JP6315297B2 - Robot system and method for preparing chemicals - Google Patents

Description

  The disclosed embodiments relate to a robot system and a method for preparing a chemical solution.

  Patent Document 1 describes a co-infusion apparatus that mixes and prepares drugs such as anticancer drugs in an infusion solution and transfers the prepared medicinal solution to an infusion bag.

JP2013-52250A

  In the above prior art, the infusion bag is held by the infusion bag holding part. And the injection needle of a syringe is inserted in the mixed injection port of the infusion bag with which the robot arm was hold | maintained, and the chemical | medical solution in a syringe is inject | poured into an infusion bag. In this case, a special holder corresponding to each of a wide variety of infusion bags is required, resulting in an increase in cost. Moreover, since it is necessary to replace the holder in accordance with the infusion bag, it becomes a factor that the working efficiency is lowered.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a robot system and a method for preparing a chemical solution that can improve work efficiency and reduce costs.

  In order to solve the above problems, according to one aspect of the present invention, a robot system for preparing a medical solution using an infusion bag and a syringe, a robot having an arm with a hand at the tip, and the operation of the robot A controller configured to control the infusion bag, and a mounting table on which the infusion bag is placed, the controller before the injection needle of the syringe is inserted into the port member of the infusion bag, A robot system having a first operation control unit that controls the operation of the robot to push down the port member of the infusion bag placed on the placing table at least once in the vertical direction with the hand is applied. .

  According to another aspect of the present invention, there is provided a robot system for preparing a medical solution using an infusion bag and a syringe, the robot having two arms each having a hand at the tip thereof, and controlling the operation of the robot. A controller configured to be placed, and a mounting table on which the infusion bag is laid, and the controller mounts the infusion bag on the mounting table with the hand of one of the arms. When placing the robot system, a robot system having a seventh operation control unit that controls the operation of the robot so that the port member of the infusion bag faces the hand side of the other arm is applied.

  According to another aspect of the present invention, there is provided a liquid preparation method for preparing a liquid using an infusion bag and a syringe by a robot having an arm having a hand at the tip, and the hand is used to lay the liquid bag. And when the injection needle of the syringe is inserted into and removed from the rubber plug of the port member of the infusion bag, the port member of the infusion bag placed on the mounting table is The method for preparing a chemical solution is applied.

  Further, according to another aspect of the present invention, there is provided a robot system for preparing a medical solution using an infusion bag and a syringe, the robot having an arm having a hand at a tip thereof, and the infusion solution placed on a mounting table. A robot system having means for drawing air from the port member of the bag is applied.

  According to another aspect of the present invention, there is provided a liquid preparation method for preparing a liquid using an infusion bag and a syringe by a robot having an arm provided with a hand at the tip, wherein the infusion bag is mounted by the hand. And placing the port member of the infusion bag placed on the placing table vertically with the hand at least once before the injection needle of the syringe is inserted into the port member of the infusion bag. A method of preparing a chemical solution is applied.

  According to another aspect of the present invention, there is provided a robot system for preparing a medical solution using an infusion bag and a syringe, a robot having an arm having a hand at a tip, and a mounting on which the infusion bag is placed. Before the injection table and the injection needle of the syringe are inserted into the port member of the infusion bag, the port member of the infusion bag placed on the installation table is pushed down vertically by the hand at least once. And a controller for controlling the operation of the robot.

  According to the robot system and the like of the present invention, it is possible to improve the work efficiency of the preparation of the chemical solution and reduce the cost.

It is explanatory drawing showing an example of the whole schematic structure of the robot system which concerns on embodiment. It is explanatory drawing showing an example of a structure of an infusion bag, a syringe, and a mounting base with an example of a structure of a robot. It is explanatory drawing showing an example of a structure of a robot. It is explanatory drawing showing an example of a structure of a 1st hand. It is explanatory drawing showing an example of a structure of a 1st hand. It is explanatory drawing showing an example of a structure of a 1st hand. It is explanatory drawing showing an example of a structure of a chemical | medical agent container. It is explanatory drawing showing an example of the function of a supporting member. It is explanatory drawing showing an example of a structure of a 2nd hand. It is explanatory drawing showing an example of a structure of a 2nd hand. It is explanatory drawing showing an example of a structure of a 2nd hand. It is explanatory drawing showing an example of a structure of a holding | maintenance apparatus. It is explanatory drawing showing an example of a structure of a holding | maintenance apparatus. It is explanatory drawing showing an example of a structure of a holding | maintenance apparatus. It is explanatory drawing which represents notionally an example of the state by which the infusion bag was set to the hook part of the washing | cleaning apparatus. It is explanatory drawing which represents notionally an example of washing | cleaning operation | movement of the infusion bag by a washing | cleaning apparatus. It is explanatory drawing which represents an example of the air blow operation | movement by a washing | cleaning apparatus notionally. It is explanatory drawing showing an example of a functional structure of a controller. It is explanatory drawing showing an example of the process of the preparation method of the chemical | medical solution by a robot. It is explanatory drawing showing an example of the detailed process of the mounting process of an infusion bag. It is explanatory drawing showing an example of the operation | movement which transfers an infusion bag to a mounting base. It is explanatory drawing showing an example of the operation | movement which mounts an infusion bag on a mounting base. It is explanatory drawing showing an example of the operation | movement which pushes down the port member of an infusion bag. It is explanatory drawing showing an example of the detailed process of the suction process of infusion. It is explanatory drawing showing an example of the operation | movement which hold | maintains the port member of the infusion bag mounted on the mounting base with the nail | claw member of a hand. It is explanatory drawing showing an example of the operation | movement which moves an infusion bag and inserts an injection needle into a port member. It is explanatory drawing showing an example of operation | movement which performs holding | maintenance of a port member, and operation | movement of a plunger with the hand of a different arm. It is explanatory drawing showing an example of the detailed process of the injection | pouring process of a chemical | medical solution. It is explanatory drawing showing an example of the operation | movement which hold | maintains the port member of the infusion bag mounted on the mounting base with the nail | claw member of a hand. It is explanatory drawing showing an example of the operation | movement which moves an infusion bag and inserts an injection needle into a port member. It is explanatory drawing showing an example of operation | movement which performs holding | maintenance of a port member, and operation | movement of a plunger with the hand of a different arm. It is explanatory drawing showing an example of the detailed process of the washing process of an infusion bag. It is explanatory drawing showing the structural example of a controller.

  Hereinafter, an embodiment will be described with reference to the drawings. In the following, for convenience of the description of the structure of the robot system and the like, the directions such as “up”, “down”, “left”, “right”, “front”, “rear”, etc. are set to the directions noted in FIGS. Use as appropriate. However, the direction varies depending on the installation mode of the robot system or the like, and does not limit the positional relationship of each component.

<1. Overall schematic configuration of robot system>
First, an example of the overall schematic configuration of the robot system 1 according to the present embodiment will be described with reference to FIGS. 1 and 2.

  The robot system 1 is a system for preparing a chemical solution. As shown in FIG. 1, the robot system 1 includes a robot 100 (details will be described later), a controller 300, and a cabinet 2 in which the robot 100 can perform work.

  The controller 300 is constituted by a computer having an arithmetic device, a recording device, an input device, and the like, for example, and is connected to the robot 100 so as to be able to communicate with each other. The controller 300 may be provided inside the robot 100. The controller 300 controls the operation of the robot 100 (details will be described later).

  As the cabinet 2, if the robot 100 can perform a work for preparing a chemical solution inside, the presence / absence of a function for adjusting the air flow in the internal space, the presence / absence of a function for keeping the internal space in a sterile state, a harmful substance The presence / absence of a function for preventing leakage is not particularly limited. The cabinet 2 has a substantially rectangular parallelepiped housing 20. Note that the housing 20 may have a shape other than a substantially rectangular parallelepiped shape (for example, a substantially cubic shape or a substantially cylindrical shape).

  The robot 100 and the work table 3 are disposed inside the housing 20. In this example, the work table 3 has a shape and arrangement surrounding the front, left, and right sides of the robot 100, but is not limited thereto.

  On the work table 3, a tray 4 on which a plurality of devices used for preparing a chemical solution are mounted, a mounting table 200, a holding device 400, a preparation station 500, a cleaning device 600, and the like are included within the movable range of the robot 100. A plurality of devices and the like are arranged. In this example, the tray 4 is arranged on the right side of the robot 100, the mounting table 200, the holding device 400 and the cleaning device 600 are arranged in front of the robot 100, and the preparation station 500 is arranged on the left side of the robot 100. Note that the types of devices and the like arranged within the movable range of the robot 100 and the arrangement positions of the devices are not limited to this.

  On the tray 4, an infusion bag 5, a syringe 6, a drug container 7, and the like are placed as chemical solution preparation devices. The robot system 1 prepares a drug solution using the infusion bag 5, the syringe 6, the drug container 7, and the like. Note that devices other than these may be placed on the tray 4.

  As shown in FIG. 2, the infusion bag 5 includes a bag body 51 and a port member 52. The bag body 51 is a bag-like product in which two transparent resin sheets having the same dimensions, for example, having flexibility are overlapped and the peripheral edges thereof are joined by heat welding or the like. The port member 52 is made of plastic, for example, and is attached to the end portion of the bag body 51 while being sandwiched between the two resin sheets. A rubber stopper (not shown) is attached to the opening (not shown) of the port member 52, and the injection needle 63 of the syringe 6 is inserted into and removed from the rubber stopper. An infusion solution such as a physiological saline solution or a glucose solution is sealed in the infusion bag 5, and is used for preparing a chemical solution by the robot system 1. The prepared medicinal solution is returned to the infusion bag 5 and administered to the patient via a bottle needle, a drip tube, etc. (not shown).

  The syringe 6 is used for infusion and transfer of drug solutions. A plurality of types of syringes 6 having different diameters and lengths are prepared, and can be selectively used according to the type of infusion or drug solution to be transferred, the transfer amount, and the like. In this embodiment, for convenience of explanation, a case where two types of syringes 6A and 6B having different diameters and lengths are used as shown in FIG. 1 will be described as an example, but only one type may be used. More than one type of syringe may be used.

  FIG. 2 (the same applies to FIG. 7 described later) illustrates a case where a syringe 6A having a large diameter and length is set in the holding device 400. As shown in FIG. 2 (see also FIG. 7 described later), the syringe 6A includes an outer cylinder 61, a plunger 62 that can move forward and backward with respect to the outer cylinder 61, and an injection needle 63 attached to the tip of the outer cylinder 61. And have. Since the syringe 6B having a small diameter and length has the same configuration, the configuration of the plunger and the like of the syringe 6B will be described below with the same reference numerals as the syringe 6A.

  The drug container 7 contains a powder or liquid drug. In the robot system 1, the infusion fluid sucked from the infusion bag 5 by the syringe 6 is injected into the medicine container 7, and the infusion fluid and the medicine are mixed and prepared. Although FIG. 1 illustrates a case where three drug containers 7 are placed on the tray 4, the number of drug containers 7 is not limited to this. In addition, as the drug container 7, for example, a glass vial is used, but is not limited thereto, and may be a resin container, for example.

  As shown in FIG. 2, the infusion bag 5 is placed on the mounting table 200 in a laid state. Here, the “laying state” means a state in which the infusion bag 5 is not self-supporting, and the positional relationship between the port member 52 and the bag body 51 is not in the vertical direction but in the surface direction of the mounting surface 201 of the mounting table 200. A state in which the direction is substantially along. The mounting surface 201 of the mounting table 200 is inclined so that the left end is lower than the right end. That is, when the placement surface 201 is placed so that the port member 52 of the infusion bag 5 faces the left side, the port member 52 is perpendicular to the end of the bag body 51 opposite to the port member 52. It inclines so that it may become downward in a direction.

  Moreover, the mounting table 200 has a function of a mass meter for measuring the mass of the placed infusion bag 5. The measured mass data is output from the mounting table 200 to the controller 300. Thereby, the controller 300 can simultaneously monitor the transfer amount while transferring the infusion solution or the drug solution between the infusion bag 5 and the syringe 6.

  The holding device 400 is configured so that the position of the outer cylinder 61 and the injection needle 63 of the syringe 6 is fixed, and the syringe needle 63 is placed on the mounting table 200 side so that the plunger 62 can be moved back and forth with respect to the outer cylinder 61. Hold to face. As shown in FIG. 2, the syringe 6 is held so that the injection needle 63 faces substantially in the horizontal direction at substantially the same height as the port member 52 of the infusion bag 5 placed on the placement table 200. The holding device 400 includes a plurality of holders with different diameters for holding a plurality of types of syringes 6 with different diameters. Details of this will be described later.

  The preparation station 500 is a station for preparing a chemical solution by mixing an infusion solution and a drug, and includes, for example, a device (not shown) for injecting the infusion solution into the drug container 7, a stirrer (not shown), and the like. The robot 100 transfers the syringe 6 that sucks the infusion from the infusion bag 5 and the drug container 7 to the preparation station 500 and sets them. In the preparation station 500, an infusion solution is injected from the syringe 6 into the drug container 7, the contents of the drug container 7 are agitated to prepare a drug solution, and the drug solution is sucked into the syringe 6 from the drug container 7. The robot 100 takes out the syringe 6 that has sucked the chemical solution from the preparation station 500 and injects the chemical solution into the infusion bag 5.

  The cleaning device 600 is a device that cleans the infusion bag 5 into which a chemical solution has been injected. In the cabinet 2, there is a possibility that the liquid droplets or spilled liquid during preparation may adhere to the surface of the infusion bag 5. In the robot system 1, adjustment work may be performed using a drug or the like that is highly toxic or allergenic. For this reason, it is possible to prevent harmful substances from leaking outside the cabinet 2 by washing the infusion bag 5 with washing water such as ozone water or hydrogen peroxide water. Details of the cleaning apparatus 600 will be described later.

<2. Robot configuration>
Next, an example of the configuration of the robot 100 will be described with reference to FIGS. 2 and 3.

  As shown in FIGS. 2 and 3, the robot 100 is a so-called dual-arm robot having a base 101, a body portion 102, and two arms 103 </ b> L and 103 </ b> R configured as separate bodies. Note that the robot 100 is not necessarily a double-arm robot, and may be configured as a robot having only a single arm.

  The base 101 is fixed to the installation surface of the robot 100 (in this example, the floor surface of the cabinet 2) with, for example, anchor bolts. The base 101 may be fixed to a surface (for example, a ceiling surface or a side surface) other than the floor surface in the cabinet 2.

  The body portion 102 is supported at the distal end portion of the base 101 so as to be rotatable around a rotation axis Ax1 substantially perpendicular to the fixed surface of the base 101. The body portion 102 is driven to rotate around the rotational axis Ax1 with respect to the distal end portion of the base 101 by driving an actuator Ac1 provided at a joint portion between the body portion 102 and the base 101.

  The arm 103L is rotatably supported on one side portion of the body portion 102. The arm 103L includes a shoulder portion 104L, an upper arm A portion 105L, an upper arm B portion 106L, a lower arm portion 107L, a wrist A portion 108L, a wrist B portion 109L, and a flange portion 110L.

  The shoulder 104L is supported on one side of the body 102 so as to be rotatable about a rotation axis Ax2 substantially perpendicular to the rotation axis Ax1. The shoulder portion 104L is rotationally driven around the rotation axis Ax2 with respect to one side portion of the trunk portion 102 by driving of an actuator Ac2 provided at a joint portion between the shoulder portion 102L and the trunk portion 102.

  The upper arm A portion 105L is supported on the distal end side of the shoulder portion 104L so as to be rotatable around a rotation axis Ax3 substantially perpendicular to the rotation axis Ax2. The upper arm A portion 105L is pivotally driven around the rotation axis Ax3 with respect to the distal end side of the shoulder portion 104L by driving an actuator Ac3 provided at a joint portion between the upper arm A portion 105L and the shoulder portion 104L.

  The upper arm B portion 106L is supported on the distal end side of the upper arm A portion 105L so as to be rotatable about a rotation axis Ax4 substantially perpendicular to the rotation axis Ax3. The upper arm B portion 106L is rotationally driven around the rotation axis Ax4 with respect to the distal end side of the upper arm A portion 105L by driving an actuator Ac4 provided at a joint portion between the upper arm A portion 105L.

  The lower arm portion 107L is supported on the distal end side of the upper arm B portion 106L so as to be rotatable around a rotation axis Ax5 substantially perpendicular to the rotation axis Ax4. The lower arm 107L is pivotally driven around the rotation axis Ax5 with respect to the distal end side of the upper arm B portion 106L by driving of an actuator Ac5 provided at a joint portion between the lower arm 107L and the upper arm B portion 106L.

  The wrist A portion 108L is supported on the distal end side of the lower arm portion 107L so as to be rotatable around a rotation axis Ax6 substantially perpendicular to the rotation axis Ax5. The wrist A portion 108L is driven to rotate about the rotation axis Ax6 with respect to the distal end side of the lower arm portion 107L by driving an actuator Ac6 provided at a joint portion between the wrist A portion 108L and the lower arm portion 107L.

  The wrist B portion 109L is supported on the distal end side of the wrist A portion 108L so as to be rotatable around a rotation axis Ax7 substantially perpendicular to the rotation axis Ax6. The wrist B portion 109L is pivotally driven around the rotation axis Ax7 with respect to the distal end side of the wrist A portion 108L by driving an actuator Ac7 provided at a joint portion between the wrist A portion 108L and the wrist A portion 108L.

  The flange portion 110L is supported on the distal end side of the wrist B portion 109L so as to be rotatable around a rotation axis Ax8 substantially perpendicular to the rotation axis Ax7. The flange portion 110L is rotationally driven around the rotation axis Ax8 with respect to the distal end side of the wrist B portion 109L by driving of an actuator Ac8 provided at a joint portion with the wrist B portion 109L. A hand 120L is attached to the tip of the flange portion 110L.

  The hand 120L attached to the tip of the arm 103L rotates around the rotation axis Ax8 as the flange 110L rotates around the rotation axis Ax8. The hand 120L includes a pair of claw members 130 and 130 that can operate in directions away from each other. The hand 120L can hold the port member 52 of the infusion bag 5, the drug container 7 and the like with the claw members 130 and 130, and can operate various devices such as the holding device 400 and the cleaning device 600. is there.

  On the other hand, the arm 103R has a symmetrical structure with the arm 103L and is rotatably supported on the other side portion of the body portion 102. The arm 103R includes a shoulder portion 104R, an upper arm A portion 105R, an upper arm B portion 106R, a lower arm portion 107R, a wrist A portion 108R, a wrist B portion 109R, and a flange portion 110R.

  The shoulder portion 104R is supported on the other side portion of the body portion 102 so as to be rotatable about a rotation axis Ax9 substantially perpendicular to the rotation axis Ax1. The shoulder 104R is rotationally driven around the rotation axis Ax9 with respect to the other side of the body 102 by driving an actuator Ac9 provided at a joint with the body 102.

  The upper arm A portion 105R is supported on the distal end side of the shoulder portion 104R so as to be rotatable around a rotation axis Ax10 substantially perpendicular to the rotation axis Ax9. The upper arm A portion 105R is pivotally driven around the rotation axis Ax10 with respect to the distal end side of the shoulder portion 104R by driving of an actuator Ac10 provided at a joint portion between the upper arm A portion 105R and the shoulder portion 104R.

  The upper arm B portion 106R is supported on the distal end side of the upper arm A portion 105R so as to be rotatable around a rotation axis Ax11 substantially perpendicular to the rotation axis Ax10. The upper arm B portion 106R is rotationally driven around the rotation axis Ax11 with respect to the distal end side of the upper arm A portion 105R by driving of an actuator Ac11 provided at a joint portion between the upper arm A portion 105R.

  The lower arm portion 107R is supported on the distal end side of the upper arm B portion 106R so as to be rotatable around a rotation axis Ax12 substantially perpendicular to the rotation axis Ax11. The lower arm 107R is pivotally driven around the rotation axis Ax12 with respect to the distal end side of the upper arm B portion 106R by driving an actuator Ac12 provided at a joint portion between the lower arm portion 107R and the upper arm B portion 106R.

  The wrist A portion 108R is supported on the distal end side of the lower arm portion 107R so as to be rotatable around a rotation axis Ax13 substantially perpendicular to the rotation axis Ax12. The wrist A portion 108R is driven to rotate about the rotation axis Ax13 with respect to the distal end side of the lower arm portion 107R by driving of an actuator Ac13 provided at a joint portion between the wrist A portion 108R and the lower arm portion 107R.

  The wrist B portion 109R is supported on the distal end side of the wrist A portion 108R so as to be rotatable around a rotation axis Ax14 substantially perpendicular to the rotation axis Ax13. This wrist B portion 109R is pivotally driven around the rotation axis Ax14 with respect to the distal end side of the wrist A portion 108R by driving of an actuator Ac14 provided at a joint portion between the wrist A portion 108R and the wrist A portion 108R.

  The flange portion 110R is supported on the distal end side of the wrist B portion 109R so as to be rotatable around a rotation axis Ax15 substantially perpendicular to the rotation axis Ax14. The flange portion 110R is rotationally driven around the rotation axis Ax15 with respect to the distal end side of the wrist B portion 109R by driving of an actuator Ac15 provided at a joint portion with the wrist B portion 109R. A hand 120R is attached to the tip of the flange portion 110R.

  The hand 120R attached to the tip of the arm 103R rotates around the rotation axis Ax15 together with the rotation of the flange portion 110R around the rotation axis Ax15. The hand 120R includes a pair of claw members 140 and 140 that can operate in directions away from each other. The hand 120R can hold the outer cylinder 61 or the plunger 62 of the syringe 6 with the claw members 140 and 140, and can operate various devices such as the holding device 400 and the cleaning device 600.

  At this time, as shown in FIG. 3B, the rotation axis Ax1 and the rotation axes Ax2 and Ax9 are offset by a length D1 in a direction substantially perpendicular to the fixed surface of the base 101. A body portion 102 protrudes from 101. Accordingly, the space below the shoulder portions 104L and 104R can be used as a work space, and the reachable range of the arms 103L and 103R is expanded by rotating the body portion 102 about the rotation axis Ax1.

  At this time, the shape of the upper arm B portion 106R is set so that the positions of the rotational axis Ax11 and the rotational axis Ax12 in the top view are offset by the length D2, and the rotational axis Ax12 and the rotational axis The shape of the lower arm portion 107R is set so that the position of the center Ax13 in the top view is offset by the length D3. When the robot 100 takes a posture in which the rotation axis Ax11 and the rotation axis Ax13 are substantially parallel, the offset length between the rotation axis Ax11 and the rotation axis Ax13 is (D2 + D3). Accordingly, when the joint between the upper arm B portion 106R corresponding to the human “elbow” and the lower arm portion 107R is bent, the upper arm A portion 105R and the upper arm B portion 106R corresponding to the human “upper arm”. And a lower arm 107 </ b> R corresponding to a human “lower arm” can be secured large, and even when the hand 120 attached to the tip of the flange 110 </ b> R is closer to the body 102. The degree of freedom of operation of the arm 103R is expanded.

  The same applies to the arm 103L, and the shape of the upper arm B portion 106L is set so that the positions of the rotation axis Ax4 and the rotation axis Ax5 in the top view are offset by the length D2, and the rotation axis The shape of the lower arm portion 107L is set so that the positions of Ax5 and the rotation axis Ax6 in the top view are offset by the length D3. When the robot 100 takes a posture in which the rotation axis Ax4 and the rotation axis Ax6 are substantially parallel, the offset length between the rotation axis Ax4 and the rotation axis Ax6 is (D2 + D3).

  The actuators Ac1 to Ac15 are each configured by a servo motor provided with a reduction gear, for example. The rotational position information of the actuators Ac1 to Ac15 is output to the controller 300 as a signal from a rotational position sensor (not shown) built in the actuator at every predetermined calculation cycle.

  In the above description, the rotation around the rotation axis along the longitudinal direction (or the extending direction) of the arms 103L and 103R is referred to as “rotation”, and is approximately in the longitudinal direction (or the extending direction) of the arms 103L and 103R. The rotation around the vertical rotation axis is called “swivel” to distinguish.

  In addition, “vertical” in the above description is not exact, and tolerances and errors that occur substantially are allowed. In addition, “vertical” in the above description does not mean that the virtual axes intersect, but includes the case of a twisted position as long as the directions formed by the virtual axes intersect each other.

<3. Configuration of first hand>
Next, an example of the configuration of the hand 120L provided at the tip of the arm 103L will be described with reference to FIG.

  As shown in FIGS. 4A to 4C, the hand 120L includes the pair of claw members 130 and 130 described above and a base portion 122L. The base portion 122L has a built-in drive source (not shown) that drives the pair of claw members 130 and 130 so as to move to and away from each other. For example, an air cylinder or an electric motor is used as the drive source, but other drive sources such as a hydraulic motor may be used. For example, two rectangular openings 123L are formed on the end surface of the base portion 122L opposite to the flange portion 110L. The claw member 130 is connected to a drive source through the opening 123L.

  One claw member 130 and the other claw member 130 are members of substantially the same shape, and are rotationally symmetric arrangements rotated by 180 degrees about the rotation axis Ax8 (see FIG. 3). Thereby, the number of parts and cost can be reduced. In addition, you may use the nail | claw member of a mutually different shape. Each claw member 130 is directed to a connecting portion 131 connected to a drive source by a bolt or the like, and a reference surface for a perspective operation from the connecting portion 131 (that surface on which each claw member 130 operates a perspective with the same reference surface as a center). And a bending portion 132 extending in a curved line, an extending portion 133 extending linearly from the bending portion 132 in the direction of the rotation axis Ax8, and a hook-shaped gripping portion 134 provided at the tip of the extending portion 133. The configuration of each claw member 130 is not limited to this.

  Depending on the arrangement configuration of the drive source and the like, the connecting portions 131 of the claw members 130 are offset from each other in a direction perpendicular to the surface direction of the reference surface. The grip 134 is disposed on the same reference plane.

  A substantially trapezoidal concave portion 135 is formed inside the grip portion 134 (on the side where the claw members face each other). The shape and size of the recess 135 are set according to the shape and size of the port member 52 and the drug container 7 of the infusion bag 5 held by the holding portion 134. Note that the shape of the recess 135 may be a shape other than a trapezoid (such as a triangular shape or an arc shape). Further, the thickness of the grip portion 134 in the direction perpendicular to the surface direction of the reference surface (shown as the thickness t1 in FIG. 4C) is smaller than the thickness of the extending portion 133. Thereby, even when the grasping space of the neck portion 52a (see FIG. 2) of the port member 52 and the neck portion 72a (see FIG. 5 described later) of the medicine container 7 is small, the grasping can be easily and reliably performed. Can do. Further, the gripping part 134 can also grip a flexible drip tube, for example.

  Note that the thickness t1 of the grip portion 134 is configured to be thinner than the thickness in the direction perpendicular to the plane direction of the reference surface of the grip portion 143 of the claw member 140 of the hand 120R (shown as the thickness t2 in FIG. 6C). The However, it is not limited to this.

  A support member 138 is fixed to one of the pair of claw members 130 and 130. In this example, the support member 138 is a substantially rectangular plate-like member, and is fixed to the extending portion 133 of one claw member 130 by a screw 139. The support member 138 has a length that reaches, for example, the other claw member 130 when the claw members 130, 130 grip the port member 52 or the drug container 7. The support member 138 is fixed to one of the claw members 130 so as not to come into contact with the other claw member 130 (escape in a direction perpendicular to the reference plane), so that the claw members 130 and 130 can be operated in a perspective direction. There is no inhibition.

  The support member 138 may have a shape other than a rectangle, or may have a shape other than a plate shape (for example, a prism shape). Further, it may be fixed by bonding or the like instead of a screw, or may be fixed to a portion other than the extending portion 133 of the claw member 130. Furthermore, the number of support members 138 is not necessarily one. For example, a support member separated into two may be fixed to both the claw members 130 and 130.

  Next, an example of the function of the support member 138 will be described with reference to FIG. As shown in FIG. 5A, the medicine container 7 includes, for example, a cap 71 and a container body 72. The container body 72 has a neck portion 72a and a shoulder portion 72b. The neck portion 72 a is a portion of the container main body 72 whose outer diameter is substantially equal to (or less than) the cap 71. The shoulder portion 72 b is a portion whose outer diameter increases from the outer diameter of the neck portion 72 a to the maximum outer diameter of the container main body 72.

  For example, when the infusion liquid is injected in the preparation station 500 or the mixed and prepared chemical liquid is sucked, the medicine container 7 may be held by the robot 100 with its posture changed (tilted obliquely). is there. At this time, as shown in FIG. 5B, the shoulder 72 b of the drug container 7 with the neck 72 a held by the claw member 130 can be supported by the support member 138. The shape and dimensions of the support member 138 are set according to the shape and dimensions of the drug container 7 so that such support is possible.

<4. Configuration of second hand>
Next, an example of the configuration of the hand 120R provided at the tip of the arm 103R will be described with reference to FIG.

  As illustrated in FIGS. 6A to 6C, the hand 120R includes the pair of claw members 140 and 140 described above and a base portion 122R. The base portion 122R has a built-in drive source (not shown) that drives the pair of claw members 140 and 140 so as to move to and away from each other. For example, two rectangular openings 123R are formed on the end surface of the base portion 122R opposite to the flange portion 110R. The claw member 140 is connected to a drive source through the opening 123R.

  One claw member 140 and the other claw member 140 are members having substantially the same shape except for engagement grooves 146 and 147, which will be described later, and rotated by 180 degrees about the rotation axis Ax15 (see FIG. 3). Symmetrical arrangement. In addition, you may use the nail | claw member of a mutually different shape. Each claw member 140 is connected to a connecting portion 141 connected to a drive source by a bolt or the like, and a reference surface for the perspective operation from the connecting portion 141 (the surface on which each claw member 140 operates in a perspective manner around the same reference surface). And a curved portion 142 that is curved and extends, and a hook-shaped grip portion 143 that extends from the curved portion 142 in the direction of the rotation axis Ax15. The configuration of each claw member 140 is not limited to this.

  Depending on the arrangement configuration of the drive source and the like, the connecting portions 141 of the claw members 140 are offset from each other in a direction perpendicular to the surface direction of the reference plane, but the gripping portions 143 of the claw members 140 are Arranged on the same reference plane.

  A plurality of concave portions 144 and 145 having different diameters are formed inside the grip portion 143 (on the side where the claw members face each other). Specifically, a comparatively large concave portion 144 having a substantially trapezoidal shape and a comparatively small concave portion 145 having a substantially trapezoidal shape are formed on the distal end side of the concave portion 144. The shape and size of the concave portion 144 are set according to the shape and size of the syringe 6A gripped by the grip portion 134, and the shape and size of the concave portion 145 are set according to the shape and size of the syringe 6B gripped by the grip portion 134. Is set. Thereby, the hand 120R can hold two types of syringes 6A and 6B with one type of claw member 140. The shapes of the concave portions 144 and 145 may be shapes other than the trapezoid (such as a triangular shape or an arc shape). In this example, two types of recesses are formed. However, only one type of recess may be used as in the case of the hand 120L, or three or more types of recesses corresponding to three or more types of syringes 6 may be formed. .

  Moreover, as shown to FIG. 6A, the engagement groove | channel with which the flange part 62a (refer FIG. 7 mentioned later) of the plunger 62 of the syringe 6 is engaged inside the holding part 143 (side where nail | claw members oppose). 146, 147 are formed. Specifically, an engagement groove 146 that is engaged with the flange 62a of the plunger 62 of the syringe 6A is formed along the rotation axis Ax15 on the inner wall surface of the recess 144 corresponding to the syringe 6A, and corresponds to the syringe 6B. An engagement groove 147 with which the flange portion 62a of the plunger 62 of the syringe 6B is engaged is formed in the inner wall surface of the recessed portion 145 along the direction of the rotation axis Ax15. The engagement grooves 146 and 147 are formed by being offset in a direction perpendicular to the reference surface, thereby preventing the engagement grooves from interfering with each other.

  The thickness of the grip portion 143 in the direction perpendicular to the surface direction of the reference surface (shown as the thickness t2 in FIG. 6C) is thicker than the thickness t1 of the grip portion 134 of the claw member 130 of the hand 120L. Thereby, the stability of holding the outer cylinder 61 of the syringes 6A and 6B, which are gripping objects, and the reliability of the operation of the plunger 62 are improved. Further, the gripping part 143 can also grip a flexible drip tube, for example.

<5. Configuration of holding device>
Next, an example of the configuration of the holding device 400 that holds the syringe 6 will be described with reference to FIG. 7A to 7C show a state where the holding device 400 holds the syringe 6A, and also shows a state where the injection needle cover 64 is attached to the syringe 6A.

  The holding device 400 includes a base plate 402 supported at both ends in the front-rear direction by support columns 401, a support plate 403 erected on the right side of the base plate 402, and a holder switch erected on the left side of the base plate 402. Mechanism 410. In the upper part of the support plate 403, a recess 404 is formed in which a needle support part 61 a provided at the tip of the outer cylinder 61 of the syringe 6 is engaged. Since the needle support portion 61a has substantially the same shape and size in both the syringes 6A and 6B, the support plate 403 can support the needle support portions 61a of both the syringes 6A and 6B.

  The holder switching mechanism 410 includes two holders 420 and 430 having different diameters (of the recesses) for holding two types of syringes 6A and 6B having different diameters. The holder 420 is a holder for holding the syringe 6A having a large diameter and length, and a concave portion 421 having a large diameter with which the outer cylinder 61 of the syringe 6A is engaged is formed. In addition, the holder 420 has a groove 422 into which the flange portion 61b of the outer cylinder 61 is inserted when the outer cylinder 61 of the syringe 6A is engaged with the recess 421. Due to the engagement between the groove 422 and the flange portion 61b, the syringe 6A is held so that the plunger 62 can be advanced and retracted while the position of the outer cylinder 61 is fixed.

  On the other hand, the holder 430 is a holder for holding the syringe 6B having a small diameter and length, and a small-diameter concave portion 431 with which the outer cylinder 61 of the syringe 6B is engaged is formed. The holder 430 has a groove (not shown) into which the flange portion 61b of the outer cylinder 61 is inserted when the outer cylinder 61 of the syringe 6B is engaged with the recess 431. Due to the engagement between the groove and the flange portion 61b, the syringe 6B is held so that the plunger 62 can be advanced and retracted while the position of the outer cylinder 61 is fixed. The configurations of the holder 420 and the holder 430 are not limited to the above.

  The holder 420 and the holder 430 are connected by a connecting member 405 with an interval of about 90 degrees in the rotation direction, and the connecting member 405 is supported so as to be rotatable about a shaft 406. A handle 407 is installed in the holder 420. When the robot 100 operates the handle 407 using either the hand 120L or 120R, the connecting member 405 is rotated 90 degrees, and the holder 420, the holder 430, Can be switched. The connecting member 405 connects the holder 420 and the holder 430 by offsetting them in the left-right direction by a predetermined dimension (dimension L shown in FIG. 7B). This dimension L corresponds to the difference in length between the syringe 6A and the syringe 6B. By switching between the holder 420 and the holder 430, not only the diameter of the syringes 6A and 6B but also the difference in length can be accommodated. It has a configuration.

  In this example, the holding device 400 is configured to hold the two types of syringes 6A and 6B. However, the configuration is not limited thereto, and may be configured to hold only one type of syringe 6. It is good also as a structure which can hold | maintain the syringe 6 of a kind or more. In a case where three or more types of holders can be switched, the interval between the holders may be smaller than 90 degrees (for example, an interval of 60 degrees).

  Further, a mass meter may be provided in the lower part of the holding device 400, or the holding device 400 itself may have a measurement function for measuring the mass of the syringe 6 in the same manner as the mounting table 200. By outputting the measured mass data to the controller 300, the controller 300 transfers the infusion solution or the drug solution between the infusion bag 5 and the syringe 6, and at the same time, determines the transfer amount by the mass measurement result on the mounting table 200. And can be monitored more accurately.

<6. Configuration of cleaning device>
Next, an example of the configuration of the cleaning device 600 that cleans the infusion bag 5 will be described with reference to FIG.

  As shown in FIGS. 8A to 8C, the cleaning device 600 is configured to wash the infusion bag 5 that is suspended from the hook member 601 that is suspended from the infusion bag 5 into which the prepared medicinal solution is injected. It has a chamber 610 and a guide member 602 for guiding the hook member 601 to the attachment position of the infusion bag 5 (position shown in FIG. 8A) and the cleaning chamber 610.

  The hook member 601 is a plate-like member and has, for example, a notch 601a capable of locking the port member 52 of the infusion bag 5 at the center thereof. In addition, a handle 604 is provided on the upper portion of the hook member 601 via a connecting plate 603, and the robot 100 grips the handle 604 using either the hand 120L or 120R and moves it up and down, so that the hook The infusion bag 5 suspended from the member 601 can be taken in and out of the cleaning chamber 610.

  At the lower part of the hook member 601, for example, three support columns 609 are extended downward. These struts 609 abut against the bag body 51 when the infusion bag 5 is washed, thereby preventing the infusion bag 5 from rotating due to the pressure of the washing water or air. In addition, the number of support | pillars 609 is not limited above, One may be sufficient and it is good also as multiple other than three.

  For example, a plate-like lid member 605 is fixed to the connecting plate 603. Guide members 602 and 602 are slidably passed through both ends of the lid member 605. Thereby, the hook member 601 is movable along the guide direction of the guide member 602. The number of guide members 602 is not limited to two, but may be one or three or more.

  A magnet (not shown) is installed on the top of the lid member 605. By this magnet, the lid member 605 is attracted to the gate member 611 installed at the upper end of the guide member 602 at the attachment position (position shown in FIG. 8A). Thereby, even if the robot 100 releases the hands 120L and 120R from the handle 604, the lid member 605 is held at the attachment position. In addition, adsorption | suction by the magnet of the cover member 605 and the gate member 611 is separated by the downward movement operation of the handle 604 by the hands 120L and 120R. This downward movement operation is executed so as to have a constant speed, for example, by speed control by the controller 300, so that rapid speed fluctuation during separation can be suppressed. As a result, the infusion bag 5 can be prevented from falling off the hook member 601. The speed control may be performed so that the speed is not constant.

  8B, the lid member 605 closes the opening 606 and seals the cleaning chamber 610 when the hook member 601 moves into the cleaning chamber 610. The guide structure of the hook member 601 and the closing structure of the opening 606 are not limited to this.

  The cleaning chamber 610 is accommodated in the work table 3, for example. The entire cleaning apparatus 600 including the cleaning chamber 610 may be installed on the work table 3. In the cleaning chamber 610, for example, a plurality of cleaning nozzles 607 from which cleaning water such as ozone water or hydrogen peroxide water is jetted are installed. As shown in FIG. 8B, in a state where the hook member 601 is moved into the cleaning chamber 610 and the lid member 605 closes the opening 606, the cleaning water is ejected from the plurality of cleaning nozzles 607 toward the infusion bag 5. . In the cleaning chamber 610, an air nozzle 608 is installed above the cleaning nozzle 607. For example, the air nozzle 608 can have a configuration in which a plurality of ejection holes 608a facing, for example, obliquely downward (or in the horizontal direction) are formed at a plurality of circumferential positions of an annular tube installed in the vicinity of the opening 606. However, the configuration of the air nozzle 608 is not limited to this. As shown in FIG. 8C, when cleaning of the infusion bag 5 is completed and the hook member 601 is pulled up, air is ejected from the plurality of ejection holes 608a of the air nozzle 608 toward the infusion bag 5. Thereby, the infusion bag 5 can be taken out from the cleaning chamber 610 with the cleaning water removed. Note that the air nozzle 608 may be provided below the cleaning nozzle 607. The cleaning nozzle 607 may have the same configuration as the air nozzle 608.

<7. Functional configuration of controller>
Next, an example of a functional configuration of the controller 300 will be described with reference to FIG.

  As shown in FIG. 9, the controller 300 includes a first operation control unit 301, a second operation control unit 302, a third operation control unit 303, a fourth operation control unit 304, and a fifth operation control unit 305. , A sixth operation control unit 306, a seventh operation control unit 307, and an eighth operation control unit 308.

  Before the injection needle 63 of the syringe 6 is inserted into the port member 52 of the infusion bag 5, the first operation control unit 301 moves the port member 52 of the infusion bag 5 placed on the placement table 200 at least once to the hand 120L. The operation of the robot 100 is controlled so as to be pushed downward in the vertical direction by the claw member 130 (see FIG. 13 described later).

  When the injection needle 63 of the syringe 6 is inserted into and removed from the port member 52 of the infusion bag 5, the second operation control unit 302 moves the port member 52 of the infusion bag 5 placed on the placement table 200 to the claw member of the hand 120L. The operation of the robot 100 is controlled so as to be held at 130 (see FIGS. 15A and 17A described later).

  When the injection needle 63 of the syringe 6 is inserted into and removed from the rubber plug of the port member 52 of the infusion bag 5, the third operation control unit 303 moves the port member 52 held by the claw member 130 of the hand 120 </ b> L to the injection needle 63. The operation of the robot 100 is controlled so as to be moved (see FIGS. 15B and 17B described later).

  The fourth operation control unit 304 controls the operation of the robot 100 so that the holders 420 and 430 of the holding device 400 are switched by the claw member 140 of the hand 120R or the claw member 130 of the hand 120L according to the syringe 6 to be used.

  The fifth operation control unit 305 moves the plunger 100 of the syringe 6 with the claw member 140 of the hand 120R to move the robot 100 so that the infusion solution is transferred between the infusion bag 5 and the syringe 6. Control (see FIGS. 15C and 17C described later).

  The sixth operation control unit 306 performs the holding of the port member 52 of the infusion bag 5 and the forward / backward movement of the plunger 62 of the syringe 6 independently with the hands 120L and 120R of the different arms 103L and 103R, The operation of the robot 100 is controlled (see FIGS. 15C and 17C described later).

  When the infusion bag 5 is placed on the placing table 200 with the hand 120L of the one arm 103L, the seventh operation control unit 307 makes the port member 52 of the infusion bag 5 face the hand 120R side of the other arm 103R. Then, the operation of the robot 100 is controlled (see FIG. 12B described later).

  When the infusion bag 5 is cleaned, the eighth operation control unit 308 hangs the infusion bag 5 on the hook member 601 of the cleaning device 600, and moves the hook member 601 from the attachment position to the cleaning chamber 610 along the guide member 602. To control the operation of the robot 100.

  Note that the processing in each of the operation control units 301 to 308 described above is not limited to the example of sharing these processings, and may be processed by, for example, one processing unit or further subdivided. It may be processed by another processing unit. Each function of the controller 300 may be implemented by a program executed by a CPU 901 (see FIG. 19), which will be described later, or a part or all of them may be an ASIC, an FPGA 907 (see FIG. 19), other electric circuits, or the like. It may be implemented by an actual device.

<8. Example of processing steps for preparing a chemical solution>
Next, an example of the processing steps of the chemical solution preparation method performed by the robot 100, which is executed by the controller 300, will be described with reference to FIG.

  In step S100, the controller 300 executes a placement process for the infusion bag 5. In this process, the controller 300 controls the operation of the robot 100 and causes the infusion bag 5 to be transferred from the tray 4 with the hand 120L of the arm 103L and placed on the mounting table 200 (details will be described later). (See FIG. 11).

  In step S200, the controller 300 executes the infusion process. In this process, the controller 300 controls the operation of the robot 100, transfers the syringe 6 from the tray 4 with the hand 120R of the arm 103R, sets it on the holding device 400, and places it on the mounting table 200 with the hand 120L of the arm 103L. The infusion bag 5 is moved, the injection needle 63 is inserted into the rubber stopper of the port portion 52, and the plunger 62 of the syringe 6 is operated with the hand 120R of the arm 103R to suck the infusion from the infusion bag 5. (Refer to FIG. 14 described later for details).

  In step S300, the controller 300 executes a chemical liquid preparation process. In this process, the controller 300 controls the operation of the robot 100, and the syringe 6 that has sucked the infusion solution from the infusion bag 5 is transferred to the preparation station 500 and set by the hand 120R of the arm 103R. Further, the drug container 7 placed on the tray 4 is transferred to the preparation station 500 and set by the hand 120L of the arm 103L. The controller 300 causes the robot 100 to perform the infusion processing of step S200 and the operation of transferring the suctioned syringe 6 to the preparation station 500 a plurality of times as necessary. In the preparation station 500, an infusion solution is injected from the syringe 6 into the drug container 7, the contents of the drug container 7 are agitated to prepare a drug solution, and the drug solution is sucked into the syringe 6 from the drug container 7.

  In step S400, the controller 300 executes a chemical liquid injection process. In this process, the controller 300 controls the operation of the robot 100, transfers the syringe 6 from the preparation station 500 with the hand 120R of the arm 103R and sets it on the holding device 400, and places it on the mounting table 200 with the hand 120L of the arm 103L. The placed infusion bag 5 is moved, the injection needle 63 is inserted into the rubber stopper of the port portion 52, and the plunger 62 of the syringe 6 is operated by the hand 120R of the arm 103R to inject the drug solution into the infusion bag 5. (Refer to FIG. 16 described later for details).

  In step S500, the controller 300 executes a cleaning process for the infusion bag 5. In this process, the controller 300 controls the operation of the robot 100, hangs the infusion bag 5 on the hook portion 601, moves the hook portion 601 from the attachment position along the guide member 602 to the cleaning chamber 610, and after the cleaning is completed. Operations such as taking out the hook portion 601 from the cleaning chamber 610 are performed (see FIG. 18 described later for details).

  In addition, the process process mentioned above is an example to the last, Comprising: At least one part of the said process may be deleted and changed, and processes other than the above may be added.

<9. Example of detailed process of placing treatment of infusion bag>
Next, an example of a detailed process of the above-described infusion bag placement process (step S100) will be described with reference to FIGS.

  In step S110, the controller 300 controls the operation of the robot 100, and grips the neck 52a of the port member 52 of the infusion bag 5 placed on the tray 4 by the claw member 130 of the hand 120L of the arm 103L. 5 is transferred from the tray 4 to the mounting table 200. FIG. 12A shows an example of the operation of the robot 100 at this time. In FIG. 12A, illustration of a part of the structure of the arm 103L is omitted.

  In step S120, the controller 300 controls the operation of the robot 100 in the seventh operation control unit 307, and when placing the infusion bag 5 on the placing table 200 with the hand 120L of one arm 103L, The infusion bag 5 is mounted on the mounting table 200 so that the port member 52 faces the hand 120R side of the other arm 103R. FIG. 12B shows an example of the operation of the robot 100 at this time. In FIG. 12B, illustration of a part of the structure of the arm 103L is omitted.

  In step S <b> 130, the controller 300 controls the operation of the robot 100 in the first operation control unit 301, and the port member 52 of the infusion bag 5 placed on the placement table 200 is vertically lowered by the claw member 130 of the hand 120 </ b> L. Press down. This depression may be performed once or a plurality of times. Thereby, the air in the port member 52 is vented. FIG. 13 shows an example of the operation of the hand 120L and the like at this time. Note that the pushing-down operation of the port member 52 may be executed by the claw member 140 of the hand 120R. The 1st operation control part 301 which performs this step S130 is equivalent to an example of a means which extracts air from the port member of the infusion bag mounted on the mounting base.

  In addition, the process process mentioned above is an example to the last, Comprising: At least one part of the said process may be deleted and changed, and processes other than the above may be added.

<10. Example of detailed steps of infusion suction process>
Next, an example of a detailed process of the above-described infusion suction process (step S200) will be described with reference to FIGS. 15A to 15C illustrate a case where the syringe 6A is held by the holding device 400.

  In step S210, the controller 300 controls the operation of the robot 100 in the fourth motion control unit 304, operates the handle 407 of the holding device 400 using the claw member 140 of the hand 120R or the claw member 130 of the hand 120L, The holder is switched according to the syringe 6 to be used. For example, when using the syringe 6A, it switches to the holder 420, and when using the syringe 6B, it switches to the holder 430.

  In step S220, the controller 300 controls the operation of the robot 100, holds the outer cylinder 61 of the syringe 6 with the claw member 140 of the hand 120R of the arm 103R, and transfers the syringe 6 from the tray 4 to the holding device 400. At this time, the controller 300 grips using the recess 144 of the claw member 140 when using the syringe 6A, and grips using the recess 145 of the claw member 140 when using the syringe 6B. Then, in the controller 300, the needle support portion 61a of the outer cylinder 61 of the syringe 6 is engaged with the recess 404 of the support plate 403, and the outer cylinder 61 is engaged with the recess 421 of the holder 420 (or the recess 431 of the holder 430). And the syringe 6 is set on the holding device 400 so that the flange portion 61b is inserted into the groove 422 of the holder 420 (or the groove of the holder 430). Thus, the syringe 6 is held so that the plunger 62 can be advanced and retracted while the positions of the outer cylinder 61 and the injection needle 63 are fixed.

  In step S230, the controller 300 controls the operation of the robot 100 in the second operation control unit 302, and holds the port member 52 of the infusion bag 5 placed on the placing table 200 by the claw member 130 of the hand 120L. FIG. 15A shows an example of the operation of the hand 120L and the like at this time.

  In addition, the controller 300 controls the operation of the robot 100 in the third operation control unit 303 to move the port member 52 held by the claw member 130 of the hand 120L so as to be closer to the injection needle 63. Is inserted into the rubber stopper of the port member 52. FIG. 15B shows an example of the operation of the hand 120L and the like at this time.

  In step S240, the controller 300 controls the operation of the robot 100 in the fifth operation control unit 305 and operates the plunger 62 of the syringe 6 to be pulled out from the outer cylinder 61 by the claw member 140 of the hand 120R. Is sucked from the infusion bag 5. At this time, the controller 300 engages the flange portion 62a of the plunger 62 with the engagement groove 146 of the claw member 140 when the syringe 6A is used, and the flange portion 62a of the plunger 62 when the syringe 6B is used. 140 engagement grooves 147 are engaged.

  In addition, the controller 300 controls the operation of the robot 100 in the sixth operation control unit 306 to hold the port member 52 of the infusion bag 5 and the operation of the plunger 62 of the syringe 6 with different arms 103L and 103R. 120L and 120R are individually performed independently. FIG. 15C shows an example of the operation of the hand 120R and the hand 120L at this time.

  In addition, the process process mentioned above is an example to the last, Comprising: At least one part of the said process may be deleted and changed, and processes other than the above may be added.

<11. Example of detailed process of chemical injection process>
Next, an example of a detailed process of the above-described infusion processing (step S400) will be described with reference to FIGS. 17A to 17C illustrate a case where the syringe 6A is held by the holding device 400.

  In step S410, the controller 300 controls the operation of the robot 100, holds the outer cylinder 61 of the syringe 6 with the claw member 140 of the hand 120R of the arm 103R, and transfers the syringe 6 from the preparation station 500 to the holding device 400. In the preparation station 500, the drug solution is sucked into the syringe 6. Then, the controller 300 sets the syringe 6 on the holding device 400.

  In step S420, as in step S230 described above, the controller 300 controls the operation of the robot 100 in the second operation control unit 302, and moves the port member 52 of the infusion bag 5 placed on the placement table 200 to the hand 120L. The nail member 130 is held. FIG. 17A shows an example of the operation of the hand 120L and the like at this time.

  Similarly to step S230 described above, the controller 300 controls the operation of the robot 100 in the third operation control unit 303 to bring the port member 52 held by the claw member 130 of the hand 120L closer to the injection needle 63. The injection needle 63 is inserted into the rubber stopper of the port member 52. FIG. 17B shows an example of the operation of the hand 120L and the like at this time.

  In step S430, the controller 300 controls the operation of the robot 100 in the fifth operation control unit 305 and operates the plunger 62 of the syringe 6 to be pushed into the outer cylinder 61 with the claw member 140 of the hand 120R. Is injected into the infusion bag 5.

  In addition, the controller 300 controls the operation of the robot 100 in the sixth operation control unit 306 to hold the port member 52 of the infusion bag 5 and the operation of the plunger 62 of the syringe 6 with different arms 103L and 103R. 120L and 120R are individually performed independently. FIG. 17C shows an example of the operation of the hand 120R and the hand 120L at this time.

  In addition, the process process mentioned above is an example to the last, Comprising: At least one part of the said process may be deleted and changed, and processes other than the above may be added.

<12. Example of detailed process of infusion bag cleaning process>
Next, an example of a detailed process of the above-described infusion bag cleaning process (step S500) will be described with reference to FIG. 18 and FIG. 8 described above.

  In step S510, the controller 300 controls the operation of the robot 100, grasps the neck 52a of the port member 52 of the infusion bag 5 into which the medicinal solution has been injected by the claw member 130 of the hand 120L of the arm 103L, and removes the infusion bag 5 Transfer from the mounting table 200 to the cleaning device 600. Then, the controller 300 controls the operation of the robot 100 in the eighth operation control unit 308 to suspend and set the infusion bag 5 on the hook member 601 of the cleaning device 600. An example of this state is shown in FIG. 8A described above.

  In step S520, the controller 300 controls the operation of the robot 100 in the eighth operation control unit 308, grips the handle 604 using one of the hands 120L and 120R, pushes down the handle 604, and hangs on the hook member 601. The lowered infusion bag 5 is moved to the cleaning chamber 610.

  In step S530, the controller 300 controls the operation of the robot 100 and starts cleaning by the cleaning device 600. An example of this state is shown in FIG. 8B described above. At this time, for example, a cleaning start switch or the like may be installed in the cleaning device 600 and the switch may be operated using either the hand 120L or 120R, or the hook member 601 is moved to the cleaning chamber 610. The cleaning may be automatically started by using the above as a trigger.

  In step S540, the controller 300 controls the operation of the robot 100, grips the handle 604 using one of the hands 120L and 120R, lifts the handle 604, and takes out the infusion bag 5 from the cleaning chamber 610. At this time, air is ejected from the plurality of air nozzles 608 toward the infusion bag 5 to remove the cleaning liquid. An example of this state is shown in FIG. 8C described above.

  In step S550, the controller 300 controls the operation of the robot 100, grips the neck 52a of the port member 52 of the infusion bag 5 that has been cleaned by the claw member 130 of the hand 120L of the arm 103L, and cleans the infusion bag 5. Transfer from the apparatus 600 to the tray 4.

<13. Examples of effects according to this embodiment>
In the embodiment described above, the robot system 1 has the mounting table 200 on which the infusion bag 5 is mounted, and the injection needle of the syringe 6 with respect to the port member 52 of the infusion bag 5 mounted on the mounting table 200. 63 is inserted to transfer the infusion. That is, since a holder for holding the infusion bag 5 is not required, it is not necessary to prepare a special holder corresponding to each of the various types of infusion bags 5. Therefore, the system configuration can be simplified and the cost can be reduced. Moreover, since it becomes unnecessary to replace | exchange a holder according to the infusion bag 5 to be used, work efficiency can be improved. In addition, the first operation control unit 301 of the controller 300 is configured so that the port of the infusion bag 5 placed on the placement table 200 at least once before the injection needle 63 of the syringe 6 is inserted into and removed from the port member 52 of the infusion bag 5. The operation of the robot 100 is controlled so that the member 52 is pushed downward in the vertical direction by the hand 120L of the arm 103L or the hand 120R of the arm 103R. Thereby, since the air inside the port member 52 can be extracted, it is possible to prevent air from being mixed when the infusion solution is sucked from the infusion bag 5 into the syringe 6. Therefore, the infusion solution can be transferred with high accuracy, and the infusion solution can be transferred with the infusion bag 5 laid down. Further, in order to remove air from the port member 52 of the infusion bag 5, it is not necessary to prepare a holding portion, a rotation mechanism, or the like for changing the posture of the infusion bag 5.

  In the present embodiment, the controller 300 moves the arm member 103L of the port member 52 of the infusion bag 5 placed on the placement table 200 when the injection needle 63 of the syringe 6 is inserted into and removed from the port member 52 of the infusion bag 5. When the first motion control unit 301 that controls the motion of the robot 100 is provided so as to be held by the hand 120L, the following effects are obtained. That is, since the infusion bag 5 is held by the hand 120L when the injection needle 63 is inserted into and removed from the port member 52, it is not necessary to prepare a special holder corresponding to each of the various types of infusion bags 5. Therefore, the system configuration can be simplified and the cost can be reduced. Moreover, since it becomes unnecessary to replace | exchange a holder according to the infusion bag 5 to be used, work efficiency can be improved.

  Further, in the present embodiment, the mounting table 200 is inclined such that the port member 52 of the infusion bag 5 on which the mounting table 200 is placed is lower in the vertical direction than the end opposite to the port member 52. In the case of having 201, the air in the infusion bag 5 can be moved to the side opposite to the port member 52, so that the effect of preventing air from being mixed when the infusion is sucked by the syringe 6 can be further enhanced.

  In this embodiment, when the mounting table 200 has a function of a mass meter for measuring the mass of the infusion bag 5 on which the infusion bag 200 is placed, while transferring the infusion between the infusion bag 5 and the syringe 6, Since the transfer amount can be monitored at the same time, the work efficiency can be further improved.

  In this embodiment, the controller 300 operates the robot 100 to move the port member 52 held by the hand 120L of the arm 103L with respect to the injection needle 63 when the injection needle 63 is inserted into and removed from the rubber stopper. In the case of having the third operation control unit 303 for controlling the injection needle 63, the injection needle 63 can be inserted into and removed from the rubber stopper of the infusion bag 5 with the syringe 6 fixed. Accordingly, it is not necessary to prepare a special moving device for moving the syringe 6 corresponding to each of the various types of syringes 6, so that the cost can be reduced. Further, since it is not necessary to replace the moving device in accordance with the syringe 6 to be used, the work efficiency can be improved.

  Moreover, in this embodiment, the robot system 1 has a holding device 400 provided with a plurality of holders 420 and 430 having different diameters for holding a plurality of types of syringes 6 having different diameters, and a controller. When 300 has the fourth operation control unit 304 that controls the operation of the robot 100 so as to switch the holders 420 and 430 with either of the hands 120L and 120R according to the syringe 6 to be used, one holding device 400 can correspond to a plurality of types of syringes 6 having different diameters. Accordingly, it is not necessary to prepare a holding tool corresponding to each of various types of syringes 6, so that the cost can be reduced. Moreover, since it is not necessary to replace the holder in accordance with the syringe 6 to be used, work efficiency can be improved.

  In the present embodiment, the controller 300 moves the plunger 62 of the syringe 6 with the hand 120R of the arm 103R to move the robot 100 so as to transfer the infusion between the infusion bag 5 and the syringe 6. In the case of having the fifth operation control unit 305 for controlling the infusion, the infusion solution between the infusion bag 5 and the syringe 6 can be transferred only by the robot 100. Therefore, it is not necessary to prepare a special drive device for moving the plunger 62 of the syringe 6 forward and backward, so that the cost can be reduced. Further, since it is not necessary to replace the drive device in accordance with the syringe 6 to be used, the work efficiency can be improved.

  In the present embodiment, the robot 100 has two or more arms 103L and 103R, and the controller 300 performs the holding of the port member 52 and the forward / backward movement of the plunger 62 by using the hands 120L and 103L of the different arms 103L and 103R. When the sixth operation control unit 306 that controls the operation of the robot 100 is performed as in 120R, the infusion bag 5 is held by one hand 120L and the plunger 62 of the syringe 6 is advanced and retracted by the other hand 120R. Can be done at the same time. As a result, it is possible to prevent the injection needle 63 from coming off due to an increase in the pressure of the infusion bag 5 or the like. In addition, the cycle time can be greatly reduced as compared with the case where the port member 52 and the plunger 62 are moved with a single arm hand.

  In the present embodiment, the robot 100 has two arms 103L and 103R having hands 120L and 120R at the tips, and the controller 300 places the infusion bag 5 on the mounting table 200 with the hand 120L of one arm 103L. When the seventh operation control unit 307 that controls the operation of the robot 100 so that the port member 52 of the infusion bag 5 faces the hand 120R side of the other arm 103R at the time of placement, the following effects are obtained. Get. That is, with the above-described configuration, the operation of inserting the injection needle 63 of the syringe 6 into the rubber plug of the port member 52 of the infusion bag 5 performed after the infusion bag 5 is placed, or holding the port member 52 of the infusion bag 5 The operation | work etc. which move the plunger 62 of the injection device 6 forward / backward can be performed in cooperation with the hand 120L, 120R of the two arms 103L, 103R. Therefore, working efficiency can be improved.

  The embodiment has been described in detail with reference to the accompanying drawings. However, the scope of the technical idea described in the claims is not limited to the embodiment described here. It is obvious that a person having ordinary knowledge in the technical field to which the present embodiment belongs can conceivably make various changes, corrections, combinations, and the like within the scope of the technical idea. Accordingly, the technology after these changes, corrections, combinations, and the like are naturally within the scope of the technical idea.

  In the above description, when there is a description such as “vertical” or “parallel”, the description is not strict. That is, the terms “vertical” and “parallel” mean that “tolerance and error in manufacturing are allowed in design,” and “substantially vertical” and “substantially parallel”.

  In addition, in the above description, when there are descriptions such as “same”, “equal”, “different”, etc., in terms of external dimensions and sizes, the descriptions are not strict. That is, the terms “identical”, “equal”, and “different” mean that “tolerance and error in manufacturing are allowed in design and that they are“ substantially identical ”,“ substantially equal ”, and“ substantially different ”. .

<14. Hardware configuration example of control device>
Next, a hardware configuration example of the controller 300 that realizes processing by the operation control units 301 to 308 and the like implemented by the program executed by the CPU 901 described above will be described with reference to FIG.

  As shown in FIG. 19, the controller 300 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or FPGA, an input device 913, and an output device 915. A storage device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected to each other via a bus 909 and an input / output interface 911 so that signals can be transmitted to each other.

  The program can be recorded in a recording device such as the ROM 903, the RAM 905, or the storage device 917, for example.

  The program can also be recorded temporarily or permanently on a magnetic disk such as a flexible disk, various optical disks such as CD, MO disk, and DVD, and a removable recording medium 925 such as a semiconductor memory. Such a removable recording medium 925 can also be provided as so-called package software. In this case, the program recorded on these removable recording media 925 may be read by the drive 919 and recorded in the recording device via the input / output interface 911, the bus 909, or the like.

  The program can also be recorded on, for example, a download site, another computer, another recording device, etc. (not shown). In this case, the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives this program. The program received by the communication device 923 may be recorded in the recording device via the input / output interface 911, the bus 909, or the like.

  The program can also be recorded in an appropriate external connection device 927, for example. In this case, the program may be transferred via an appropriate connection port 921 and recorded in the recording device via the input / output interface 911, the bus 909, or the like.

  Then, the CPU 901 executes various processes according to the program recorded in the recording device, thereby realizing the processes by the operation control units 301 to 308 described above. At this time, for example, the CPU 901 may directly read and execute the program from the recording apparatus, or may be executed after it is once loaded into the RAM 905. Further, for example, when the program is received via the communication device 923, the drive 919, and the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device.

  Further, the CPU 901 may perform various processes based on signals and information input from the input device 913 such as a mouse, a keyboard, and a microphone (not shown) as necessary.

  Then, the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device, and the CPU 901 may send the processing result to the communication device 923 or the connection device as necessary. It may be transmitted via the port 921 or may be recorded on the recording device or the removable recording medium 925.

DESCRIPTION OF SYMBOLS 1 Robot system 5 Infusion bag 6 Syringe 52 Port member 63 Injection needle 100 Robot 103L Arm 103R Arm 120L Hand 120R Hand 200 Mounting stand 201 Mounting surface 300 Controller 301 1st motion control part 302 2nd motion control part 303 3rd motion control Unit 304 fourth operation control unit 305 fifth operation control unit 306 sixth operation control unit 307 seventh operation control unit 400 holding device 420 holder 430 holder

Claims (10)

A robot system for preparing a drug solution using an infusion bag and a syringe,
A robot having an arm with a hand at the tip;
A controller configured to control operation of the robot;
A mounting table on which the infusion bag is mounted;
The controller is
Before the injection needle of the syringe is inserted into the port member of the infusion bag, at least once, the robot pushes the port member of the infusion bag placed on the mounting table downward in the vertical direction with the hand. A first operation control unit for controlling the operation of
Robot system. The controller is
When the injection needle of the syringe is inserted into and removed from the port member of the infusion bag, the operation of the robot is controlled such that the port member of the infusion bag placed on the mounting table is held by the hand. Having two motion control units,
The robot system according to claim 1. The table above is
The port member of the placed infusion bag has a placement surface that is inclined so as to be lower in the vertical direction than the end opposite to the port member.
The robot system according to claim 2. The table above is
Having the function of a mass meter to measure the mass of the infusion bag placed;
The robot system according to claim 1. The controller is
A third operation control unit configured to control the operation of the robot so that the port member held by the hand is moved relative to the injection needle when the injection needle is inserted into and removed from the rubber stopper;
The robot system according to any one of claims 1 to 4. The robot system includes:
A holding device comprising a plurality of holders having different diameters for holding a plurality of types of syringes having different diameters;
The controller is
A fourth operation control unit that controls the operation of the robot to switch the holder with the hand according to the syringe to be used;
The robot system according to any one of claims 1 to 5. The controller is
A fifth operation control unit for controlling the operation of the robot so as to transfer the infusion between the infusion bag and the syringe by moving the plunger of the syringe forward and backward with the hand;
The robot system according to any one of claims 1 to 6. The robot is
Having two or more arms,
The controller is
A sixth operation control unit configured to control the operation of the robot so that the holding of the port member and the advance / retreat operation of the plunger are performed by the hands of the different arms;
The robot system according to claim 7. The robot is
Having two arms,
The controller is
When the infusion bag is placed on the mounting table with the hand of one arm, the operation of the robot is controlled so that the port member of the infusion bag faces the hand side of the other arm. Having an operation control unit,
The robot system according to claim 1 . A method for preparing a chemical solution by preparing a chemical solution using an infusion bag and a syringe by a robot having an arm with a hand at the tip,
Mounting the infusion bag on the mounting table with the hand;
Before the injection needle of the syringe is inserted into the port member of the infusion bag, at least once, the port member of the infusion bag placed on the mounting table is pushed down in the vertical direction by the hand ; Have
A method for preparing a chemical solution.

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