion solution in the syringe is poured into a vial through a rubber stopper. Then, the drug compounder sucks the infusion solution in which the drug is dissolved into the syringe. Since a certain amount of the drug is sealed in the vial, the drug compounder repeatedly performs the operation of injecting and sucking the infusion into a plurality of vials until the required amount of the drug is dissolved in the infusion. The drug compounder dissolves a necessary amount of drug in the infusion solution, and then inserts the injection needle of the syringe into the mixed injection port of the infusion bag to return the infusion solution in which the drug in the syringe is dissolved into the infusion bag.

  Not only the vial bottle but also a mixed injection process for injecting a drug solution in an ampoule into an infusion. In the mixed injection process using the above ampule, the drug solution in the ampule with the head cut off is sucked into the syringe, the injection needle of the syringe is inserted into the mixed injection port of the infusion bag, and the drug solution in the syringe is injected into the infusion bag. become.

  By the way, Patent Document 1 discloses a radiopharmaceutical dispensing apparatus that dispenses while avoiding the danger of exposure to radiation drugs. The radiopharmaceutical dispensing apparatus includes a syringe holding means for holding a syringe, a first lifting / lowering means for moving the syringe holding means up and down, a piston part holding means for holding a piston part of the syringe, and the piston part holding means. A second raising / lowering means for moving the syringe up and down, and a rotating mechanism for rotating the syringe holding means, the first raising / lowering means, the piston part holding means, and the second raising / lowering means halfway. Therefore, it is conceivable to perform the mixed injection process mechanically using the radiopharmaceutical dispensing apparatus of Patent Document 1.

  Furthermore, Patent Document 2 discloses a drug inspection device that automatically audits drugs such as ampoules. When the mixed injection process is mechanically performed, the technique disclosed in Patent Document 2 is used. It is possible to automatically audit drugs such as ampoules.

JP-A-1-244759 WO2004 / 112585 publication

  However, even if the contents of Patent Document 2 are combined with the contents of Patent Document 1, it is not possible to accurately audit whether a prescribed amount of infusion exists in the syringe during the mixed injection process.

  In view of the above circumstances, the present invention can automatically perform a part or all of the mixed injection process and can accurately perform an audit as to whether a prescribed amount of infusion solution or drug solution is present in the syringe. Providing a mixed injection device.

  In order to solve the above-described problems, a mixed injection device according to the present invention includes a container holding portion that holds a medicine container, a syringe, and changes the posture of the syringe, and the piston portion is inserted into a cylinder portion of the syringe. An operation for inserting a syringe holding portion for changing the amount, an injection needle of the syringe into the mouth portion of the drug container held by the container holding portion, and an operation of inserting the injection needle of the syringe into the mixed injection port of the infusion bag An insertion operation unit, an image processing unit that images at least a plurality of different scales of the syringe, and creates an image of the syringe by joining the images of the plurality of sites, and the image created by at least the image processing unit And a display on which an image of the syringe is displayed.

  With such a configuration, since the image of the imaged syringe is displayed on the display, there is a prescribed amount of infusion or drug solution in the syringe while automatically performing part or all of the mixed injection process. Auditing can be performed. Then, since a plurality of different points on the scale of the syringe are imaged and the images of the plurality of points are joined to create an image of the syringe, an image corresponding to viewing the scale of the syringe from the side is obtained. As a result, compared with the case where an entire image of the scale of the syringe is obtained at a time, it is possible to accurately check whether a prescribed amount of infusion or drug solution is present in the syringe.

  In the mixed injection device, a plurality of different positions on the scale of the syringe may be imaged by moving the camera. Alternatively, a plurality of different points on the scale of the syringe may be imaged by a plurality of cameras.

  In the mixed injection device, the imaging may be performed after the infusion in the infusion bag is sucked into the syringe. According to this, it is possible to accurately confirm whether or not the prescribed amount of infusion is sucked into the syringe.

  In the mixed injection device, the imaging may be performed after the drug solution or the drug mixed infusion is sucked into the syringe from the drug container. According to this, it is accurately confirmed whether or not all of the drug solution or drug mixed infusion in the drug container has been sucked into the syringe (whether a prescribed amount of drug solution or drug mixed infusion exists in the syringe). be able to.

  In the mixed injection device, the imaging may be performed after injecting a drug solution or a drug mixed infusion solution in the syringe into the infusion bag. According to this, it is possible to accurately confirm whether or not all of the drug solution or drug mixture infusion in the syringe has been returned to the infusion bag (the drug solution or drug mixture infusion does not exist in the syringe).

  In the mixed injection device, the side surface of the drug container may be imaged, and the captured image of the side surface of the drug container may be displayed on the display. According to this, it is possible to confirm what kind of medicine the medicine container used in the co-infusion process is by looking at the display during the co-infusion. Further, the entire side surface may be imaged by rotating the drug container, and an image of the entire side surface of the drug container may be displayed on the display. According to this, even when a part of the side surface of the drug container is hidden by the member holding the drug container, the entire side surface can be confirmed.

  In the mixed injection device, the bottom surface of the medicine container may be imaged, and an image of the bottom surface of the medicine container may be displayed on the display. According to this, it is possible to confirm whether or not the medicine remains at the bottom of the vial without melting by looking at the display during the mixed injection. In this mixed injection device, imaging may be performed with the bottom surface of the drug container facing upward. Alternatively, imaging may be performed with the bottom surface of the drug container facing downward.

  In the mixed injection apparatus having these configurations, the mixed injection adjustment procedure may be displayed on the display together with the captured image. According to this, cost can be held down compared with displaying the said mixed injection procedure and the images of the said syringe etc. on a separate display.

  Alternatively, in the co-infusion apparatus having these configurations, a table of co-infusion adjustment procedures may be displayed on a display provided separately from the display on which the captured image is displayed.

  In the co-infusion apparatus displaying the adjustment procedure table, the step determined to be completed among the steps displayed in the adjustment procedure table is displayed in a form different from the display of other unfinished steps. Or may be hidden.

  In these co-infusion devices, two transport units that transport the drug container to the container holding part are provided so as to be independently operable, and the one transport unit is involved on one of the upper and lower sides of the display. An image related to the mixed injection process may be displayed, and information on a medicine set in the other transport unit may be displayed on the other side of the display. With such a configuration, the operator can set the next patient's drug container in the other transport device by using the time required for the co-infusion process involving one transport unit.

  In the mixed injection apparatus including the above-described vertically divided display type display, after the mixed injection process involving the one transport unit is finished, the audit image related to the mixed injection process is displayed using the entire display. May be.

  According to the present invention, it is possible to realize a mixed injection device that automatically performs a part or all of the mixed injection processing, and it is possible to accurately inspect whether a prescribed amount of infusion solution or drug solution is present in the syringe.

It is the perspective view which showed the co-infusion apparatus which concerns on one Embodiment of this invention. FIG. 2 is a block diagram showing a controller of the co-infusion apparatus of FIG. 1 and some of elements controlled by the controller. It is the elements on larger scale of the mixed injection apparatus of FIG. It is the perspective view which removed and showed the safety cabinet of the mixed injection apparatus of FIG. It is the perspective view which showed the mixing process part in the mixed injection apparatus of FIG. It is the perspective view which showed the state of the delivery of the vial container by the mixing process part of FIG. 1, and the container holding part in the mixed injection apparatus of FIG. It is the perspective view which showed the mixed injection operation part in the mixed injection apparatus of FIG. It is the front view which showed the co-injection operation part and rotation drive part in the co-infusion apparatus of FIG. It is the perspective view which showed the 3rd moving part in the mixed injection apparatus of FIG. FIGS. 4A and 4B are front views showing the container inclined portion provided in the third moving portion, respectively. It is the front view which showed the rotation drive part in the mixed injection apparatus of FIG. It is the front view which showed the rotation drive part, the infusion back holding | maintenance part, the infusion back movement part, and the infusion back inclination part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part of the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part of the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part of the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part and infusion back holding | maintenance part of the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part and infusion back holding | maintenance part of the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the operation state of the mixed injection operation part in the mixed injection apparatus of FIG. It is explanatory drawing which showed the syringe image (a vial bottle is also image | photographed) among the images displayed on the display of the mixed injection apparatus of FIG. It is explanatory drawing which showed the state which uses the ampule in the co-infusion apparatus of FIG. 1, and sucks up the chemical | medical solution in this ampule with a syringe. It is explanatory drawing which showed the state which uses the ampule in the co-infusion apparatus of FIG. 1, and sucks up the chemical | medical solution in this ampule with a syringe. It is explanatory drawing which showed the structural example which images the bottom part of a vial bottle in the mixed injection apparatus of FIG. It is explanatory drawing which showed the other structural example which images the bottom part of a vial bottle in the mixed injection apparatus of FIG. It is the perspective view which showed the example of a structure of the nail | claw part which enabled it to rotate a vial bottle for the side surface imaging of a vial bottle in the mixed injection apparatus of FIG. It is explanatory drawing which showed the structural example of the needle cap holding part in the mixed injection apparatus of FIG. FIGS. 2A and 2B are perspective views showing a transport device that transports a medicine container by a method different from the transport device used in the co-infusion apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. It is explanatory drawing which showed the image displayed on the display of the co-infusion apparatus provided with the conveying apparatus of FIG. FIGS. 2A and 2B are explanatory views showing an apparatus for inspecting the bending of the injection needle.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in FIGS. 1 and 3, the main body of the co-infusion apparatus 1 is accommodated in the safety cabinet 100, and the operator A opens a window that covers the opening of the safety cabinet 100 and works on the main body ( Mounting of the vial 10, the syringe 11, the infusion bag 12, etc.). On the outside of the side wall of the safety cabinet 100, a display 101, a barcode reader 102, and the like are provided. At the start of processing, the operator A causes the barcode reader 102 to read the barcode attached to the mixed injection procedure manual.

  The controller (microcomputer) 120 shown in FIG. 2 is identified by the above read barcode, patient information, doctor information, mixed injection operation program, prescription content information (such as the type and number of drugs used), Adjustment procedure information (dissolution source / dissolution destination drug, work content, volume / dissolution amount, sampling amount) is read from the storage unit 105. The mixed injection operation program differs depending on the type of drug container (whether a vial or ampoule is used), and the number of repetitions of the predetermined operation is determined by the number of drug containers used.

  Then, the controller 120 displays the prescription content information and the adjustment procedure information on the display 101. Here, the adjustment procedure information is displayed in a table format in which the horizontal axis is an arrangement of the above-mentioned dissolution source / dissolution destination chemicals, work contents, etc., and the vertical axis is a time axis (step). In the step of dissolution source / destination drug, “Transfusion C 500 ml” is indicated, and in the operation column, “sampling” is indicated (see FIG. 19). In addition, a medicine check column is provided at the rightmost end of the horizontal axis. Prior to the display of the adjustment procedure table, the display column of the medicine (drug container) to be used and the display column of the infusion solution (infusion bag) are displayed in green, for example.

  The operator A causes another bar code reader 103 to read the bar code of the prepared medicine container (a mode of reading with the same bar code reader may be adopted). The controller 120 confirms whether or not the medicine specified in the prescription content information is used based on the barcode information of the medicine container. When the controller 120 determines that the medicine is different from the designation of the prescription content information, the controller 120 displays a warning on the display 101. On the other hand, when the controller 120 determines that the medicine is specified by the prescription content information, the lighting unit 21a of the container setting unit 21 in which the medicine container is to be set is lit in green and the medicine container is placed on the display. The number of the container setting unit 21 to be set is displayed. When the medicine container is set in a container setting unit 21 different from the instructed container setting unit 21, the controller 120 displays a warning on the display 101 and the set container setting unit 21. The lighting part 21a is lit in red. On the other hand, when a medicine container is set in the designated container setting unit 21, the color of the display column of the medicine to be used (medicine container) is made, for example, gray, and the barcode of the prepared infusion bag 12 is provided. Is displayed on the display 101 so that the barcode reader 103 can read.

  The controller 120 determines whether or not the infusion bag specified in the prescription content information is used based on the barcode information of the infusion bag 12. When the controller 120 determines that an infusion bag different from the designation of the prescription content information is used, the controller 120 displays a warning notation on the display 101. On the other hand, when the controller 120 determines that the infusion bag designated by the mixed injection procedure manual is used, the controller 120 displays on the display 101 a prompt to set the infusion bag. After that, the operator A sets the infusion bag 12 and operates decision switches in various switches 106 (for example, decision switches in a foot switch (not shown)). When the controller 120 detects that the determination switch is operated and detects that the infusion bag 12 is set in the infusion bag holding unit 5 by a weight detection method or the like, the adjustment procedure table and the mixed injection procedure are used. A notation that prompts the user to set a syringe with a capacity based on the letter is displayed on the display 101. Next, the operator A sets the syringe 11 and operates the determination switch. When this syringe 11 is set and set, it is set so that the scale faces the operator A side, that is, the camera 150 described later. When the controller 120 detects the operation of the determination switch, the controller 120 performs an operation of gripping the syringe 11 and displays a start ready display on the display 101.

  Then, the operator A operates the door closing switch and the determination switch in the various switches 106. When the controller 120 detects the operation of the decision switch, the controller 120 starts the mixed injection process. Further, the controller 120 changes the column of the step to be started in the table of the adjustment procedure displayed on the display 101 to, for example, green.

  As shown in FIG. 4, the mixed injection device 1 includes a transport device 2 that transports a vial 10 that is a medicine container, a mixing processing unit 3 that rocks the vial 10, the vial 10 and A mixed injection operation unit 4 that performs operations on the syringe 11, an infusion back holding unit 5 that holds the infusion bag 12, and an infusion back moving unit 6 that moves the infusion back holding unit 5 closer to or away from the mixed injection operation unit 4. And the infusion back tilting portion 7 for inclining the infusion back holding portion 5 by inclining the infusion back moving portion 6, and the transport device 2 and the mixing processing unit 3 are moved closer to or away from the mixed injection operation unit 4. And a base 9 that is provided with the mixed injection operation unit 4 and the drive unit 8 and supports the transfer device 2 and the mixing processing unit 3 movably.

  On the base 9, a motor 81 in the drive unit 8 is provided. A nut (not shown) provided on the lower surface of the movable table 83 that supports the conveying device 2 and the mixing processing unit 3 is screwed to the feed screw 82 connected to the rotation shaft of the motor 81. Further, a slider portion 84 is fixed to the movable table 83, and the slider portion 84 is supported by a guide rail 85 fixed on the base 9. When the feed screw 82 is rotated by the motor 81, the rotational force is converted into a linear movement force by the nut portion. The movable table 83 moves along the guide rail 85 upon receiving the linear movement force.

  The transport device 2 includes a plurality of container setting portions 21 in which the vial bottles 10 are set. The container setting unit 21 is connected to a conveyor belt 22 and is pivoted by the conveyor belt 22. The conveyor belt 22 is wound around two pulleys 23. When one of the pulleys 23 is rotated by a motor (not shown), the conveyor belt 22 is turned. One or a plurality of vials 10 are set using one or a plurality of the container setting sections 21. When the container setting unit 21 in which the vials 10 to be subjected to the mixed injection process are moved to the front of the mixed injection operation unit 4, the movable table 83 is mixed and mixed to pass the vials 10 to the mixed injection operation unit 4. It moves straight to the operation unit 4 side.

  Since the mixing processing unit 3 is located below the conveying device 2, when the movable table 83 is moved to the mixed injection operation unit 4 side and the vial 10 is passed to the mixed injection operation unit 4, The mixing processing unit 3 sinks below the mixed injection operation unit 4. Further, as shown in FIG. 5, the support base 31 constituting the mixing processing unit 3 is separated from the movable table 83 and can be moved independently. A front end side of the connecting rod 32 is connected to the lower surface of the support base 31, and a rear end side of the connecting rod 32 is connected to the crankshaft 33. When the crankshaft 33 is rotated by a motor (not shown), the support base 31 is reciprocated in the direction of the arrow in the figure.

  The state shown in FIG. 5 is a state in which the vial 10 is placed sideways across the pair of rollers 34. When the roller 34 is rotated in the same direction in this state, the vial 10 is rotated. The bottom part and the cap part (mouth part) of the vial bottle 10 are supported by the rotation support part of the holder 35. The rotation support part on the side of the bottom part is provided in the main body part 351 of the holder 35, and the rotation support part 35a on the side of the cap part is provided in the movable part 35b. The movable portion 35b is screwed to the feed screw 35c, and the movable portion 35b is linearly moved by the rotation of the feed screw 35c. The upper end portion of the feed screw 35c is connected to a rotation shaft of a motor 36 provided at the upper end portion of the main body 351 of the holder 35, and the feed screw 35c is rotated by the rotation of the motor 36. The vial 10 is held by holding the bottom portion and the cap portion of the vial 10 with the rotation support portion of the holder 35, but the vial 10 is placed across the pair of rollers 34. When the holding state by the holder 35 is released, the vial bottle 10 comes into contact with the surface of the roller 34 by gravity, and after this state is formed, the holding state by the holding portion 35 is formed again. doing.

  Further, as shown in FIG. 6, the lower end portion of the main body 351 of the holder 35 is connected to the rotation shaft of the motor 37, and the holder 35 is swung by the rotation of the motor 37. The When the holder 35 is in an upright state by the swinging, the vial 10 can be delivered to and from the container holding part 436 in the mixed injection operation part 4. The holder 35 receives the vial 10 from the mixed injection operation unit 4 after the infusion is poured into the vial 10. The holder 35 passes the vial 10 to the mixed injection operation unit 4 because the mixing processing unit 3 performs a shaking operation (reciprocating operation by the crankshaft 33 and rotating operation by the roller 34). Later. When the vial bottle 10 is delivered, the movable table 83 is linearly moved.

  As shown in the perspective view of FIG. 7 and the front view of FIG. 8, the mixed injection operation unit 4 holds the cylinder unit 11 a in the syringe 11 and moves the cylinder unit 11 a in the piston unit moving direction in the syringe 11. 1 moving part 41, the 2nd moving part 42 which holds the end of piston part 11b in syringe 11 and moves the piston part 11b in the piston part moving direction, and container holding part 436 for holding vial 10 A third moving portion 43 that moves the first moving portion 41 in the piston moving direction, a support portion 44 that supports the first moving portion 41, the second moving portion 42, and the third moving portion 43, and the support portion 44 that rotates. And a rotation driving unit 45 that inclines the moving direction of the piston part with respect to the direction of gravity (vertical direction). In this embodiment, the first moving part 41, the second moving part 42, and the support part 44 hold the syringe 11 and change the posture of the syringe 11 and the piston part to the cylinder part 11a in the syringe. The syringe holding part which performs the operation | movement which changes the insertion amount of 11b is comprised.

  The first moving portion 41 is guided in the piston portion moving direction by engaging the slider portion 411 with a pair of guide rails 46 fixed to the support portion 44. A nut portion (not shown) is fixed to the back side of the main body portion of the first moving portion 41. A feed screw 412 is screwed into the nut portion. One end of the feed screw 412 is rotatably supported at the bottom of the support portion 44, and the other end is connected to a rotation shaft of a motor 413 fixed to the wall surface of the support portion 44. The feed screw 412 is rotated by the rotational drive of the motor 413, and the first moving portion 41 is linearly moved along the guide rail 46 by this rotation.

  A holding mechanism 414 for holding the cylinder part 11 a is provided on the surface side of the main body part of the first moving part 41. The holding mechanism 414 includes a pair of claw portions 414a that sandwich the cylinder portion 11a from the lateral direction. The pair of claw portions 414a are respectively screwed into the screw portions of the feed screw 414b having screw portions whose threading directions are opposite to each other. The feed screw 414b is connected to the rotating shaft of the motor 414c. The feed screw 414b is rotated by the rotational drive of the motor 414c, and the rotation causes the pair of claw portions 414a to move toward and away from each other. The pair of claw portions 414a is formed with a recess for accommodating the flange portion of the cylinder portion 11a.

  The second moving part 42 is guided in the moving direction of the piston part by engaging the slider part 421 with the pair of guide rails 46. A nut portion 422 is fixed to the back side of the main body portion of the second moving portion 42. A feed screw 423 is screwed into the nut portion 422. One end of the feed screw 423 is connected to a rotating shaft of a motor (not shown) fixed to the lower portion of the support portion 44, and the other end is supported by a bearing portion 425 fixed to the wall surface of the support portion 44. Yes. The feed screw 423 is rotated by the rotation of the motor, and the second moving portion 42 is linearly moved along the guide rail 46 by this rotation.

  A holding mechanism 424 for holding the end portion (saddle-like portion) of the piston portion 11 b in the syringe 11 is provided on the surface side of the main body portion of the second moving portion 42. The holding mechanism 424 has a gap portion having an interval corresponding to the thickness of the end portion of the piston portion 11b. The end of the piston part 11b is held in the gap part, and the piston part 11b is moved in the piston part moving direction by moving the second moving part 42.

  As shown in FIG. 9, the third moving unit 43 includes a first main body 431 and a second main body 432 disposed so as to surround the first main body 431. A guide rail 431 a is fixed laterally on the back side of the first main body 431. A slider portion 432a is fixed to the inner surface side of the back plate of the second main body portion 432, and the slider portion 432a is engaged with the guide rail 431a. That is, the second main body 432 is provided so as to be slidable in the lateral direction intersecting the guide rail 46 with respect to the first main body 431. And the feed screw 431b is provided in the said horizontal direction in the back side of the said 1st main-body part 431, This feed screw 431b is connected with the rotating shaft of the motor 431c. A nut portion 432b is fixed to the inner surface side of the back plate of the second main body portion 432, and the feed screw 431b is screwed to the nut portion 432b. When the rotation shaft of the motor 431c rotates, the second main body 432 is slid in the lateral direction with respect to the first main body 431.

  The second main body portion 432 is provided with a container holding portion 436 (see FIGS. 7 and 8) described later. A container slide part 437 for moving the container holding part 436 in a direction intersecting the piston part moving direction by the second main body part 432, the slider part 432a, the guide rail 431a, the motor 431c, the nut part 432b, and the feed screw 431b. Is configured.

  A slider portion 431d is fixed to the first main body portion 431. The third moving part 43 is guided in the moving direction of the piston part by engaging the slider part 431d with the pair of guide rails 46. A nut portion (not shown) is fixed to the back surface side of the first main body portion 431 in the third moving portion 43. A feed screw 433 shown in FIG. 7 is screwed into the nut portion. The feed screw 433 is connected to a rotation shaft of a motor 434 fixed to the support portion 44. The feed screw 433 is rotated by the rotational drive of the motor 434, and the first main body 431 is moved along the guide rail 46 by this rotation. The second body part 432 is connected to the first body part 431 by the container slide part 437, and the first body part 431 and the second body part 432 move together as the third moving part 43. become.

  As shown in FIGS. 10A and 10B, the container holding portion 436 is independently rotated on the surface side of the second main body portion 432 in the third moving portion 43. A container inclined portion 435 for inclining the vial 10 is provided. The container holding part 436 is supported by a support part 435 a in the container inclined part 435. The support portion 435a is rotatably provided by a horizontal shaft 435b fixed to the second main body portion 432. Further, a gear portion is formed on the support portion 435a. A worm gear 435c is engaged with the gear portion. The worm gear 435c is formed on the rotation shaft 435d. The rotation shaft 435d is rotated by a motor 435e fixed to the second main body 432. By rotating the motor 435e, the support portion 435a is rotated, and the container holding portion 436 supported by the support portion 435a is rotated and inclined.

  Further, as shown in FIG. 8, the container holding part 436 includes a pair of claw parts 436 a that sandwich the vial bottle 10 from the lateral direction. The pair of claw portions 436a are respectively screwed into the screw portions of the feed screw 436b having screw portions whose threading directions are opposite to each other. The feed screw 436b is connected to the rotation shaft of the motor 436c. The feed screw 436b is rotated by the rotational drive of the motor 436c, and the pair of claw portions 436a are moved closer to and away from each other by the rotation. The pair of claws 436a is formed with a triangular recess suitable for holding the vial 10 and the ampoule 10A (see FIG. 31). Also, by controlling the torque of the motor 436c, the claw portion 436a grips the vial 10 or the like with an appropriate force.

  As shown in FIG. 11, the rotation driving unit 45 includes a gear 452 that is rotatably supported by a horizontally disposed cylindrical shaft 451. The cylindrical shaft 451 is provided on a back wall 91 erected on the base 9. A square attachment plate 453 is fixed to the gear 452, and the attachment plate 453 is rotated by the rotation of the gear 452. The support portion 44 is fixed to the mounting plate 453. A worm gear 454 is engaged with the lower side of the gear 452. The worm gear 454 is connected to the rotation shaft of the motor 455, and when the motor 455 rotates, the worm gear 454 is rotated. The motor 455 is fixed to a side wall 92 erected on the base 9. The power supply lines connected to the first, second and third moving parts 41, 42, 43, etc. provided on the support part 44 of the mixed injection operation part 4 can be taken out through the cylindrical shaft 45. I am doing so. The power supply line connected to the first moving unit 41 is stored in the cord storage rail 47 shown in FIG. 4, and the power supply line connected to the third moving unit 43 is connected to the cord storage rail 48. It is stored in.

  As shown in FIG. 12 and FIG. 4, the infusion bag 12 is held by the infusion bag holding unit 5. The infusion back holding part 5 is connected to the infusion back moving part 6 by a connecting part 51. A nut portion 51 a is fixed to the connecting portion 51. In addition, a feed screw 61 is disposed in the infusion back moving portion 6 in the lateral direction, and the nut portion 51 a is screwed to the feed screw 61. A slider portion (not shown) is fixed to the connecting portion 51, and the slider portion is provided on the infusion back movement portion 6 and engaged with a guide rail 63. A motor 62 is fixed to the back side of the main body of the infusion back moving unit 6. The feed screw 61 is connected to the rotating shaft of the motor 62 via a pulley and a belt (not shown). The feed screw 61 is rotated by the rotational drive of the motor 62, the connecting portion 51 is moved by the rotation, and the infusion bag holding portion 5 is moved by the movement of the connecting portion 51. The movement of the infusion bag holding unit 5 is executed when the injection needle of the syringe 11 is inserted into the mixed injection port of the infusion bag 12.

  The infusion back moving part 6 is connected and fixed to the distal end side of the arm part 71 in the infusion back inclined part 7. The rear end portion of the arm portion 71 is externally fitted to the cylindrical shaft 451, and the arm portion 71 swings around the cylindrical shaft 451. The center of the cylindrical shaft 451 is located on the central axis of the cylinder portion 11a of the syringe 11 held by the mixed injection operation portion 4.

  A nut portion 72 is provided on the back surface of the substantially central portion of the arm portion 71. The nut portion 72 is screwed into a feed screw 73 arranged in the vertical direction. The upper end of the feed screw 73 is supported by a bearing 73a, and the lower end is connected to a pulley 73b. The pulley 73b is configured such that the rotational driving force of the motor 73c is transmitted through the pulley 73d and the belt 73e. When the feed screw 73 is rotated by the rotation of the motor 73c, the nut portion 72 is moved up and down, and the arm 71 is swung by the vertical movement. By this swinging, the infusion back moving part 6 is tilted and the infusion back holding part 5 is tilted. The nut portion 72 moved by the feed screw 73 moves up and down along a circular arc locus centering on the cylindrical shaft 451. For this reason, a structure in which one end side of the feed screw 73 is movably provided to absorb the displacement due to the arc locus as described above, or the nut portion 72 that can absorb the displacement due to the arc locus as described above is used.

  Here, in this embodiment, the operation of inserting the injection needle of the syringe 11 into the mouth of the vial 10 held by the container holding part 436 by the mixed injection operation part 4 and the infusion back moving part 6 and An insertion operation unit that performs an operation of inserting the injection needle of the syringe 11 into the mixed injection port of the infusion bag 12 is configured. Note that the distance between the infusion bag 12 and the syringe 11 can be changed even if only one of the infusion bag 12 and the syringe 11 is moved. Therefore, the operation for inserting the injection needle into the mixed injection port of the infusion bag 12 is described above. Only one of the movement of the infusion bag 12 by the back movement unit 6 and the movement of the syringe 11 by the first movement unit 41 and the second movement unit 42 in the mixed injection operation unit 4 may be executed.

  As shown in FIGS. 3 and 4, the co-infusion apparatus 1 is provided with a camera 150 that images the syringe 11. The camera 150 is attached to the distal end side of the support member 151 with its lens optical axis positioned horizontally. The base end side of the support member 151 is connected to the slider 152 a of the movement operation unit 152. The slider 152a is provided so as to move in the vertical direction (vertical direction) while being guided by the guide rail 152b. The slider 152a is screwed to the feed screw 152c and is moved in the vertical direction by the rotation of the feed screw 152c. One end side of the feed screw 152c is connected to the camera movement motor 152d, and the other end side is supported by a bearing portion 152e. Further, the co-infusion apparatus 1 is provided with a needle cap gripping part 160 for removing the needle cap that covers the injection needle of the syringe 11 from the syringe 11 and attaching it. In the needle cap gripping portion 160, for example, as shown in FIG. 36, the needle cap 11c is gripped by a pair of gripping claws 160a. The pair of gripping claws 160a are respectively screwed into the threaded portions of the feed screw 160b having threaded portions whose threading directions are opposite to each other. The feed screw 160b rotates by receiving the rotational force of the motor 160c via the belt 160d. The gripping claws 160a, the feed screw 160b, and the motor 160c are arranged on a turntable 160e so that they can rotate. The rotary table 160e is rotated within a range of, for example, 360 degrees around the center of the gripping position of the needle cap 11c by a rotation mechanism provided on the slide plate 160f. The rotation mechanism unit includes a rotation drive unit 160g that supports the rotation table 160e, a belt 160h wound around a pulley unit of the rotation drive unit 160g, and a motor 160i that rotates the pulley unit via the belt 160h. It consists of. The ride plate 160f is connected to a nut member 160j, and the nut member 160j is screwed to a feed screw 160k. The feed screw 160k is rotated by a motor 160l. By the rotation, the nut member 160j moves and the ride plate 160f slides. The needle cap gripping portion 160 can be retracted in the front-rear direction by a sliding operation of the ride plate 160f so as not to interfere with the rotation operation or the like of the mixed injection operation portion 4. Further, since the pair of gripping claws 160a are rotated around the center of the gripping position of the needle cap 11c by the rotary table 160e, an operation for attaching and removing a screw-tight injection needle to the cylinder portion 11a is also possible. Is possible.

  Also, as shown in FIG. 2, the camera 150 is connected to the controller 120. When an imaging instruction is received from the image acquisition unit 121 of the controller 120, an imaging process is executed, and the camera 150 is obtained by this imaging. The transmitted image data is transmitted to the image acquisition unit 121. Further, the camera moving motor 152d is also connected to the controller 120. When the camera movement motor 152d receives a movement instruction from the image acquisition unit 121, the camera movement motor 152d rotates to rotate the feed screw 152c and move the camera 150 in the vertical direction (a state where the syringe 11 is inverted or upright). In the direction of the scale of the syringe 11). In this embodiment, for example, the camera 150 is moved at a speed of 9 cm / s, and 15 images are captured per second.

  As described above, the image acquisition unit 121 captures at least the syringe 11 with the camera 150 a plurality of times while changing the relative position of the camera 150 and the syringe 11 in the scale direction of the syringe 11. . Then, the image acquisition unit 121 gives the image data of the plurality of syringes 11 obtained by imaging a plurality of times to the image creation unit 122.

  The image creation unit 122 joins the captured images of the plurality of syringes 11 obtained by the plurality of times of imaging to create an image (an image long in the scale direction) in the syringe 11. For example, the image creating unit 122 generates one digital image (data) from the output at the time of each imaging such as a CCD image sensor or a CMOS image sensor in the camera 150, and a plurality of vertical images in the central portion of the digital image. A process of cutting out the central image portion of pixels is performed. The image creation unit 122 creates an image of the syringe 11 by joining the horizontally long strip-like images cut out from the digital images in this way. The image of the syringe 11 created in this way becomes an aggregate of images with little distortion, which is composed of light near the lens optical axis of the camera 150. In other words, the image of the syringe 11 created in this way is an aggregate of a plurality of images corresponding to the line of the scale viewed from the side. As a result, the infusion volume in the syringe 11 which can be read from the syringe image created by the image creation unit 122 shows an accurate value. The syringe image created by the image creation unit 122 is displayed on the display 101, and is stored in the storage unit 105 in association with, for example, the barcode of the mixed injection procedure manual.

  It should be noted that, instead of performing the image cutting process from each captured image as described above, only the central image portion is converted into digital image data at the stage of generating a digital image (data) from the output of the CCD image sensor or the like. Alternatively, the CCD image sensor itself may be a horizontally long strip. Furthermore, depending on the time required for image creation, a process of generating a horizontally long central image for one pixel in the vertical direction (so-called scan process by a line sensor) may be performed. Further, since the relative position of the syringe 11 and the camera 150 may be moved, the camera 150 may be fixed and the syringe 11 may be moved in the scale direction.

  Next, a process of co-injecting the medicine in the vial bottle 10 with the infusion solution in the infusion bag 12 by the above-described infusion device 1 will be described. This mixed injection process is executed by controlling each motor described above by the controller 120. A stepping motor is used as the motor controlled by the controller 120. By controlling the number of pulse powers supplied to the stepping motor, the rotation angle of the rotating shaft in the stepping motor can be controlled, and by controlling the excitation mode of the coil, normal rotation and reverse rotation can be controlled. .

  FIG. 13 shows a state where the syringe 11 with a needle cap is set in a state where the mixed injection operation unit 4 is upright. In addition, in FIG. 13 to FIG. 25, illustration of the rotation drive part 45, the support part 435a of the container inclination part 435, etc. is omitted. The mixed injection apparatus 1 rotates the mixed injection operation unit 4 counterclockwise as shown in FIG. 14 from the state of FIG. By this rotation, the needle cap 11 c of the syringe 11 faces the needle cap gripping portion 160. Then, as shown in FIG. 15, the first, second and third moving parts 41, 42 and 43 are moved to insert the tip of the needle cap 11c into the needle cap gripping part 160, and the syringe 11 is moved to the left. The needle cap 11c is removed from the syringe 11 by being moved. The needle cap 11c is held by the needle cap holding portion 160.

  After the needle cap 11c is removed as described above, the mixed injection operation unit 4 is rotated clockwise, and the injection needle of the syringe 11 is directed obliquely upward to the left as shown in FIG. In this state, the infusion bag holding section 5 is also tilted, so that the infusion bag 12 is tilted, and the mixed injection port of the oblique infusion bag 12 and the injection needle of the oblique syringe 11 face each other. At this time, the infusion bag holding unit 5 is moved to the mixed injection operation unit 4 side by the infusion bag moving unit 6. Further, the mixed injection operation unit 4 moves the first, second, and third moving units 41, 42, and 43 to bring the syringe 11 closer to the infusion bag 12 side. Thereby, the injection needle of the syringe 11 can be inserted into the mixed injection port of the infusion bag 12. Moreover, in the 1st, 2nd moving parts 41 and 42, the state which pushed the piston part 11b into the cylinder part 11a of the said syringe 11 is formed. Further, the gap between the pair of claw portions 436a in the container holding portion 436 is increased so that the claw portions 436a do not interfere with the infusion back holding portion 5.

  Next, as shown in FIG. 17, the piston portion 11 b is pulled with respect to the cylinder portion 11 a of the syringe 11 by moving the second moving portion 42 away from the position of the first moving portion 41. I do. Thereby, the infusion in the infusion bag 12 is sucked into the cylinder part 11a. It should be noted that the amount of infusion prescribed by the bar code in the mixed injection procedure manual or an amount of infusion slightly larger than the prescribed amount in anticipation of the operation of releasing the air in the syringe 11 as will be described later. The second moving part 42 is moved by a specified distance (a specified amount of pulse power is given to the motor) so that the air is sucked into the cylinder part 11a.

  Here, when the infusion bag 12 is tilted as described above, the infusion port of the infusion bag 12 faces obliquely downward, the infusion solution is accumulated on the side of the infusion port, and the air moves away from the infusion port. Thereby, it is possible to reduce or avoid the air in the infusion bag 12 from entering the syringe 11 when the infusion solution is sucked by the syringe 11.

  Next, as shown in FIG. 18, the mixed injection device 1 rotates the support portion 44 of the mixed injection operation unit 4 to invert the syringe 11. When the injection needle of the syringe 11 is directed directly upward due to this inversion, the air in the cylinder portion 11a of the syringe 11 moves toward the injection needle. In this state, the cylinder part 11a is moved by moving the second moving part 42 closer to the position of the first moving part 41 so that the amount of infusion prescribed by the barcode of the mixed injection procedure manual is obtained. Let the air inside out. In addition, when the injection needle of the syringe 11 is pointed directly upward in this way, an operation for eliminating the tilt of the infusion bag holding unit 5 is also performed simultaneously.

  Here, in order for the operator A to check whether or not a prescribed amount of infusion is sucked into the syringe 11, the image acquisition unit 121 drives the camera moving motor 152d to move the camera 150 upward. The syringe 11 is imaged a plurality of times by the camera 150 while the image is taken. Then, the image creation unit 122 executes a process of joining the captured images of the plurality of syringes 11 obtained by the plurality of times of imaging, and creates a vertically long image in the syringe 11. The image created in this way is displayed on the display 101 together with an image showing the mixed injection procedure, as shown in FIG.

  In FIG. 19, the vertically long image of the syringe 11 is displayed on the right end side of the display 101, but it may be on the left end side, or a process of rotating the vertically long image of the syringe 11 by 90 degrees is performed. Or you may make it display the said syringe image using a lower end. Moreover, you may make it display the said syringe image on the display prepared separately.

  When the mixed injection device 1 performs imaging of the syringe 11 as described above, the mixed injection operation is temporarily stopped, and the amount of infusion to be taken up by the syringe 11 is displayed on the display 101, and the state at this time is displayed. Displays a notation that asks if you can approve or cancel the mixed injection process. The operator A looks at the image of the syringe 11 on the display 101 to check whether or not the prescribed amount of infusion is sucked into the syringe 11, and if the prescribed amount of infusion is sucked into the syringe 11, The decision switch in the various switches 106 is operated.

  When the mixed injection device 1 (controller 120) detects the operation of the determination switch, it changes the color of the column of the end processing step (first step) on the table of the adjustment procedure to, for example, gray, and the next step The column is displayed in green. Further, the mixed injection device 1 performs a process of displaying a check mark in the medicine check column of the first step (Note that FIG. 19 shows such color change display and check mark display. Shows the state.) Then, the mixed injection device 1 restarts the operation of the mixed injection operation unit 4 in the column of steps to be started in the adjustment procedure table, and rotates the support unit 44 of the mixed injection operation unit 4 as shown in FIG. Then, the injection needle of the syringe 11 is directed right below.

  Next, as shown in FIG. 21, the vial 10 is gripped by the pair of claws 436 a of the container holding part 436. In the operation of gripping the vial 10, an operation of bringing the transport device 2 closer to the mixed injection operation unit 4 by the drive unit 8 is executed.

  Next, as illustrated in FIG. 22, the distance between the first moving unit 41 and the third moving unit 43 is reduced while maintaining the positional relationship between the first moving unit 41 and the second moving unit 42. As a result, the injection needle of the syringe 11 held by the first moving part 41 and the second moving part 42 is moved to the cap part of the vial 10 held by the container holding part 436 of the third moving part 43 ( It will be inserted straight into the center of the mouth).

  Next, as shown in FIG. 23, the support part 44 of the mixed injection operation part 4 is rotated to incline the syringe 11 and the vial 10 clockwise, and the container holding part 436 is independently provided by the container inclined part 435. By rotating, the vial bottle 10 is further tilted clockwise in the figure while maintaining the posture of the syringe 11 as it is. At the same time, the vial 10 is linearly moved to the left in the figure by the container slide portion 437. Here, since the center of rotation when the vial 10 is tilted is below the cap portion of the vial 10, the cap portion of the vial 10 moves to the right in the figure by tilting the vial 10. Will do. Therefore, the vial 10 is linearly moved in the left direction by the container slide part 437 so as to cancel the right movement of the cap part. Since the container slide part 437 slides the container holding part 436 in the lateral direction in the inclined third moving part 43, the vial bottle 10 is linearly moved in the diagonally upward left direction in FIG. It will be.

  FIG. 24 shows a state in which the second moving part 42 is moved closer to the first moving part 41 and the infusion solution in the syringe 11 is poured into the vial 10 with the vial 10 tilted as described above. Is shown. When the infusion solution in the syringe 11 is poured into the vial 10, the process of injecting the infusion solution into the vial 10 after taking the air in the vial 10 into the syringe 11 is repeated. ing.

  Next, as shown in FIG. 25, the support portion 44 of the mixed injection operation portion 4 is rotated to incline the syringe 11 and the vial bottle 10 by, for example, 20 degrees counterclockwise, and the container holding portion by the container inclined portion 435. The inclination of 436 is returned, and the positional relationship between the syringe 11 and the vial bottle 10 is returned to the non-inclined original state. In addition, when the positional relationship between the syringe 11 and the vial 10 is returned to the original non-inclined state, the linear movement state of the vial 10 by the container slide portion 437 is also returned to the original state, and the syringe 11 is restored. Is placed at the center of the cap portion of the vial 10. Here, as shown in FIG. 25, the syringe 11 and the vial 10 are tilted counterclockwise by the rotation of the mixed injection operation unit 4, so that the infusion in the vial 10 is opposite to the wall surface that is touched at the time of infusion. It becomes possible to prevent the presence of a drug that cannot be in contact with the infusion solution and does not dissolve in the vial 10.

  Next, as shown in FIG. 26, the support unit 44 of the mixed injection operation unit 4 is returned to the original straight state to erect the syringe 11, and the first moving unit 41 and the second moving unit 42 are moved to the third position. The moving unit 43 is moved upward.

  And the vial bottle 10 in which the said infusion solution was inject | poured is passed to the mixing process part 3, a shaking process is performed, and a chemical | medical agent is dissolved in an infusion solution. Then, after the mixing process, the vial 10 is transferred to the container holding unit 436 of the mixed injection operation unit 4 again.

  Next, as shown in FIG. 27, the support portion 44 of the mixed injection operation unit 4 is rotated, and the syringe 11 and the vial 10 are tilted clockwise, for example, by about 160 degrees, so that the drug mixed infusion in the vial 10 is obtained. Is moved to the cap side. In this state, the tip of the injection needle of the syringe 11 faces obliquely upward. In addition, air corresponding to the volume of the drug mixed infusion solution in the vial bottle 10 is taken into the syringe 11. And the process which moves the medicine mixing infusion solution in the said vial bottle 10 in the said syringe 11 and the process which moves the air in the said syringe 11 to the said vial bottle 10 side are performed several times. That is, the co-infusion apparatus 1 operates the piston 11b of the syringe 11 by operating the second moving unit 42 so that such processing is performed.

  As shown in FIG. 28, when the drug mixed infusion in the vial 10 is reduced, the support 44 of the mixed injection operation unit 4 is further rotated to bring the vial 10 upside down. All of the drug mixture infusion is transferred into the syringe 11. Thereafter, the air in the syringe 11 is discharged into the vial bottle 10.

  Here, in order for the operator A to check whether or not all of the drug mixed infusion in the vial 10 has been sucked into the syringe 11 (whether or not a prescribed amount of drug mixed infusion exists in the syringe 11). In order to confirm this, the image acquisition unit 121 images the syringe 11 with the camera 150 a plurality of times while driving the camera moving motor 152d to move the camera 150 upward. Then, the image creation unit 122 executes a process of joining the captured images of the plurality of syringes 11 obtained by the plurality of times of imaging, and creates a vertically long image in the syringe 11. The image created in this way is displayed on the display 101 together with an image showing the mixed injection procedure by the processing of the image creation unit 122. In this embodiment, a side image of the vial 10 existing on the extension line of the injection needle of the syringe 11 is also captured by the camera 150. Since this imaging is performed for confirming the medicine notation of the label affixed to the side surface of the vial, a single vial image is sufficient. The images picked up in this way are connected by the image creating unit 122 to become an image as shown in FIG.

  In addition, when the mixed injection device 1 performs imaging of the syringe 11 as described above, the mixed injection operation is temporarily stopped, and the amount of infusion to be present in the syringe 11 is displayed on the display 101. A notation is displayed asking whether the current state can be approved or whether the mixed injection process is to be stopped. The operator A sees the image of the syringe 11 on the display 101, and has all of the drug mixed infusion in the vial 10 been sucked into the syringe 11 (the prescribed amount of the drug mixed infusion exists in the syringe 11). If it is confirmed that there is a drug mixed infusion in the syringe 11, the decision switch in the various switches 106 is operated.

  When the mixed injection device 1 (controller 120) detects the operation of the determination switch, the color of the column of the end processing step (second step) on the table of the adjustment procedure is changed to, for example, gray, and the next step The column is displayed in green. Moreover, the said co-infusion apparatus 1 performs the process which displays a check mark in the said medicine check column of the said 2nd step. And the said mixed injection apparatus 1 restarts the operation | movement of the said mixed injection operation part 4, and rotates the support part 44 of the said mixed injection operation part 4 as shown in FIG. A state (a state in which the syringe 11 and the like are upright) is formed. The co-infusion apparatus 1 moves the first moving part 41 and the second moving part 42 to separate the syringe 11 from the vial bottle 10.

  Then, the empty vial 10 is transferred to the transport device 2 and a new vial 10 is received by the container holding unit 436 in the third moving unit 43 of the mixed injection operation unit 4. Then, the above process is repeated until a prescribed amount of drug is dissolved in the infusion in the syringe 11.

  When a prescribed amount of medicine is dissolved in the infusion solution in the syringe 11, for example, as shown by the solid line in FIG. 12, the infusion bag 12 is horizontally arranged in the infusion bag holding portion 5, and the mixture injection port is provided. The injection needle of the syringe 11 is inserted, and the infusion in the syringe 11 is returned to the infusion bag 12. In addition, as shown by the dotted line of FIG. 12, the arm part 71 in the infusion bag inclined part 7 is inclined, and the infusion bag 12 in the infusion bag holding part 5 has its mixed injection port directed obliquely downward. The injection needle of the syringe 11 may be inserted into the mouth, and the medicine mixed infusion in the syringe 11 may be returned to the infusion bag 12.

  Then, the syringe 11 is inverted by turning the support portion 44 of the mixed injection operation portion 4 so that the injection needle is directed upward.

  Then, in order for the operator A to check whether or not all of the drug mixture infusion in the syringe 11 has been returned to the infusion bag 12 (in order to check whether or not the drug mixture infusion exists in the syringe 11). The image acquisition unit 121 images the syringe 11 a plurality of times with the camera 150 while driving the camera moving motor 152d to move the camera 150 upward. Then, the image creation unit 122 executes a process of joining the captured images of the plurality of syringes 11 obtained by the plurality of times of imaging, and creates a vertically long image in the syringe 11. The image created in this way is displayed on the display 101 together with an image showing the mixed injection procedure by the processing of the image creation unit 122.

  In addition, when the mixed injection device 1 performs imaging of the syringe 11 as described above, the mixed injection operation is temporarily stopped, and the amount of infusion to be present in the syringe 11 is displayed on the display 101. A notation is displayed asking whether the current state can be approved or whether the mixed injection process is to be stopped. The operator A sees the image of the syringe 11 on the display 101 and confirms whether all of the drug mixed infusion in the syringe 11 has been returned to the infusion bag 12 (whether there is no drug mixed infusion in the syringe 11). Then, if it is confirmed that there is no drug mixed infusion in the syringe 11, the decision switches in the various switches 106 are operated.

  When the mixed injection device 1 (controller 120) detects the operation of the determination switch, it performs a process of displaying a check mark in the medicine check column in the third step. Further, the mixed injection device 1 restarts the operation of the mixed injection operation unit 4, rotates the support unit 44 of the mixed injection operation unit 4, and directs the injection needle of the syringe 11 toward the needle cap gripping unit 160, After the needle cap is attached again to the injection needle, the support portion 44 of the co-injection operation portion 4 is rotated to release the holding state of the syringe 11 that directs the syringe 11 directly below. The mixed injection device 1 displays on the display 101 a message indicating that the mixed injection process has been completed and a notation that prompts the user to remove the syringe 11. The operator A operates the determination switches in the various switches 106 to remove the syringe 11 and the infusion bag 12.

  In addition, when the vial containing the chemical | medical solution instead of a chemical | medical agent is used, the 1st step mentioned above will be abbreviate | omitted.

  Next, the case where an ampoule is used as a medicine container will be described. In the mixed injection process using this ampule, the process of delivering the ampule from the transport device 2 to the mixed injection operation section 4, the process of sucking the chemical solution in the ampule with the syringe 11 held in the mixed injection operation section 4, and the ampule that has sucked the chemical liquid The process of returning to the transport device 2, the delivery, the drug solution suction and the ampoule return for the necessary number of ampules, and the process of injecting the drug solution in the syringe 11 into the infusion bag 12 are performed.

  As shown in FIG. 31, when the ampoule 10 </ b> A is used, initially, the medicinal solution in the ampoule 10 </ b> A is sucked into the syringe 11 in a state where the ampoule 10 </ b> A is set up straight without rotating the mixed injection operation unit 4. For example, when the ampule 10A is a 5 ml container, 4 ml of the ampule is sucked up and 1 ml of chemical solution is left in the ampule 10. Note that the ampoule 10A is not limited to stand upright as described above, and the ampoule 10A may be tilted by, for example, several degrees by operating the container inclined portion 435.

  The syringe 11 and the ampoule 10A are tilted clockwise by 50 degrees, for example, after the 4 ml siphoning is completed or in the middle state before completion. Further, in the state where the suction of 4 ml is completed, as shown in FIG. 32, the ampoule 10A is tilted by 50 degrees, and the ampoule 10A is linearly moved by 4.0 mm in the direction of the arrow in the figure. The overall 50-degree rotation of the syringe 11 and the ampoule 10A is performed by rotating the mixed injection operation unit 4 by the rotation drive unit 45, and the ampoule 10A is further rotated by 50 degrees. The container holding part 436 is independently rotated by the container inclined part 435. The linear movement of the ampoule 10A is performed by the container slide portion 437.

  Thus, when the ampule 10A is used as the drug container, a certain amount of liquid medicine is sucked up with the ampule 10A set up as described above, and then the ampule 10A is tilted about 100 degrees from the state set up as described above. By forming a state in which the drug solution is moved to the neck side of the ampoule 10A, it is possible to suck up the drug solution without leaving the tip of the injection needle of the syringe 11 to the bottom of the ampoule 10A as much as possible.

  Then, after the drug solution is sucked from the prescribed number of ampules 10A, the syringe 11 is inverted.

  Here, in order for the operator A to check whether or not the drug solution has been sucked into the syringe 11 from the ampoule 10A (in order to check whether or not a prescribed amount of drug solution is present in the syringe 11), the image acquisition is performed. The unit 121 images the syringe 11 by the camera 150 a plurality of times while driving the camera moving motor 152d to move the camera 150 upward. Then, the image creation unit 122 executes a process of joining the captured images of the plurality of syringes 11 obtained by the plurality of times of imaging, and creates a vertically long image in the syringe 11.

  Moreover, after inject | pouring the chemical | medical solution in the syringe 11 into the infusion bag 12, the syringe 11 is inverted. Then, in order for the operator A to check whether all of the liquid medicine in the syringe 11 is injected into the infusion bag 12 (in order to confirm that there is no liquid medicine in the syringe 11), the image acquisition unit 121 and the above Image processing by the image creation unit 122 is performed.

  By the way, the mixed injection process described above, that is, the injection needle of the syringe 11 is straightly inserted into the cap portion of the standing vial 10 and the vial 10 and the syringe 11 are integrally inclined at a predetermined angle. 1, a second process in which the vial 10 is further inclined with respect to the moving direction of the piston portion of the syringe 11, and the injection needle is positioned on the center side of the cap portion of the vial 10 with respect to the inclination. You may make it perform the 3rd process which adjusts the positional relationship of these vials 10 and the syringe 11 so that it may continue using a manipulator (robot arm) automatically. For example, two manipulators are used, with one manipulator holding the vial 10 and the other manipulator holding the syringe 11. Then, in the inclined state of the vial 10 and the syringe 11 in the third process, the manipulator operates the piston portion 11 b of the syringe 11 to inject the infusion solution in the syringe 11 into the vial 10.

  Similarly, a first process of inserting the injection needle of the syringe 11 into the cut end of the ampoule 10A in a standing state and inclining the ampoule 10A and the syringe 11 integrally at a predetermined angle (in this case, the ampoule 10A is inserted into the syringe 11). In the inserted state, the ampoule 10A may be tilted several times), and the ampoule 10A is further inclined with respect to the direction of movement of the piston portion of the syringe 11; The third process of adjusting the positional relationship between the ampoule 10A and the syringe 11 so that the injection needle continues to be positioned on the center side of the syringe may be automatically executed using a manipulator. For example, two manipulators are used, and one manipulator holds the ampule 10 </ b> A and the other manipulator holds the syringe 11. Then, in the inclined state of the ampule 10A and the syringe 11 in the third process, the manipulator operates the piston portion 11b of the syringe 11 to suck the drug solution in the ampule 10A into the syringe 11.

  In such a configuration using the manipulator, one manipulator serves as a container holding unit that holds the drug container (and further changes the attitude of the drug container), and the other manipulator changes the attitude of the syringe 11. In addition, the syringe 11 is a syringe holding portion that performs an operation of changing the amount of insertion of the piston portion 11b into the cylinder portion 11a in the syringe 11. And the operation | movement which inserts the injection needle of the said syringe 11 in the opening part of the said chemical | medical agent container is implement | achieved by both manipulators or one manipulator. Furthermore, the operation of inserting the injection needle of the syringe 11 into the mixed injection port of the infusion bag 12 is realized by the manipulator holding the syringe 11. In addition, while adopting the container inclined portion 435 and the container holding portion 436 as a container holding portion that holds the drug container (and further changes the posture of the drug container), the posture of the syringe 11 is changed and A configuration using a manipulator as a syringe holding portion that performs an operation of changing the amount of insertion of the piston portion 11b into the cylinder portion 11a in the syringe 11 can also be adopted. As described above, when the manipulator (robot arm) is used, the camera 150 is fixed, the manipulator positions the syringe 11 in front of the camera 150, and moves the syringe 11 in the scale direction. The scale of the syringe 11 can be easily imaged by causing the camera 150 to perform image capturing.

  Further, as shown in FIG. 33, the co-infusion apparatus 1 moves the camera 150 upward to take an image of the bottom surface of the vial 10, and whether or not the medicine remains on the bottom of the vial 10 without melting. You may come to confirm. For example, in the example shown in FIG. 33, a support member 171 is suspended from the ceiling of the safety cabinet 100, and a mirror 172 is provided on the distal end side of the support member 171. The mirror 172 is disposed at an angle of 45 degrees with respect to the lens optical axis of the camera 150 so as to guide the image of the bottom surface of the vial 10 to the camera 150. A prism may be used in place of the mirror 172. Further, for example, a structure in which a mirror is provided on the bottom surface of the container holding portion 436 so as to be swingable and the mirror is swung to the position of the mirror 172 when the bottom surface of the vial 10 is imaged can be adopted. . The bottom image is displayed on the display 101 by the processing of the image creation unit 122. For example, the bottom image is displayed above the side image of the vial in FIG.

  On the other hand, as shown in FIG. 34, the bottom surface of the vial bottle 10 may be imaged by the camera 180 without being inverted. As shown in FIG. 6, the vial 10 is transferred between the mixing processing unit 3 and the container holding unit 436, and the vial 10 that has been mixed by the mixing processing unit 3 is held in the container. After receiving the part 436, the bottom surface of the vial 10 may be photographed by the camera 180 at the time of the reception in order to confirm whether or not the medicine remains undissolved at the bottom of the vial 10. it can. Here, assuming that the drug remains undissolved at the bottom of the vial 10, the drug precipitate is collected at the bottom surface portion which is the lowest when the vial 10 is slightly tilted. . Therefore, the vial tilting portion 435 tilts the vial 10 clockwise, for example (tilts the container holding portion 436), and at least the bottom surface portion of the vial 10 is imaged by the camera 180. It may be. An illumination device 181 made of a light emitting diode, organic EL, or the like is provided in the vicinity of the camera 180, and the illumination device 181 illuminates the bottom surface portion of the vial bottle 10. In addition, the lens optical axis of the camera 180 is not directed in the vertical direction, but the bottom surface portion of the vial 10 is imaged in a direction perpendicular to the bottom surface of the vial 10 in an inclined posture. Also good.

  Further, as shown in FIG. 35, the entire side surface of the vial 10 may be imaged by rotating the vial 10 (rotating 360 degrees). For example, in the example shown in FIG. 34, two gripping rollers 436d are provided inside each claw portion 436a, and the vial bottle 10 is gripped by a total of four gripping rollers 436d. Each gripping roller 436d is rotatably provided by a shaft parallel to the vertical direction of the vial bottle 10, and one gripping roller 436d is rotated by a motor (not shown). Therefore, when the one gripping roller 436d is rotated by the motor, the vial 10 that receives this rotational force is rotated. When the vial is rotated in this manner, the camera 150 images the side surface of the vial 10 a plurality of times. Then, the image acquisition unit 121 gives the image creation unit 122 image data of the plurality of vials 10 obtained by imaging a plurality of times. The image creation unit 122 creates a side developed image in the vial 10 by joining a plurality of side images obtained by the plurality of times of imaging. For example, the image creation unit 122 generates one digital image (data) from the output at the time of each imaging such as a CCD image sensor or a CMOS image sensor in the camera 150, and a plurality of horizontal images in the central portion of the digital image. A process of cutting out the central image portion of pixels is performed. Then, the image creating unit 122 creates the side development image by joining the vertically long strip images cut out from the digital images in this way. Further, the image creating unit 122 stores the side developed image of the vial 10 in the storage unit 105 and displays the image on the upper end region of the display 101, for example.

  In the imaging of the syringe 11 by the camera 150, the syringe 11 is inverted, but the imaging may be performed without being inverted. Moreover, you may perform the imaging of the side image of the said medicine container, without making the said medicine container invert. Further, instead of moving one camera 150, a plurality of different positions on the scale of the syringe 11 may be imaged using a plurality of cameras. In this case, the image creation unit 122 receives a plurality of image data from the plurality of cameras, and creates a syringe image by connecting the plurality of image data. Moreover, in the structure which moves the said camera 150, you may make it image the side surface and bottom face of a chemical | medical agent container with the camera provided separately from this camera 150 (refer FIG. 34).

  In the above example, in the table of the adjustment procedure displayed on the display 101, a column in the middle of processing of the co-infusion apparatus 1 is displayed in green, and when the determination operation of the operator A is performed, the column (processing end column) is displayed. ) Has been changed from green to gray, but not limited to such color coding, the display mode in which the processing column is not flashing and the processing end column is flashing, or the processing column is displayed The end column may be in a display form that is not displayed. The display change synchronized with the progress of the mixed injection process is performed together with the display of the syringe image, so that the operator A can recognize the progress of the mixed injection process more correctly.

  Note that the adjustment procedure table may be displayed on a display provided separately from the display 101 on which the captured image of the syringe is displayed. On the other display, the step determined to be completed among the steps displayed in the table of the adjustment procedure is displayed in a form different from the display of the other unfinished steps or is not displayed. It may be displayed.

  FIG. 37A and FIG. 37B are perspective views showing a transport device 2A and a transport device 2B of a type different from the transport device 2. The transfer device 2A and the transfer device 2B are independent and can be moved straight to the mixed injection operation unit 4 separately by a movable table (not shown). Each of the transfer devices 2 </ b> A and 2 </ b> B includes a lateral movement mechanism for moving the vial 10 set in the container setting unit 21 to the front of the mixed injection operation unit 4. The lateral movement mechanism includes a feed screw 24, a nut member 25 screwed to the feed screw 24, a slide plate 26 connected to the nut member 25, and a motor 27 that rotates the feed screw 24. . A plurality of the container setting portions 21 are provided on the slide plate 26. The container setting portion 21 is provided with an operation pin 21a. When the operation pin 21a is pushed in, the claw of the container setting portion 21 is opened and the vial bottle 10 can be set. The container setting portion 21 is also provided with the operation pins 21a on the back side. When the operation pins 21a hit a contact surface (not shown) disposed on the front side of the mixed injection operation portion 4, the container setting portion 21 The claw 21 is opened, and the vial holder 10 of the mixed injection operation unit 4 can receive the vial 10 on the container setting unit 21.

  When the transport device 2A and the transport device 2B that are independently operated as described above are used, for example, the patient's vial 10 is transported by the transport device 2A, and the mixed injection processing unit 4 executes the mixed injection processing. Using the time required for the mixed injection process, the operator can set the next vial 10 for the patient in the container setting unit 21 of the transfer device 2B.

  Note that the window covering the opening of the safety cabinet 100 may be divided in accordance with the arrangement of the transfer device 2A and the transfer device 2B so that it can be opened and closed independently. According to this, it is possible to close only the window portion on the side of the transfer apparatus involved in the mixed injection process, and it is possible to reduce the open area of the window as much as possible and to reduce the entry of outside air into the safety cabinet 100.

  FIG. 38 exemplifies a display image of the vertically long display 101A displayed at the beginning of the day in the co-infusion apparatus including the vertically long display 101A using the transport device 2A and the transport device 2B, and the upper half of the display 101A. The text “Waiting for adjustment” is displayed in the frame, and the prescription selection image is displayed in the lower half frame. An unprocessed patient list is displayed on the prescription selection image. When operator A causes the barcode reader 102 to read a barcode attached to a mixed injection procedure manual for a patient to be prescribed, the display image on the display 101A changes.

  Specifically, as shown in FIG. 39, the lower half frame of the display 101A displays the patient's prescription content, the medicine loading procedure, the operation message, and the like in the mixed injection procedure manual. Then, when the barcode of the vial 10 prescribed by the operator A is read by, for example, the barcode reader 102, the vial 10 is transferred to, for example, one of the plurality of container setting sections 21 of one transfer device 2A as the operation message. The setting is displayed. The operator A sets the vial 10 in the designated container setting unit 21 in accordance with this instruction. When the operator A makes the necessary preparations and instructs the mixed injection start, the one transfer device 2A moves straight to the mixed injection operation unit 4 side, and the mixed injection processing is executed in the mixed injection device 1.

  When the co-infusion process is executed in the co-infusion apparatus 1, as shown in FIG. 40, a progress image related to the co-infusion process currently being executed is displayed in the upper half frame of the display 101A, and a prescription selection image is displayed in the lower half frame. Is done. The progress image corresponds to the lower half image of FIG. 39, and the display area of the loading procedure in this image displays the adjustment procedure (dissolution source / dissolution drug, work content, volume / dissolution amount, sampling amount). It has been switched. Further, as described above, an unprocessed patient list is displayed on the prescription selection image. When operator A causes the barcode reader 102 to read the barcode attached to the mixed injection procedure for the patient to be prescribed next, the display image on the display 101A changes. Here, for a person, the back side of the mixed injection device 1 and the upper half of the display 101A are easily connected intuitively, and similarly, the front side of the mixed injection device 1 and the lower half of the display 101A are easily connected intuitively. For this reason, the above display method (the image relating to the transport device moved to the mixed injection operation unit 4 side on the back side of the mixed injection device 1 is displayed on the upper half of the display 101A, and the image related to the transport device located on the near side of the mixed injection device 1 is displayed. Is displayed on the lower half of the display 101A), the operator A can intuitively grasp the processing status carried by the transfer apparatuses 2A and 2B from the upper and lower display contents of the display 101A.

  Specifically, as shown in FIG. 41, the lower half frame of the display 101A displays the prescription contents of the next patient, the medicine loading procedure, the operation message, and the like. When the barcode of the vial 10 prescribed by the operator A is read by, for example, the barcode reader 102, the vial 10 is selected as one of the plurality of container setting portions 21 of the other transport device 2B as the operation message. Is displayed. The operator A sets the vial 10 in the designated container setting unit 21 in accordance with this instruction.

  When the mixed injection process involving the one transport device 2A is completed, the final audit image is displayed using the entire display 101A as shown in FIGS. 42 and 43. The bottom of 10 can be confirmed with a large image. The final audit image is switched automatically or manually by the operator A. When the display of the final audit image ends, the image displayed on the display 101A changes to a payout / discard instruction image.

  FIG. 44 shows an example of a payout / discard instruction image. In this screen example, a payout / discard instruction image for a patient for which the mixed injection process has been completed is displayed in the lower half frame of the display 101A, and the letters “waiting for adjustment start” are displayed in the upper half of the display 101A. Yes. When the operator A takes out an empty vial 10 or the like in accordance with a dispensing / discarding instruction and performs a dispensing / disposal completion operation, the image is switched to a mixed injection start waiting image for the next patient, as shown in FIG.

  46 (A) and 46 (B), for example, a first area sensor 185 and a second rotated 90 degrees relative to the first area sensor 185 are used to inspect the bending of the injection needle of the syringe 11. An inspection device including an area sensor 186 and a moving mechanism that moves the syringe 11 forward and backward in the direction of the injection needle may be provided. The detection data of the area sensors 185 and 186 is analyzed by the controller 120, for example, and the bending of the injection needle of the syringe 11 is determined. For example, the detection data is subjected to edge analysis to determine the injection needle portion, the arrangement of pixels constituting the injection needle portion is determined, and the bending of the injection needle is inspected from the arrangement of the pixels. be able to. The first moving unit 41 and the second moving unit 42 can be used as the moving mechanism for moving the syringe 11. Further, if the inspection device is provided in the needle cap gripping portion 160, the bending of the injection needle can be inspected immediately after the needle cap 11c is removed.

  As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to the thing of embodiment shown in figure. Various modifications and variations can be made to the illustrated embodiment within the same range or equivalent range as the present invention.

DESCRIPTION OF SYMBOLS 1 Mixed injection apparatus 10 Vial bottle 10A Ampoule 11 Syringe 11a Cylinder part 11b Piston part 2 Conveyance apparatus 3 Mixing process part 4 Mixed injection operation part 41 1st moving part 414 Holding mechanism 42 2nd moving part 424 Holding mechanism 43 3rd moving part 435 Container Inclination part 436 Container holding part 44 Support part 45 Rotation drive part 5 Infusion back holding part 6 Infusion back moving part 7 Infusion back inclination part 8 Drive part 9 Base 100 Safety cabinet 101 Display 101A display (vertically long)
102 Bar code reader 103 Bar code reader 105 Storage unit 120 Controller (microcomputer)
121 Image acquisition unit (image processing unit)
122 Image creation unit (image processing unit)
150 Camera 152d Camera moving motor 160 Needle cap gripping part 180 Camera 185 Area sensor 186 Area sensor

Claims (3)

A container holding part for holding a drug container;
A syringe holding unit that holds the syringe, changes the posture of the syringe and changes the amount of the piston portion inserted into the cylinder portion of the syringe; and
An insertion operation unit that performs an operation of inserting the injection needle of the syringe into the mouth of the drug container held by the container holding unit and an operation of inserting the injection needle of the syringe into the mixed injection port of the infusion bag;
A camera for imaging the bottom surface of the drug container after performing a process of dissolving the drug pre-stored in the drug container by infusion ;
A display for displaying an image of the bottom surface of the medicine container imaged by the camera;
The Bei Eteori, within a secure cabinet and subjected to treatment to dissolve by infusion agents that have previously entered the said drug container, mixed injection apparatus characterized by imaging by the camera is performed on the drug container.   The co-infusion apparatus according to claim 1, wherein the bottom surface of the medicine container is directed obliquely downward, and the bottom surface portion at the bottom is imaged.   3. The co-infusion apparatus according to claim 1, wherein an image of the bottom surface of the drug container is displayed on a screen displayed on the display after the co-infusion process is completed.