JP6098704B2 - Mixed injection device, mixed injection control program - Google Patents

Description

  The present invention relates to a co-infusion apparatus that executes a co-infusion process in which a medicine such as an anticancer agent contained in a container is injected into another container with a syringe.

  A co-infusion apparatus that performs a co-infusion process in which a medicine such as an anticancer drug contained in a container such as a vial or ampoule is sucked with a syringe and the medicine is injected into another container such as an infusion bag containing the infusion. It is known (see, for example, Patent Document 1).

International Publication No. 2014/065196

  By the way, in this type of mixed injection device, the amount of needle bending of the injection needle of the syringe may be detected, and the needle tip position of the injection needle when puncturing a mixed injection port such as an infusion bag may be corrected. However, in the co-infusion process executed by this type of co-infusion apparatus, the direction of the needle tip of the injection needle or the inclination of the injection needle has not been considered.

  An object of the present invention is to provide a co-infusion apparatus capable of using a syringe in consideration of the direction of the needle tip portion of the syringe needle or the tilt of the syringe needle.

  A mixed injection device according to the present invention is a mixed injection device that performs a mixed injection process of sucking a drug from a container and injecting it into another container with a syringe, and irradiates light from a plurality of directions to a needle tip portion of an injection needle of the syringe. A width detection unit that detects the width of each projection image of the needle tip when irradiated, and the width of each projection image of the needle tip detected by the width detection unit and each of the light corresponding to the projection image A direction detection unit that detects a first direction from the center of the injection needle toward the tip of the injection needle in a radial direction of the injection needle according to an irradiation direction.

  ADVANTAGE OF THE INVENTION According to this invention, the co-infusion apparatus which can use a syringe in consideration of the direction of the needle-tip part of the injection needle of a syringe or the inclination of an injection needle is implement | achieved.

FIG. 1 is a block diagram showing a system configuration of a co-infusion apparatus according to an embodiment of the present invention. FIG. 2 is a perspective view showing an external configuration of the co-infusion apparatus according to the embodiment of the present invention. FIG. 3 is a perspective view of the co-infusion apparatus according to the embodiment of the present invention with the main door opened. FIG. 4 is a front view of the co-infusion apparatus according to the embodiment of the present invention with a main door and a part of the front wall removed. FIG. 5 is a perspective view showing a tray used in the co-infusion apparatus according to the embodiment of the present invention. FIG. 6 is a perspective view of the co-infusion apparatus according to the embodiment of the present invention as viewed from below. FIG. 7 is a perspective view showing a holding portion of the first robot arm of the co-infusion apparatus according to the embodiment of the present invention. FIG. 8 is a perspective view showing a holding portion of the second robot arm of the co-infusion apparatus according to the embodiment of the present invention. FIG. 9 is a schematic plan view showing a tray transport portion of the co-infusion apparatus according to the embodiment of the present invention. FIG. 10 is a perspective view showing the mechanism of the tray transport unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 11 is a perspective view showing an ampoule cutter of the co-infusion apparatus 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 apparatus according to the embodiment of the present invention. FIG. 13 is a perspective view showing a medicine reading unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 14 is a perspective view showing a needle bending detection unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 15 is a perspective view showing an internal structure of the injection needle attaching / detaching device of the mixed injection device according to the embodiment of the present invention. FIG. 16 is a perspective view showing an internal structure of the injection needle attaching / detaching device of the mixed injection device according to the embodiment of the present invention. FIG. 17 is a diagram illustrating an example of a captured image of the needle insertion confirmation camera of the co-infusion apparatus according to the embodiment of the present invention. FIG. 18A is a diagram illustrating details of a needle bending detection unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 18B is a diagram illustrating details of the needle bending detection unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 19A is a diagram illustrating details of a needle bending detection unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 19B is a diagram illustrating details of the needle bending detection unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 20 is a flowchart illustrating an example of an inclination correction process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 21A is a diagram illustrating an operation example of inclination correction processing of the co-infusion apparatus according to the embodiment of the present invention. FIG. 21B is a diagram illustrating an operation example of the inclination correction processing of the co-infusion apparatus according to the embodiment of the present invention. FIG. 21C is a diagram illustrating an operation example of the inclination correction processing of the co-infusion apparatus according to the embodiment of the present invention. FIG. 22 is a flowchart illustrating an example of a direction detection process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 23 is a flowchart showing an example of the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 24A is a diagram showing a cross-section of the needle tip portion of the injection needle. FIG. 24B is a diagram illustrating a cross-section of the needle tip portion of the injection needle. FIG. 24C is a diagram illustrating a cross-section of the needle tip portion of the injection needle. FIG. 24D is a diagram illustrating a cross-section of the needle tip portion of the injection needle. FIG. 24E is a diagram illustrating a cross-section of the needle tip portion of the injection needle. FIG. 25A is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25B is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25C is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25D is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25E is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25F is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25G is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25H is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 25I is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 26 is a diagram illustrating an example of orientation correspondence information used in the co-infusion apparatus according to the embodiment of the present invention. FIG. 27A is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27B is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27C is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27D is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27E is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27F is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27G is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27H is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 27I is a schematic diagram showing projection data acquired by the projection data acquisition process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 28 is a diagram showing an example of orientation correspondence information used in the co-infusion apparatus according to the embodiment of the present invention. FIG. 29A is a diagram for explaining a cap mounting process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 29B is a diagram for explaining a cap mounting process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 30A is a view for explaining a cap mounting process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 30B is a diagram for explaining a cap mounting process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 30C is a view for explaining a cap mounting process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 31A is a view for explaining a first puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 31B is a diagram for describing a first puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 31C is a view for explaining a first puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 32A is a view for explaining a second puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 32B is a diagram for describing a second puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 33A is a view for explaining a third puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 33B is a view for explaining a third puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 34A is a view for explaining a third puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 34B is a view for explaining a third puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 35A is a view for explaining a third puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 35B is a view for explaining a third puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 36A is a view for explaining a chemical liquid suction process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 36B is a view for explaining a chemical liquid suction process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 37A is a diagram for explaining the orientation detection process executed by the co-infusion apparatus according to another embodiment of the present invention. FIG. 37B is a diagram for explaining the orientation detection process executed by the co-infusion apparatus according to another embodiment of the present invention. FIG. 37C is a diagram for describing orientation detection processing executed by the co-infusion apparatus according to another embodiment of the present invention. FIG. 38A is a diagram for describing a direction detection process executed by the co-infusion apparatus according to another embodiment of the present invention. FIG. 38B is a diagram for explaining the orientation detection process executed by the co-infusion apparatus according to another embodiment of the present invention. FIG. 38C is a diagram for describing orientation detection processing executed by the co-infusion apparatus according to another embodiment of the present invention. FIG. 39A is a view for explaining a fourth puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 39B is a view for explaining a fourth puncture process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 40 is a diagram showing an example of a required time table used in the co-infusion apparatus according to the embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention. In addition, the following embodiment is an example which actualized this invention, Comprising: The thing of the character which limits the technical scope of this invention is not. It is also conceivable to realize other embodiments by combining the configurations or processes of the embodiments.

[First Embodiment]
First, a first embodiment of the present invention will be described with reference to FIGS.

[Mixed injection device 1]
As shown in FIGS. 1 and 2, the co-infusion apparatus 1 according to the present embodiment includes a co-infusion control apparatus 100, a medicine loading unit 200, and a co-infusion processing unit 300. In the co-infusion apparatus 1, the co-infusion control unit 100 controls the operation of the co-infusion processing unit 300, so that a predetermined amount of the anti-cancer drug or the like indicated in the preparation data is delivered by the syringe. A mixed injection process is performed in which one or a plurality of ampoules or vials in which the liquid is stored is injected into another container such as an infusion container. Other examples of the mixed injection process include a process of sucking a drug from a container such as an ampoule or a vial with a syringe and injecting the drug into a container such as another ampoule or a vial, or a container such as an infusion container using a syringe. A process of sucking a medicine and injecting it into a container such as another vial is also included. That is, sanitary saline or glucose contained in the infusion bag is an example of the drug to be subjected to the mixed injection process.

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

  Note that the processing sharing of each of the first control unit 400 and the second control unit 500 described in the present embodiment is merely an example, and each processing procedure of the mixed injection processing is the first control unit 400 and the second control. Any one of the units 500 may be executed. In addition, the mixed injection control device 100 may include one control unit or three or more control units as another embodiment. Furthermore, part or all of the processing executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC or DSP.

  The first control unit 400 can communicate with a host system 600 such as an electronic medical record system or a dispensing management system that inputs preparation data to the co-infusion apparatus 1. The preparation data is data for preparation generated based on prescription data or the prescription data itself. For example, the prescription data includes prescription delivery date, patient ID, patient name, patient birth date, drug information (drug code, drug name, dose, etc.), dosage form information (internal use, external use, etc.), usage information (After three meals a day, etc.), medical treatment type (outpatient, hospitalization, etc.), medical department, ward, hospital room, etc. are included. In addition, the preparation data includes patient information, doctor information, drug information, drug prescription amount, drug container type (ampoules with drug solution, vials with drug solutions, vials with powder drugs, etc.), preparation content information (mixed injection process) ), Preparation procedure information (work contents, dissolved drug, solvent, dissolved drug amount, solvent amount, sampling amount), preparation date, prescription category, dosing date, Includes department, ward, preparation time, etc.

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

  The CPU 401 is a processor that executes processing according to various control programs. The ROM 402 is a non-volatile memory in which programs such as BIOS executed by the CPU 401 are stored in advance. The RAM 403 is a volatile memory or a non-volatile memory used for development of various control programs and temporary storage of data by the CPU 401.

  The data storage unit 404 is a hard disk or the like that stores various application programs executed by the CPU 401 and various data. Specifically, the preparation data input from the host system 600 is stored in the data storage unit 404.

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

  The data storage unit 404 stores various databases such as an injection needle master, a medicine master, a patient master, a doctor master, a prescription category master, a clinical department master, and a ward master. In the injection needle master, the shape of the tip of the injection needle is stored for each type of injection needle. The shape of the needle tip of the injection needle includes the outer diameter of the needle tube of the injection needle, the angle of the tip, the length of the cut surface (inclined surface), and the like. The medicine master includes a medicine code, a medicine name, a JAN code (or RSS), a medicine bottle code, a classification (dosage form: powder, tablet, liquid medicine, topical medicine, etc.), specific gravity, kind of medicine (ordinary medicine, Anticancer drugs, poisons, narcotics, powerful drugs, antipsychotics, therapeutic drugs, etc.), formulation changes, excipients, precautions, types of drug containers (ampoules, vials), drug capacity per drug container ( Information) such as the predetermined amount) and the weight of the drug container.

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

  The operation unit 405 includes various operation means such as a keyboard, a mouse, or a touch panel that receives various user operations in the first control unit 400.

  The second control unit 500 is a personal computer including a CPU 501, a ROM 502, a RAM 503, a data storage unit 504, an operation unit 505, and the like. The second control unit 500 includes a first robot arm 21, a second robot arm 22, a tray transport unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, a tray, which will be described later, provided in the mixed injection processing unit 300. 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 non-volatile memory in which programs such as BIOS executed by the CPU 501 are stored in advance. The RAM 503 is a volatile memory or a non-volatile memory used for development of various control programs by the CPU 501 and temporary storage of data.

  The data storage unit 504 is a hard disk or the like that stores various application programs executed by the CPU 501 and various data. Specifically, the data storage unit 504 stores in advance a mixed injection control program for causing the CPU 501 to execute a mixed injection process described later. The mixed injection control program may be read from a recording medium such as a CD, a DVD, a BD, or a flash memory and installed in the data storage unit 504 by a reading device (not shown) included in the second control unit 500. Good.

  The present invention can also be understood as an invention of the mixed injection control program for causing the CPU 401 and the CPU 501 to execute various processes in the mixed injection control device 100 or a computer-readable recording medium on which the mixed injection control program is recorded. Good. Further, the present invention may be understood as an invention of a co-infusion method for executing each procedure of the co-infusion process in the co-infusion apparatus 1.

  The operation unit 505 includes various operation means such as a keyboard, a mouse, or a touch panel that receives various user operations in the second control unit 500.

[Chemical loading unit 200]
Next, a schematic configuration of the medicine loading unit 200 will be described with reference to FIGS. 2 and 3.

  As shown in FIGS. 2 and 3, the medicine loading unit 200 is a clean bench including a door 201, a work table 202, a display 203, a barcode reader 204, and an air cleaning device 205. As shown in FIG. 3, the medicine loading unit 200 and the mixed injection processing unit 300 are communicated with each other through a tray insertion port 114 formed on a side surface of the mixed injection processing unit 300.

  The display 203 is a display unit such as a liquid crystal display or an organic EL display that displays various types of information in accordance with control instructions from the first control unit 400. Specifically, the display 203 displays preparation data and the like that are candidates for co-infusion in the co-infusion apparatus 1. Further, the barcode reader 204 reads a barcode described in a prescription or a preparation instruction, and inputs the content of the barcode to the first control unit 400. The air cleaning device 205 supplies air into the medicine loading unit 200 through a predetermined filter.

  The door 201 is provided on the front surface of the medicine loading unit 200 and can be opened and closed in the vertical vertical direction. As shown in FIG. 2, the user performs a preparatory work for the mixed injection process executed by the mixed injection device 1 in a state where the door 201 is slightly opened and a hand is placed in the medicine loading unit 200. Specifically, the tray 101 placed on the work table 202 includes a medicine container 10 (an example of a container) used in the mixed injection process performed by the mixed injection apparatus 1 and a syringe, as shown in FIG. 11 and an infusion bag 12 (an example of a container) are accommodated. The preparatory operation includes, for example, a loading operation in which the medicine container 10, the syringe 11, and the infusion bag 12 are placed at predetermined positions of the tray 101 and the tray 101 is loaded into the mixed injection processing unit 300. It is. Hereinafter, when the chemical container 10 is an ampule, the chemical container 10 is referred to as an ampule 10A, and when the chemical container 10 is a vial, the chemical container 10 is referred to as a vial 10B.

  As shown in FIG. 5, the tray 101 includes an electronic paper 101a on which a patient name and application are displayed as characters, and an IC tag 101b (recording medium) such as an RFID (Radio Frequency Identification) tag capable of reading and writing various types of information. Example). Identification information for identifying the tray 101 is stored in the IC tag 101b.

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

  As shown in FIG. 5, the instrument mounting portion 102 is provided with a support portion 102 </ b> A that supports the ampoule 10 </ b> A in an inclined state. The ampoule 10A is set in a state where the ampoule 10A is stood diagonally by the support portion 102A. Thereby, a chemical | medical agent does not accumulate in the neck part of the said ampule 10A. In addition to the ampoule 10A, the injection needle 11c of the syringe 11 and the like are set in an inclined state on the support portion 102A.

  The injection needle 11c includes an injection needle with a syringe filter. Specifically, when the ampoule 10A is used, a piece when the neck of the ampoule 10A is folded is injected from the syringe 11 into the infusion bag 12, or the piece flows into the syringe 11. In order to prevent this, a syringe needle with a syringe filter is used. The syringe filter is a filter generally referred to as a coma filter, and has a function of preventing passage of foreign substances other than chemicals. For example, a syringe filter manufactured by Nippon Pole is generally known.

  On the other hand, the vial bottle 10B and the syringe 11 are set in a state in which they are laid on the device mounting portion 102 as shown in FIGS. At this time, the syringe 11 is in a state where the syringe 11a and the injection needle 11c are separated. Of course, the arrangement form in the equipment mounting portion 102 described here is an exemplification, and the present invention is not limited to this.

  Further, as shown in FIG. 5, the infusion bag holding portion 103 is provided with a chuck portion 140 for fixing the mixed injection port (neck portion) of the infusion bag 12. In the preparatory work, the user sets the infusion bag 12 in the infusion bag holding portion 103 in a state where the infusion bag 12 is held by the chuck portion 140. Further, the infusion bag holding portion 103 is provided with an engagement hole portion 103a used when the infusion bag holding portion 103 is raised and lowered.

  The tray 101 is supplied to the mixed injection processing unit 300 through the tray insertion port 114 after the medicine container 10, the syringe 11, and the infusion bag 12 are set by the user. It is also conceivable that the medicine loading unit 200 includes a loading mechanism such as a belt conveyor that automatically loads the tray 101 into the mixed injection processing unit 300.

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

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

  The main door 301 is opened and closed to access the mixed injection processing chamber 104 when, for example, cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300. Moreover, in the said co-infusion apparatus 1, besides the said infusion bag 12 with which the chemical | medical agent was inject | poured out, it is also possible to pay out the said syringe 11 in the state with which the chemical | medical agent was filled. The syringe outlet door 302 is opened and closed when the syringe 11 is taken out from the mixed injection processing chamber 104.

  The waste storage chamber door 13 is for removing the waste from the waste storage chamber 13a in which waste such as the chemical container 10 and the syringe 11 after being used in the mixed injection processing in the mixed injection processing chamber 104 is stored. Is opened and closed. In addition, the tray discharge port 15 is opened and closed to take out the tray 101 on which the infusion bag 12 is placed after the medicine is mixedly injected by the mixed injection processing in the mixed injection processing chamber 104.

  The touch panel monitor 14 is a display unit such as a liquid crystal display or an organic EL display that displays various types of information in response to a control instruction from the second control unit 500. The touch panel monitor 14 can display, for example, images or videos taken by various cameras described later.

[Mixed injection processing chamber 104]
As shown in FIGS. 3 and 4, the mixed injection processing chamber 104 includes a first robot arm 21, a second robot arm 22, an ampoule cutter 31, a stirring device 32, a mounting shelf 33, a rotating mounting portion 33 </ b> A, A medicine reading unit 34, a weighing meter 35, a needle bending detection unit 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 attachment / detachment device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, and the like are provided on the ceiling side of the mixed injection processing chamber 104. Yes.

[First robot arm 21 and 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 a base end fixed to the ceiling side of the mixed injection processing chamber 104. For example, the joints of the first robot arm 21 and the second robot arm 22 are 5 to 8 axes, respectively. In the co-infusion apparatus 1, each work process in the co-infusion process is executed by the double-arm first robot arm 21 and the second robot arm 22.

  Specifically, the second control unit 500 individually drives drive motors provided at the joints of the first robot arm 21 and the second robot arm 22, so that the first robot arm 21 and the second robot arm 21 are driven. The robot arm 22 is caused to execute each operation in the mixed injection process. Note that the mixed injection processing unit 300 has, for example, a configuration including one robot arm, a configuration including three or more robot arms, or a configuration not using a robot arm as long as the mixed injection processing unit 300 can execute the mixed injection processing. It may be.

  As shown in FIG. 6, the first robot arm 21 includes a holding portion 25 that can hold devices such as the medicine container 10 and the syringe 11, and the holding portion 25 has a predetermined movable range. It is possible to move to an arbitrary position. The second robot arm 22 can hold and move equipment such as the medicine container 10 and the syringe 11 to an arbitrary position, and performs operations of sucking and injecting medicine by the syringe 11. It is an example of a holding part provided with the holding part 26 which can be. Here, the first robot arm 21 and the second robot arm 22 are examples of first drive means, and the holding unit 26 is an example of second drive means. The second robot arm 22 can move the medicine container 10 and the syringe 11 to any position within a predetermined movable range.

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

  The pair of gripping claws 25a is a gripping portion having a recess suitable for holding the vial bottle 10B and a recess suitable for holding the ampoule 10A on the distal end side. FIG. 7 shows a state in which both the ampoule 10A and the vial bottle 10B are held, but in reality, one ampoule 10A or the vial bottle 10B is held.

  Further, the holding unit 25 can hold the injection needle 11c or the syringe 11 with the cap 11d attached by the pair of gripping claws 25a. Meanwhile, the second control unit 500 can measure the diameter of the syringe 11 according to the driving amount of the motor 251 when the syringe 11 is held by the pair of gripping claws 25a of the holding unit 25. Is possible. Accordingly, the second controller 500 can determine whether the syringe 11 is a syringe designated by the preparation content information of the preparation data.

  As shown in FIG. 8, the holding unit 26 of the second robot arm 22 includes a syringe holding unit 261, a plunger holding unit 262, and a moving unit 263. The syringe holder 261 includes a pair of gripping claws 261 a that hold the syringe 11 a of the syringe 11. The pair of gripping claws 261a are gripping portions that hold and release the syringe 11a of the syringe 11 by being close to and away from each other by a mechanism similar to the drive mechanism used in the holding portion 25. In addition, in the pair of gripping claws 261a, inclined portions 261b that are inclined downward from the upper end surface of the gripping claws 261a toward the facing surface are formed on opposing surfaces facing each other.

  The plunger holding portion 262 includes a pair of gripping claws 262 a that hold the collar portion of the plunger 11 b of the syringe 11. The pair of gripping claws 262a are gripping portions that hold and release the flange portion of the plunger 11b of the syringe 11 by being close to and separated from each other by a mechanism similar to the driving mechanism used in the holding portion 25. is there. A gripping claw 262b is fixed to the upper surface of each gripping claw 262a. Each of the gripping claws 262b is a gripping part that approaches and separates the pair of gripping claws 262a by approaching and separating, and grips not only the syringe 11 but also other devices such as the drug container 10. In addition, the recessed part for the collar part of the said plunger 11b to enter is formed in the upper surface of the opposing side of said pair of holding claw 262a. Further, the tip ends of the pair of gripping claws 262b protrude forward from the pair of gripping claws 262a, and the pair of gripping claws 262b can easily grip equipment such as the ampoule 10A and the vial bottle 10B. The grip claw 262b may be provided on the grip claw 261a.

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

[Tray transport unit 110]
Further, the mixed injection processing section 300 is provided with a tray transport section 110 that transports the tray 101 supplied from the tray insertion port 114 at the right end in FIG. 6 to the tray transport end section 110a at the left end. ing.

  FIG. 9 is a schematic plan view showing an example of the conveyance path of the tray 101 in the tray conveyance unit 110. Note that the inside of the tray transfer unit 110 is set at a positive pressure as compared with the inside of 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 13 a located below the mixed injection processing chamber 104 and below the dust cover 132 a. It is provided to convey. Thereby, the said garbage storage chamber 13a can be accessed from the front side of the said co-infusion apparatus 1. FIG. In FIG. 9, in order to show the conveyance path of the tray conveyance unit 110, the tray 101 that moves in the tray conveyance unit 110 is indicated by a two-dot chain line, and a plurality of the trays are simultaneously included in the tray conveyance unit 110. 101 does not exist.

  The tray transport unit 110 is provided with an IC reader 101 c and an IC reader 15 a that can read information from the IC tag 101 b provided in the infusion bag holding unit 10 of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags. The IC reader 101c is provided in the tray conveyance start section 110b in which the tray 101 is loaded from the tray insertion port 114, and the IC reader 15a is configured to discharge the tray 101 from the tray discharge port 15. It is provided in the tray conveyance end portion 110a.

  When the second control unit 500 determines that the tray 101 is inserted into the tray conveyance start unit 110b from the tray insertion port 114 based on a sensor output (not shown), the IC reader 101c performs the IC operation. Information is read from the tag 101b. Further, when the second control unit 500 determines that the tray 101 is inserted into the tray conveyance termination unit 110a based on a sensor output (not shown), the information is read from the IC tag 101b by the IC reader 15a. . Then, the second control unit 500 executes a tray collation process for determining whether or not the tray 101 is appropriate according to the reading results of the IC reader 101c and the IC reader 15a.

  Further, when the second control unit 500 determines that the tray 101 has reached a predetermined position in the tray transport unit 110 through the tray insertion port 114 based on, for example, an output of a sensor, the tray transport is performed. The shutter 111 that communicates and shields the unit 110 and the mixed injection processing chamber 104 is slid in the horizontal direction. When the shutter 111 is opened, the equipment placement unit 102 is exposed in the mixed injection processing chamber 104. FIG. 9 shows a state in which the equipment placing portion 102 is exposed in the mixed injection processing chamber 104.

  As shown in FIG. 10, the tray transport unit 110 is configured to raise and lower the equipment placement unit 102 in the tray 101 moved into the tray transport unit 110 through the tray insertion port 114. An elevating part 112 is provided. The tray lifting / lowering unit 112 lifts the equipment placing unit 102 from the bottom to the top by driving the four shafts 112a provided in a vertically movable manner, for example.

  Then, the second control unit 500 raises the equipment placing unit 102 by the tray lifting / lowering unit 112, and then performs imaging by the tray confirmation camera 41. The tray confirmation camera 41 photographs from above the medicine container 10 and the syringe 11 placed on the predetermined equipment placement unit 102. The second control unit 500 executes an image recognition process using an image captured by the tray confirmation camera 41, and the number of the medicine containers 10 and the syringes 11 (the syringe 11a and the injection needle) indicated by the preparation data. 11c) or the like is present on the equipment placement unit 102.

  As shown in FIG. 10, a bag elevating part 113 for elevating the infusion bag holding part 103 is provided in the tray transfer terminal part 110 a located in the left space of the mixed injection processing chamber 104. After the second control unit 500 transports the tray 101 to the front of the bag lifting / lowering unit 113, the second control unit 500 hooks the hook portion 113a of the bag lifting / lowering unit 113 into the engagement hole 103a from below. Then, the second control unit 500 drives the arc gear portion 113b formed with the hook portion 113a to rotate by a motor 113c, thereby raising the infusion bag holding portion 103 and opening the mixed injection port of the infusion bag 12. It is located in the mixed injection communication port 37. In addition, the second control unit 500 controls the motor 113c to drive the bag elevating unit 113 to incline the infusion bag holding unit 103 so that the mixed injection port of the infusion bag 12 faces 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 end portion 110a are provided above the tray conveyance end portion 110a. Yes. The infusion camera 121 is provided in the center of the dome-shaped light 120 and reads a barcode attached to the surface of the infusion bag 12. Accordingly, the second control unit 500 can determine whether the infusion bag 12 is appropriate according to the barcode information read by the infusion camera 121.

[Ampule cutter 31]
As shown in FIG. 11, the ampoule 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 the waste generated by the notch processing in the file portion 31a falls on the waste tray 31b. Specifically, in the co-infusion apparatus 1, the first robot arm 21 holds the ampoule 10A and slides with the neck of the ampoule 10A in contact with the file portion 31a, so that the neck of the ampoule 10A is reached. Notched.

  The head insertion part 31c is positioned on the side of the head of the ampoule 10A protruding upward from the hole 31d and the hole 31d into which the head of the ampoule 10A to which the notch processing has been applied is inserted from below. And a pusher 31e. On the other hand, the drive box 31f has a cam provided therein and a drive motor for driving the cam. When the cam is driven by the drive motor, the pusher 31e is moved by the cam to the ampoule 10A. It reciprocates in the direction of approaching and separating from the head.

In the mixed injection device 1, the first robot arm 21 holds the ampoule 10A by the gripping claws 25a, the head of the ampoule 10A is inserted into the hole 31d from below, and the head above the neck is moved upward. To protrude. Thereafter, when the drive motor of the drive box 31f is driven by the second controller 500 and the pusher 31e is moved in the direction of pushing the head of the ampoule 10A, the pusher 31e pushes the head. To be folded. At this time, the head folded by the pusher 31e falls into the waste box 31g. The grip portion 31h is used by a user when the ampule cutter 31 is slid along a rail 31i (see FIG. 4) that slidably supports the ampule cutter 31.

[Agitator 32]
The agitator 32, when a medicine that needs to be dissolved such as powder (powder) is contained in the vial 10B, injects an infusion or medicine into the vial 10B to dissolve the medicine, Used when producing mixed chemicals. Specifically, as shown in FIG. 12, the stirring device 32 includes a roller 32a, a pressing portion 32b, a rotation support portion 32c, a support base 32d, a horizontal swing mechanism 32e, a support portion 32f, a drive motor 32g, and the like. Is provided.

  The two rollers 32a are opposed to each other with a predetermined distance therebetween. One roller 32a is rotatably supported, and the other roller 32a is connected to the drive motor 32g. Each of the rollers 32a is elongated in the axial direction, and the stirring device 32 can simultaneously stir the two vial bottles 10B placed on both ends of the roller 32a in the axial direction. .

  Moreover, the said holding | suppressing part 32b is a driven roller which is used in order to hold down the said vial bottle 10B mounted in the said roller 32a, and rotates with rotation of the said chemical | medical container 10. The rotation support portion 32c rotates the pressing portion 32b in a direction in contact with or away from the drug container 10 by a drive motor (not shown).

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

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

  On the other hand, when the vial bottle 10B is placed between the two rollers 32a and the drive motor 32g is driven, the drug container 10 is rotated by the roller 32a connected to the drive motor 32g, The chemical in the chemical container 10 is agitated. At this time, the other roller 32 a rotates in the same direction as the other roller 32 a by the rotation of the chemical container 10. Further, if at least one of the rollers 32a is driven eccentrically, it is possible to stir the vial bottle 10B placed on the roller 32a in the vertical direction (vertical direction).

[Mounting shelf 33]
As shown in FIG. 4, the placement shelf 33 is used to temporarily place the medicine container 10, the syringe 11, and the like in the mixed injection process executed in the mixed injection device 1. The placement shelf 33 is provided at a position accessible by both the first robot arm 21 and the second robot arm 22. In the mounting shelf 33, the vial bottle 10B is placed in a state where it is stood at a predetermined position. On the other hand, the placement shelf 33 is provided with an inclination holding part for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed in an inclined state on the inclination holding part. Further, the mounting shelf 33 is formed with a neck holding hole having a predetermined diameter in which the neck portion of the syringe 11 is fitted, and the syringe 11 is in a state of only a syringe to which the injection needle 11c is not attached. And temporarily placed with the neck facing down.

[Rotation placement portion 33A]
The rotation mounting portion 33A is used for the operation for rotating the syringe 11 in the circumferential direction, and is provided at a position where the first robot arm 21 can be accessed. For example, the rotation mounting portion 33A is formed with a neck holding hole having a predetermined diameter in which the neck portion of the syringe 11 is fitted, similarly to the mounting shelf 33, and the syringe 11 is a syringe needle. It is placed with the neck portion facing downward in the state of only the syringe not attached with 11c. The first robot arm 21 can rotate the syringe 11 by 180 degrees in the circumferential direction after placing the syringe 11 on the rotation placement portion 33A. For example, the first robot arm 21 gradually rotates the syringe 11 up to 180 degrees in the circumferential direction by repeatedly executing the following (a) and (b). (A) After holding the syringe 11 and rotating it by a predetermined amount in one circumferential direction, the syringe 11 is released and the angle of the first robot arm 21 is moved by a predetermined amount in another direction in the circumferential direction. . (B) The syringe 11 is gripped again, and the syringe 11 is rotated in a predetermined direction in a circumferential direction.

[Chemical reading unit 34]
The medicine reading unit 34 reads a barcode that is written on a label affixed to the medicine container 10 such as the ampoule 10A and the vial bottle 10B and indicates medicine information of the contained medicine. Specifically, the medicine reading unit 34 includes two rollers 34a and a barcode reader 34b as shown in FIG. The rollers 34a are arranged to face each other with a predetermined interval. 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, since the said chemical | medical agent container 10 can be rotated once in the circumferential direction, the whole region of the label affixed on the said chemical | medical agent container 10 can be turned to the said barcode reader 34b. The barcode reader 34b reads the barcode from the label of the chemical container 10 rotated by the roller 34a.

[Weighing meter 35]
The weighing instrument 35 is used to measure the weight of the syringe 11 in the mixed injection process executed in the mixed injection device 1, and the measurement result by the weighing instrument 35 is input to the second control unit 500. The weigh 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.

[Needle bend detector 36]
As shown in FIG. 14, the needle bending detection unit 36 is formed with a long hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. The needle bending detection unit 36 irradiates and receives detection light across the elongated hole 36a, and the first optical sensor 361 and the second optical sensor 362 are arranged so that the detection lights are not parallel to each other. Is provided. That is, the detection light irradiation directions of the first optical sensor 361 and the second optical sensor 362 are different. Detection results from the first optical sensor 361 and the second optical sensor 362 are input to the second controller 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 up and down. 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, the first optical sensor 361 and the second optical sensor 362 are turned off.

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

[Mixed-flow communication port 37]
As shown in FIG. 3, the mixed injection communication port 37 is formed in a dome-shaped portion protruding outward on the side wall of the mixed injection processing chamber 104, and the dome-shaped portion of the infusion bag 12 extends vertically. A notch for passing the mixed injection port is formed. Therefore, when the infusion bag holding part 103 is raised, the mixed injection port of the infusion bag 12 is located in the mixed injection processing chamber 104.

[Needle insertion confirmation transparent window 38]
The needle insertion confirmation transparent window 38 is a window through which the infusion bag 12 of the tray transfer terminal portion 110a can be seen from the mixed injection processing unit 300, and the injection needle 11c of the syringe 11 is inserted into the infusion bag 12. Used when taking an image to check the status.

[Syringe confirmation camera 42]
Further, as shown in FIG. 6, the syringe confirmation camera 42 is disposed on the ceiling portion of the mixed injection processing unit 300. The syringe confirmation camera 42 is used to photograph the syringe 11 in order to confirm the presence and amount of the medicine sucked into the syringe 11. The syringe confirmation camera 42 may capture an image within a fixed imaging range, but can be arbitrarily changed in position and size of the imaging range by being controlled by the second control unit 500. It may be possible. Further, as will be described later, in the mixed injection device 1, the syringe 11 and the medicine container 10 are photographed at a time by the syringe confirmation camera 42, and a highly reliable inspection image is provided. The second control unit 500 uses the data storage unit 404, the data storage unit, and the data storage unit 404, the data storage unit, in order to check the appropriateness of the mixed injection processing executed by the mixed injection device 1, for example, with the image taken by the syringe confirmation camera 42. 504 or a storage unit such as a hard disk provided outside the mixed injection device 1. Then, the second control unit 500 causes the touch panel monitor 14 or a display device such as the display 203 to display an image captured by the syringe confirmation camera 42 during the inspection by the user.

[Injection needle attaching / detaching device 43]
As shown in FIGS. 15 and 16, the injection needle attaching / detaching device 43 is inserted with the tip of the injection needle 11 c having the cap 11 d fitted upward into the hole 43 b of the chuck portion 43 a in which the cut portion 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 driving 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 turning 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.

  Each of the injection needle 11c and the cap 11d is provided with a rib that contacts when the cap 11d rotates in the circumferential direction with the injection needle 11c attached. Therefore, the injection needle 11c rotates with the cap 11d when the cap 11d of the injection needle 11c is rotated by the chuck portion 43a, and is attached to and detached from the syringe 11a. In the injection needle attaching / detaching device 43, the syringe needle 11 is moved closer to or away from the chuck portion 43a by the second robot arm 22 while the cap 11d is held by the chuck portion 43a. It is also possible to automatically attach and detach the cap 11d with respect to 11c. 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 has been removed faces upward, and dripping from the neck opening of the syringe 11a. Can be prevented.

[Needle insertion confirmation camera 44]
The needle insertion confirmation camera 44 photographs the infusion bag 12 located outside the mixed injection processing chamber 104 and the syringe 11 in the mixed injection processing chamber 104 so as to fit in one image. The second controller 500 photographs the direction of the needle insertion confirmation transparent window 38 with the needle insertion confirmation camera 44 when the rubber stopper of the mixed injection port of the infusion bag 12 is punctured with the injection needle 11c. Then, an image captured by the needle insertion confirmation camera 44 is displayed on the touch panel monitor 14, for example. 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 in the infusion bag 12 by the captured image. The photographed image is stored in a storage unit such as a hard disk provided inside or outside the mixed injection device 1 for final inspection, for example. When it is determined on the touch panel monitor 14 on which the photographed image is displayed that the co-infusion process has been properly completed by the user operating the OK button, the infusion bag 12 is lowered by the bag elevating unit 113. , Returned to the tray 101.

[Bactericidal lamp 45]
The germicidal lamp 45 is turned on, for example, 3 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 sterilization light blocked by the first robot arm 21 and the second robot arm 22 is reduced, and the inside of the mixed injection processing chamber 14 can be sterilized uniformly. Further, the mixed injection processing unit 300 sucks air in the mixed injection processing chamber 104 from a slit 104b (see FIGS. 3 and 4) formed in a lower portion of the side wall of the mixed injection processing chamber 104, and the mixed injection processing chamber 300. An exhaust system for exhausting air from an exhaust fan (not shown) provided above 104 is provided. In addition, an air supply system is also provided that cleans the outside air from an air inlet formed in the ceiling portion of the mixed injection processing chamber 104 and guides it to the mixed injection processing chamber 104 and the like.

[Mixed injection processing]
Next, an example of the procedure of the co-infusion process executed by the co-infusion processing unit 300 in the co-infusion apparatus 1 will be described. In the mixed injection process, as will be described below, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 and the like, based on the preparation data. The medicine is sucked from the medicine container 10 with the syringe 11 and the medicine is injected from the syringe 11 into another medicine container such as the infusion bag 12.

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

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

  Next, the second control unit 500 photographs the equipment placing unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the position and orientation of the equipment such as the ampule 10A and the syringe 11 placed on the equipment placement section 102 by image recognition processing based on the image captured by the tray confirmation camera 41. To figure out. In particular, every time the ampule 10A or the syringe 11 is taken out from the device mounting unit 102, the second control unit 500 captures the device mounting unit 102 with the tray confirmation camera 41, and the latest from the captured image. The position and direction of the ampule 10A and the syringe 11 are grasped.

  Subsequently, the second controller 500 uses the first robot arm 21 to place the syringe 11 placed on the device placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Temporary placement. Further, the second control unit 500 sets the ampoule 10 </ b> A placed on the equipment placing unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine stored in the ampoule 10 </ b> A by the medicine reading unit 34.

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

  When the second control unit 500 takes out all the devices on the device placing unit 102, the tray placing unit 102 is lowered by the tray lifting / lowering unit 112 of the tray transporting unit 110, thereby the tray 101. Return to. The second control unit 500 confirms whether or not all the devices on the device mounting unit 102 have been taken out by an image recognition process based on a photographed image 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 termination unit 110a. Next, the second control unit 500 sets the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 by the bag elevating unit 113 of the tray transport unit 110 to the mixed injection processing chamber. It is located in the mixed injection communication port 37 formed in 104.

  Then, the second control unit 500 moves the ampoule 10 </ b> A set in the medicine reading unit 34 to the mounting table 33 by the second robot arm 22. Next, the second control unit 500 takes out the syringe 11 from the mounting table 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second controller 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 in the syringe 11. Thereafter, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detector 36 to detect whether the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 while being mounted on the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

  Next, the second control unit 500 takes out the ampoule 10A from the mounting table 33 using the first robot arm 21 and folds the head of the ampoule 10A using the ampoule cutter 31. Then, the second control unit 500 causes the ampule 10A and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 to the ampule 10A. Insert inside. Thereafter, the second control unit 500 operates the plunger 11b with the second robot arm 22 and sucks the amount of medicine predetermined by the preparation data from the ampoule 10A with the syringe 11.

  At this time, the first robot arm 21 and the second robot arm 22 gradually tilt the posture of the ampoule 10A and the syringe 11. For example, in the state where the mouth of the ampoule 10A is directed vertically upward and the injection needle 11c of the syringe 11 is directed vertically downward, a certain amount of medicine is sucked from the ampoule 10A, and then the ampoule 10A is A state in which the medicine is moved to the side of the mouth (neck) by tilting about 10 degrees with respect to the direction is formed. This makes it possible to suck up the medicine without leaving as much as possible without putting the tip of the injection needle 11c of the syringe 11 on the bottom of the ampoule 10A.

  Thereafter, the second controller 500 controls one or both of the first robot arm 21 and the second robot arm 22 to suck the ampule 10A and the medicine after the medicine is sucked. In this state, the syringe 11 is moved within the imaging range of the syringe confirmation camera 42. The second control unit 500 captures the ampule 10A and the syringe 11 at a time using the syringe confirmation camera 42, and records the captured image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 captures the predetermined photographing range. On the other hand, the syringe control camera 42 so that the ampule 10A and the syringe 11 after the second controller 500 is moved by the first robot arm 21 and the second robot arm 22 can be photographed at a time. It is also conceivable that the shooting range can be changed.

  Next, the second control unit 500 replaces the injection needle 11 c of the syringe 11 with the first robot arm 21 and the second robot arm 22. Specifically, the second controller 500 uses the second robot arm 22 to move the syringe 11 to the needle bend detector 36 and detects whether the injection needle 11c is bent. The second robot arm 22 moves the syringe 11 to the injection needle attaching / detaching device 43 to attach the cap 11d to the injection needle 11c. Then, the second control unit 500 rotates the cap 11 d by the injection needle attaching / detaching device 43 to remove the injection needle 11 c from the syringe 11. The removal of the injection needle 11c may be performed by rotating the cap 11d by the first robot arm 21 and the second robot arm 22.

  The second controller 500 opens the dust cover 132a, drops the injection needle 11c held by the injection needle attaching / detaching device 43 by the first robot arm 21 into the dust storage chamber 13a, and discards it. To do. Thereafter, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter on the injection needle attaching / detaching device 43 from the mounting table 33. Then, the second control unit 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the injection needle 11 c to the syringe 11. Also in this case, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of the bending of the injection needle 11c. Thus, in the co-infusion apparatus 1, the injection needle 11c is replaced when the drug is sucked from the ampule 10A and when the infusion is injected into the infusion bag 12, and the fragments of the ampule 10A are replaced with the infusion bag. 12 is prevented.

  Then, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12. On the other hand, the second control unit 500 opens the dust lid 132a and drops the ampoule 10A into the dust storage chamber 13a by the first robot arm 21 and discards it. The second controller 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the syringe 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

  Thereafter, the second control unit 500 reads various images taken by the syringe confirmation camera 42 and the like from the data storage unit 504 and causes the touch panel monitor 14 to display them. As a result, the user can check whether or not the mixed injection process is appropriate while looking at the touch panel monitor 14.

  By the way, when the current mixed injection process based on the preparation data (hereinafter referred to as “current preparation data”) is completed, if the next preparation data (hereinafter referred to as “next adjustment data”) exists, The mixed injection process based on the next preparation data is executed. At this time, even if the discarding process of discarding the syringe 11 using the second robot arm 22 in the mixed injection process based on the current preparation data is completed, the ampule 10A is removed from the tray 101 corresponding to the next preparation data. It is conceivable that the second robot arm 22 is in a standby state until the operation of taking the equipment such as the syringe 11 and the injection needle 11c into the mixed injection processing chamber 104 is executed. For example, in the co-infusion apparatus 1, in the co-infusion processing chamber 104, the equipment placement unit 102 is located within the movable range of the first robot arm 21 and outside the movable range of the second robot arm 22. Yes. Therefore, only the first robot arm 21 can take in the equipment from the equipment placement portion 102 of the tray 101. In this case, the second robot arm 22 cannot perform the next operation until the equipment taking-in operation by the first robot arm 21 is completed. Then, it is conceivable that after the taking-in operation is completed, an assembly operation of the syringe 11 and the injection needle 11c using the injection needle attaching / detaching device 43 by the second robot arm 22 is started. However, in this case, the waiting time of the second robot arm 22 is wasted and the efficiency of the mixed injection process is reduced.

  Therefore, when there is the next preparation data to be executed next to the current preparation data, the second control unit 500, in parallel with the discarding process performed using the second robot arm 22, It is conceivable to determine whether or not the discarding process has been completed while performing the loading operation using the first robot arm 21. The timing for determining whether or not the disposal process has ended is determined by the first robot arm 21, for example, when the equipment such as the medicine container 10 and the syringe 11 is replaced by the ampoule cutter 31, the stirring device 32, and the mounting table. 33, the end timing for each individual operation such as being placed on the rotation placement portion 33A, the medicine reading portion 34, or the like.

  When the second control unit 500 determines that the disposal process has been completed, the second control unit 500 interrupts the loading operation, and uses the first robot arm 21 to move the syringe 11 (syringe 11a) to the second robot arm 22. Priority is given to the processing set to. Thereafter, the second controller 500 resumes the loading operation using the first robot arm 21. The second control unit 500 takes out the syringe 11 from the mounting table 33 and sets it on the second robot arm 22 when the syringe 11 is mounted on the mounting table 33. In addition, when the syringe 11 is mounted on the device mounting portion 102 of the tray 101, the second control unit 500 takes out the syringe 11 from the device mounting portion 102 and performs the first control. Set on the robot arm 21.

  Thus, the setting of the syringe 11 to the second robot arm 22 is performed with priority, for example, the assembly work of the syringe 11 and the injection needle 11c by the second robot arm 22 thereafter, The taking-in operation of the ampule 10A by the first robot arm 21 can be executed in parallel. Accordingly, the efficiency of the mixed injection process when the mixed injection process based on a plurality of the preparation data is continuously executed is increased, and the time required for the mixed injection process can be shortened. Even if the syringe 11 mounted on the device mounting portion 102 is the syringe 11a with the injection needle 11c attached thereto, the cap 11d is removed from the injection needle 11c of the syringe 11 etc. This operation can be performed in parallel with the operation of taking in the ampoule 10A by the first robot arm 21.

[Mixed injection process using vial 10B]
Subsequently, when the medicine stored in the vial bottle 10B is a medicine such as a powder medicine that needs to be dissolved, the basics of the mixed injection process when the medicine is mixed with the infusion solution and then injected into the infusion bag 12 are as follows. The operation will be described.

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

  Next, the second control unit 500 photographs the equipment placing unit 102 with the tray confirmation camera 41. Then, the second controller 500 determines the position of the equipment such as the vial 10B and the syringe 11 placed on the equipment placing section 102 by the image recognition process based on the image taken by the tray confirmation camera 41. Know the direction. In particular, each time the second control unit 500 takes out the vial 10B or the syringe 11 from the instrument mounting unit 102, the second control unit 500 captures the instrument mounting unit 102 with the tray confirmation camera 41, and from the captured image. The latest position and orientation of the vial 10B and the syringe 11 are grasped.

  Subsequently, the second controller 500 uses the first robot arm 21 to place the syringe 11 placed on the device placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Temporary placement. In addition, the second control unit 500 sets the vial 10 </ b> B placed on the device placement unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine stored in the vial bottle 10 </ b> B by the medicine reading unit 34.

  When the second control unit 500 takes out all the devices on the device placing unit 102, the tray placing unit 102 is lowered by the tray lifting / lowering unit 112 of the tray transporting unit 110, thereby the tray 101. Return to. The second control unit 500 confirms whether or not all the devices on the device mounting unit 102 have been taken out by an image recognition process based on a photographed image 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 termination unit 110a. Next, the second control unit 500 sets the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 by the bag elevating unit 113 of the tray transport unit 110 to the mixed injection processing chamber. It is located in the mixed injection communication port 37 formed in 104.

  Then, the second control unit 500 moves the vial 10 </ b> B set in the medicine reading unit 34 to the mounting table 33 by the second robot arm 22. On the other hand, in parallel with this movement process, the second control unit 500 uses the first robot arm 21 to attach and detach the injection needle 11c of the syringe 11 placed on the device placement unit 102. Set in the device 43.

  Next, the second control unit 500 takes out the syringe 11 from the mounting table 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second controller 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 in the syringe 11. Thereafter, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detector 36 to detect whether the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 in a state where the injection needle 11c is attached to the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

  Subsequently, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the infusion solution of the dissolution amount indicated by the preparation data is aspirated from the infusion bag 12. On the other hand, the second control unit 500 takes out the vial 10 </ b> B placed on the placing table 33 by the first robot arm 21.

  Then, the second controller 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 to the The vial bottle 10B is punctured. Thereafter, the second controller 500 operates the plunger 11b with the second robot arm 22 to inject the infusion in the syringe 11 into the vial 10B. Thereby, the medicine in the vial bottle 10B is dissolved by the infusion solution. At this time, the posture of the syringe 11 and the vial bottle 10B is such that the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the vial bottle 10B is directed vertically upward.

  Next, the second controller 500 uses the first robot arm 21 to set the vial bottle 10B into which the infusion solution has been injected into the stirring device 32. Thereby, in the said stirring apparatus 32, the chemical | medical agent and infusion in the said vial bottle 10B are stirred. When the stirring by the stirring device 32 is completed, the second control unit 500 takes out the vial 10B from the stirring device 32 by the first robot arm 21.

  Then, the second control unit 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the robot arm 22 so that the injection needle 11c of the syringe 11 is moved to the vial. Puncture 10B. Thereafter, the second controller 500 operates the plunger 11b with the second robot arm 22 to suck the mixed drug in the vial bottle 10B with the syringe 11. At this time, the posture of the syringe 11 and the vial bottle 10B is such that the mouth of the vial bottle 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 after the medicine is sucked. The syringe 11 in the sucked state is moved within the photographing range of the syringe confirmation camera 42. The second control unit 500 captures the vial 10B and the syringe 11 at a time using the syringe confirmation camera 42, and records the captured images in the data storage unit 504 as inspection images. For example, the syringe confirmation camera 42 captures the predetermined photographing range. On the other hand, the syringe confirmation camera is configured so that the vial 10B and the syringe 11 can be photographed at a time after the second controller 500 is moved by the first robot arm 21 and the second robot arm 22. It is also conceivable that the 42 shooting ranges can be changed.

  Then, the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12. On the other hand, the second controller 500 opens the dust lid 132a and drops the vial 10B into the dust storage chamber 13a by the first robot arm 21 and discards it. The second controller 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the syringe 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

  Thereafter, the second control unit 500 reads various images taken by the syringe confirmation camera 42 and the like from the data storage unit 504 and causes the touch panel monitor 14 to display them. As a result, the user can check whether or not the mixed injection process is appropriate while looking at the touch panel monitor 14.

  In addition, it is also considered that the chemical | medical agent accommodated in the said vial bottle 10B is a chemical | medical agent like a chemical | medical solution which does not need to melt | dissolve. The mixed injection process in this case is performed by dissolving the chemical contained in the vial bottle 10B except that the step of sucking the infusion liquid from the infusion bag 12 and injecting the infusion liquid into the vial bottle 10B is not performed. Since it is the same as the mixed injection process in the case of a necessary medicine such as a powder medicine, the description is omitted.

  By the way, also in the mixed injection process using the vial bottle 10B, the second control unit 500 gives priority to the setting of the syringe 11 to the second robot arm 22 similarly to the mixed injection process using the ampoule 10A. Can be executed. That is, when there is the next preparation data to be executed next to the current preparation data, the second control unit 500 performs the discarding process performed using the second robot arm 22 in parallel with the discarding process. While performing the taking-in operation using the first robot arm 21, it is determined whether or not the discarding process has been completed. When the second control unit 500 determines that the disposal process has been completed, the second control unit 500 interrupts the loading operation, and uses the first robot arm 21 to move the syringe 11 (syringe 11a) to the second robot arm 22. Priority is given to the processing set to. Thereafter, the second controller 500 resumes the loading operation using the second robot arm 22.

  Thus, the setting of the syringe 11 to the second robot arm 22 is performed with priority, for example, the assembly work of the syringe 11 and the injection needle 11c by the second robot arm 22 thereafter, The taking-in operation of the vial 10B by the first robot arm 21 can be performed in parallel. Accordingly, the efficiency of the mixed injection process when the mixed injection process based on a plurality of the preparation data is continuously executed is increased, and the time required for the mixed injection process can be shortened. Even if the syringe 11 mounted on the device mounting portion 102 is the syringe 11a with the injection needle 11c attached thereto, the cap 11d is removed from the injection needle 11c of the syringe 11 etc. This operation can be performed in parallel with the taking-in operation of the vial bottle 10B by the first robot arm 21.

[Details of the needle bending detection unit 36]
Next, the details of the needle bending detection unit 36 will be described with reference to FIGS. 18A and 18B. Here, FIG. 18A is a side view showing the main part of the needle bending detection unit 36, and FIG. 18B is a front view showing the main part of the needle bending detection unit 36.

  As shown in FIGS. 18A and 18B, the needle bending detection unit 36 includes a third optical sensor 363 together with the first optical sensor 361 and the second optical sensor 362. Then, as shown in FIG. 18A, the needle bending detection unit 36 is configured such that after the injection needle 11c is inserted into the elongated hole 36a along the insertion direction R11 by the second robot arm 22, It is used to detect the inclination and the direction of the needle tip of the injection needle 11c.

  The first optical sensor 361 includes a light emitting unit 361a that emits detection light L1 and a light receiving unit 361b that receives the detection light L1, and the light amount of the detection light L1 received by the light receiving unit 361b is equal to or greater than a predetermined threshold value. It is detected whether it is.

  The second optical sensor 362 includes a light emitting unit 362a that emits the detection light L2 and a light receiving unit 362b that receives the detection light L2, and the amount of the detection light L2 received by the light receiving unit 362b is equal to or greater than a predetermined threshold value. It is detected whether it is. That is, the first optical sensor 361 and the second optical sensor 362 are transmissive optical sensors.

  Then, the first optical sensor 361 and the second optical sensor 362 indicate positional information of the injection needle 11c on a detection plane that is a plane including the detection light L1 and the detection light L2 and intersects the insertion direction R11. Used to detect. Here, the longitudinal direction of the injection needle 11c and the insertion direction R11 are the same direction, and the detection plane is a virtual plane that intersects the longitudinal direction of the injection needle 11c. In particular, in the present embodiment, the detection plane is a virtual plane perpendicular to the longitudinal direction of the injection needle 11c. The longitudinal direction of the injection needle 11c is the longitudinal direction of the injection needle 11c when the injection needle 11c attached to the syringe 11 is not tilted or warped. The detection plane is not limited to the case where the detection plane is strictly perpendicular to the longitudinal direction of the injection needle 11c. For example, the injection plane 11c is within a predetermined allowable range (for example, a range of ± 5 ° or less). What is necessary is just to be substantially perpendicular to the longitudinal direction. As shown in FIG. 18B, the detection light L1 of the first optical sensor 361 and the detection light L2 of the second optical sensor intersect, and the first optical sensor 361 and the second optical sensor are crossed. The arrangement space of 362 is saved. On the other hand, the first optical sensor 361 and the second optical sensor 362 only need to be arranged in a state where the irradiation directions of the detection light L1 and the detection light L2 are different, and the detection light L1 and the detection light L2 are It does not have to intersect.

  Here, in the present embodiment, the first optical sensor 361 and the second optical sensor 362 are fixed to the needle bending detection unit 36, and the injection needle 11c is moved in the moving direction R21 by the second robot arm 22. Moved. Therefore, as the first optical sensor 361 and the second optical sensor 362, it is possible to use inexpensive optical sensors in which the widths of the detection light L1 and the detection light L2 are smaller than the outer diameter of the injection needle 11c. . Further, as the first optical sensor 361 and the second optical sensor 362, optical sensors in which the widths of the detection light L1 and the detection light L2 are not less than the outer diameter of the injection needle 11c may be used.

  In the mixed injection device 1, the first optical sensor 361, the second optical sensor 362, and the injection needle 11c are relatively movable in the movement direction R21 perpendicular to the insertion direction R11 on the detection plane. If so, the first optical sensor 361 and the second optical sensor 362 may be movable. That is, after the injection needle 11c is inserted into the elongated hole 36a until it is detected by the third optical sensor 363, the first optical sensor 361 and the first optical sensor 361 are moved in a state where the second robot arm 22 is stationary. A configuration in which the two-light sensor 362 is moved by a moving mechanism is also conceivable as another embodiment. As the moving mechanism, for example, a motor and a rack and pinion that convert the rotational motion of the motor into linear motion are used.

  On the other hand, the third optical sensor 363 includes a light emitting unit 363a that emits the detection light L3 and a light receiving unit 363b that receives the detection light L3, and the amount of the detection light L3 received by the light receiving unit 363b is a predetermined amount. It is detected whether or not the threshold value is exceeded. That is, the third optical sensor 363 is a transmissive optical sensor. The third optical sensor 363 is used to detect that the injection needle 11c has been inserted to a predetermined first detection position P1 in the elongated hole 36a. Here, the position of the injection needle 11c when the injection needle 11c reaches the first detection position P1 changes depending on whether or not the injection needle 11c is bent. Therefore, the width of the detection light L3 of the third optical sensor 363 is larger than the outer diameter of the injection needle 11c, and the third optical sensor 363 can detect the injection needle 11c reaching the detection plane. It is.

  And in the said co-infusion apparatus 1, it is possible to detect the positional information in the said detection plane of the said injection needle 11c by using the said needle | hook bend detection part 36. FIG. Here, a method for detecting positional information of the injection needle 11c using the first optical sensor 361 and the second optical sensor 361 will be described with reference to FIGS. 19A and 19B. 19A is a view showing an example of the reference member 364, and FIG. 19B is a view for explaining a method for detecting position information of the injection needle 11c.

  In the co-infusion apparatus 1, for example, at the time of initial setting, the second control unit 500 executes reference data acquisition processing for acquiring reference data used for detecting position information of the injection needle 11c. As shown in FIG. 19A, the reference member 364 includes a reference needle 364a and a reference needle 364b provided perpendicular to the end face of the reference member 364. The reference needle 364a and the reference needle 364b are parallel, and the reference needle 364a and the reference needle 364b are separated by a predetermined distance E.

  The reference data acquisition process is performed by the second controller 500 according to the following procedure. As shown in FIG. 19B, the position information of the injection needle 11c on the detection plane is defined by the x axis and the y axis that intersect perpendicularly on the detection plane. First, the second robot arm 22 is controlled, and the reference member 364 is held by the holding unit 26. Next, the reference member 364 is moved by the second robot arm 22 and set to a predetermined reference detection start position. The reference detection start position can cross the detection light L1 and detection light L2 of the first optical sensor 361 and the second optical sensor 362 by inserting the reference needle 364a and the reference needle 364b into the elongated hole 36a. It is the position. Subsequently, as shown in FIG. 19B, the second controller 500 determines that the reference needle 364a and the reference needle 364b are moved along the moving direction R21 by the first optical sensor 361 and the second optical sensor 362. The movement of the reference member 364 by the second robot arm 22 is started so as to cross the detection light L1 and the detection light L2.

  At this time, the second robot arm 22 moves the reference member 364 at a constant speed. In addition, the second controller 500 starts a timer count from the start of the movement of the reference member 364. Then, the second controller 500 determines a timer value when the detection light L1 and the detection light L2 of the first light sensor 361 and the second light sensor 362 are blocked by the reference needle 364a and the reference needle 364b. Based on the moving speed of the reference member 364 by the second robot arm 22, position data (distance data) of each blocking position is acquired.

  Specifically, a position a1 where the detection light L1 of the first optical sensor 361 is blocked by the reference needle 364a and a position a2 where the detection light L1 of the first optical sensor 361 is blocked by the reference needle 364b. A distance A is acquired. Similarly, a distance C between a position b1 where the detection light L2 of the second optical sensor 362 is blocked by the reference needle 364b and a position b2 where the detection light L2 of the second optical sensor 362 is blocked by the reference needle 364a. Is acquired. Then, the distance A and the distance C are stored as the reference data in the data storage unit 504, and the reference data acquisition process ends. As described above, the reference needle 364a and the reference needle 364b are separated by a distance E, and the reference needle 364b is assumed to be a reference point (origin) in the x-axis direction through which the reference needle 364a passes. Passes through a position separated by a distance E from the reference point in the x-axis direction.

  Thereafter, when the second controller 500 actually detects the position information of the injection needle 11c of the syringe 11, the position of the injection needle 11c of the syringe 11 is determined in advance by the second robot arm 22. Move to the tilt detection start position. The position in the x-axis direction of the tilt detection start position is assumed to be a position away from the reference point by a distance Xc. Note that a movement path through which the injection needle 11c passes when the injection needle 11c is not bent is originally referred to as a path P10. On the other hand, when the injection needle 11c is bent or inclined, the position of the injection needle 11c is deviated from the original path P10. In this case, the position of the injection needle 11c moved to the inclination detection start position on the original path P10 by the second robot arm 22 is also shifted from the original path P10.

  In FIG. 19B, it is assumed that the position of the injection needle 11c on the detection plane is deviated from the original path P10 and is at a position separated from the reference point in the x-axis direction by a distance Xp. Hereinafter, a movement path through which the injection needle 11c passes when the second robot arm 22 is moved in the movement direction R21 is referred to as an injection needle detection path P20. The distance Xp is an interval in the x-axis direction between the injection needle detection path P20 and the passage path of the reference needle 364a, and the distance Xc is a distance between the original path P10 and the passage path of the reference needle 364a. The interval in the x-axis direction. That is, when the passage route of the reference needle 364a is used as a reference, the bending component β in the x-axis direction of the injection needle 11c is represented by Xc−Xp. The bending component in the y-axis direction of the injection needle 11c is α.

  Subsequently, the second controller 500 controls the second robot arm 22 simultaneously with the start of the timer to move the injection needle 11c in the moving direction R21 at a constant speed. The second controller 500 determines the moving speed of the second robot arm 22 at this time and the timer value when the detection light L1 and the detection light L2 of the first light sensor 361 and the second light sensor 362 are blocked. Accordingly, position data (distance data) between the position a0 and the position b0 on the original path P10 when the injection needle 11c reaches the position a3 and the position b3 on the injection needle detection path P20 is acquired. It is possible. Here, the distance from the position a0 to the position a2 is B, and the distance from the position b1 to the position b0 is D.

  If the needle 11c is not bent, the needle detection path P20 coincides with the original path P10 (distance Xp = distance Xc). In this case, the position b0 and the position b3 match, and the position a0 and the position a3 match. Here, paying attention to the distances A, B, E, and Xp, and assuming that the injection needle 11c is not bent, an equation of “Xp = EE−B × A” is obtained. Further, when paying attention to the distances C, D, E, and Xp, and assuming that the injection needle 11c is not bent, an equation of “Xp = EE−D × C” is obtained. Furthermore, “B / A = D / C” is obtained from these equations.

  Here, as shown in FIG. 19B, the distal end side of the injection needle 11c is bent with respect to the center of the injection needle 11c when viewed from the plunger 11b side of the syringe 11, and the injection needle 11c Is assumed to pass through the injection needle detection path P20 deviating from the original path P10. In this case, the distance B and the distance D that are values on the injection needle detection path P20 cannot be used as they are to specify the position of the injection needle 11c. Specifically, when the bending component α in the y-axis direction of the injection needle 11c exists, the first optical sensor 361 responds with a delay of the bending component α from the position a3 after the timer start. Therefore, it is necessary to correct the distance B to B + α. Therefore, the equation for obtaining the distance Xp is “Xp = EE− (B + α) / A”. Similarly, since the second optical sensor 362 responds after the start of the timer by a distance corresponding to the bending component α from the position b3, it is necessary to correct the distance D to D−α. Therefore, the equation for obtaining the distance Xp is “Xp = EE− (D−α) / C”.

  Further, from (B + α) / A = (D−α) / C, α = (A × D−B × C) / (A + C), and the bending component which is the bending amount of the injection needle 11c in the y-axis direction. α is obtained. Then, the distance Xp is obtained by substituting the bending component α obtained here into “Xp = EE− (B + α) / A”. Further, when the calculation of “Xc−Xp” is performed, a bending component β in the x-axis direction of the injection needle 11c is obtained.

  Accordingly, the second control unit 500 causes the injection needle when the rubber stopper of the vial bottle 10B or the rubber stopper of the co-infusion port of the infusion bag 12 is punctured based on the amount of needle bending of the injection needle 11c. The second robot arm 22 can be operated so that the position 11c is corrected. For example, the second controller 500 can control the second robot arm 22 to puncture the injection needle 11c at a target position on the rubber stopper. The derivation of the needle bending amount may be performed once for the injection needle 11c, or multiple times when the injection needle 11c is inserted into the rubber stopper of the mixed injection port of the infusion bag 12. You may do it. In addition, the second control unit 500 takes the time required to pass the detection light L1 and the detection light L2 in the derivation of the needle bending amount (the first optical sensor 361 and the second optical sensor 362 are turned off). It is also possible to determine the thickness of the injection needle 11c from the time interval) and to determine whether the injection needle 11c is misused.

  By the way, not only the needle position measurement by the timer start but also the position of the injection needle 11c can be determined from the coordinate position of the robot arm. Further, when a rotating plate that rotates the first optical sensor 361 in the detection plane by, for example, about 45 ° or 90 ° is provided, and the rotating plate is rotated so as not to shield the elongated hole 36a, the first optical sensor 361 can be used as a substitute for the second optical sensor 362. In this case, the reference needle 364a, the reference needle 364b, or the injection needle 11c may be moved in a plurality of times.

  In addition, here, a case where position information of the injection needle 11c in the x-axis direction and the y-axis direction is detected using the two first optical sensors 361 and the second optical sensor 362 will be described. It is also conceivable that position information of the injection needle 11c in the x-axis direction and the y-axis direction is detected using an optical sensor. Specifically, the position information in the x-axis direction is obtained by calculating the distance Xp from the ratio between the distance between the position a1 and the position a2 in FIG. 19B and the distance between the position a3 and the position a2. It can be detected by two sensors (in this case, the first optical sensor 361). The position information in the y-axis direction is obtained by rotating the direction of the syringe 11 by 90 degrees around the axis of the syringe 11 by the second robot arm 22 or the like, and again moving the injection needle 11c as shown in FIG. 19B. And move along the original path P10. In this case as well, the position information in the x-axis direction can be detected by one optical sensor, but the detected position information becomes position information in the y-axis direction because the syringe 11 is rotated 90 degrees.

[Tilt correction processing]
By the way, in the mixed injection device 1, it is possible to detect the needle bending of the injection needle 11c using the needle bending detection unit 36, and it is possible to correct the positional deviation of the needle tip portion of the injection needle 11c. It is. However, in the mixed injection process, it may be desirable to consider not only the positional deviation of the needle tip portion of the injection needle 11c but also the inclination of the injection needle 11c of the syringe 11. For example, when the injection needle 11c is punctured into the rubber stopper of the vial bottle 10B, if the injection needle 11c is inclined, the injection needle 11c is not punctured perpendicularly to the rubber stopper, A load acts on the injection needle 11c. On the other hand, in the co-infusion apparatus 1, the inclination of the injection needle 11 c is appropriately corrected by executing an inclination correction process described later by the second control unit 500.

  Hereinafter, an inclination correction process executed by the second control unit 500 in the co-infusion apparatus 1 will be described with reference to FIGS. 20 and 21A to 21C. In addition, the said inclination correction process is performed as a process which detects the presence or absence of the needle | hook bending of the said injection needle 11c in the said mixed injection process.

<Step S1>
As shown in FIG. 20, in step S1, the second controller 500 controls the second robot arm 22 to move the syringe 11 along the insertion direction R11, thereby causing the injection needle 11c. Is inserted into the elongated hole 36a.

<Step S2>
In step S2, the second controller 500 determines whether or not the tip 11g (see FIG. 21A) of the injection needle 11c is detected by the third optical sensor 363. That is, it is determined whether or not the tip 11g of the injection needle 11c has reached the first detection position P1. Here, as shown in FIG. 21A, when the injection needle 11c reaches the first detection position P1 and the injection needle 11c is detected by the third optical sensor 363 (S2: Yes side), the process is as follows. The process proceeds to step S3. In addition, until the injection needle 11c is detected by the third optical sensor 363 (S2: No side), the determination process of step S2 is repeated, and the injection needle 11c gradually enters the elongated hole 36a. Inserted into.

<Step S3>
In step S3, the second controller 500 controls the second robot arm 22 to stop the insertion operation of the injection needle 11c into the elongated hole 36a.

<Step S4>
In step S <b> 4, the second control unit 500 detects position information of the injection needle 11 c on the detection plane using the first optical sensor 361 and the second optical sensor 362. Specifically, as shown in FIG. 21A, when the tip 11g of the injection needle 11c reaches the first detection position P1, the detection directions L1 and L2 of the first optical sensor 361 and the second optical sensor 362 are changed. The position of the injection needle 11c that intersects the detection plane that is included is detected. In this case, the detection plane is referred to as a detection plane D1.

<Step S5>
In step S5, the second controller 500 controls the second robot arm 22 to resume the insertion operation of the injection needle 11c into the elongated hole 36a.

<Step S6>
In step S6, the second controller 500 further inserts the tip 11g of the injection needle 11c into the slot 36a by a predetermined first distance from the position detected by the third optical sensor 363. It is determined whether or not the second detection position P2 has been reached. Specifically, the second controller 500 can determine whether or not the tip 11g of the injection needle 11c has been inserted by the first distance based on the amount of movement of the second robot arm 22. . A configuration in which an optical sensor for detecting that the tip 11g of the injection needle 11c has reached the second detection position P2 is also conceivable as another embodiment.

  If it is determined that the injection needle 11c has been inserted by the first distance (S6: Yes side), the process proceeds to step S7. In addition, until the injection needle 11c is inserted by the first distance (S6: No side), the determination process of step S6 is repeated, and the injection needle 11c is gradually inserted into the elongated hole 36a. Is done.

<Step S7>
In step S7, the second controller 500 controls the second robot arm 22 to stop the insertion operation of the injection needle 11c into the elongated hole 36a.

<Step S8>
In step S <b> 8, the second controller 500 detects position information of the injection needle 11 c on the detection plane using the first optical sensor 361 and the second optical sensor 362. Specifically, as shown in FIG. 21B, when the tip 11g of the injection needle 11c reaches the second detection position P2, the detection directions L1 and L2 of the first optical sensor 361 and the second optical sensor 362 are changed. The position of the injection needle 11c that intersects the detection plane that is included is detected. Note that the detection plane in this case is referred to as a detection plane D2. The detection plane D2 is parallel to the detection plane D1.

  The first optical sensor 361 and the second optical sensor 362 are provided on the detection plane D1 and the detection plane D2, respectively, with the tip 11g of the injection needle 11c positioned at the second detection position P2. It is also conceivable as another embodiment. In this case, it is possible to simultaneously detect the position information of the injection needle 11c on the detection plane D1 and the detection plane D2.

<Step S9>
Next, in step S9, the second controller 500 controls the second robot arm 22 to correct the displacement and inclination of the injection needle 11c. Accordingly, the second control unit 500 performs the operation using the injection needle 11c in the mixed injection process based on the position information of the injection needle 11c after the correction in the step S9, and the first robot arm 21 and the The operation of the second robot arm 22 and the like is controlled. Thus, the second control unit 500 when executing the process for controlling the posture and position of the injection needle 11c based on the inclination of the injection needle 11c is an example of the posture control unit. The posture of the injection needle 11c is a concept including, for example, one or both of the direction of the needle tip portion of the injection needle 11c and the inclination of the injection needle 11c.

  For example, in step S9, the second controller 500 controls the second robot arm 22, and the position of the injection needle 11c on the detection plane D1 of the injection needle 11c is set to the position shown in FIG. 21C. The injection needle 11c is translated to a position that essentially matches the path P10, and the injection needle 11c is rotated around the intersection of the detection plane D1 and the injection needle 11c until the inclination of the injection needle 11c is eliminated. Let me.

  More specifically, the amount of displacement of the injection needle 11c detected when the tip 11g of the injection needle 11c is located at the first detection position P1 is d1 [ax1, ay1], and the tip of the injection needle 11c. The positional deviation amount of the injection needle 11c detected when 11g is located at the second detection position P2 is defined as d2 [ax2, ay2]. Further, the distance in the z-axis direction between the first detection position P1 and the second detection position P2 is a distance L, and a predetermined rotation matrix is R. In this case, the second controller 500 causes the x and y components of the vector n [ax1-ax2, ay1-ay2, L] from the first detection position P1 to the second detection position P2 to be zero. Further, the inclination of the injection needle 11c is corrected by rotating the injection needle 11c with the intersection point of the detection plane D1 and the injection needle 11c as the origin [0, 0, 0] (R · n = n ′ = (0, 0, nz)). In addition, although the said rotation and the said parallel movement are performed in parallel, the said parallel movement is performed after the said rotation is performed, or the said rotation is performed after the said parallel movement is performed. Is also conceivable as another embodiment.

  Further, in the tilt correction process, the second control unit 500 can detect the tilt of the injection needle 11c, for example, at the previous stage of the step S9. Specifically, the inclination of the injection needle 11c projected on the xz plane is calculated by (ax2-ax1) / L, and the inclination of the injection needle 11c projected on the yz plane is (ay2-ay1) / L. Is calculated by Accordingly, the second control unit 500 can arbitrarily control the tilt amount of the injection needle 11c based on the tilt of the injection needle 11c. Further, the method of detecting the inclination of the injection needle 11c is not limited to this, and for example, the position of the injection needle 11c when the tip 11g of the injection needle 11c is positioned at the first detection position P1 and the second detection position P2, respectively. Coordinates may be calculated, and the inclination of the injection needle 11c may be detected based on the position coordinates. For example, the inclination of the injection needle 11c can be detected based on the position coordinates of the position a3 or the position b3 of the injection needle 11c on each of the detection plane D1 and the detection plane D2. Further, the second control unit 500 determines the injection needle from the coordinate position of the second robot arm 22 when the injection needle 11c reaches the position a3 or the position b3 in the detection plane D1 and the detection plane D2. It is also possible to detect the inclination of 11c.

[Direction detection processing]
By the way, as shown in FIG. 24A, the needle tip portion 11e of the injection needle 11c of the syringe 11 has an acute cut surface (inclined surface) toward the tip 11g of the injection needle 11c in a side view of the injection needle 11c. 11f is formed. That is, the width of the inclined surface 11f on the cross section perpendicular to the longitudinal direction of the injection needle 11c in the needle tip portion 11e changes according to the position in the longitudinal direction of the injection needle 11c, and the tip 11g of the injection needle 11c. It gets smaller as it gets closer to. In particular, the tip 11g of the injection needle 11c is located on the outer peripheral surface of the injection needle 11c when the injection needle 11c is viewed from the longitudinal direction. Therefore, the cross section perpendicular to the longitudinal direction of the injection needle 11c in the needle tip portion 11e of the injection needle 11c gradually decreases toward the pointed end 11g. Specifically, the needle 11c of the injection needle 11c is formed by a processing method such as lancet, backcut, semi-lancet, or flat sharpening. In addition, the said needle tip part 11e in this embodiment is the range in which the said cut surface 11f is formed in the longitudinal direction of the said injection needle 11c. In other words, the needle tip portion 11e is a range in which the cut surface 11f is included on the outer periphery of a cross section perpendicular to the longitudinal direction of the injection needle 11c. In addition, the direction of the needle tip portion 11e in the present embodiment is an index indicating the positional relationship between the center of the injection needle 11c and the tip 11g of the injection needle 11c when the injection needle 11c is viewed from the longitudinal direction. is there. For example, the direction of the needle tip portion 11e is a direction from the center of the injection needle 11c when viewing the injection needle 11c from the longitudinal direction toward the tip 11g of the injection needle 11c, and the radius of the injection needle 11c. The direction is represented by a first direction from the center of the injection needle 11c toward the tip 11g of the injection needle 11c. That is, the direction of the needle tip portion 11e is a concept different from the longitudinal direction of the injection needle 11c. Note that a direction facing the cut surface 11f in a cross section perpendicular to the longitudinal direction of the injection needle 11c in the needle tip portion 11e may be regarded as the direction of the needle tip portion 11e.

  The inventor of the present application indicates that when the injection needle 11c is punctured into the rubber stopper of the vial bottle 10B, the traveling direction of the injection needle 11c depends on the direction of the needle tip portion 11e of the injection needle 11c. I found something to change. For example, when a person performs the operation when the injection needle 11c is punctured into the rubber stopper of the vial 10B, the tip 11g of the injection needle 11c is placed on the inner surface of the rubber stopper of the vial 10B. It is possible to adjust appropriately while visually checking so as not to hit. However, when the same operation is automatically executed by the second robot arm 22 in the co-infusion apparatus 1, when the traveling direction of the injection needle 11c changes when puncturing the rubber stopper of the vial bottle 10B, There is a risk that it will hit the inner surface of the rubber stopper of the vial bottle 10B. In addition, as will be described later, a problem may occur when the injection needle 11c is inserted into the cap 11d.

  Therefore, in the co-infusion apparatus 1, the second direction is detected by the second control unit 500 to detect the first direction as the direction of the needle tip portion 11e of the injection needle 11c. And when the said mixed injection process is performed, the attitude | position and position of the said injection needle 11c, etc. are suitably controlled by the said 2nd control part 500, and various processes are performed.

  Next, an example of the orientation detection process executed by the second control unit 500 will be described with reference to FIGS. Here, the second control unit 500 when executing the direction detection processing is an example of the direction detection unit. The orientation detection process is executed after the inclination of the injection needle 11c is corrected by the inclination correction process (FIG. 20), for example. That is, here, the longitudinal direction of the injection needle 11c coincides with the insertion direction R11 when the orientation detection process is executed, and the detection plane is perpendicular to the longitudinal direction of the injection needle 11c and the insertion direction R11. Suppose that it is a plane.

  By the way, this embodiment demonstrates the case where the said direction detection process is performed after completion | finish of the said inclination correction process. Therefore, in the co-infusion apparatus 1, the correction of the inclination of the injection needle 11c in the inclination correction process is performed in a state where the injection needle 11c is inserted into the elongated hole 36a. Then, the direction detection process is started in a state where the injection needle 11c is inserted into the elongated hole 36a. Accordingly, the tilt correction process and the orientation detection process can be executed in a series of operations for inserting and withdrawing the injection needle 11c into the elongated hole 36a, and the processing time is reduced. On the other hand, correction of the inclination of the injection needle 11c in the inclination correction process is executed after the injection needle 11c is pulled out from the elongated hole 36a, and the direction detection process is reinserted into the elongated hole 36a. It may be executed when it is done. Furthermore, in the present embodiment, a case where both the tilt correction process and the direction detection process are executed will be described, but it is also conceivable that only one of them is executed.

<Step S10>
As shown in FIG. 22, in the orientation detection process, first, in step S10, the second control unit 500 controls the second robot arm 22 to move the syringe 11 to thereby move the injection needle 11c. Is moved to a predetermined orientation detection start position. The direction detection start position is within a detection range by the third optical sensor 363, and the detection light L1 of the first optical sensor 361 and the second optical sensor 362 in the movement direction R21 (see FIG. 18A) and It is a position on the upstream side of the detection light L2. For example, the orientation detection start position is a position where the axial center of the injection needle 11c coincides with the original path P10. At this time, since the inclination of the injection needle 11c is corrected by the inclination correction process, the injection needle 11c can be accurately moved to the orientation detection start position.

<Step S11>
In step S11, the second control unit 500 starts the extraction of the injection needle 11c from the elongated hole 36a by controlling the second robot arm 22 and moving the syringe 11. That is, the injection needle 11c is moved in a direction opposite to the insertion direction R11 (see FIG. 18A), which is a movement direction when the injection needle 11c is inserted into the elongated hole 36a.

<Step S12>
Subsequently, in step S <b> 12, the second controller 500 determines whether or not the injection needle 11 c is being detected by the third optical sensor 363. Here, while it is determined that the injection needle 11c is being detected (S12: Yes side), the determination process of step S12 is repeatedly executed. On the other hand, when the injection needle 11c is no longer detected (S12: No side), the process proceeds to step S13.

<Step S13>
In step S13, the second controller 500 controls the second robot arm 22 to stop the pulling-out operation of the injection needle 11c from the elongated hole 36a. That is, the pulling-out operation is stopped when the tip 11g of the injection needle 11c reaches the first detection position P1.

  Here, the first detection position P1 is a position determined in advance such that the width of the projected image of the injection needle 11c on the detection plane is the same as the outer diameter of the injection needle 11c. Specifically, as shown in FIG. 24A, the needle tip portion 11e of the injection needle 11c has the cut surface 11f having an acute angle toward the tip 11g of the injection needle 11c. On the other hand, as shown in FIG. 24B, the cross section of the position P11 of the injection needle 11c where the cut surface 11f is not formed is circular. The first detection position P1 is the position of the tip 11g when the position P11 where the cut surface 11f of the injection needle 11c is not formed is located on the detection plane.

<Step S14>
In step S14, the second controller 500 executes a projection data acquisition process to acquire projection data at the position P11 of the injection needle 11c. Here, an example of the projection data acquisition process will be described with reference to FIG.

[Projection data acquisition processing]
<Step S31>
First, in step S31, the second controller 500 controls the second robot arm 22 to move the injection needle 11c to the first light sensor 361 and the detection light L1 of the second light sensor 362. A traversing operation for traversing the detection light L2 is started. That is, the injection needle 11c is moved along the movement direction R21 (see FIG. 18A) by the second robot arm 22. Here, the second control unit 500 when executing the movement process is an example of a first movement processing unit.

<Step S32>
During the movement of the injection needle 11c, in step S32, the second control unit 500 sequentially records the detection results of the first optical sensor 361 and the second optical sensor 362 together with time series information in the RAM 503. Thereby, when the injection needle 11c crosses the detection light L1 and the detection light L2 of the first optical sensor 361 and the second optical sensor 362, projection data of the injection needle 11c is accumulated in the RAM 503. The Here, the projection data accumulated as a detection result by the first optical sensor 361 is the needle tip when the detection light L1 is irradiated from the light emitting unit 361a of the first optical sensor 361 to the needle tip unit 11e. This is data representing a projection image of the unit 11e. Similarly, the projection data accumulated as a detection result by the second optical sensor 362 is the needle tip portion when the detection light L2 is irradiated from the light emitting portion 362a of the second optical sensor 362 to the needle tip portion 11e. 11e is data representing a projected image of 11e. That is, in the projection data acquisition process, the projection of the needle tip portion 11e when light is applied to the needle tip portion 11e of the injection needle 11c from a plurality of directions on the detection plane intersecting the longitudinal direction of the injection needle 11c. The width of each image is detected. In this way, the processing for detecting the width of each projected image of the needle tip portion 11e when the needle tip portion 11e of the injection needle 11c of the syringe 11 is projected in a plurality of projection directions on the detection plane is executed. The second control unit 500 is an example of a width detection unit.

<Step S33>
Thereafter, in step S33, the second controller 500 determines whether or not the injection needle 11c has moved to a predetermined detection end position. The detection end position is set in advance as a position where at least the injection needle 11c ends the crossing of the detection light L1 and the detection light L2. Here, if it is determined that the injection needle 11c has moved to the detection end position (S33: Yes side), the process proceeds to step S34. If it is not determined that the injection needle 11c has moved to the detection end position (S33: No side), the process returns to step S32.

<Step S34>
In step S34, the second robot arm 22 is controlled by the second controller 500, and the crossing operation of the injection needle 11c is stopped.

  Here, the case where the width of the projected image of the injection needle 11c is detected using the two first optical sensors 361 and the second optical sensor 362 will be described. However, using one optical sensor, It is also conceivable that the width of the projected image of the injection needle 11c is detected. Specifically, the second control unit 500 is configured such that the direction of one optical sensor such as the first optical sensor 361 (light irradiation direction by the optical sensor) and the direction of the needle tip portion 11e of the injection needle 11c ( It is conceivable to relatively change the relationship with the injection needle 11c in the first direction). In this case, the needle tip portion 11e is projected from a plurality of directions by the light emitting portion of the optical sensor, as the orientation of the optical sensor and the orientation of the needle tip portion 11e change relatively. .

  For example, the second controller 500 detects the width of the projected image of the injection needle 11c using the first optical sensor 361 while moving the injection needle 11c along the movement direction R21, The first optical sensor 361 is rotated by 90 degrees, and the width of the projected image of the injection needle 11c is detected by using the first optical sensor 361 while moving the injection needle 11c along the moving direction R21 again. It is possible to do. The said 2nd control part 500 when performing the process which concerns here is an example of a 2nd movement process part. Even in this case, the second controller 500 determines the direction of the first optical sensor 361 (light irradiation direction by the first optical sensor 361) and the direction of the injection needle 11c (the first direction of the injection needle 11c). ) When the needle tip portion 11e of the injection needle 11c is irradiated with light from a plurality of directions based on the detection results of the first optical sensor 361 in different states in which the relationship of It is possible to detect the width of each projected image. In this case, the irradiation direction is a relative positional relationship between the direction of the first optical sensor 361 and the direction of the needle tip portion 11e. For example, the rotation angle of the first optical sensor 361 (0 degree) And 90 degrees).

<Step S15>
When the projection data acquisition process ends, the process returns to FIG. 22, and in step 15, the second control unit 500 controls the second robot arm 22 to return the injection needle 11c to the orientation detection start position.

<Step S16>
In step S <b> 16, the second controller 500 controls the second robot arm 22 to restart the pulling-out operation of the injection needle 11 c from the long hole 36 a.

<Step S17>
Thereafter, the second controller 500 determines whether or not the tip 11g of the injection needle 11c has reached the third detection position pulled out by a predetermined second distance. Specifically, the second controller 500 determines the movement of the second distance of the injection needle 11c based on the movement amount of the second robot arm 22. Furthermore, the structure provided with the optical sensor which detects that the said injection needle 11c reached | attained the said 3rd detection position is also considered as other embodiment.

  Here, the third detection position is a position determined in advance so that the maximum width of the projected image of the injection needle 11c on the detection plane is less than half of the outer diameter of the injection needle 11c. As shown in FIG. 24B, the cross section of the position P11 of the injection needle 11c where the needle tip portion 11e is not formed is circular, but as shown in FIGS. 24C to 24E, the tip 11g of the injection needle 11c. As the process proceeds, the cross-sectional shape becomes smaller.

  Specifically, as shown in FIG. 24D, the cross section of the position P13, which is the center of the cut surface 11f of the needle tip portion 11e of the injection needle 11c, has a semicircular shape. Further, as shown in FIG. 24C, the cross section of the position P12 closer to the position P11 than the position P13 is larger than a semicircle. Furthermore, as shown in FIG. 24E, the cross section of the position P14 closer to the tip 11g side than the position P13 is smaller than a semicircle. Therefore, the third detection position is a position of the tip 11g of the injection needle 11c when a position closer to the tip 11g side than the position P13 in the injection needle 11c is located on the detection plane. Hereinafter, in the present embodiment, an example is given in which the third detection position is the position of the tip 11g of the injection needle 11c when the position P14 of the cut surface 11f of the injection needle 11c is located on the detection plane. Will be described. The position P14 whose cross-sectional shape is smaller than a semicircle on the cut surface 11f of the injection needle 11c is known for each injection needle 11c and is stored in the injection needle master. Then, the second control unit 500 appropriately changes the second distance so that the position where the cross-sectional shape of the cut surface 11f is smaller than a semicircle is located on the detection plane with reference to the injection needle master. Can be considered. Thereby, the direction detection of the needle tip part 11e by the direction detection process is realized for a plurality of types of the injection needles 11c. If the second distance is sufficiently small, the second distance may be always set as a constant value.

  In step S17, when the second control unit 500 determines that the tip 11g of the injection needle 11c has moved the second distance (S17: Yes side), the process proceeds to step S18. Further, until the tip 11g of the injection needle 11c moves to the second distance (S17: No side), the determination process of the step S17 is repeated, and the injection needle 11c is gradually moved from the elongated hole 36a. Pulled out.

<Step S18>
In step S18, the second controller 500 controls the second robot arm 22 to stop the pulling-out operation of the injection needle 11c from the elongated hole 36a.

<Step S19>
Subsequently, in step S19, the second control unit 500 executes the projection data acquisition process similar to that in step S14. At this time, the detection light L1 and the detection light L2 of the first optical sensor 361 and the second optical sensor 362 are applied to the position P14 of the needle tip portion 11e of the injection needle 11c. Therefore, in the step S19, projection data corresponding to the position P14 of the needle tip portion 11e of the injection needle 11c is acquired.

<Step S20>
In step S20, the second controller 500 detects the projection data of the injection needle 11c detected in step S14 and step S19 as the projection data and accumulated in the RAM 503 and the projection image. The direction of the needle tip portion 11e of the injection needle 11c is detected according to the irradiation direction of each corresponding detection light. Specifically, the ROM 502 of the second control unit 500 stores orientation correspondence information in which the relationship between the projection data of the injection needle 11c and the orientation of the needle tip portion 11e of the injection needle 11c is predetermined. The second controller 500 specifies the orientation of the needle tip 11e of the injection needle 11c based on the orientation correspondence information and each of the projection data.

  Here, in the present embodiment, information indicating whether the sensor that detects the projection data is the first optical sensor 361 or the second optical sensor 362 is associated with the width of the projection image. Is stored in the RAM 503 as the projection data. That is, information indicating whether the sensor that has detected the projection data is the first optical sensor 361 or the second optical sensor 362 is stored as information indicating the irradiation direction. Then, the second controller 500 detects the width of each projection image included in the projection data and the irradiation direction of the detection light corresponding to the projection image (light irradiation by the first light sensor 361 or the second light sensor 362). The direction of the needle tip portion 11e of the injection needle 11c can be specified according to the direction).

  25A to 25I are schematic diagrams showing an example of the projection data, and FIG. 26 is a diagram showing an example of the orientation correspondence information. As shown in FIG. 25A, the width of the projected image including the entire circumference of the injection needle 11c detected using the first optical sensor 361 and the second optical sensor in step S14 is from time T1 to time T3. The corresponding width d0 is a width corresponding to the outer diameter of the injection needle 11c. Note that the times T1 to T3 are time points that arrive in the order of T1, T2, and T3 in time series during the movement of the injection needle 11c. On the other hand, the width of the projected image of the needle tip portion 11e of the injection needle 11c detected using the first optical sensor 361 and the second optical sensor in the step S19 is smaller than the width d0. The value of the width d0 can be calculated based on the interval between the time T1 and the time T3 and the moving speed of the second robot arm 22 when the projection data is acquired. In the orientation correspondence information, the orientation of the needle tip portion 11e of the injection needle 11c is defined on the basis of the projection data acquired in step S14.

  Specifically, in the example shown in FIG. 25B, in the cross section of the needle tip portion 11e of the injection needle 11, the tip 11g of the injection needle 11c is connected to the light receiving portion 361b of the first optical sensor 361 and the second optical sensor 362. The cut surface 11f of the injection needle 11c is directed between the light emitting unit 362a (right direction in FIG. 25B), and the light emitting unit 361a of the first optical sensor 361 and the light receiving unit 362b of the second optical sensor 362. It is directed in the direction (left direction in FIG. 25B). That is, when the injection needle 11 is viewed from the longitudinal direction, the positional relationship between the center of the injection needle 11c and the pointed tip 11g is such that the light receiving unit 361b and the light emitting unit 362a are viewed from the center of the injection needle 11c. In this state, the tip 11g is positioned in the direction between them (the right direction in FIG. 25B). This state is a state in which the direction of the needle tip portion 11e of the injection needle 11c, that is, the first direction of the injection needle 11c is 0 degree. In this case, in the projection data acquired in step S19, the difference between the width of the projected image of the needle tip portion 11e of the injection needle 11c detected by the first optical sensor 361 and the width d0 is small. The ratio of the projected image of the injection needle 11c existing on the time T3 side is higher than that on the time T2. Further, the difference between the width of the projected image of the needle tip portion 11e of the injection needle 11c detected by the second optical sensor 362 and the width d0 is small, and the injection existing on the time T1 side with respect to the time T2. The ratio of the projected image of the needle 11c is high.

  In the example shown in FIG. 26, when the projected image of the injection needle 11c has a higher ratio of being present on the time T1 side than the time T2 with the time T2 as an index, the detection position is “up” The detection position is “lower” when the ratio existing on the time T3 side is higher than the time T2, and the detection position is “lower” when the difference between the ratio existing on the time T1 side and the time T3 side from the time T2 is small. Central "is defined. In the example shown in FIG. 26, the degree of difference between the width of the projection image of the needle tip portion 11e of the injection needle 11c and the width d0 in the projection data is “large”, “medium”, and “small”. It is defined in stages. In particular, in the example shown in FIG. 26, the fact that the projection data of the first optical sensor 361 is treated as information indicating the irradiation direction from the light emitting unit 361a of the first optical sensor 361 toward the needle tip 11e. Yes. Similarly, in the example shown in FIG. 26, the fact that the data is projection data by the second optical sensor 362 is treated as information indicating the irradiation direction from the light emitting portion 362a of the second optical sensor 362 toward the needle tip portion 11e. Yes.

  Next, in FIG. 25C, the first direction which is the direction of the needle tip portion 11e of the injection needle 11c from the state shown in FIG. 25B is acquired by the step S19 in a state rotated 45 degrees counterclockwise in FIG. 25B. An example of the projection data is shown. In this state, as shown in FIGS. 25C and 26, in the projection data obtained by the first optical sensor 361, the width difference is “small”, the detection position is “center”, and the second optical sensor 362. In the projection data obtained in the above, the difference in width is “large” and the detection position is “up”. That is, as shown in FIG. 26, by associating this result with the direction of the needle tip portion 11e of the injection needle 11c in advance, the second control unit 500 causes the first optical sensor 361 and the first optical sensor 361 to According to the detection result of the two-light sensor 362, it is possible to specify that the direction of the needle tip portion 11e of the injection needle 11c is “45 degrees”.

  On the other hand, when the direction of the needle tip portion 11e of the injection needle 11c is 0 degree (see FIG. 25B), in the projection data obtained by the first optical sensor 361, the difference in width is “medium” and the detection position is In the projection data obtained by the second optical sensor 362, the width difference is “middle” and the detection position is “up”. In such a case, since the difference between the width of the projection image of the needle tip portion 11e of the injection needle 11c and the width d0 in the projection data is small, it is difficult to specify the orientation of the needle tip portion 11e. is there. Therefore, in this embodiment, when the difference in the width in each of the projection data obtained by the first optical sensor 361 and the second optical sensor 362 is not “large”, the second control unit 500 It is determined that the direction of the needle tip portion 11e of the injection needle 11c cannot be specified. On the other hand, when the difference in the width in the projection data obtained by the first optical sensor 361 or the second optical sensor 362 is “large”, the second controller 500 determines the projection data and the orientation correspondence information. Based on the above, the direction of the needle tip portion 11e of the injection needle 11c is specified. Thereby, the detection accuracy of the direction of the needle tip portion 11e of the injection needle 11c is increased. Even when the direction of the needle tip portion 11e of the injection needle 11c is 0 degree (see FIG. 25B), the first optical sensor 361 or the second optical sensor 362 shown in FIG. Specifying the direction of the needle tip portion 11e based on the projection data and the orientation correspondence information is also conceivable as another embodiment.

  In FIGS. 25D to 25I, in step S19, the first direction, which is the direction of the needle tip portion 11e of the injection needle 11c, is rotated counterclockwise at 45 degrees in FIG. 25 from the state shown in FIG. 25C. An example of the acquired projection data is shown.

  Specifically, as shown in FIG. 25D, when the direction of the needle tip portion 11e of the injection needle 11c is 90 degrees, the projection data obtained by the first optical sensor 361 has a width difference of “medium”. In the projection data obtained by the second optical sensor 362, the width difference is “middle” and the detection position is “up”. In this case, it is determined that the direction of the needle tip portion 11e is not specified.

  As shown in FIG. 25E, when the direction of the needle tip portion 11e of the injection needle 11c is 135 degrees, the projection data obtained by the first optical sensor 361 has a width difference of “large” and detected. The position is “up”, and in the projection data obtained by the second optical sensor 362, the difference in width is “small” and the detection position is “center”. In this case, the direction of the needle tip portion 11e is specified as “135 degrees”.

  As shown in FIG. 25F, when the direction of the needle tip portion 11e of the injection needle 11c is 180 degrees, the projection data obtained by the first optical sensor 361 has a width difference of “medium” and detected. The position is “up”, and the projection data obtained by the second optical sensor 362 has a width difference of “medium” and a detection position of “down”. In this case, it is determined that the direction of the needle tip portion 11e is not specified.

  As shown in FIG. 25G, when the direction of the needle tip portion 11e of the injection needle 11c is 225 degrees, the projection data obtained by the first optical sensor 361 has a width difference of “small”, which is detected. The position is “center”, and in the projection data obtained by the second optical sensor 362, the difference in width is “large” and the detection position is “down”. In this case, the direction of the needle tip portion 11e is specified as “225 degrees”.

  As shown in FIG. 25H, when the direction of the needle tip portion 11e of the injection needle 11c is 270 degrees, the projection data obtained by the first optical sensor 361 has a width difference of “medium” and detected. The position is “down”, and the projection data obtained by the second optical sensor 362 has a width difference of “medium” and a detection position of “down”. In this case, it is determined that the direction of the needle tip portion 11e is not specified.

  As shown in FIG. 25I, when the direction of the needle tip portion 11e of the injection needle 11c is 315 degrees, the projection data obtained by the first optical sensor 361 has a width difference of “large” and detected. In the projection data obtained by the second optical sensor 362, the position is “down”, the width difference is “small”, and the detection position is “center”. In this case, the direction of the needle tip portion 11e is specified to be “315 degrees”.

  Thus, in the co-infusion apparatus 1, the width in the projection data obtained by the first optical sensor 361 or the second optical sensor 362 is set at an interval of 90 degrees in the direction of the needle tip portion 11e of the injection needle 11c. The difference between is “large”.

  In the present embodiment, when detecting the width of the projection image of the needle tip portion 11e of the injection needle 11c, projection data of the injection needle 11c at the detection position P14 in the longitudinal direction of the injection needle 11c is acquired. The Therefore, it is possible to detect a state in which the difference in the width of the projected image of the needle tip portion 11e of the injection needle 11c is “large”. On the other hand, for example, it is also conceivable that projection data of the injection needle 11c at the detection position P13 in the longitudinal direction of the injection needle 11c is acquired. An example of the projection data obtained in this case is shown in FIGS. 27A to 27I, and an example of the orientation correspondence information used in this case is shown in FIG. Note that FIGS. 27A to 27I and FIG. 28 may be considered in the same manner as FIGS. 25A to 25I and FIG. 26, and thus detailed description thereof is omitted. In this case, the needle tip portion 11e of the injection needle 11c is omitted. The state in which the difference in the width of the projected image of the injection needle 11c is “large” is not detected, and the difference in the width of the projection image of the needle tip portion 11e of the injection needle 11c is determined to be “medium”. The direction of the needle tip portion 11e is specified. Therefore, the direction of the needle tip portion 11e of the injection needle 11c is detected with higher detection accuracy when projection data (see FIGS. 25A to 25I and FIG. 26) of the injection needle 11c at the detection position P14 is used. .

<Step S21>
Thereafter, in step S21, the second control unit 500 branches the process depending on whether the direction of the needle tip portion 11e of the injection needle 11c is specified in step S20. Specifically, when the direction of the needle tip part 11e of the injection needle 11c is specified (S21: Yes side), the direction detection process ends. On the other hand, when the direction of the needle tip portion 11e of the injection needle 11c is not specified (S21: No side), the second control unit 500 shifts the process to step S22.

<Step S22>
In step S22, as in step S15, the second control unit 500 controls the second robot arm 22 so that the injection needle 11c is moved in the direction before traversing the detection light L1 and the detection light L2. Return to the detection start position.

<Steps S23 to S25>
Next, in step S23, the second controller 500 controls the second robot arm 22 to rotate the injection needle 11c by a predetermined angle about the center of the injection needle 11c. Thereafter, in Steps S24 to S25, the second control unit 500 executes the projection data acquisition process similarly to Steps S19 to S20, and the needle tip portion 11e of the injection needle 11c is based on the projection data. The first direction which is a direction is specified.

  Here, in the co-infusion apparatus 1, the first optical sensor 361 and the second optical sensor 362 are arranged so that the detection light L1 and the detection light L2 intersect perpendicularly. The predetermined angle is set to 45 degrees. As a result, the projection data obtained in step S23 is shifted by 45 degrees from the projection data obtained in step S19. Therefore, in the co-infusion apparatus 1, the direction of the needle tip portion 11e of the injection needle 11c is specified in the orientation correspondence information in either step S20 or step S25. That is, the orientation of the needle tip portion 11e of the injection needle 11c can be detected by the projection data acquisition process twice at the maximum.

  In addition, it is also conceivable as another embodiment that the steps S22 to S25 are repeatedly executed until the predetermined angle is less than 45 degrees and the direction of the needle tip portion 11e of the injection needle 11c is specified. . For example, the projection data at the position P14 of the needle tip portion 11e of the injection needle 11c is acquired while rotating the injection needle 11c at intervals of 10 degrees or 15 degrees, and the injection needle 11c of the injection needle 11c is acquired based on the projection data. It is conceivable to specify the direction of the needle tip portion 11e.

  Further, a configuration in which two sets of the first optical sensor 361 and the second optical sensor 362 are provided at positions shifted by 45 degrees is also conceivable. That is, a configuration in which a total of four transmissive photosensors are arranged at intervals of 45 degrees is conceivable. In this case, the projection data detected in step S19 and step S24 can be detected simultaneously by one movement of the injection needle 11c, and the processing time can be shortened.

  As described above, in the co-infusion apparatus 1, the second control unit 500 executes the direction detection process, thereby using the needle bending detection unit 36 to determine the direction of the needle tip portion 11e of the injection needle 11c. It is possible to detect the first direction indicating. In particular, the mixed injection device 1 can detect the direction of the needle tip portion 11e of the injection needle 11c with a simple and inexpensive configuration using the first optical sensor 361 and the second optical sensor 362. In the present embodiment, the case where both the inclination of the injection needle 11c and the direction of the needle tip portion 11e of the injection needle 11c are detected has been described as an example. On the other hand, a configuration in which only one of the inclination of the injection needle 11c and the direction of the needle tip portion 11e of the injection needle 11c is detected is also conceivable as another embodiment.

  In the mixed injection device 1, the second control unit 500 indicates the direction of the needle tip portion 11e of the injection needle 11c of the syringe 11 detected by the direction detection processing of the syringe 11 in the mixed injection processing. Various processes for controlling one or both of the posture and position of the injection needle 11c in consideration of the direction can be executed. The said 2nd control part 500 when performing the process which concerns here is an example of an attitude | position control part. Hereinafter, examples of various processes in which the posture and position of the injection needle 11c are controlled in consideration of the direction of the needle tip portion 11e of the injection needle 11c in the mixed injection process will be described. The posture of the injection needle 11c is, for example, the direction of the needle tip portion 11e of the injection needle 11c and the inclination of the injection needle 11c.

  By the way, in order to execute various processes described below in the mixed injection device 1, the direction of the needle tip portion 11e of the injection needle 11c needs to be detected in advance. It is not restricted to the method demonstrated by the process. For example, the second control unit 500 images the injection needle 11c using a camera such as the syringe confirmation camera 42, and detects the direction of the needle tip portion 11e of the injection needle 11c based on the captured image. Is also possible. The second control unit 500 when performing such detection is also an example of a direction detection unit. Further, the needle tip portion 11e of the syringe needle 11c of the syringe 11 in a state where the syringe 11 used in the co-infusion apparatus 1 is held by the second robot arm 22 has a predetermined orientation. Even in some cases, the second control unit 500 can execute the following processes.

[Cap installation processing]
First, an example of a cap mounting process executed by the second control unit 500 will be described with reference to FIGS. 29A, 29B, and 30A to 30C.

  In the mixed injection process, the second control unit 500 controls the second robot arm 22 and holds the injection needle 11c of the syringe 11 held by the holding unit 26 by the injection needle attaching / detaching device 43. It may be inserted into the cap 11d. For example, when discarding the injection needle 11c, the injection needle 11c is inserted into the cap 11d, and the cap 11d is attached to the injection needle 11c. Also, when the air inside the syringe 11a is vented while the injection needle 11c is inserted into the cap 11d, the injection needle 11c is inserted into the cap 11d. As shown in FIGS. 29A and 29B, the injection needle attaching / detaching device 43 is pressed against an opening 431 formed with a circular opening through which the cap 11d is inserted and a pointed end 11g of the cap 11d. A pressing portion 432 having a circular concave portion and a pair of holding portions 433 capable of holding the cap 11d are provided. Here, the injection needle attaching / detaching device 43 is an example of a cap holding portion.

  First, as shown in FIG. 30A, a case where the injection needle 11c is inserted into the cap 11d in a state where the center P21 of the injection needle 11c and the center P22 of the cap 11d coincide with each other will be considered. In general, the gap between the inner surface of the cap 11d and the outer diameter of the injection needle 11c is small. Therefore, the closer the tip 11g of the injection needle 11c is to the inner surface of the cap 11d, the easier the tip 11g of the injection needle 11c comes into contact with the inner surface of the cap 11d.

  On the other hand, in the co-infusion apparatus 1, the direction of the needle tip portion 11 e of the injection needle 11 c in the syringe held by the second robot arm 22 can be detected. Therefore, in the mixed injection device 1, the second control unit 500 performs the injection when the injection needle 11c is inserted into the cap 11d held by the injection needle attaching / detaching device 43, as shown in FIG. 30B. Based on the first direction, which is the direction of the needle tip portion 11e of the needle 11c, the injection is performed such that the tip 11g of the injection needle 11c is located closer to the center P22 of the cap 11d than the center P21 of the injection needle 11c. The relative posture and position of the needle 11c and the cap 11d are controlled. That is, the second controller 500 is configured such that the distance between the tip 11g of the injection needle 11c and the center P22 of the cap 11d is shorter than the distance between the center P21 of the injection needle 11c and the center P22 of the cap 11d. As described above, the posture and position of the injection needle 11c are controlled using the second robot arm 22. For example, the posture and position of the injection needle 11c are controlled using the second robot arm 22 so that the tip 11g of the injection needle 11c coincides with the center P22 of the cap 11d. Specifically, the second control unit 500 sets the center P21 of the injection needle 11c in a direction facing the needle tip 11e of the injection needle 11c with respect to the center P22 of the cap 11d. It is possible to move only a fixed amount. Further, the control unit 500 rotates the injection needle 11c about the center P21 of the injection needle 11, so that the tip 11g of the injection needle 11 is more central than the center P21 of the injection needle 11c. It is conceivable to perform control so as to approach the P22 side.

  Thereby, when the injection needle 11c is inserted into the cap 11d, the tip 11g of the injection needle 11c is less likely to contact the inner surface of the cap 11d. Therefore, for example, it is possible to increase the speed at the time of inserting the injection needle 11c into the cap 11d as compared with the conventional case.

  Incidentally, as shown in FIG. 30C, when the angle of the tip 11g of the injection needle 11c is θ1, and the angle formed by the center P21 of the injection needle 11c and the inner surface of the cap 11d is θ2, the angle θ2> the angle θ1 When this relationship is established, the tip 11g of the injection needle 11c is likely to abut against the inner surface of the cap 11d. Therefore, the second control unit 500 determines the second robot arm 22 based on the first direction that is the direction of the needle tip portion 11e of the injection needle 11c so that the relationship of angle θ2 ≦ angle θ1 is established. It is conceivable to control the posture and position of the injection needle 11c with respect to the cap 11d. Thereby, when the injection needle 11c is inserted into the cap 11d, the tip 11g of the injection needle 11c is prevented from hitting the inner surface of the cap 11d.

  Specifically, it can be considered that the second control unit 500 acquires the angle θ1 of the tip 11g of the injection needle 11c from the injection needle master stored in the ROM 502. A configuration is also conceivable in which the second control unit 500 can detect the angle θ1 of the tip 11g of the injection needle 11c using the needle bending detection unit 36. For example, when the second control unit 500 pulls out the injection needle 11c from the elongated hole 36a, the second control unit 500 detects the width of the projected image of the needle tip portion 11e of the injection needle 11c at a plurality of points in time and changes the width. Based on the amount (tilt), it is possible to detect the angle θ1 of the tip 11g of the injection needle 11c. Further, as will be described later, in a configuration including an optical sensor such as a CCD whose detection range is equal to or larger than the outer diameter of the injection needle 11c, the second control unit 500 pulls out the injection needle 11c from the elongated hole 36a. However, the change in the width of the injection needle 11c is monitored using the optical sensor, and the change in the width of the injection needle 11c and the change in the width of the projected image of the injection needle 11c are monitored. It is also possible to detect the angle θ1 of the tip 11g. Moreover, if it is the structure which can incline the said cap 11d using the said injection needle attaching / detaching apparatus 43, the said 2nd control part 500 will be the said 1st direction which is the direction of the needle | hook tip part 11e of the said injection needle 11c. Based on the above, it is also conceivable to control the inclination of the injection needle 11c with respect to the cap 11d using the injection needle attaching / detaching device 43.

  When the tilt correction process is executed before the injection needle 11c is inserted into the cap 11d, if the orientation of the needle tip portion 11e of the injection needle 11c has already been specified, the second It is conceivable that the controller 500 corrects the inclination of the injection needle 11c so that the relationship of angle θ2 ≦ angle θ1 is established in the inclination correction process. For example, it is conceivable that the direction of the needle tip portion 11e of the injection needle 11c is detected by image processing or the like using a photographed image of the syringe confirmation camera 42 in addition to the method described in the direction detection processing. In addition, when the syringe 11a and the injection needle 11c of the syringe 11 are always mounted in a fixed direction, the second control unit 500 specifies the direction as the direction of the injection needle 11c. It is possible.

[Puncture processing]
In the mixed injection process, when injecting an infusion solution into the vial bottle 10B with the syringe 11 or sucking a drug solution from the vial bottle 10B, the injection needle 11c of the syringe 11 punctures the rubber stopper 10C of the vial bottle 10B. Is done. In the following, while referring to FIGS. 31A to 31C, 32A, 32B, 33A, 33B, 34A, 34B, 35A, 35B, 39A, and 39B, the injection needle 11c is As an example of the puncturing process executed by the second controller 500 when the rubber plug 10C is punctured, a first puncture process to a fourth puncture process will be described. In the first puncture process to the fourth puncture process, the second controller 500 controls one or both of the relative posture and position of the injection needle 11c and the rubber stopper 10C. Specifically, in the present embodiment, by controlling the second robot arm 22, either or both of the relative posture and position of the injection needle 11c and the rubber stopper 10C are controlled. explain. For example, the controller 500 controls the second robot arm 22 to rotate the syringe 11 about the center P21 of the injection needle 11c, and the injection needle 11c about the center P21 of the injection needle 11c. By rotating it, it is possible to change the direction of the injection needle 11c. On the other hand, instead of the second robot arm 22 or together with the second robot arm 22, the first robot arm 21 is controlled, and any of the relative postures and positions of the injection needle 11c and the rubber stopper 10C is controlled. It is also conceivable that either or both are controlled. Note that it is conceivable that the same puncture process is executed when the injection needle 11c is punctured into the mixed injection port of the infusion bag 12.

[First puncture process]
First, as shown in FIG. 31A, even if the advancing direction R41 when the injection needle 11c is punctured into the rubber stopper 10C and the center P21 of the injection needle 11c are parallel, the center P21 of the injection needle 11c. And the rubber stopper 10C intersect perpendicularly, the force acting on the injection needle 11c when the injection needle 11c is punctured into the rubber stopper 10C becomes uneven. Therefore, after the rubber plug 10C is punctured, the traveling direction of the injection needle 11c changes. Specifically, as shown in FIG. 31A, the injection needle 11c is moved toward the tip 11g of the injection needle 11c by an angle θ11 that is ½ of the angle θ1 of the tip 11g of the injection needle 11c with respect to the traveling direction R41. It proceeds in the direction R42 inclined to the side.

  On the other hand, in the co-infusion apparatus 1, as shown in FIG. 31B, the second controller 500 controls the second robot arm 22 so that the angle θ1 of the tip 11g of the injection needle 11c is equal to the second angle θ1. It is conceivable to execute a first puncture process in which the rubber plug 10C is punctured with the injection needle 11c tilted so that the branch line and the rubber plug 10C intersect perpendicularly. Thereby, the injection needle 11c is inserted into the rubber plug 10C along the traveling direction R41 when the rubber plug 10C is punctured. Accordingly, since the shift of the direction of travel of the injection needle 11c when the injection needle 11c is punctured into the rubber stopper 10C is prevented, for example, the tip 11g of the injection needle 11c is placed in the vial stopper 10B in the rubber stopper 10C. It is prevented from hitting the inner surface of 10C.

  However, even after the injection needle 11c is punctured into the rubber stopper 10C and the needle tip portion 11e of the injection needle 11c passes through the rubber stopper 10C, the injection needle 11c is inclined with respect to the rubber stopper 10C. If there is, there is a possibility that resistance for further inserting the injection needle 11c through the rubber stopper 10C may be increased. Therefore, when the injection needle 11c is inserted through the rubber plug 10C by a preset insertion amount, the second controller 500, as shown in FIG. 31C, the injection needle 11c, the rubber plug 10C, It is conceivable to correct the inclination of the injection needle 11c so that the two intersect perpendicularly. The insertion amount is, for example, a distance until the needle tip portion 11e passes through the rubber stopper 10C, and is registered in advance for each type of the injection needle 11c in the injection needle master. Thereby, when puncturing the injection needle 11c, the injection needle 11c can be inserted along the advancing direction R41 perpendicular to the rubber stopper 10C, and the rubber of the injection needle 11c thereafter is inserted. The insertion resistance to the plug 10C can be reduced. When the second robot arm 22 can detect the resistance when the injection needle 11c is inserted through the rubber stopper 10C, the second control unit 500 has a resistance value exceeding a predetermined threshold value. In such a case, it is conceivable to correct the inclination of the injection needle 11c.

  When the tilt correction process is performed before the injection needle 11c is punctured into the rubber stopper 10C, when the direction of the needle tip portion 11e of the injection needle 11c has already been specified first, In the tilt correction process, the second controller 500 tilts the injection needle 11c so that the bisector of the angle θ1 of the tip 11g of the injection needle 11c and the rubber stopper 10C intersect perpendicularly. It is possible to correct.

[Second puncture process]
Next, as shown in FIG. 32A, when the injection needle 11c is punctured into the rubber plug 10C in a state where the center P21 of the injection needle 11c and the center P31 of the rubber plug 10C coincide with each other, The injection needle 11c advances in a direction away from the center P31 side of the rubber plug 10C. Therefore, the tip 11g of the injection needle 11c is likely to contact the inner surface of the rubber stopper 10C.

  On the other hand, in the co-infusion apparatus 1, the direction of the needle tip portion 11 e of the injection needle 11 c in the syringe held by the second robot arm 22 can be detected. Therefore, in the co-infusion apparatus 1, the second control unit 500 detects the orientation detection process when the injection needle 11c is punctured into the rubber stopper 10C of the vial bottle 10B, as shown in FIG. 32B. Based on the first direction, which is the direction of the needle tip portion 11e of the injection needle 11c, the tip 11g of the injection needle 11c is closer to the center side of the rubber stopper 10C of the vial 10B than the center P21 of the injection needle 11c. The posture and position of the injection needle 11c are controlled so as to be positioned in the position. Specifically, the second controller 500 determines that the tip 11g of the injection needle 11c and the center P31 of the rubber plug 11C are closer than the distance between the center P21 of the injection needle 11c and the center P31 of the rubber plug 11C. The posture and position of the injection needle 11c are controlled using the second robot arm 22 so as to shorten the distance. For example, using the first robot arm 21 or the second robot arm 22 such that the tip 11g of the injection needle 11c coincides with the center P31 of the rubber stopper 10C, the vial 10B and the injection needle 11c The positional relationship is controlled. In this case, the second controller 500 sets a predetermined amount in a direction perpendicular to the longitudinal direction of the injection needle 11c so that the central axis P21 of the injection needle 11c faces the central axis P31 of the rubber stopper 10C. It is possible to translate only. Further, the control unit 500 rotates the injection needle 11c about the center P21 of the injection needle 11, so that the tip 11g of the injection needle 11 is closer to the rubber plug 10C than the center P21 of the injection needle 11c. It is also conceivable to perform control so as to approach the central axis P31 side. Accordingly, when the injection needle 11c is punctured into the rubber stopper 10C, the injection needle 11c advances toward the center P31 side of the rubber stopper 10C. This makes it difficult for the tip 11g of the injection needle 11c to contact the inner surface of the rubber stopper 10C.

[Third puncture process]
In the mixed injection device 1, for example, when an infusion is injected from the syringe 11 into the vial bottle 10B, and when a drug solution is sucked from the vial bottle 10B by the syringe 11, the injection needle 11c of the syringe 11 is moved to the vial bottle. The rubber plug 10C of 10B may be inserted through a plurality of puncture positions. Here, in FIG. 33A and FIG. 33B, the injection needle 11c is inserted into two insertion positions H1 and H2, and in FIG. 34A and FIG. 34B, the insertion needle Hc is inserted into two insertion positions H3 and H4. A state where the injection needle 11c is inserted is shown. 33A and 34A are plan views of the rubber stopper 10C of the vial bottle 10B, and the crescent shape of the insertion positions H1 to H4 indicates that the convex side is the pointed end 11g side of the injection needle 11c. Show. 33B is a B1-B1 arrow sectional view in FIG. 33A, and FIG. 34B is a B2-B2 arrow sectional view in FIG. 34A.

  By the way, as a method of puncturing the injection needle 11c at a plurality of puncture positions in the rubber stopper 10C, for example, different positions on the same circle in the rubber stopper 10C are set as a plurality of insertion positions, or the rubber It is conceivable that different positions in the radial direction of the plug 10C are set as a plurality of insertion positions. At this time, the second control unit 500 uses the medicine reading unit 34 to rotate the vial 10B until the medicine information is read from the barcode of the vial 10B. It is conceivable to stop the rotation of the vial bottle 10B by stopping the drive motor of the roller 34a of the medicine reading section 34 after a predetermined time has elapsed since that time. Accordingly, the vial bottle 10B stops in a predetermined posture in which the barcode is read, and thus the second control unit 500 can specify the direction of the vial bottle 10B. . In addition, the second control unit 500 can adjust the relative posture and position of the rubber stopper 10C of the vial bottle 10B and the injection needle 11c using the medicine reading unit 34.

  Thus, when the injection needle 11c is inserted into a plurality of puncture positions in the rubber stopper 10C of the vial bottle 10B, as shown in the insertion positions H1 and H2 shown in FIG. 33A, the tip 11g of the injection needle 11c is It can be considered that the rubber plug 10C is close to the center P31 side. That is, in the example shown in FIG. 33A, the directions of the straight lines at the insertion positions H1 and H2 are directions D11 and D21 that approach each other. In this case, as shown in FIG. 33B, the injection needle 11c advances toward the center P31 side of the rubber stopper 10C, and a through-hole formed by the injection needle 11c punctured at a plurality of puncture positions. May be liable to leak chemicals.

  Therefore, in the co-infusion apparatus 1, when the injection needle 11c is punctured at a plurality of puncture positions in the rubber stopper 10C of the same vial 10B, the second control unit 500 causes the insertion position H3 shown in FIG. 34A. And H4, the second robot arm 22 is controlled so that a straight line extending in the first direction from the center P21 of the injection needle 11c through the tip 11g of the injection needle 11c does not intersect. Thereby, the advancing direction of the injection needle 11c when puncturing each of the plurality of puncturing positions in the rubber stopper 10C is a direction in which they are separated from each other. In the present embodiment, the case where the straight lines intersect includes the case where the straight lines overlap as shown in FIG. 33A in addition to the intersection of the straight lines.

  In particular, when there are two insertion positions of the injection needle 11c into the rubber stopper 10C, from the center P21 of the injection needle 11c to the pointed end 11g of the injection needle 11c when puncturing each of the puncture positions. It is desirable that the directions to go in conflict. That is, in the example shown in FIG. 34A, it is preferable that the directions of the straight lines extending in the first direction at the insertion positions H3 and H4 are opposite directions D31 and D41. Thus, when the injection needle 11c is punctured into the rubber stopper 10C, the injection needle 11c advances toward the outside of the rubber stopper 10C as shown in FIG. 34B. Therefore, when the injection needle 11c is repeatedly punctured into the rubber stopper of the same vial 10B, the through hole is prevented from communicating.

  Here, the case where the insertion position of the injection needle 11c into the rubber stopper 10C is described as an example has been described, but the same applies to the case where there are three or more insertion positions. For example, FIG. 35A and FIG. 35B show an example in which there are four insertion positions of the injection needle 11c into the rubber stopper 10C. Specifically, the second control unit 500 performs the puncture position H5 when the injection needle 11c is punctured into the rubber stopper 10C, such as the insertion positions H5 to H8 of the injection needle 11c shown in FIG. 35A. The tip 11g of the injection needle 11c is placed on the upper surface of the rubber stopper 10C so that a straight line extending through the tip 11g of the injection needle 11c from the center of the injection needle 11c when puncturing each of H8 is not intersected. It is conceivable that the light is directed radially away from the center P31. That is, the straight directions D51, D61, D71, and D81 from the center of the injection needle 11c at the four puncture positions H5 to H8 toward the pointed tip 11g of the injection needle 11c are different by 90 degrees. Thereby, when the injection needle 11c is punctured into the rubber stopper 10C, the injection needle 11c moves away from the center of the rubber stopper 10C, and the through hole of the injection needle 11c communicates. It is prevented. In addition, in the insertion positions H5 to H8 of the injection needle 11c shown in FIG. 35B, the first direction which is the direction of the injection needle 11c when puncturing each of the puncture positions H5 to H8 is the same, It is also conceivable that the direction A81 from the center of the injection needle 11c toward the tip 11g of the injection needle 11 coincides. Also in this case, when the injection needle 11c is punctured into the rubber stopper 10C, the injection needle 11c advances in the same direction, and the through hole of the injection needle 11c is prevented from communicating. The

[Fourth puncture process]
FIGS. 39A and 39B are diagrams for explaining another example of the puncturing method when the injection needle 11c is punctured twice into the rubber stopper 10C inserted into the vial bottle 10B. As shown in FIG. 39A, at least a part of the rubber stopper 10C is formed in a cylindrical insertion portion 10C-1 inserted into the mouth portion of the vial bottle 10B and an edge portion of the mouth portion of the vial bottle 10B. It is an elastic member such as rubber including the contact portion 10C-2 that comes into contact. The contact portion 10C-2 is formed with a thin layer portion 10C-3 that is easy to puncture the injection needle 11c. The thin layer portion 10C-3 is a region that is thinner than the total thickness of the insertion portion 10C-1 and the contact portion 10C-2 in the puncture direction of the injection needle 11c. More specifically, the thin layer portion 10C-3 is a region corresponding to the inside of the cylinder of the insertion portion 10C-1 in the contact portion 10C-2, and can easily puncture the injection needle 11c. It has a possible thickness. Normally, when the injection needle 11c of the syringe 11 is punctured into the rubber stopper 10C of the vial bottle 10B, the injection needle 11c is punctured into the thin layer portion 10C-3.

  By the way, as described above, in the mixed injection process, an injection process of injecting a liquid such as an infusion into the vial bottle 10B using the syringe 11, and a liquid such as a drug solution from the vial bottle 10B using the syringe 11 are performed. In some cases, a suction step of sucking the water is included. In this case, the injection needle 11c of the syringe 11 is punctured a plurality of times into one vial 10B. However, for example, in the vial bottle 10B of an anticancer agent such as methotrexate 5 mg, the area of the thin layer portion 10C-3 is small. Therefore, it may be difficult to puncture the injection needle 11c twice or more while preventing the coring of the rubber stopper 10C.

  On the other hand, in the injection step and the suction step, the second control unit 500 passes the injection needle 11c of the syringe 11 through the insertion portion 10C-1 and inserts it into the vial bottle 10B. It is conceivable that a method and a second puncture method in which the injection needle 11c of the syringe 11 is inserted through the thin layer portion 10C-3 and inserted into the vial bottle 10B can be selected. Thereby, it is possible to puncture the injection needle 11c of the syringe 11 twice or more while preventing the coring of the rubber stopper 10C. Specifically, in the mixed injection control program, it is set in advance which of the first puncture method and the second puncture method is executed in the injection step and the suction step. The second control unit 500 selectively executes the first puncture method and the second puncture method according to the mixed injection control program.

  For each type of vial 10B, positional information of the region of the insertion portion 10C-1 of the rubber stopper 10C in the vial 10B and the thin layer portion 10C-3 of the rubber stopper 10C in the vial 10B. The position information of the area is stored in advance in the data storage unit 504, for example. Then, the second control unit 500 controls either or both of the relative posture and the position of the injection needle 11c and the rubber stopper 10C based on each of the position information. The injection needle 11c is punctured into the rubber stopper 10C by the puncturing method or the second puncturing method.

  More specifically, in the injection step of injecting the liquid such as the infusion into the vial bottle 10B, the second control unit 500 performs the first insertion of the injection needle 11c into the rubber stopper 10C. The first puncture method is selected. That is, in the injection step, as shown in FIG. 39A, the injection needle 11c is inserted from a region outside the thin layer portion 10C-3 into which the injection needle 11c is punctured by the second puncture method. The part 10C-1 is punctured. At this time, in the first puncture method, after the second controller 500 inserts the tip 11e of the injection needle 11c into a region outside the thin layer portion 10C-3 in the contact portion 10C-2, It can be considered that the insertion portion 10C-1 penetrates to the end surface 10C-1A in the insertion direction of the injection needle 11c. If the injection needle 11c does not pass through the thin layer portion 10C-3, the second control unit 500 causes the tip 11e of the injection needle 11c to move to the thin layer portion 10C- in the contact portion 10C-2. It is also conceivable to insert the cylindrical inner peripheral surface 10C-1B in the insertion portion 10C-1 after insertion into the outer region of 3.

  On the other hand, after the injection step, the second control unit 500 inserts the injection needle 11c into the rubber plug 10C in the suction step of sucking a liquid such as a drug solution dissolved by the infusion from the vial bottle 10B. When the second puncture is performed, the second puncture method is selected. That is, in the suction step, as shown in FIG. 39B, the injection needle 11c is inserted into the thin layer portion 10C inside the insertion portion 10C-1 into which the injection needle 11c is punctured by the first puncture method. -3 is punctured. Further, in the suction step, since the vial bottle 10B is sucked by the syringe 11 with the mouth portion of the vial bottle 10B directed vertically downward, a liquid is placed in the cylindrical portion of the insertion portion 10C-1. Accumulates. However, since the second puncture method is used in the suction step, it is possible to suck all the chemical solution in the vial bottle 10B.

  Thus, in the co-infusion apparatus 1, even when the area of the thin layer portion 10C-3 is small, the injection needle 11c is punctured into the thin layer portion 10C-3 and the insertion portion 10C-1, respectively. This makes it possible to puncture the rubber stopper 10C at least twice while preventing the coring of the rubber stopper 10C.

  In addition, as described above, when the injection needle 11c is punctured into the thin layer portion 10C-3 a plurality of times and the fourth puncture processing is combined, the insertion portion 10C-1 is also disposed at one or a plurality of locations. It is also conceivable to puncture the injection needle 11c. Similarly, the injection needle 11c can be punctured once into the thin layer portion 10C-3, and the injection needle 11c can be punctured at a plurality of locations of the insertion portion 10C-1. Thereby, it is possible to puncture three or more times while preventing the coring of the rubber plug 10C.

[Chemical solution suction]
In the mixed injection process, the second control unit 500 controls the second robot arm 22 and inserts the injection needle 11c of the syringe 11 into the chemical container 10 such as the ampoule 10A to suck the chemical solution. There are things to do. Here, an example of the chemical liquid suction process executed by the second control unit 500 will be described with reference to FIGS. 36A and 36B.

  As shown in FIG. 36A, when the injection needle 11c is inserted into the medicine container 10, the needle tip portion 11e of the injection needle 11c is directed to the opposite side of the inner surface 10D of the medicine container 10. Is difficult to suck without leaving the drug solution in the drug container 10 using the injection needle 11c.

  On the other hand, in the co-infusion apparatus 1, the direction of the needle tip portion 11e of the injection needle 11c in the syringe 11 held by the second robot arm 22 can be detected. Therefore, as shown in FIG. 36B, the second controller 500 controls one or both of the first robot arm 21 and the second robot arm 22 so that the cut surface 11f of the injection needle 11c has the chemical. A state of being directed to the inner side surface 10D of the container 10 is formed. Thereby, in the said co-infusion apparatus 1, it is possible to attract | suck without leaving the chemical | medical solution in the said chemical | medical container 10 as much as possible using the said injection needle 11c. In particular, the second controller 500 includes the first robot arm 21 and the second robot so that the cut surface 11f of the injection needle 11c and the inner surface 10D of the medicine container 10 are in parallel or nearly parallel. It is desirable to control the arm 22.

  In the embodiment, in the mixed injection process using the vial bottle 10B, the drug solution is sucked with the opening of the vial bottle 10B directed downward and the tip 11g of the injection needle 11c directed upward. The case where this is done is described as an example. On the other hand, when the drug solution is sucked with the opening of the vial bottle 10B facing upward and the tip 11g of the injection needle 11c facing downward, the needle tip 11e of the injection needle 11c is It is conceivable that the chemical liquid is sucked in a state directed to the inner surface 10D of the vial bottle 10B. That is, the control of the direction of the needle tip portion 11e of the injection needle 11c in the chemical solution suction process is applied not only when the chemical container 10 is an ampoule 10A but also when the chemical container 10 is a vial 10B. May be.

  In the mixed injection process, the direction of the needle tip portion 11e of the injection needle 11c is detected. Therefore, when the second control unit 500 moves the syringe 11 by the second robot arm 22 or the like in the mixed injection process, the cut surface 11f of the injection needle 11c of the syringe 11 is directed vertically upward. Thus, it is conceivable to control the second robot arm 22 and the like. This makes it difficult for the drug solution to drip from the cut surface 11f of the injection needle 11c by its own weight. For example, it is conceivable to prevent leakage of the drug solution from the injection needle 11c by directing the tip 11g of the injection needle 11c vertically upward, but the movable range of the second robot arm 22 or the like or the posture during movement This is suitable when the tip 11g of the injection needle 11c cannot be directed vertically upward.

[Second Embodiment]
By the way, in the first embodiment, the projection data of the needle tip portion 11e of the injection needle 11c is acquired using the first optical sensor 361 and the second optical sensor 362 of the needle bending detection unit 36, The method for detecting the direction of the needle tip portion 11e has been described. Hereinafter, in this embodiment, another method for detecting the direction of the needle tip portion 11e of the injection needle 11c will be described with reference to FIGS. 37A to 37C and FIGS. 38A to 38C. In addition, about the point which is not demonstrated here about the said mixed injection apparatus 1, it is the same as that of the said 1st Embodiment.

  As shown in FIGS. 37A to 37C, the mixed injection device 1 according to this embodiment is irradiated with detection light L11 in a range wider than the outer diameter of the injection needle 11c instead of the third optical sensor 363. A line sensor 365 including a light emitting unit 365a and a light receiving unit 365b that receives the detection light L11 is provided. In the light receiving unit 365b, a plurality of photoelectric conversion elements (CCD and the like) that detect light incident from the light emitting unit 365a are arranged in a line in parallel. That is, the line sensor 365 is an example of a transmissive optical sensor used in the present invention, but is a so-called image sensor that can acquire a projection image in a range irradiated with the detection light L11 as image data. Thereby, the line sensor 365 can obtain a projection image of the injection needle 11c existing between the light emitting unit 365a and the light receiving unit 365b as projection data. The line sensor 365 is configured to be rotatable relative to the injection needle 11c by a drive mechanism (not shown). Hereinafter, a plane including the detection light L11 of the line sensor 365 and perpendicular to the insertion direction R11 is referred to as a detection plane. The longitudinal direction of the injection needle 11c and the insertion direction R11 are the same direction.

  More specifically, the second control unit 500 executes the following process instead of the orientation detection process (see FIG. 22).

  First, the second controller 500 controls the second robot arm 22 to move the injection needle 11c, and positions the position P11 of the injection needle 11c on the detection plane of the line sensor 365. Then, as shown in FIGS. 37A to 37C, the second control unit 500 performs the rotation operation of rotating the line sensor 365 around the injection needle 11c using the drive mechanism, while performing the rotation operation. Projection data acquired by the sensor 365 is stored and stored in the RAM 503. Here, the rotation operation of the line sensor 365 is stopped after rotation of, for example, 180 degrees or 360 degrees. Thereby, the projection data of the needle tip portion 11e when the first detection position P11 of the needle tip portion 11e of the injection needle 11c is irradiated with light from a plurality of directions is acquired.

  Subsequently, the second controller 500 controls the second robot arm 22 to move the injection needle 11c, and positions the position P14 of the injection needle 11c on the detection plane of the line sensor 365. Then, as shown in FIGS. 38A to 38C, the second control unit 500 performs the rotation operation of rotating the line sensor 365 around the injection needle 11c using the drive mechanism, while performing the rotation operation. Projection data acquired by the sensor 365 is stored and stored in the RAM 503 together with the rotation angle of the rotation operation. The said 2nd control part 500 when performing the process which concerns here is an example of a 2nd movement process part. Here, the rotation operation of the line sensor 365 is stopped after rotation of, for example, 180 degrees or 360 degrees. Thereby, projection data of the needle tip portion 11e when light is irradiated from a plurality of directions onto the position P14 of the needle tip portion 11e of the injection needle 11c is acquired. The irradiation direction can be specified by the rotation angle of the rotation operation of the line sensor 365 stored together with the projection data.

  Thereafter, the second controller 500 determines the injection needle 11 in the radial direction of the injection needle 11 according to each projection data stored in the RAM 503 and the irradiation direction of each light corresponding to the projection data. The first direction from the center toward the tip 11g of the injection needle 11 is detected as the direction of the needle tip portion 11e of the injection needle 11c. More specifically, the second control unit 500 includes the line sensor 365 and the line sensor 365 when the width of the projection image of the injection needle 11c is the narrowest in the projection data corresponding to the position P14 of the injection needle 11c. The positional relationship with the injection needle 11c, that is, the irradiation direction (rotation angle) is specified. Further, the second control unit 500 has the same positional relationship as the previously specified positional relationship, that is, the same irradiation direction (rotation angle) in the projection data corresponding to the position P11 of the injection needle 11c. The projection data obtained when is is extracted.

  Then, the second control unit 500 identifies the direction of the needle tip part 11e by comparing the projection data in the same positional relationship. Specifically, in the positional relationship when the projected image corresponding to the position P14 of the injection needle 11c is the narrowest, either one of the directions perpendicular to the optical axis of the line sensor 365 on the detection plane is This is the position of the tip 11g in the circumferential direction of the injection needle 11c. Therefore, the second control unit 500 determines that the projection image at the position P14 exists in the projection image at the position P11 based on the comparison result of the projection images at the position P11 and the position P14 of the injection needle 11c. It can be determined that the direction is the position of the tip 11g in the circumferential direction of the injection needle 11c, and the direction of the needle tip portion 11e can be specified. In particular, according to the present embodiment, since the projection data of the needle tip portion 11e of the injection needle 11c obtained by the line sensor 365 is obtained with high resolution, the detection accuracy of the direction of the needle tip portion 11e of the injection needle 11c is detected. Can be increased.

  As another embodiment, when the second control unit 500 pulls out the injection needle 11c from the elongated hole 36a, the line sensor 365 continuously or intermittently acquires projection data of the injection needle 11c. It is possible to do. In this case, the second control unit 500 can specify the orientation of the needle tip portion 11e of the injection needle 11c according to the change in the projection data when the injection needle 11c is pulled out from the elongated hole 36a. is there. Specifically, when the injection needle 11c is pulled out from the elongated hole 36a, the width of the projected image of the injection needle 11c detected by the line sensor 365 gradually increases toward the point 11g of the injection needle 11c. Becomes narrower. Therefore, the second control unit 500 specifies the position of the tip 11g of the injection needle 11c according to the moving direction of the center position in the width direction of the projection image of the injection needle 11c and the change amount (or inclination) thereof. It is possible. In addition, the second control unit 500 relates the relationship between the movement amount of the injection needle 11c and the change amount (reduction amount) of the projected image of the injection needle 11c when the injection needle 11c is pulled out from the elongated hole 36a. It is also possible to detect the angle θ1 of the tip 11g of the injection needle 11c based on the above.

  By the way, in the projection data acquisition process, the case where the direction of the needle tip portion 11e of the injection needle 11c is detected when the injection needle 11c is pulled out from the elongated hole 36a has been described as an example. On the other hand, it is also conceivable that the orientation detection process is executed after the injection needle 11c is pulled out from the elongated hole 36a before or after the inclination correction of the injection needle 11c in the inclination correction process. . In this case, in the projection data acquisition process, the orientation of the needle tip portion 11e of the injection needle 11c may be detected when the injection needle 11c is inserted into the elongated hole 36a. It is also conceivable that the orientation of the needle tip portion 11e of the injection needle 11c is detected both when the injection needle 11c is inserted into the elongated hole 36a and when the injection needle 11c is pulled out of the elongated hole 36a. It is done. In these cases, the second controller 500 determines the position of the needle tip 11e of the injection needle 11c according to the direction in which the projection data becomes wider when the injection needle 11c is inserted into the elongated hole 36a. It is also possible to specify the direction. In addition, the second control unit 500 can detect the angle θ1 of the tip 11g of the injection needle 11c based on the inclination that the projection data becomes wider when the injection needle 11c is inserted from the elongated hole 36a. It is.

  Here, the case where the line sensor 365 is rotated has been described as an example, but it is only necessary that the positional relationship between the line sensor 365 and the injection needle 11c can be relatively changed. That is, the second controller 500 may rotate the injection needle 11c about the longitudinal direction of the injection needle 11c in the step S14 and the step S19. The said 2nd control part 500 when performing the process which concerns here is an example of a 2nd movement process part.

[Third Embodiment]
In the present embodiment, a progress status management function for predicting the progress status and end time of the mixed injection process will be described. In addition, about the point which is not demonstrated about the said co-infusion apparatus 1, it is the same as that of the said 1st Embodiment or the said 2nd Embodiment.

  Specifically, the progress status management function is realized by the first control unit 400 executing a prediction process described later. In addition, a prediction process described later may be executed by the second control unit 500. Furthermore, the prediction process described later may be executed in cooperation by the first control unit 400 and the second control unit 500.

  By the way, it is conceivable that the first control unit 400 predicts the progress and end time of the mixed injection process based on the adjustment procedure included in the preparation data. For example, the first control unit 400 may calculate the time required for each operation content in the mixed injection process based on the solvent amount and the sampling amount included in the adjustment procedure. That is, it is conceivable to calculate the time required for the mixed injection process based on an arithmetic expression set in advance so as to increase as the solvent amount and the extraction amount increase.

  However, in the mixed injection process, the syringe size of the syringe 11a of the syringe 11 used in the mixed injection process may be different even if the solvent amount and the extraction amount are the same. And depending on the syringe size (capacity) of the syringe 11a of the syringe 11, even if the solvent amount and the extraction amount are the same, the time required for each work content in the mixed injection process may be different.

  For example, among the two types of syringes 11 having different syringe sizes of the syringe 11a, the syringe 11 having a small syringe size has a larger amount of air that can be accommodated than the syringe 11 having a large syringe size. Therefore, when a replacement process for replacing liquid and air is necessary in the mixed injection process, the syringe 11 having a smaller syringe size requires a larger number of executions of the replacement process, and the time required for the mixed injection process is longer. May be. In addition, the syringe 11 having a small syringe size has a smaller liquid injection amount and suction amount per unit stroke of the plunger 11b than the syringe 11 having a larger syringe size. For this reason, the syringe 11 having a smaller syringe size may increase the required stroke amount, and may increase the time required for the mixed injection process.

  Therefore, it is conceivable that the first control unit 400 calculates the time required for each work content in the mixed injection process in consideration of the syringe size of the syringe 11a of the syringe 11. More specifically, the data storage unit 404 of the first control unit 400 includes a required time table D3 in which a required time for each work content in the mixed injection process is determined for each syringe size of the syringe 11a of the syringe 11. It is remembered. FIG. 40 shows an example of the required time table D3.

  As shown in FIG. 40, the required time table D3 includes the type of work content, the syringe size of the syringe 11a of the syringe 11, and the work amount (injection amount or suction amount) that is the target of the work content. And the correspondence relationship with the required time is stored. For example, when the type of work content is “vial injection”, the work amount (injection amount) corresponding to the work content is “4 ml”, and the syringe size of the syringe 11 is “5 ml”, the required time Is “48 seconds”. Similarly, even when the type of work content is “vial injection” and the work amount (injection amount) corresponding to the work content is “4 ml”, the syringe size of the syringe 11 is “10 ml” The required time is “41 seconds”. That is, even if the type of work content and the work amount are the same, the required time may be different if the syringe size is different.

  And the said 1st control part 400 shows the required time of each operation | work content in the said mixed injection process corresponding to the said preparation data, the total required time of the said mixed injection process, etc. based on the said required time table D3 and the said preparation data. calculate. Thereby, the syringe size of the syringe 11 used in the mixed injection process is taken into consideration, and the prediction accuracy of the time required for the mixed injection process can be improved. The first control unit 400 sets, for example, the same work content and the same syringe size in the required time table D3 for the required time of the work amount for which the required time corresponding to the required time table D3 is not determined. It may be calculated by linear interpolation based on the work amount and the required time determined in association with each other.

  Then, the first control unit 400 displays the progress and end time of the mixed injection process on the touch panel monitor 14 based on the required time of each work content in the mixed injection process and the total required time of the mixed injection process. It can be displayed on the display 203 or the like. For example, the first control unit 400 may include, as the progress status, a predicted remaining time of each of the work contents, a scheduled end time of each of the work contents, a predicted remaining time of the mixed injection process, and a scheduled end time of the mixed injection process. It is conceivable to display any one or a plurality of information.

[Summary of Invention]
Hereinafter, an outline of the invention extracted from each of the above-described embodiments will be added. It should be noted that each configuration and each processing function described below can be selected and arbitrarily combined.

[Appendix 1]
A co-infusion apparatus for performing co-infusion processing for sucking medicine from a container and injecting it into another container with a syringe, wherein the needle tip portion is irradiated with light from a plurality of directions to the needle tip portion of the syringe needle According to the width detection unit for detecting the width of each projection image, the width of each projection image of the needle tip detected by the width detection unit, and the irradiation direction of each light corresponding to the projection image, A co-infusion apparatus comprising: a direction detecting unit that detects a first direction from a center of the injection needle toward a tip of the injection needle in a radial direction of the injection needle.

  According to the present invention, it is possible to detect the first direction as the direction of the needle tip portion of the injection needle. For example, the mixed injection process is executed in consideration of the direction of the needle tip portion of the injection needle. Is possible.

[Appendix 2]
The mixed injection according to supplementary note 1, wherein the width detection unit detects a width of each projection image of the needle tip part when the needle tip part of the injection needle is irradiated from a plurality of directions intersecting a longitudinal direction of the injection needle. apparatus.

[Appendix 3]
A plurality of transmission type optical sensors having different irradiation directions of light applied to the needle tip portion of the injection needle, and the injection needle and the transmission type optical sensor in a direction in which the needle tip portion of the injection needle crosses each of the lights. A first movement processing unit that moves relative to the width detection unit, and the transmission type optical sensor when the transmission type optical sensor and the injection needle are relatively moved by the first movement processing unit. The co-infusion apparatus according to Supplementary Note 1 or 2, wherein the width of the projected image is detected based on the detection result.

[Appendix 4]
One transmission type optical sensor that irradiates light to the needle tip of the injection needle, and a second that relatively changes the relationship between the light irradiation direction by the transmission type optical sensor and the first direction of the injection needle. A movement processing unit, and the width detection unit is in a different state in which the relationship between the irradiation direction of the light by the transmission optical sensor and the first direction in the injection needle is relatively changed by the second movement processing unit. The mixed injection device according to appendix 1 or 2, wherein a width of the projection image is detected based on a detection result of the transmission type optical sensor.

[Appendix 5]
The transmissive optical sensor irradiates the needle tip of the injection needle with light in a range wider than the outer diameter of the injection needle, and the second movement processing unit transmits the transmission about the longitudinal direction of the injection needle. The width detection unit is configured to rotate the transmission type optical sensor based on a detection result of the transmission type optical sensor when the transmission type optical sensor is rotated by the second movement processing unit. The mixed injection device according to supplementary note 4, which detects a width.

[Appendix 6]
The transmissive optical sensor irradiates the needle tip of the injection needle with light in a range wider than the outer diameter of the injection needle, and the second movement processing unit performs the injection with the longitudinal direction of the injection needle as an axis. The needle is rotated, and the width detection unit detects the width of the projection image based on a detection result of the transmission optical sensor when the injection needle is rotated by the second movement processing unit. The mixed injection device according to appendix 4.

[Appendix 7]
The posture control unit that further controls one or both of the posture and the position of the injection needle in the mixed injection process based on the first direction detected by the direction detection unit. Mixed injection device.

[Appendix 8]
The mixed injection device according to appendix 7, wherein the posture of the injection needle controlled by the posture control unit is one or both of the direction of the first direction and the inclination of the injection needle of the injection needle.

[Appendix 9]
A cap holding unit that holds the cap of the injection needle is further provided, and the posture control unit is detected by the orientation detection unit when the injection needle is inserted into the cap held by the cap holding unit. Based on the first direction, either one of the relative posture and position of the injection needle and the cap such that the tip of the injection needle is located closer to the center of the cap than the center of the injection needle or Item 9. The co-infusion apparatus according to appendix 8, which controls both.

[Appendix 10]
Based on the first direction detected by the orientation detection unit when the injection needle is punctured into the rubber stopper of the container, the posture control unit is configured to point the injection needle more than the center of the injection needle. The co-infusion apparatus according to appendix 8 or 9, wherein one or both of the relative posture and position of the injection needle and the container is controlled so that is positioned on the center side of the rubber stopper of the container.

[Appendix 11]
The posture control unit punctures each of the puncture positions based on the first direction detected by the orientation detection unit when the injection needle is punctured at a plurality of puncture positions in the rubber stopper of the container. The mixed injection device according to any one of appendices 8 to 10, wherein one or both of a relative posture and a position of the injection needle and the container are controlled so that the first direction does not intersect.

[Appendix 12]
The posture control unit is punctured at each puncture position based on the first direction detected by the orientation detection unit when the injection needle is punctured at two puncture positions in the rubber stopper of the container. 12. The co-infusion apparatus according to appendix 11, wherein one or both of the relative posture and position of the injection needle and the container are controlled so that the first directions are opposite to each other.

[Appendix 13]
The posture control unit punctures each of the puncture positions based on the first direction detected by the orientation detection unit when the injection needle is punctured at a plurality of puncture positions in the rubber stopper of the container. The mixed injection device according to any one of appendices 8 to 10, wherein one or both of a relative posture and a position of the injection needle and the container are controlled so that the first directions are the same.

[Appendix 14]
The posture control unit, when the injection needle is punctured into the rubber stopper of the container, based on the first direction detected by the orientation detection unit, the bisector of the tip of the injection needle and the The mixed injection device according to appendix 8 or 9, wherein either or both of the relative posture and position of the injection needle and the container are controlled so that the rubber stopper of the container is vertical.

[Appendix 15]
Using the width detection unit, a position detection processing unit that detects position information of the injection needle in a plurality of virtual planes that are perpendicular to the longitudinal direction of the injection needle and parallel to each other, and detected by the position detection processing unit The co-infusion apparatus according to any one of appendices 8 to 14, further comprising: an inclination detection unit that detects an inclination of the injection needle with respect to the virtual plane based on position information of the injection needle.

  Thereby, it is possible to detect the inclination of the injection needle, and for example, it is possible to execute the mixed injection process in consideration of the inclination of the injection needle.

[Appendix 16]
The posture control unit is configured to control the injection needle in the mixed injection process based on one or both of the first direction detected by the orientation detection unit and the inclination of the injection needle detected by the inclination detection unit. The mixed injection device according to supplementary note 15, which controls either one or both of a posture and a position.

[Appendix 17]
When the posture control unit punctures the rubber stopper of the container according to the first direction detected by the orientation detection unit and the inclination of the injection needle detected by the inclination detection unit The mixed injection device according to supplementary note 16, which controls one or both of a relative posture and a position of the injection needle and the container.

[Appendix 18]
When the posture control unit punctures the rubber stopper of the container according to the first direction detected by the orientation detection unit and the inclination of the injection needle detected by the inclination detection unit Appendix 17 for controlling either or both of the relative posture and position of the injection needle and the container so that the bisector of the tip of the injection needle and the rubber stopper of the container are perpendicular to each other The mixed injection device described.

  Thereby, when the said injection needle is punctured by the said rubber stopper, it becomes possible to advance the said injection needle along the advancing direction.

[Appendix 19]
When the posture control unit inserts the injection needle into the rubber stopper after the injection needle has been inserted into the rubber stopper of the container up to a predetermined distance, the posture control unit and the rubber of the container 18. The co-infusion apparatus according to appendix 17, which controls one or both of the relative posture and position of the injection needle and the container so that the stopper is vertical.

  Thereby, the insertion resistance of the injection needle after the injection needle is punctured into the rubber stopper is suppressed.

[Appendix 20]
A cap holding unit that holds the cap of the injection needle is further provided, and the posture control unit is configured to respond to the inclination of the injection needle detected by the inclination detection unit and the first direction detected by the orientation detection unit. When the injection needle is inserted into the cap held by the cap holding portion, the relative posture between the injection needle and the container is such that the tip of the injection needle is positioned on the center side of the cap And the co-infusion apparatus according to any one of appendices 15 to 19, which controls one or both of the position and the position.

[Appendix 21]
In response to the first direction detected by the orientation detection unit and the inclination of the injection needle detected by the inclination detection unit, the injection needle is attached to the cap held by the cap holding unit. When the needle is inserted, the relative posture and position of the injection needle and the container are such that the angle formed by the longitudinal direction of the injection needle and the inner wall surface of the cap is equal to or less than the angle of the tip of the injection needle. The mixed injection device according to supplementary note 20, which controls either one or both of the above.

[Appendix 22]
A co-infusion apparatus for performing co-infusion processing for sucking medicine from a container and injecting it into another container with a syringe, wherein the syringe has a plurality of virtual planes perpendicular to the longitudinal direction of the injection needle of the syringe and parallel to each other. A position detection processing unit that detects position information of the injection needle, an inclination detection unit that detects an inclination of the injection needle with respect to the virtual plane based on each of the position information of the injection needle detected by the position detection processing unit, And a posture control unit that controls the posture of the injection needle based on the tilt of the injection needle detected by the tilt detection unit.

  According to the present invention, it is possible to detect the inclination of the injection needle, and for example, it is possible to execute the mixed injection process in consideration of the inclination of the injection needle.

[Appendix 23]
A co-infusion apparatus for performing co-infusion processing for sucking medicine from a container and injecting it into another container with a syringe, a cap holding part for holding a cap of an injection needle of the syringe, and the radial direction of the injection needle A direction detection unit that detects a first direction from the center of the injection needle toward the tip of the injection needle, and a detection by the direction detection unit when the injection needle is inserted into the cap held by the cap holding unit. One of the relative postures and positions of the injection needle and the cap so that the tip of the injection needle is located closer to the center of the cap than the center of the injection needle based on the first direction. An attitude control unit that controls one or both of the co-infusion apparatus.

  According to the present invention, for example, the tip of the injection needle is prevented from hitting the inner surface of the cap.

[Appendix 24]
A co-infusion apparatus for performing co-infusion processing for sucking medicine from a container and injecting it into another container with a syringe, wherein the first direction from the center of the injection needle toward the tip of the injection needle in the radial direction of the injection needle And a direction detection unit for detecting the injection needle and the injection needle from the center of the injection needle based on the first direction detected by the direction detection unit when the injection needle is punctured into the rubber stopper of the container And a posture control unit that controls one or both of the relative posture and the position of the injection needle and the container so that the tip of the container is positioned on the center side of the rubber stopper of the container.

  According to the present invention, for example, the tip of the injection needle is prevented from hitting the inner surface of the rubber stopper of the container.

[Appendix 25]
A co-infusion apparatus for performing co-infusion processing for sucking medicine from a container and injecting it into another container with a syringe, wherein the first direction from the center of the injection needle toward the tip of the injection needle in the radial direction of the injection needle And a direction detecting unit for detecting the puncture position at each of the puncture positions based on the first direction detected by the direction detection unit when the injection needle is punctured at a plurality of puncture positions in the rubber stopper of the container. A co-infusion apparatus comprising: a posture control unit that controls one or both of a relative posture and a position of the injection needle and the container so that the first direction when puncturing does not intersect.

  According to the present invention, for example, communication of the through hole of the injection needle is prevented.

[Appendix 26]
A co-infusion apparatus for performing co-infusion processing for sucking medicine from a container and injecting it into another container with a syringe, wherein the first direction from the center of the injection needle toward the tip of the injection needle in the radial direction of the injection needle And a bisector of the tip of the injection needle based on the first direction detected by the orientation detection unit when the injection needle is punctured into the rubber stopper of the container And a posture control unit that controls either or both of the relative posture and position of the injection needle and the container so that the rubber stopper of the container is vertical.

  According to the present invention, for example, when the injection needle is punctured into the rubber stopper, the injection needle can be moved straight along the traveling direction.

[Appendix 27]
A method for detecting the direction of a needle tip in a co-infusion apparatus that executes a co-infusion process in which medicine is sucked from a container with a syringe and injected into another container, and light is applied to the needle tip of the syringe needle of the syringe from a plurality of directions. A first step of detecting a width of each projection image of the needle tip portion when it is performed, and a width of each of the projection images of the needle tip portion detected by the first step and irradiation of light corresponding to the projection image And a second step of detecting a first direction from the center of the injection needle toward the tip of the injection needle in a radial direction of the injection needle according to the direction.

[Appendix 28]
Further, a mixed injection processing unit for performing a mixed injection process including an injection step of injecting a liquid using a syringe into a container having a rubber stopper inserted in the mouth portion and a suction step of sucking the liquid from the container using the syringe, A co-infusion apparatus including a control unit for controlling the co-infusion processing unit, wherein the rubber stopper of the container is inserted at least into a cylindrical insertion unit inserted into the mouth of the container and an edge of the mouth of the container A first puncture method in which the control unit penetrates the insertion needle of the syringe through the insertion unit and inserts it into the container in the injection step and the suction step; A co-infusion apparatus capable of selecting a second puncture method in which an injection needle of the syringe is inserted into the container through a region corresponding to the inside of the cylinder of the insertion portion.

  Thereby, it is possible to puncture the rubber stopper a plurality of times while preventing the coring of the rubber stopper of the container.

[Appendix 29]
Note that the control unit punctures the injection needle of the syringe into the container by the first puncture method in the injection step and punctures the injection needle of the syringe by the second puncture method in the suction step. The mixed injection device according to 28.

  Thereby, in the said attraction | suction process, it is possible to attract | suck without leaving the liquid in the said container.

Claims (7)

A co-infusion apparatus that performs co-infusion processing for sucking medicine from a container with a syringe and injecting the medicine into another container,
An orientation detection unit for detecting the orientation of the injection needle of the syringe;
When the injection needle is punctured into the rubber stopper of the container, the tip of the injection needle is more elastic than the center of the injection needle based on the direction of the injection needle detected by the direction detection unit. A posture control unit for controlling one or both of the relative posture and position of the injection needle and the container so as to be located on the center side of the stopper;
A mixed injection device. A co-infusion apparatus that performs co-infusion processing for sucking medicine from a container with a syringe and injecting the medicine into another container,
An orientation detection unit for detecting a first direction from the center of the injection needle toward the tip of the injection needle in a radial direction of the injection needle of the syringe;
When the injection needle is punctured into a plurality of different puncture positions in the rubber stopper of the container, the first puncture at each puncture position based on the first direction detected by the orientation detection unit. A posture control unit that controls one or both of the relative posture and position of the injection needle and the container so that one direction does not intersect;
A mixed injection device. The posture control unit is punctured at each puncture position based on the first direction detected by the orientation detection unit when the injection needle is punctured at two puncture positions in the rubber stopper of the container. The co-infusion apparatus according to claim 2 , wherein one or both of a relative posture and a position of the injection needle and the container are controlled so that the first directions are opposite to each other. A co-infusion apparatus that performs co-infusion processing for sucking medicine from a container with a syringe and injecting the medicine into another container,
An orientation detection unit for detecting a first direction from the center of the injection needle toward the tip of the injection needle in a radial direction of the injection needle of the syringe;
When the injection needle is punctured into a plurality of different puncture positions in the rubber stopper of the container, the first puncture at each puncture position based on the first direction detected by the orientation detection unit. A posture control unit that controls either or both of the relative posture and position of the injection needle and the container so that one direction is the same;
A mixed injection device. To the processor of the co-infusion device that performs the co-infusion process of sucking medicine from the container with a syringe and injecting it into other containers,
A direction detecting step for detecting a direction of an injection needle of the syringe;
When the injection needle is punctured into the rubber stopper of the container, the tip of the injection needle is more elastic than the center of the injection needle based on the direction of the injection needle detected in the direction detection step. A posture control step for controlling one or both of the relative posture and the position of the injection needle and the container so as to be located on the center side of the stopper;
Mixed injection control program to execute To the processor of the co-infusion device that performs the co-infusion process of sucking medicine from the container with a syringe and injecting it into other containers,
A direction detecting step of detecting a first direction from the center of the injection needle toward the tip of the injection needle in a radial direction of the injection needle of the syringe;
When the injection needle is punctured into a plurality of different puncture positions in the rubber stopper of the container, the first puncture at each puncture position based on the first direction detected in the orientation detection step. A posture control step of controlling one or both of the relative posture and position of the injection needle and the container so that one direction does not intersect;
Mixed injection control program to execute To the processor of the co-infusion device that performs the co-infusion process of sucking medicine from the container with a syringe and injecting it into other containers,
A direction detecting step of detecting a first direction from the center of the injection needle toward the tip of the injection needle in a radial direction of the injection needle of the syringe;
When the injection needle is punctured into a plurality of different puncture positions in the rubber stopper of the container, the first puncture at each puncture position based on the first direction detected in the orientation detection step. A posture control step of controlling one or both of the relative posture and position of the injection needle and the container so that one direction is the same;
Mixed injection control program to execute