JP6750544B2 - Control device, control method, control program - Google Patents

Description

The present invention relates to a mixed injection device that executes mixed injection processing for injecting a drug such as an anticancer drug contained in a drug container into an infusion container.

A mixed injection device is known which performs mixed injection processing in which a drug such as an anticancer drug contained in a drug container such as an ampoule or a vial is sucked with a syringe and the drug is injected into an infusion container containing an infusion solution. (For example, refer to Patent Document 1).

JP 2012-250016 A

Incidentally, in addition to the mixed injection processing in the mixed injection device, an injection work for injecting another chemical such as an antiemetic agent into the infusion container may be required as a preliminary work. In addition, when the amount of liquid in the infusion container increases or decreases as a result of the mixed injection process in the mixed injection device, in addition to the mixed injection process, extraction work for extracting the infusion liquid from the infusion container or replenishment work for replenishing the infusion container with the infusion liquid is performed in advance. It may be necessary as work.

An object of the present invention is to provide a mixed injection device capable of suppressing omission of execution of a pre-work required separately from the mixed injection process performed by the mixed injection device.

The control device according to the present invention, for each preparation data to be output, based on the preparation data, the mixed injection is performed separately from the mixed injection process of sucking the medicine from the medicine container with the syringe and injecting the medicine from the syringe into the infusion container. It is possible to determine whether or not a preparatory work is required before executing the process, and it is possible to output a preparation schedule list sheet that displays a list of the preparatory data and the necessity of the preparatory work for each of the preparatory data. .. Further, the control method according to the present invention is, by the computer, for each preparation data to be output, a mixed injection process of sucking a medicine from a medicine container with a syringe based on the preparation data and injecting the medicine from the syringe into an infusion container. Separately, a preparation schedule list sheet including a step of determining whether or not a preparatory work is required before the execution of the mixed injection process, and a list of the preparatory data and the necessity of the preparatory work in each of the preparatory data. Is a control method for executing. Further, the control program according to the present invention, for each preparation data to be output, separately from the mixed injection process of injecting the medicine from the medicine container with the syringe based on the preparation data and injecting the medicine from the syringe into the infusion container. Outputting a preparation schedule list sheet including a step of determining whether or not a preparatory work is required before the execution of the mixed injection process, and a list of the preparatory data and the necessity or nonpreferred preparatory work for each of the preparatory data. And a control program for causing a computer to execute the steps.
Further, the mixed injection device according to the present invention, a mixed injection control unit for performing a mixed injection process of injecting the drug from the drug container to the infusion container while inhaling the drug from the drug container based on the preparation data, and the mixed injection process, Separately, a notification processing unit capable of notifying a predetermined message when a preparatory work is required before the execution of the mixed injection process is provided. As a result, it becomes possible to suppress the omission of the execution of the preliminary work that is necessary separately from the mixed injection process performed by the mixed injection apparatus.

Specifically, the preparatory work includes at least one of a work of replenishing the infusion solution with the infusion solution, a work of withdrawing the infusion solution from the infusion container, and a work of injecting another drug into the infusion container.

For example, when the drug is a powdered drug, in the mixed injection process, a dissolution step is performed in which the infusion solution is extracted from the infusion container by the syringe and the infusion solution is injected from the syringe into the drug container. Further, in the mixed injection process, an injection step of sucking the drug from the drug container with the injector and injecting the drug from the injector into the infusion container is also performed. Here, when the amount of the liquid injected into the infusion container in the injecting step is smaller than the amount of the infusion extracted from the infusion container in the dissolving step, the amount of the liquid in the infusion container becomes the infusion container. It becomes less than the prescribed amount that is set as the infusion volume stored. In this case, when the infusion solution of the infusion container is administered to a patient by infusion, the infusion time is shorter than when the prescribed amount is administered. Therefore, it is desirable to execute the replenishment work for replenishing the infusion solution by a predetermined amount before executing the mixed injection process.

Further, when the drug is a drug solution, in the mixed injection process, when the drug is sucked from the drug container with the injector and injected into the infusion container, the liquid amount of the infusion container is stored in the infusion container. The amount exceeds the prescribed amount that is set as the infusion volume. In this case, when the infusion solution of the infusion container is administered to a patient by infusion, the infusion time is longer than that in the case where the prescribed amount is administered. Therefore, it is desirable to perform a withdrawal operation for extracting a predetermined amount of infusion solution from the infusion solution container before performing the mixed injection process.

Furthermore, in some cases, it is possible to pre-inject into the infusion container another drug such as an anti-emetic drug to be taken separately from the above-mentioned drug such as an anti-cancer agent originally injected into the infusion container in the mixed injection process. In this case, an injection operation of injecting the other chemical into the infusion container is required before the mixed injection process is performed.

Here, it is conceivable that the notification processing unit determines that the preliminary work is necessary when the liquid amount in the infusion container changes as a result of the mixed injection processing based on the preparation data. Specifically, the mixed injection control unit, when the drug is a powdered medicine, in the mixed injection process, a dissolving step of extracting the infusion from the infusion container with the syringe and injecting the infusion into the drug container from the syringe, It is conceivable to perform an injecting step of inhaling the drug from the drug container with the syringe and injecting the drug from the syringe into the infusion container. In this case, the notification processing unit determines whether or not there is a change in the liquid amount based on the difference between the infusion amount withdrawn from the infusion container in the dissolution step and the liquid amount injected into the infusion container in the injection step. It is possible to do it. In particular, it is possible that the notification processing unit determines that the liquid amount in the infusion container changes when the change amount of the liquid amount is equal to or more than a predetermined threshold value. Accordingly, when the amount of change in the amount of liquid in the infusion container is small, it is possible to operate without the preliminary work.

Then, the notification processing unit may notify a message that the replenishment work is required when the liquid amount in the infusion container decreases as a result of the mixed injection process based on the preparation data. Further, the notification processing unit may notify a message that the withdrawal work is required when the liquid amount in the infusion container increases as a result of the mixed injection process based on the preparation data. Furthermore, in the case where the notification data is determined by the preparation data that it is necessary to inject into the infusion container another drug different from the drug infused into the infusion container by the mixed injection device. It is conceivable to notify the message that the injection work is required.

By the way, the notification processing unit may determine that the amount of liquid in the infusion container increases when the drug is a drug solution. In particular, the notification processing unit may determine that the amount of liquid in the infusion container increases when the amount of the drug solution is equal to or greater than a predetermined threshold value. Accordingly, when the amount of change in the amount of liquid in the infusion container is small, it is possible to operate without the preliminary work.

Further, it is conceivable that the notification processing unit displays an image for guiding a needle stick position to the stopper of the infusion container when the message is notified. Thereby, when the user performs the pre-work, it is possible to easily grasp the needle stick position to the stopper, and in the mixed injection device, the needle stick position in the pre-work and the needle stick position in the mixed injection process. It is possible to prevent duplication. Incidentally, the present invention is based on the preparation data, a mixed injection control unit for performing a mixed injection process of inhaling the drug from the drug container with a syringe and injecting the drug from the syringe into the infusion container, and the mixed injection process separately from the mixed injection process. A notification processing unit capable of notifying a predetermined message when a preparatory work is required before the execution of the processing, and the notification processing unit, to the stopper of the infusion container when notifying the message. It may be a mixed injection device that displays an image for guiding the needle stick position.

Specifically, the mixed injection control unit is to detect a region other than a predetermined specific puncture region on the upper surface of the stopper of the infusion container and puncture the needle of the syringe into the other region, It is conceivable that the image is an image that guides a region other than a predetermined output puncture region of the specific puncture region as the needle puncture position.

By the way, when the message is notified, the mixed injection control unit may not start the mixed injection process until a confirmation operation for the message is received. This prevents the mixed injection process from being started without performing the preparatory work.

Further, it is conceivable that the mixed injection control unit can execute a replenishment step of replenishing the infusion solution with the infusion solution when the amount of the liquid in the infusion vessel decreases. Similarly, it may be considered that the mixed injection control unit executes a withdrawal step of withdrawing an infusion solution from the infusion container when the amount of liquid in the infusion container increases. That is, it is conceivable that the preparatory work is automatically executed by the mixed injection device, not by the user. Incidentally, the present invention comprises a mixed injection control unit for performing mixed injection processing of injecting the drug from the drug container into the infusion container while sucking the drug from the drug container based on the preparation data, and the mixed injection control unit, A mixed injection device capable of executing a replenishment step of replenishing an infusion solution to the infusion container when the amount of liquid in the infusion container decreases due to a preparatory work required before the execution of the mixed injection process, separately from the mixed injection process. Good. Further, the present invention comprises a mixed injection control unit for performing a mixed injection process of injecting the medicine from the medicine container to the infusion container while sucking the medicine from the medicine container based on the preparation data, and the mixed injection control unit, Even with a mixed injection device that is capable of executing a withdrawal step of extracting an infusion solution from the infusion container when the amount of liquid in the infusion container increases due to a preparatory work required before the execution of the mixed injection process, separately from the mixed injection process. Good.

Further, the mixed injection device, a reservation setting processing unit capable of arbitrarily reserving the execution of the mixed injection process based on one or more of the preparation data, and the mixed injection process based on the preparation data reserved by the reservation setting processing unit. It is conceivable to include a reservation execution processing unit capable of executing the mixed injection processing when the execution time of is reached. Accordingly, the mixed injection process can be executed at a predetermined execution time such as midnight or a holiday by reserving the execution of the mixed injection process of the preparation data. Incidentally, the present invention, a mixed injection control unit for performing mixed injection processing of injecting the medicine from the medicine container to the infusion container while inhaling the medicine from the medicine container based on the preparation data, and one or more of the preparation data. A reservation setting processing unit that can arbitrarily reserve the execution of the mixed injection processing based on the above, and the mixed injection processing can be executed when the execution time of the mixed injection processing based on the preparation data reserved by the reservation setting processing unit comes It may be a mixed injection device including a reservation execution processing unit.

According to the present invention, it is possible to realize a mixed injection device capable of suppressing omission of performing a preparatory work that is required separately from the mixed injection process performed by the mixed injection device.

FIG. 1 is a block diagram showing a system configuration of a mixed injection device according to an embodiment of the present invention. FIG. 2 is a perspective view showing the external configuration of the mixed injection device according to the embodiment of the present invention. FIG. 3 is a perspective view of the mixed injection device according to the embodiment of the present invention with the main door opened. FIG. 4 is a front view of the mixed injection device according to the embodiment of the present invention with the main door and part of the front wall removed. FIG. 5 is a perspective view showing a tray used in the mixed injection device according to the embodiment of the present invention. FIG. 6 is a perspective view of the mixed injection device 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 mixed injection device 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 mixed injection device according to the embodiment of the present invention. FIG. 9 is a schematic plan view showing the tray transport unit of the mixed injection device according to the embodiment of the present invention. FIG. 10 is a perspective view showing the mechanism of the tray transport unit of the mixed injection device according to the embodiment of the present invention. FIG. 11 is a perspective view showing an ampoule cutter of the mixed injection device according to the embodiment of the present invention. FIG. 12 is a perspective view showing an internal configuration of the stirring device of the mixed injection device according to the embodiment of the present invention. FIG. 13 is a perspective view showing a medicine reading unit of the mixed injection device according to the embodiment of the present invention. FIG. 14 is a perspective view showing a needle bending detection unit of the mixed injection device according to the embodiment of the present invention. FIG. 15 is a perspective view showing the internal structure of the injection needle attaching/detaching device of the mixed injection device according to the embodiment of the present invention. FIG. 16 is a perspective view showing the 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 showing an example of a captured image of the needle insertion confirmation camera of the mixed injection device according to the embodiment of the present invention. FIG. 18 is a flowchart showing an example of the procedure of the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 19 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 20 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 21 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 22 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 23 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 24 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 25 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 26 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 27 is a diagram showing an example of a display screen in the loading preparation process executed by the mixed injection device according to the embodiment of the present invention. FIG. 28 is a flowchart showing an example of the procedure of the infusion volume control process executed by the mixed injection device according to the embodiment of the present invention. FIG. 29 is a flowchart showing another example of the procedure of the infusion volume control process executed by the mixed injection device according to the embodiment of the present invention. FIG. 30 is a flowchart showing an example of the procedure of the reservation setting process executed by the mixed injection device according to the embodiment of the present invention. FIG. 31 is a flowchart showing an example of the procedure of the mixed injection control process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 32 is a diagram showing an example of a preparation schedule list sheet output by the mixed injection device according to the embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. The following embodiments are examples of embodying the present invention and are not of the nature to limit the technical scope of the present invention. Further, it is also possible to realize the other embodiments by combining the configurations or processes of the respective embodiments.

[First Embodiment]
First, the mixed injection device 1 according to the first embodiment of the present invention will be described.

[Combination device 1]
As shown in FIGS. 1 and 2, the mixed injection device 1 according to the present embodiment includes a mixed injection control unit 100, a medicine loading unit 200, and a mixed injection processing unit 300. In the mixed injection device 1, the mixed injection control unit 100 controls the operation of the mixed injection processing unit 300, so that a predetermined amount of a drug such as an anticancer drug shown in the preparation data is injected by a syringe. A mixed injection process of injecting from a container such as one or a plurality of ampoules or vials in which is stored into another container such as an infusion container is executed. Further, as another example of the mixed injection process, a process of sucking a drug from a container such as an ampoule or a vial with a syringe and injecting it into a container such as another ampoule or a vial, or a container such as an infusion container with a syringe It also includes a process of sucking the medicine and injecting it into another vial or other container. That is, a physiological saline solution, glucose, or the like contained in the infusion bag is also an example of a drug to be subjected to the mixed injection process.

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

It should be noted that the process 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 process procedure of the mixed injection process is the first control unit 400 and the second control. It may be executed by any of the units 500. Further, it is considered as another embodiment that the mixed injection control unit 100 has one control unit or three or more control units. Further, some 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.

In addition, 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 mixed injection device 1. The preparation data is data for preparation generated based on the 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. It includes (eg, after each meal three times a day), type of medical treatment (outpatient, hospitalization, etc.), clinical department, ward, and ward. The preparation data includes patient information, doctor information, drug information, drug prescription amount, drug container type (ampoule with drug solution, vial bottle with drug solution, or vial bottle with powder drug), preparation content information (mixed injection process). Drug containers, syringes, types and numbers of injection needles, etc.), and preparation procedure information (work content, dissolved drug, solvent, dissolved drug amount, solvent amount, withdrawal 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. To the first control unit 400, various electric components such as a display 203, a bar code reader 204, and an air cleaning device 205, which will be described later, provided in the medicine loading unit 200 are connected.

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

The data storage unit 404 is a hard disk or the like that stores various application programs for causing the CPU 401 to execute various processes and various data. Specifically, the data storage unit 404 stores the preparation data input from the host system 600.

Here, the first control unit 400 stores, together with the preparation data input from the host system 600, identification information of a tray 101, which will be described later, corresponding to each of the preparation data. For example, the association between the preparation data and the tray 101 is performed by the first controller 400. It is also conceivable that information indicating the correspondence between the preparation data and the tray 101 is input to the mixed injection device 1 together with the preparation data.

Further, the data storage unit 404 stores various databases such as an injection needle master, a drug master, a patient master, a doctor master, a prescription classification master, a clinical department master, and a ward master. In the injection needle master, the shape of the needle tip of the injection needle is stored for each type of injection needle. The shape of the needle tip portion 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. Further, the drug master includes drug code, drug name, JAN code (or RSS), drug bottle code, classification (dosage form: powder, tablets, liquid drug, topical drug, etc.), specific gravity, drug type (normal drug, Anti-cancer agents, poisons, narcotics, powerful drugs, antipsychotics, remedies, etc.), formulation changes, excipients, precautions, types of drug containers (ampoules, vials), amount of drug in drug container units ( Information such as the prescribed amount) and the weight of the chemical container is included.

Further, the data storage unit 404 stores in advance a mixed injection 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 by a reading device (not shown) included in the first control unit 400 and installed in the data storage unit 404. Good.

The operation unit 405 includes various operation units 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 transfer unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, and a tray, which will be described later, provided in the mixed injection processing unit 300. Various electric parts 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 developing various control programs by the CPU 501 and temporarily storing data.

The data storage unit 504 is a hard disk or the like that stores various application programs for causing the CPU 501 to execute various processes 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 by a reading device (not shown) included in the second control unit 500 and installed in the data storage unit 504. Good.

The present invention may be considered 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 unit 100 or a computer-readable recording medium recording the mixed injection control program. Good. Further, the present invention may be regarded as an invention of a mixed injection method including each processing procedure executed in the mixed injection apparatus 1.

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

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

As shown in FIGS. 2 and 3, the chemical loading unit 200 is a clean bench including a door 201, a work table 202, a display 203, a bar code 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 connected to each other by 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 kinds of information according to a control instruction from the first control unit 400. Specifically, the display 203 displays preparation data and the like that are candidates for mixed injection in the mixed injection apparatus 1. Further, the barcode reader 204 reads a barcode described on a prescription or a preparation instruction sheet, and inputs the content of the barcode into the first controller 400. The air purifier 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 vertically. As shown in FIG. 2, the user performs a preparatory work for the mixed injection process executed by the mixed injection apparatus 1 in a state where the door 201 is slightly opened and the hand is put in the medicine loading section 200. Specifically, as shown in FIG. 5, on the tray 101 placed on the work table 202, a drug container 10, a syringe 11, and an infusion bag used in the mixed injection process executed by the mixed injection device 1. 12 (an example of an infusion container) and the like are stored. The infusion solution bag 12 contains a prescribed amount of infusion solution such as physiological saline, glucose, or high calorie infusion solution corresponding to the type of the infusion solution bag 12. Further, the drug contained in the drug container 10 is, for example, an anticancer drug, but may be a drug other than the anticancer drug. The preparatory work includes, for example, a loading work in which the medicine container 10, the syringe 11, and the infusion bag 12 are placed at predetermined positions on the tray 101, and the tray 101 is loaded into the mixed injection processing unit 300. Be done. Hereinafter, when the medicine container 10 is an ampoule, the medicine container 10 is referred to as an ampoule 10A, and when the medicine container 10 is a vial, the medicine container 10 is referred to as a vial bottle 10B.

As shown in FIG. 5, the tray 101 includes an electronic paper 101a on which a patient name, an application, etc. are displayed in characters, and an IC tag 101b (recording medium such as RFID (Radio Frequency Identification) tag that can read and write various information. And an example). Identification information for identifying the tray 101 is stored in the IC tag 101b.

In addition, the tray 101 holds the infusion bag 12 and an equipment placement portion 102 (see FIG. 9) on which the medicine container 10 and the injector 11 (syringe 11a, injection needle 11c, cap 11d) are placed. The infusion bag holding portion 103 (see FIG. 5) is included. The equipment placement portion 102 and the infusion bag holding portion 103 can be individually attached to and detached from the tray 101.

As shown in FIG. 5, the equipment mounting portion 102 is provided with a support portion 102A that supports the ampoule 10A in an inclined state. Then, the ampoule 10A is set in a state in which it is erected diagonally on the support portion 102A. As a result, chemicals do not collect on the neck of the ampoule 10A. In addition to the ampoule 10A, the injection needle 11c of the injector 11 and the like are also set on the support portion 102A in a state of standing upright.

The injection needle 11c also includes an injection needle with a syringe filter. Specifically, when the ampoule 10A is used, a fragment when the neck of the ampoule 10A is broken is injected from the injector 11 into the infusion bag 12, or the fragment flows into the injector 11. A needle with a syringe filter is used to prevent this. The syringe filter is a filter generally called a coma filter, and has a function of preventing the passage of foreign matters other than chemicals. For example, a syringe filter manufactured by Nippon Pall Co. is generally known.

On the other hand, as shown in FIGS. 5 and 9, the vial bottle 10B and the syringe 11 are set on the equipment mounting portion 102 while lying down. 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 example, and the present invention is not limited to this.

Further, 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 as shown in FIG. In the preparatory work, the user sets the infusion bag 12 in the infusion bag holding portion 103 in a state of being 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 moved up and down.

Then, 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 should be noted that it is conceivable that the medicine loading unit 200 may be provided with a carry-in mechanism such as a belt conveyor that automatically carries the tray 101 into the mixed injection processing unit 300. It is also conceivable that the carry-in mechanism has a function of automatically discharging the tray 101 from the mixed injection processing unit 300 to the drug loading unit 200 side.

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

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

The main door 301 is opened and closed to access the mixed injection processing chamber 104, for example, when cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300. Further, in the mixed injection device 1, in addition to dispensing the infusion bag 12 in which a drug is injected, it is also possible to dispense the injector 11 in a state in which the drug is filled. The syringe ejection door 302 is opened and closed when the syringe 11 is taken out from the mixed injection processing chamber 104.

The garbage storage chamber door 13 is for removing the waste from the garbage storage chamber 13a in which wastes 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 are stored. It is opened and closed. Further, the tray outlet 15 is opened and closed to take out the tray 101 on which the infusion bag 12 is placed after the chemicals have been mixed and 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 kinds of information according 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 below.

[Combination processing room 104]
As shown in FIGS. 3 and 4, in the mixed injection processing chamber 104, a first robot arm 21, a second robot arm 22, an ampoule cutter 31, a stirring device 32, a mounting shelf 33, a rotation mounting portion 33A, A medicine reading unit 34, a weigh scale 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, a dust lid 132a and the like are provided. Further, as shown in FIG. 6, a tray confirmation camera 41, a syringe confirmation camera 42, an injection needle attachment/detachment device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, etc. are provided on the ceiling side of the mixed injection processing chamber 104. There is.

[First Robot Arm 21, Second Robot Arm 22]
The first robot arm 21 and the second robot arm 22 are drive units having a multi-joint structure, and are provided in a hanging shape with their base ends 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 have 5 to 8 axes, respectively. Then, in the mixed injection device 1, each work step in the mixed injection process is executed by the first robot arm 21 and the second robot arm 22 of the double arm type.

Specifically, the second controller 500 individually drives the drive motors provided at the joints of the first robot arm 21 and the second robot arm 22, respectively, and the first robot arm 21 and the second robot arm 21 are driven. The robot arm 22 is caused to execute each work in the mixed injection process. Note that the mixed injection processing unit 300 has a structure having one robot arm, a structure including three or more robot arms, or a structure not using the robot arm, as long as the mixed injection processing unit 300 can execute the mixed injection processing. May be

As shown in FIG. 6, the first robot arm 21 includes a holding portion 25 capable of holding equipment such as the medicine container 10 and the syringe 11, and the holding portion 25 has a predetermined movable range. It can be moved to any position inside. The second robot arm 22 is capable of holding the drug container 10 and the device such as the injector 11 and moving the device to an arbitrary position, and performing the operation of sucking and injecting the drug by the injector 11. It is an example of a holding unit including a holding unit 26 that can be used. Here, the first robot arm 21 and the second robot arm 22 are examples of a first driving unit, and the holding unit 26 is an example of a second driving unit. Further, the second robot arm 22 can move the medicine container 10, the syringe 11 and the like to arbitrary positions within a predetermined movable range.

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

In addition, the pair of grip claws 25a is a grip portion having a recess suitable for holding the vial bottle 10B and a recess suitable for holding the ampoule 10A on the tip side. FIG. 7 shows a state in which both the ampoule 10A and the vial bottle 10B are held, but actually one ampoule 10A or the vial bottle 10B is held.

Further, the holding portion 25 can hold the injection needle 11c or the syringe 11 to which the cap 11d is attached by the pair of grip claws 25a. By the way, the said 2nd control part 500 can measure the diameter of the said injector 11 according to the drive amount of the said motor 251 at the time of holding the said injector 11 with the said pair of grasping nails 25a of the said holding part 25. It is possible. Therefore, the second controller 500 can determine whether the syringe 11 is the syringe specified by the preparation content information of the preparation data.

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

The plunger holding portion 262 includes a pair of grip claws 262a for holding the flange portion of the plunger 11b of the syringe 11. The pair of grip claws 262a are grip sections that hold and release the collar section of the plunger 11b of the syringe 11 by approaching and separating from each other by a mechanism similar to the drive mechanism used in the holding section 25. is there. A grip claw 262b is fixed to the upper surface of each of the grip claws 262a. Each of the gripping claws 262b is a gripping part that holds the pair of gripping claws 262a close to or apart from each other to move the gripping claws 262a close to or apart from each other, and grips not only the syringe 11 but also other equipment such as the drug container 10. In addition, a concave portion for receiving the flange portion of the plunger 11b is formed on the upper surfaces of the pair of grip claws 262a on the opposite side. In addition, the tip ends of the pair of gripping claws 262b project further forward than the pair of gripping claws 262a, so that the pair of gripping claws 262b can easily hold the ampoule 10A, the vial 10B, and other equipment. The grip claw 262b may be provided on the grip claw 261a.

The moving unit 263 can move the plunger holding unit 262 in the moving direction of the plunger 11b of the syringe 11. The moving unit 263 moves the plunger 11b by a drive 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 portion 262 is fixed to the nut block, and moves as the nut block moves.

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

FIG. 9 is a schematic plan view showing an example of the transport path of the tray 101 in the tray transport unit 110. The inside of the tray transport unit 110 is set to 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 13a located below the mixed injection processing chamber 104 and below the dust lid 132a. It is provided to carry. As a result, the garbage storage chamber 13a can be accessed from the front side of the mixed injection device 1. In FIG. 9, the tray 101 moving in the tray transport unit 110 is indicated by a chain double-dashed line in order to show the transport path of the tray transport unit 110. 101 does not exist.

The tray transport unit 110 is provided with an IC reader 101c and an IC reader 15a capable of reading information from the IC tag 101b provided on 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 transport start portion 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 at the tray transport terminal portion 110a.

When the second control unit 500 determines that the tray 101 has been inserted into the tray transport start unit 110b from the tray insertion port 114 based on a sensor output (not shown), the IC reader 101c causes the IC to operate. Information is read from the tag 101b. When the second controller 500 determines that the tray 101 has been inserted into the tray transport terminal 110a based on a sensor output (not shown), the IC reader 15a reads information from the IC tag 101b. .. Then, the second control unit 500 executes a tray collation process for determining the suitability of the tray 101 according to the reading result by the IC reader 101c and the IC reader 15a.

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

As shown in FIG. 10, the tray transport unit 110 is a tray for raising and lowering the equipment placement unit 102 in the tray 101 moved into the tray transport unit 110 through the tray insertion port 114. A lifting unit 112 is provided. The tray elevating part 112 elevates the equipment placing part 102 from the bottom by, for example, vertically driving four shafts 112a provided so as to be able to elevate.

Then, the second control unit 500 causes the tray confirmation camera 41 to take an image after raising the equipment placement unit 102 by the tray elevating unit 112. The tray confirmation camera 41 takes an image of the medicine container 10, the syringe 11 and the like mounted on the predetermined equipment mounting portion 102 from above. The second control unit 500 performs image recognition processing using the image captured by the tray confirmation camera 41, and the number of the drug containers 10 and the syringes 11 (the syringe 11a and the injection needle) indicated by the preparation data. It is determined whether or not 11c) and the like are present on the equipment mounting portion 102.

Further, as shown in FIG. 10, a bag elevating part 113 for elevating the infusion bag holding part 103 is provided at the tray transporting end part 110 a located in the left space of the mixed injection processing chamber 104. The second control unit 500 conveys the tray 101 to the front of the bag elevating/lowering unit 113, and then hooks the hook portion 113a of the bag elevating/lowering unit 113 into the engagement hole 103a from below. Then, the second controller 500 raises the infusion bag holding portion 103 by rotating and driving the arc gear portion 113b having the hook portion 113a by the motor 113c, so that the mixed injection port of the infusion bag 12 is opened. The mixed injection communication port 37 is located. Further, 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 is directed upward or downward. can do.

As shown in FIG. 6, a dome-shaped light 120 and an infusion camera 121 for illuminating the infusion bag 12 transported to the tray transport terminating portion 110a are provided above the tray transport terminating portion 110a. There is. The infusion camera 121 is provided at 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 the suitability of the infusion bag 12 according to the information of the barcode read by the infusion camera 121.

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

The file part 31a is a member for notching the neck of the ampoule 10A, and the chips generated by the notch process in the file part 31a fall on the chip tray 31b. Specifically, in the mixed injection device 1, the first robot arm 21 holds the ampoule 10A and slides the neck of the ampoule 10A against the file part 31a by sliding the neck of the ampoule 10A to the neck of the ampoule 10A. Notched.

The head insertion portion 31c is located on the side of the hole 31d into which the head of the ampoule 10A having the notch process is inserted from below and the head of the ampoule 10A protruding upward from the hole 31d. And a pusher 31e that operates. On the other hand, the drive box 31f has an internal cam and a drive motor for driving the cam. When the drive motor drives the cam, the cam pushes the pusher 31e into the ampoule 10A. It reciprocates in the direction of moving toward and away from the head of.

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

[Stirring device 32]
When the vial 10B contains a drug such as a powdered medicine (powder) that needs to be dissolved, the stirring device 32 injects an infusion solution or a drug into the vial 10B to dissolve the drug, 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 arranged to face each other with a predetermined gap 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 vials 10B placed on both ends of the roller 32a in the axial direction. ..

The pressing portion 32b is a driven roller that is used to press the vial bottle 10B placed on the roller 32a from above, and that rotates with the rotation of the medicine container 10. The rotation support portion 32c rotates the pressing portion 32b in a direction of coming into contact with or separating from the medicine container 10 by a drive motor (not shown).

The support 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 bottle 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 medicine container 10 is swung following the axial swing of the roller 32a. The chemicals in the chemical container 10 are horizontally stirred.

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

[Mounting shelf 33]
As shown in FIG. 4, the placing shelf 33 is used for temporarily placing the medicine container 10, the syringe 11 and the like in the mixed injection process executed in the mixed injection apparatus 1. The placing rack 33 is provided at a position where both the first robot arm 21 and the second robot arm 22 can access. The vial bottle 10B is placed in the standing shelf 33 in an upright state at a predetermined position. On the other hand, the mounting shelf 33 is provided with an inclined holding portion for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed in the inclined holding portion in an inclined state. Further, the placing rack 33 is formed with a neck holding hole having a predetermined diameter, into which the neck portion of the syringe 11 is fitted, and the syringe 11 is a syringe without an injection needle 11c. It is temporarily placed with the neck down.

[Rotating mount 33A]
The rotation mounting portion 33A is used for the work for rotating the syringe 11 in the circumferential direction, and is provided at a position accessible by the first robot arm 21. For example, the rotation mounting portion 33A is formed with a neck holding hole having a predetermined diameter, into which the neck portion of the syringe 11 fits, similarly to the mounting shelf 33 described above, and the syringe 11 has an injection needle. 11c is placed with only the syringe not attached and the neck portion facing downward. Then, the first robot arm 21 can rotate the syringe 11 180 degrees in the circumferential direction after mounting the syringe 11 on the rotation mounting portion 33A. For example, the first robot arm 21 gradually rotates the syringe 11 in the circumferential direction up to 180 degrees 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 the other circumferential direction. .. (B) The syringe 11 is gripped again, and the syringe 11 is rotated by a predetermined amount in one circumferential direction.

[Chemical reading unit 34]
The medicine reading unit 34 reads a bar code which is described on a label attached to the medicine container 10 such as the ampoule 10A and the vial bottle 10B and which shows medicine information of the medicine contained therein. 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 gap therebetween. One of the rollers 34a is rotatably supported, and the other of the rollers 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. As a result, the medicine container 10 can be rotated once in the circumferential direction, so that the entire area of the label attached to the medicine container 10 can be directed to the barcode reader 34b. Then, the barcode reader 34b reads the barcode from the label of the medicine container 10 rotated by the roller 34a.

[Weighing scale 35]
The weighing machine 35 is used to measure the weight of the syringe 11 in the mixed injection process executed in the mixed injection apparatus 1, and the measurement result by the weighing machine 35 is input to the second control unit 500. The weigher 35 is arranged 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. It is also conceivable that, apart from the weighing scale 35, a weighing scale for weighing the medicine container 10 or the syringe 11 is provided on the placing shelf 33.

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

Then, by the second robot arm 22, the injection needle 11c attached to the syringe 11 is inserted into the elongated hole 36a and moved vertically. 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.

Accordingly, the second control unit 500 can detect bending of the injection needle 11c by using the position information of the injection needle 11c when blocking the detection light. It should be noted that it is conceivable as another embodiment that the injection needle 11c is photographed by a camera and the needle bending is detected by image recognition of the photographed image. When the injection needle 11c is bent, the second control unit 500 uses the second robot arm 22, for example, the injection needle 11c to inject the infusion bag 12 based on the bending amount of the injection needle 11c. It is possible to adjust the needle tip position and the like when puncturing the rubber stopper of the mixed injection port.

[Mixed injection port 37]
As shown in FIG. 3, the mixed injection communication port 37 is formed in a dome-shaped portion of the side wall of the mixed injection processing chamber 104 that protrudes outward, and the dome-shaped portion is provided with the infusion bag 12 in the vertical direction. A notch is formed for passing the mixed injection port. Therefore, when the infusion bag holding portion 103 rises, the mixed injection port of the infusion bag 12 is located in the mixed injection processing chamber 104.

[Transparent window 38 for confirming needle insertion]
The transparent window 38 for confirming the needle insertion is a window through which the infusion bag 12 at the tray transporting end portion 110a can be visually recognized from the mixed injection processing unit 300, and the injection needle 11c of the syringe 11 is inserted into the infusion bag 12. It is used when taking an image to check the condition.

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

[Injection needle attachment/detachment device 43]
As shown in FIGS. 15 and 16, in the injection needle attachment/detachment device 43, the tip of the injection needle 11c, in which the cap 11d is attached to the hole 43b of the chuck 43a in which the notch is formed, is inserted upward. When the motor 43c is driven, the hole 43b of the chuck 43a is expanded by a cam mechanism (not shown) so that 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 rotation motor 43e is driven, the gears 43f and 43g rotate, the chuck portion 43a rotates, and the cap 11d and the injection needle 11c rotate.

Each of the injection needle 11c and the cap 11d is provided with a rib that comes into contact when the cap 11d is attached to the injection needle 11c and rotates in the circumferential direction. Therefore, the injection needle 11c rotates together 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. Further, in the injection needle attaching/detaching device 43, the injection needle is moved by moving the syringe 11 toward 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 to and from 11c. In the injection needle attachment/detachment 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 liquid drops from the neck opening of the syringe 11a. Can be prevented.

[Needle insertion confirmation camera 44]
Further, the needle insertion confirmation camera 44 takes an image of 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 within one image. The second controller 500 causes the needle insertion confirmation camera 44 to photograph the direction of the needle insertion confirmation transparent window 38 when the rubber plug of the mixed injection port of the infusion bag 12 is punctured by the injection needle 11c. The image captured by the needle insertion confirmation camera 44 is displayed on the touch panel monitor 14, for example. Here, FIG. 17 is an example of an image taken by the needle insertion confirmation camera 44. Thereby, the user can confirm whether or not the tip side of the injection needle 11c is located inside the infusion bag 12 by the photographed image. The photographed image is stored in a storage unit such as a hard disk provided inside or outside the mixed injection apparatus 1 for final inspection, for example. When it is determined that the OK button is operated by the user on the touch panel monitor 14 on which the captured image is displayed and the mixed injection process is appropriately completed, the infusion bag 12 is lowered by the bag elevating/lowering unit 113. , And returned to the tray 101.

[Sterilizing lamp 45]
The sterilization 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, in the mixed injection processing unit 300, the air in the mixed injection processing chamber 104 is sucked from a slit 104b (see FIGS. 3 and 4) formed in a lower portion of a side wall of the mixed injection processing chamber 104, and the mixed injection processing chamber is sucked. An exhaust system for exhausting from an exhaust fan (not shown) provided above 104 is provided. Further, there is also provided an air supply system which cleans the outside air from an intake port formed in the ceiling of the mixed injection processing chamber 104 and guides it to the mixed injection processing chamber 104 and the like.

[Mixed processing]
Next, an example of a procedure of the mixed injection processing executed by the mixed injection control unit 100 controlling the mixed injection processing unit 300 in the mixed injection apparatus 1 will be described. In the mixed injection process, as described below, the second control unit 500 controls the first robot arm 21, the second robot arm 22 and the like, so that one or a plurality of the plurality of robots are generated based on the preparation data. The medicine is sucked from the medicine container 10 with the injector 11, and the medicine is injected from the injector 11 into another container such as the infusion bag 12.

[Mixed injection process using ampoule 10A]
First, the basic operation of the mixed injection 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 causes the IC reader 101c to read the identification information of the tray 101 from the IC tag 101b of the tray 101. 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. Then, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray elevating unit 112 of the tray transport unit 110 to expose it to the mixed injection processing chamber 104.

Next, the second control unit 500 takes an image of the equipment placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the image recognition processing based on the image captured by the tray confirmation camera 41 to perform the position and orientation of the equipment such as the ampoule 10A and the syringe 11 placed on the equipment placement unit 102. Figure out. In particular, the second control unit 500 photographs the equipment placing portion 102 with the tray confirmation camera 41 every time the ampule 10A or the syringe 11 is taken out from the equipment placing portion 102, and the latest image is taken from the photographed image. The positions and directions of the ampoule 10A and the syringe 11 are grasped.

Then, the second control unit 500 causes the first robot arm 21 to move the syringe 11 mounted on the equipment mounting unit 102 exposed in the mixed injection processing chamber 104 to the mounting shelf 33. Place it temporarily. In addition, the second control unit 500 sets the ampoule 10</b>A placed on the equipment placement unit 102 in the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 causes the medicine reading unit 34 to read information such as the type of medicine contained in the ampoule 10A.

Further, the second control unit 500 sets the first injection needle 11c to the injection needle attachment/detachment device 43 by the first robot arm 21 and sets the second injection needle 11c to the placing rack 33. Place it temporarily. 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. A cap 11d is attached to the injection needle 11c mounted on the equipment mounting portion 102, and the cap 11d is attached and detached by the injection needle attaching/detaching device 43. It is also conceivable that the injection needle 11c is set on the tray 101 while being attached to the syringe 11a of the injector 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Then, when all the equipment on the equipment placement unit 102 is taken out, the second control unit 500 lowers the equipment placement unit 102 by the tray elevating unit 112 of the tray transport unit 110 to lower the tray 101. Return to. The second control unit 500 confirms whether or not all the equipment on the equipment placement unit 102 has been taken out by an image recognition process based on an image captured by the tray confirmation camera 41.

Then, 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 terminal 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. The mixed injection communication port 37 formed at 104 is positioned.

Then, the second control unit 500 causes the second robot arm 22 to move the ampoule 10A set in the medicine reading unit 34 to the placing rack 33. Next, the second controller 500 causes the first robot arm 21 to take out the injector 11 from the placing rack 33 and set it on the second robot arm 22. Then, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attachment/detachment device 43 so that the syringe 11 sets the injection needle 11c. Then, the second controller 500 causes the second robot arm 22 to move the injector 11 to the needle bending detector 36 and detects whether the injection needle 11c is bent. It should be noted that the injection needle 11c may be set on the tray 101 while being attached to the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Next, the second controller 500 takes out the ampoule 10A from the shelf 33 by the first robot arm 21 and breaks the head of the ampoule 10A using the ampoule cutter 31. Then, the second controller 500 causes the ampoule 10A and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22 so that the injection needle 11c of the syringe 11 is moved to the ampoule 10A. Insert inside. After that, the second control unit 500 operates the plunger 11b by the second robot arm 22 to suck the medicine, which is predetermined according to the preparation data, from the ampoule 10A by the syringe 11.

At this time, the first robot arm 21 and the second robot arm 22 gradually tilt the postures of the ampoule 10A and the syringe 11. For example, with the mouth portion of the ampoule 10A facing vertically upward and the injection needle 11c of the syringe 11 pointing vertically downward, a certain amount of medicine is sucked up from the ampoule 10A, and then the ampoule 10A is moved vertically. The medicine is moved to the side of the mouth (neck) by inclining it by about 10 degrees with respect to the direction. This makes it possible to suck up the drug without leaving the tip of the injection needle 11c of the syringe 11 on the bottom of the ampoule 10A.

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

Next, the second control unit 500 uses the first robot arm 21 and the second robot arm 22 to replace the injection needle 11c of the syringe 11. Specifically, the second control unit 500 causes the second robot arm 22 to move the injector 11 to the needle bending detection unit 36 and detects whether or not the injection needle 11c is bent. Then, the second robot arm 22 moves the syringe 11 to the injection needle attachment/detachment device 43 and attaches the cap 11d to the injection needle 11c. Then, the second control unit 500 causes the injection needle attaching/detaching device 43 to rotate the cap 11d to remove the injection needle 11c from the injector 11. The injection needle 11c may be removed by rotating the cap 11d by the first robot arm 21 and the second robot arm 22.

Then, the second control unit 500 opens the dust lid 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. After that, the second controller 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter on the injection needle attachment/detachment device 43 from the mounting shelf 33. Then, the second controller 500 moves the injector 11 to the injection needle attachment/detachment device 43 by the second robot arm 22 to attach the injection needle 11c to the injector 11. Also in this case, the second control unit 500 causes the second robot arm 22 to move the injector 11 to the needle bending detection unit 36 and detects whether or not the injection needle 11c is bent. As described above, in the mixed injection device 1, the injection needle 11c is exchanged between when the medicine is sucked from the ampoule 10A and when the infusion solution is injected into the infusion bag 12, and the fragment of the ampoule 10A is replaced with the infusion bag. 12 is prevented from being mixed.

Then, the second controller 500 causes the second robot arm 22 to puncture the rubber plug of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a with the injection needle 11c of the syringe 11. Then, the mixed drug in the syringe 11 is injected into the infusion bag 12. On the other hand, the second controller 500 opens the dust lid 132a, drops the ampoule 10A into the dust storage chamber 13a by the first robot arm 21, and discards it. In addition, the second controller 500 moves the injector 11 to the injection needle attachment/detachment device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the injector 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

Then, the second control unit 500 reads out various images taken by the syringe confirmation camera 42 or the like from the data storage unit 504 and causes the touch panel monitor 14 to display them. Thus, the user can inspect the mixed injection process for suitability while looking at the touch panel monitor 14.

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

When the tray 101 is supplied to the tray transport unit 110, the second control unit 500 causes the IC reader 101c to read the identification information of the tray 101 from the IC tag 101b of the tray 101. 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. Then, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray elevating unit 112 of the tray transport unit 110 to expose it to the mixed injection processing chamber 104.

Next, the second control unit 500 takes an image of the equipment placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the image recognition processing based on the image captured by the tray confirmation camera 41 to determine the position of the equipment such as the vial 10B and the syringe 11 placed on the equipment placement unit 102, and the like. Know the orientation. In particular, the second control unit 500 photographs the equipment placing portion 102 with the tray confirmation camera 41 every time the vial bottle 10B or the injector 11 is taken out from the equipment placing portion 102, and from the photographed image. The latest positions and orientations of the vial bottle 10B and the syringe 11 are grasped.

Then, the second control unit 500 causes the first robot arm 21 to move the syringe 11 mounted on the equipment mounting unit 102 exposed in the mixed injection processing chamber 104 to the mounting shelf 33. Place it temporarily. Further, the second control unit 500 sets the vial bottle 10</b>B placed on the equipment placing unit 102 in the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 causes the drug reading unit 34 to read information such as the type of drug stored in the vial bottle 10B.

Next, when all the equipment on the equipment placement unit 102 is taken out, the second control unit 500 lowers the equipment placement unit 102 by the tray elevating unit 112 of the tray transport unit 110 to move the tray. Return to 101. The second control unit 500 confirms whether or not all the equipment on the equipment placement unit 102 has been taken out by an image recognition process based on an image captured by the tray confirmation camera 41.

Then, 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 terminal 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. The mixed injection communication port 37 formed at 104 is positioned.

Then, the second control unit 500 causes the second robot arm 22 to move the vial bottle 10B set in the medicine reading unit 34 to the placing rack 33. On the other hand, in parallel with this movement processing, the second control unit 500 causes the first robot arm 21 to attach and detach the injection needle 11c of the syringe 11 placed on the equipment placement unit 102. Set in the device 43.

Next, the second controller 500 causes the first robot arm 21 to take out the injector 11 from the placing rack 33 and set it on the second robot arm 22. Then, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attachment/detachment device 43 so that the syringe 11 sets the injection needle 11c. Then, the second controller 500 causes the second robot arm 22 to move the injector 11 to the needle bending detector 36 and detects whether the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 while being attached to the syringe 11a of the injector 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Then, the second controller 500 punctures the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal end 110a by the second robot arm 22 with the injection needle 11c of the syringe 11. Then, the dissolved amount of the infusion solution shown in the preparation data is sucked from the infusion bag 12. On the other hand, the second controller 500 takes out the vial bottle 10B placed on the placing rack 33 by the first robot arm 21.

Then, the second controller 500 causes the first robot arm 21 and the second robot arm 22 to bring the vial bottle 10B and the syringe 11 close to each other, and the injection needle 11c of the syringe 11 is closed. Puncture the vial bottle 10B. Then, the second control unit 500 operates the plunger 11b by the second robot arm 22 to inject the infusion solution in the syringe 11 into the vial bottle 10B. Thus, when the drug is a powdered drug, in the mixed injection process, a dissolution step is performed in which the infusion solution is extracted from the infusion solution bag 12 by the syringe 11 and the infusion solution is injected from the syringe 11 into the vial bottle 10B. To be done. As a result, the drug in the vial bottle 10B is dissolved by the infusion solution. At this time, the postures of the syringe 11 and the vial bottle 10B are such that the injection needle 11c of the syringe 11 is oriented vertically downward and the mouth of the vial bottle 10B is oriented vertically upward.

Next, the second control unit 500 sets the vial bottle 10B, into which the infusion solution has been injected, in the stirring device 32 by the first robot arm 21. Accordingly, the stirring device 32 stirs the medicine and the infusion solution in the vial bottle 10B. When the stirring by the stirring device 32 is completed, the second controller 500 causes the first robot arm 21 to take out the vial bottle 10B from the stirring device 32.

Then, the second controller 500 causes the first robot arm 21 and the robot arm 22 to bring the vial bottle 10B and the syringe 11 close to each other, so that the injection needle 11c of the syringe 11 is moved to the vial bottle. Puncture into 10B. Then, the second control unit 500 operates the plunger 11b by the second robot arm 22 to suck the mixed drug in the vial bottle 10B with the syringe 11. At this time, the postures of the syringe 11 and the vial bottle 10B are such that the mouth of the vial bottle 10B is oriented vertically downward and the injection needle 11c of the syringe 11 is oriented vertically upward.

After that, 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 bottle 10B and the medicine after the medicine is sucked. The syringe 11 in the aspirated state is moved into the shooting range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the vial bottle 10B and the syringe 11 with the syringe confirmation camera 42 at a time, and records the photographed image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 photographs the predetermined photographing range. On the other hand, the syringe control camera is provided so that the second controller 500 can capture the vial 10B and the syringe 11 at a time after being moved by the first robot arm 21 and the second robot arm 22. It is also possible that the photographing range of 42 can be changed.

Then, the second controller 500 causes the second robot arm 22 to puncture the rubber plug of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a with the injection needle 11c of the syringe 11. Then, the mixed drug in the syringe 11 is injected into the infusion bag 12. As described above, in the mixed injection process, an injection step is performed in which the drug is sucked from the vial bottle 10B by the injector 11 and the drug is injected from the injector 11 into the infusion bag 12.

On the other hand, the second controller 500 opens the dust lid 132a, drops the vial bottle 10B into the dust storage chamber 13a by the first robot arm 21, and discards it. In addition, the second controller 500 moves the injector 11 to the injection needle attachment/detachment device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the injector 11. The syringe 11 is dropped into the garbage storage chamber 13a and discarded.

Then, the second control unit 500 reads out various images taken by the syringe confirmation camera 42 or the like from the data storage unit 504 and causes the touch panel monitor 14 to display them. Thus, the user can inspect the mixed injection process for suitability while looking at the touch panel monitor 14.

It is also conceivable that the drug contained in the vial bottle 10B is a drug such as a drug solution that does not need to be dissolved. In the mixed injection process in this case, except that the step of sucking the infusion solution from the infusion bag 12 and injecting it into the vial bottle 10B and stirring is not executed, the medicine contained in the vial bottle 10B is not dissolved. Since it is the same as the mixed injection process in the case of a drug such as a necessary powdered medicine, description thereof will be omitted.

[Loading preparation process]
Then, in the mixed injection apparatus 1, the first control unit 400 prepares for loading to store the medicine container 10, the syringe 11, the infusion bag 12 and the like in the tray 101 before executing the mixed injection process. A loading preparation process for supporting the above is executed. FIG. 18 is a flowchart showing an example of the loading preparation process.

<Step S1>
First, in step S1, the first control unit 400 performs a loading preparation start operation for starting the preparatory work for loading the chemicals and equipment necessary for the mixed injection processing based on the preparation data on the operation unit 405. To determine whether or not The loading preparation start operation includes an operation of selecting the preparation data to be the target of the preparation work this time from one or more unprocessed preparation data. If it is determined that the loading preparation start operation has been performed (S1: Yes), the process proceeds to step S2. In addition, until the loading preparation start operation is performed (S1: No), the process waits at step S1.

<Step S2>
In step S2, the first control unit 400 determines, based on the preparation data selected in the loading preparation start operation, whether or not the preliminary work is required before the mixed injection process is executed separately from the mixed injection process.

Specifically, the first control unit 400 determines that the preliminary work is necessary when the amount of liquid in the infusion bag 12 changes as a result of the mixed injection process based on the preparation data.

For example, when the amount of the liquid injected into the infusion bag 12 in the injection step is smaller than the amount of the infusion extracted from the infusion bag 12 in the dissolution step, the amount of liquid in the infusion bag 12 is It becomes less than the prescribed amount defined as the infusion amount contained in the infusion bag 12. In this case, when the infusion solution of the infusion bag 12 is administered to a patient by infusion, the infusion time is shorter than when the prescribed amount is administered. Therefore, the first control unit 400 is based on the difference (reduction amount) between the amount of the infusion liquid extracted from the infusion bag 12 in the dissolving process and the amount of the liquid infused into the infusion bag 12 in the injecting process. Then, it is determined that a replenishment work of replenishing the infusion solution bag 12 with a predetermined amount of the infusion solution is required as the preliminary work before the mixed injection process is performed. More specifically, the first control unit 400 determines that the liquid amount in the infusion bag 12 decreases as a result of the mixed injection process when the difference is equal to or more than a predetermined threshold value, and the replenishment work is performed. Determine that is necessary.

Further, when the drug is a drug solution, in the mixed injection process, when the drug is sucked from the drug container 10 by the syringe and injected into the infusion bag 12, the liquid amount in the infusion bag 12 is changed to the infusion bag. It is larger than the prescribed amount defined as the infusion amount stored in 12. In this case, when the infusion solution of the infusion bag 12 is administered to a patient by infusion, the infusion time is longer than when the prescribed amount is administered. Therefore, the first control unit 400 determines that the withdrawal work for extracting a predetermined amount of the infusion solution from the infusion solution bag 12 is required as the preliminary work before the mixed injection process is performed. More specifically, the first control unit 400 determines that the liquid amount in the infusion bag 12 increases as a result of the mixed injection process when the liquid amount of the medicine is equal to or more than a predetermined threshold value, It is judged that the extraction work is necessary.

Further, the first control unit 400 determines in the preparation data that it is necessary to inject into the infusion bag 12 another drug different from the drug infused into the infusion bag 12 by the mixed injection device. If so, the injection work is determined to be necessary as the preliminary work. Note that, in the present embodiment, a case will be described in which the necessity of the replenishing work, the extracting work, and the injecting work is determined as the preliminary work in the step S2, but in the present invention, the replenishing work is performed. The necessity of at least one of the extraction work and the injection work may be determined.

<Step S3>
Next, in step S3, the first control unit 400 determines whether or not the preparatory work is required in step S2. That is, it is determined whether or not it is determined that at least one of the replenishment work, the extraction work, and the injection work is necessary. Here, if the preparatory work is necessary (S3: Yes), the process proceeds to step S4, and if the preparatory work is not required (S3: No), the process proceeds to step S301.

<Step S301>
In step S301, the first control unit 400 causes the display 203 to display a display screen D11 including a message for instructing reading of identification information such as the GS1 data bar of the infusion bag 12, and the process proceeds to step S8. Move. FIG. 19 is a diagram showing an example of the display screen D11. On the display screen D11 shown in FIG. 19, a message M11 such as "Please read the GS1 data bar of physiological saline (500 mL)" is displayed together with the content of the preparation data.

Here, the first control unit 400 causes the barcode reader 204 to read the identification information of the infusion bag 12, and when the collation result with the preparation data matches, the process proceeds to step S8. It should be noted that the first control unit 400 may display an error message, for example, when the collation result between the identification information of the infusion bag 12 and the preparation data does not match.

<Step S4>
On the other hand, when it is determined that the preparatory work is necessary, in the subsequent step S4, the first control unit 400 needs the preparatory work before execution of the mixed pouring process separately from the mixed pouring process. A predetermined message indicating that is notified. The content of the message is not limited to the content described here as long as it is related to the preparatory work. Here, the first control unit 400 when executing the process is an example of the notification processing unit. Specifically, the first control unit 400 causes the display 203 to display a display screen D12 including a predetermined message corresponding to each content of the preparatory work, thereby requiring the preparatory work. It is possible to notify that there is. This allows the user to recognize that the preparatory work is necessary when executing the mixed injection process for the preparation data, and thus the preparatory work is prevented from being omitted. The notification is not limited to the display of the message but may be performed by reproducing a predetermined message voice.

FIG. 20 is a diagram showing an example of the display screen D12 displayed when the content of the preliminary work is the extraction work. The display screen D12 shown in FIG. 20 is preset in correspondence with the case where the extraction work is required as the advance work, and there is "pre-extraction work" indicating that the extraction work is required. A message M12 such as "Are you sure you want to start loading?" is displayed.

Further, the preparatory work includes the replenishment work and the injection work in addition to the extraction work. If it is determined in step S2 that the difference is equal to or more than the threshold value and the replenishment work is necessary, in step S4, "there is the pre-replenishment work" indicating that the replenishment work is required. Do you want to start loading?” is displayed. Furthermore, if it is determined in step S2 that the injection work is necessary as the preliminary work, in step S4, "There is a pre-injection work." Do you want to do this?” is displayed. A common message such as “There is pre-work. Do you want to start loading?” may be displayed regardless of the content of the pre-work.

<Step S5>
In step S5, as in step S301, the first control unit 400 displays the display screen D11 including the message M11 for instructing the reading of identification information such as the GS1 data bar of the infusion bag 12. 203 to display. Here, the first control unit 400 causes the barcode reader 204 to read the identification information of the infusion bag 12, and when the collation result with the preparation data matches, the process proceeds to step S6. It should be noted that the first control unit 400 may display an error message, for example, when the collation result between the identification information of the infusion bag 12 and the preparation data does not match.

<Step S6>
In step S6, the first control unit 400 informs the details of the preliminary work. Specifically, the first control unit 400 causes the display 203 to display a display screen D13 including a predetermined message corresponding to each content of the preparatory work, thereby displaying the content of the preparatory work. Inform. This allows the user to recognize the contents of the preparatory work when executing the mixed injection process for the preparation data. The notification may be performed by reproducing a predetermined message voice.

FIG. 21 is a diagram showing an example of the display screen D13 displayed when the content of the preliminary work is the extraction work. In the display screen D13 shown in FIG. 21, together with the content of the preparation data, “withdraw the specified amount from the infusion solution” preset corresponding to the case where the extraction work is necessary as the preliminary work. A message M131 such as "Please" is displayed. Further, on the display screen D13, a message M132 such as "please remove 10.0 mL from the infusion solution" indicating the amount of extraction in the extraction work is also displayed. This allows the user to easily understand the contents of the preparatory work.

Further, on the display screen D13, an image P131 and a message M133 for guiding the needle stick position of the syringe when extracting the liquid medicine from the infusion bag 12 in the extracting work are displayed. Specifically, in the example shown in the display screen D13, the message M133 such as “Please insert the extracted needle into the place indicated by the red circle at the needle insertion position.” along with the message M133 and the like on the upper surface of the rubber stopper of the infusion bag 12. The image P131 in which the needle stick position is indicated by a red circle mark P132 is displayed. For example, the mark P132 is not directly written on the upper surface of the rubber stopper of the infusion bag 12, but the image of the upper surface of the rubber stopper of the infusion bag 12 displayed on the display screen D13 indicates the position of the needle stick. It is an image synthesized as an index. The guide image in which the image of the upper surface of the rubber plug of the infusion bag 12 and the image of the mark P132 are combined is stored in advance in the data storage unit 404 in association with each type of the infusion bag 12. There is. The upper surface of the rubber stopper of the infusion bag 12 includes an output puncture area and an input puncture area as predetermined specific puncture areas. The output puncture region has a character "OUT" indicating that it is a region used when administering the infusion solution in the infusion bag 12 to a patient, and the input puncture region includes the infusion solution. The letters “IN” indicating that it is a region used when injecting a chemical or the like are described. The characters "OUT" and "IN" are also displayed in the image P131. In the display screen D13, the input puncture region excluding the output puncture region in the specific puncture region is guided by the image P131 as the needle puncture position. This allows the user to easily grasp the needle stick position where the needle of the syringe is stuck in the preparatory work. Such guidance of the needle stick position in the preparatory work is similarly performed when the refilling work and the injecting work are necessary. In the display screen D13, the display of the mark P132 is omitted, and the message M133 indicates that the input puncture area is used, for example, "Please insert the extraction needle at the IN position." A message may be displayed.

On the other hand, in the mixed injection device 1, in the mixed injection process, the injection needle 11c of the injector 11 is punctured in the area other than the needle puncturing position and the output puncturing area guided on the display screen D13. .. Here, the position and range of the other region are predetermined for each type of the infusion bag 12, and the data recording unit 404 of the first control unit 400 and the data recording unit 504 of the second control unit 500. It may be stored in. In addition, the second control unit 500 notifies the second control unit 500 of the needle stick position or the other area guided on the display screen D13 or the like, so that the second control unit 500 can display the other area. It is also conceivable to determine the position and range of the area. In addition, in the case where the specific puncture region includes a plurality of the input puncture regions, it is also considered that only a part of the input puncture region is guided as the needle puncturing position in step S6. To be In this case, it is conceivable that the other puncturing region for input that is not guided as the needle puncturing position is included in the other region. Then, the second control unit 500 takes an image of the rubber plug of the infusion bag 12 taken by the needle insertion confirmation camera 44 or the like when the injection needle 11c punctures the rubber plug of the infusion bag 12 in the mixed injection process. Based on the above, the other area except the needle stick position is detected. Then, the second controller 500 controls the second robot arm 22 to puncture the other region with the injection needle 11c. This prevents the needle stick positions from overlapping and approaching in the preparatory work and the mixed injection process. When the placement posture of the infusion bag 12 on the tray 101 is predetermined, the second control unit 500 detects the other region except the needle stick position based on the placement posture. Is also possible.

By the way, when the preparatory work is performed by the user before the mixed injection process is executed, the history of the proper preparatory work performed by the first control unit 400 is recorded in the data recording unit 404. It may be recorded in. For example, a weighing scale connected to the first control unit 400 is provided on the work table 202, and the first control unit 400 displays the result of weighing by the weighing scale while the display screen D13 is displayed. It may be possible to record the history. Thereby, for example, the weighing result of the infusion bag 12 after the infusion solution is extracted by the extracting work or the weighing result of the infusion bag 12 after the infusion solution is replenished by the replenishment work can be left as the history. It will be possible. Also, when the other drug is injected into the infusion bag 12 in the injecting operation, it is possible to leave the weighing result of the infusion bag 12 after the injection as the history. Further, it is considered that the medicine loading unit 200 is provided with an image pickup unit such as a digital video camera for photographing the situation of the preliminary work, and the situation of the preliminary work is recorded in the data recording unit 404 as a history. To be

<Step S7>
Next, in step S7, the first control unit 400 waits for a confirmation operation of the preliminary work (S7: No). Specifically, the operation key K131 for accepting the confirmation operation is displayed on the display screen D13, and the first control unit 400 performs the confirmation by operating the operation key K131 using the operation unit 405. Accept the operation.

Then, when the confirmation operation is performed (S7: Yes), the process proceeds to step S7. That is, in the mixed injection device 1, the mixed injection control unit 100 starts the mixed injection process based on the preparation data until the confirmation operation is performed when the preliminary work is necessary for the preparation data. Do not let Therefore, omission of the execution of the preliminary work can be suppressed more effectively. When a plurality of the preparatory works are required, the processes of steps S6 to S7 are repeatedly executed corresponding to the preparatory works.

<Step S8>
Then, in step S8, the first control unit 400 causes the display 203 to display a display screen D14 for guiding the placement of the infusion bag 12 on the tray 101. FIG. 22 is a diagram showing an example of the display screen D14. On the display screen D14 shown in FIG. 22, a message M14 indicating the arrangement method of the infusion bag 12 is displayed together with the content of the preparation data. Then, when the operation input indicating that the placement work of the infusion bag 12 is completed is performed, the first control unit 400 shifts the processing to step S9.

<Step S9>
In step S9, the first control unit 400 causes the display 203 to display a display screen D15 including a message for instructing reading of identification information such as the GS1 data bar of the medicine container 10. FIG. 23 is a diagram showing an example of the display screen D15. In the display screen D15 shown in FIG. 23, a message M15 such as "5-FU Note: Read 1000 mg of GS1 data bar" is displayed along with the content of the preparation data.

Here, the said 1st control part 400 will transfer a process to step S10, if the identification information of the said chemical|medical agent container 10 is read by the said barcode reader 204, and the collation result with the said preparation data corresponds. The first control unit 400 displays an error message when the identification information of the medicine container 10 and the collation result of the preparation data do not match.

<Step S10>
In step S10, the first control unit 400 causes the display 203 to display a display screen D16 for guiding the placement of the medicine container 10 on the tray 101. FIG. 24 is a diagram showing an example of the display screen D16. On the display screen D16 shown in FIG. 24, a message M16 indicating the arrangement method of the medicine container 10 is displayed together with the content of the preparation data. Then, when an operation input indicating that the arrangement work of the medicine container 10 is completed is performed, the first control unit 400 shifts the processing to step S11.

<Step S11>
In step S11, the first control unit 400 causes the display 203 to display a display screen D17 for guiding the placement of the syringe 11 on the tray 101. FIG. 25 is a diagram showing an example of the display screen D17. On the display screen D17 shown in FIG. 25, the message M17 indicating the arrangement method of the injector 11 is displayed together with the content of the preparation data. Then, when an operation input indicating that the placement work of the syringe 11 is completed is performed, the first control unit 400 shifts the processing to step S12.

<Step S12>
In step S12, the first control unit 400 causes the display 203 to display a display screen D18 including a message prompting registration of loading completion regarding the preparation data. FIG. 26 is a diagram showing an example of the display screen D18. On the display screen D18 shown in FIG. 26, a message M18 that prompts registration of loading completion regarding the preparation data which was the preparation target this time is displayed together with the content of the preparation data. Here, when the operation input for registration of the loading completion is performed, the first control unit 400 shifts the processing to step S13.

<Step S13>
In step S13, the first control unit 400 records a part of the preparation data on the electronic paper 101a of the tray 101 and includes a display screen D19 including a message indicating that the completion registration of the preparation data is performed. Is displayed on the display 203. As a result, in the mixed injection device 1, the mixed injection process is started when a sensor (not shown) detects that the tray 101 has been loaded from the tray insertion port 114.

FIG. 27 is a diagram showing an example of the display screen D19. On the display screen D19 shown in FIG. 27, a message M19 indicating that the preparation of the preparation data which was the preparation target this time is completed is displayed together with the content of the preparation data. In addition, when the operation input of interruption of loading is performed during the display of the display screens D11 to D19, the loading preparation based on the preparation data is stopped.

[Second Embodiment]
As described above, in the mixed injection device 1, the amount of liquid in the infusion bag 12 may change as a result of the mixed injection process. And in the said 1st Embodiment, the case where the preparatory work for adjusting the liquid amount in the said infusion bag 12 beforehand is performed by a pharmacist etc. was demonstrated.

[Transfusion volume control process]
On the other hand, in the present embodiment, the second control unit 500 automatically adjusts the amount of infusion liquid in the infusion bag 12 so that the amount of liquid in the infusion bag 12 does not change in the mixed injection process. A configuration capable of executing the infusion volume control process including steps will be described. Note that in the following embodiments, the description of the same configurations as those of the first embodiment will be omitted. FIG. 28 is a flowchart showing an example of the procedure of the infusion volume control process. For example, the infusion volume control process is executed before the mixed injection process is started. The infusion volume control process may be executed during the mixed injection process or after the mixed injection process is executed.

<Step S21>
First, in step S21, the second control unit 500 determines whether the drug in the drug container 10 used in the mixed injection process based on the preparation data is a powder drug. Here, when the second control unit 500 determines that the drug is a powder drug (S21: Yes), the process proceeds to step S22. When the second control unit 500 determines that the drug is not a powder drug, that is, the drug is a drug solution (S21: Yes), the process proceeds to step S211.

<Step S22>
In step S22, the second control unit 500 calculates the difference between the withdrawal amount of the infusion solution extracted from the infusion bag 12 and the injection amount of the liquid to be infused into the infusion bag 12 in the mixed injection process. For example, when the amount of liquid to be injected from the drug container 10 into the infusion bag 12 is smaller than the amount of infusion liquid required to dissolve the powdered medicine in the drug container 10, the inside of the infusion bag 12 Is smaller than the specified amount of liquid contained in the infusion bag 12. Therefore, in the infusion volume control process, the second control unit 500 causes the difference between the infusion volume withdrawn from the infusion bag 12 in the dissolving step and the fluid volume injected into the infusion bag 12 in the infusion step (liquid). Whether there is a change in the liquid amount is determined based on the change amount).

<Step S23>
In step S23, the second control unit 500 determines whether the difference calculated in step S22 is equal to or larger than a preset threshold value. As a result, it is possible to perform an operation that does not require the preliminary work when the difference is small. It is conceivable that the threshold value is set at a predetermined ratio to the capacity of the infusion bag 12, such as N% of the capacity of the infusion bag 12. It is also conceivable that the predetermined range is set to a specific value regardless of the capacity of the infusion bag 12.

Here, if it is determined that the difference is equal to or more than the threshold value (S23: Yes), the process proceeds to step S24, and if it is determined that the difference is not equal to or more than the threshold value (S23: No), the process is performed. The infusion volume control process ends. That is, when the difference is less than the threshold value, the replenishment step (S24) for replenishing the infusion solution in the infusion bag 12 is not executed. It should be noted that the step S23 may be omitted.

<Step S24>
In step S24, the second control unit 500 executes a replenishment step of replenishing the infusion bag 12 with an amount of infusion solution corresponding to the difference calculated in step S22. Specifically, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 in the replenishment step, and is housed in a replenishment container that is placed in advance on the tray 101. The infusion solution is extracted by the syringe 11 and injected into the infusion solution bag 12. As a result, even after the mixed injection process is performed, the infusion bag 12 remains in a state in which a prescribed amount of liquid that is predetermined as the amount of liquid in the infusion bag 12 is contained. Therefore, when the infusion solution in the infusion bag 12 is administered to a patient by drip, the time required for the drip administration coincides with the time estimated from the prescribed amount of the infusion bag 12. The second control unit 500 controls the first robot arm 21 and the second robot arm 22 so that the replenishment container preliminarily placed on the placing shelf 33 or the like in the mixed injection processing chamber 104 can be used. It is also possible to extract the contained infusion solution with the injector 11 and inject it into the infusion bag 12.

Here, the replenishment container is a resin infusion container, and is a container that is opened by twisting a plug portion formed on an upper portion of a body portion. In this case, in the mixed injection device 1, one of the first robot arm 21 and the second robot arm 22 holds the body portion, and the other grips the plug portion. Also, the refill container is opened by the relative rotation of the second robot arm 22. It is also conceivable that the replenishment container is the vial bottle 10B containing the infusion solution or the other infusion bag 12 arranged in the mixed injection processing chamber 104 as the replenishment container.

<Step S211>
On the other hand, in step S211, the second control unit 500 determines whether or not the liquid amount of the medicine injected into the infusion bag 12 is equal to or more than the threshold value. As a result, when the liquid amount of the chemical is small, it is possible to operate without the preliminary work. It is also possible that the threshold value in step S23 and the threshold value in step S211 are different. It is also conceivable that step S212, which will be described later, is executed on condition that the chemical is a liquid, that is, step S211 is omitted.

Here, if it is determined that the liquid amount of the medicine is equal to or more than the threshold value (S211: Yes), the process proceeds to step S212, and if it is determined that the liquid amount of the medicine is not equal to or more than the threshold value (S211). : No), the process ends the infusion volume control process. That is, when the liquid amount of the medicine is less than the threshold value, the extracting step (S212) for extracting the infusion solution from the infusion bag 12 is not executed.

<Step S212>
In step S212, the second control unit 500 executes a withdrawal step of withdrawing an amount of infusion solution corresponding to the liquid amount of the medicine from the infusion bag 12. As a result, even after the mixed injection process is performed, the infusion bag 12 remains in a state in which a prescribed amount of liquid that is predetermined as the amount of liquid in the infusion bag 12 is contained. Therefore, when the infusion solution in the infusion bag 12 is administered to a patient by drip, the time required for the drip administration coincides with the time estimated from the prescribed amount of the infusion bag 12. Specifically, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 in the extracting step, extracts the infusion solution from the infusion bag 12 with the injector 11, and then the tray 101. Is placed in the waste container, which is disposed in advance, and the waste container is disposed of in the dust storage chamber 13a in the dust lid 132a.

Here, the extraction container is the vial bottle 10B that is empty or has been used. Further, the second controller 500 controls the first robot arm 21 and the second robot arm 22, and the infusion solution extracted from the infusion solution bag 12 by the injector 11 is placed in the mixed injection treatment chamber 104. It is also conceivable to inject it into the extraction container previously placed on 33 or the like. Furthermore, the second control unit 500 may place the extraction container as the replenishment container on the placing shelf 33 after the infusion solution is stored in the extraction container. It is also conceivable that the extraction container is another infusion bag 12 arranged in the mixed injection processing chamber 104.

By the way, as described above, in the infusion volume control process, before the tray 101 is inserted into the tray insertion port 114, the extraction container or the replenishment container placed on the tray 101 by the user is It can be used. Therefore, in the mixed injection device 1, the first control unit 400 sets the extraction container or the replenishment container as the content of the preliminary work in step S6 in the loading preparation process (see FIG. 18). It may be possible to notify that the tray 101 will be placed. For example, when the amount of liquid in the infusion bag 12 increases, a message that the extraction container is placed on the tray 101 is displayed, and when the amount of liquid in the infusion bag 12 decreases, the message is displayed. It is conceivable that a message indicating that the replenishing container is placed on the tray 101 is displayed. It is also conceivable that the second control unit 500 can execute the step of injecting the other drug to be injected in the injection work into the infusion bag 12 together with the mixed injection process. In this case, in step S6 of the loading preparation process, a message indicating that the medicine container 10 corresponding to the other medicine is placed on the tray 101 may be displayed.

Further, in step S6, the first control unit 400 displays an operation key for allowing the user to select, as the content of the preliminary work, whether to perform the preliminary work manually or automatically. Is possible. In this case, the first control unit 400 records the selection result by the user in the data storage unit 404 as a preparation history of the preparation data. Then, when it is selected that the preparatory work is manually performed, the first control unit 400 prompts the user to perform the preparatory work as shown in the display screen D13 shown in FIG. It is conceivable to give a notification to encourage execution. In addition, the first control unit 400, when it is selected that the preparatory work is automatically performed, urges the first control unit 400 to place the extraction container or the replenishment container on the tray 101. It may be possible to make a notification.

[Other example of infusion volume control process]
FIG. 29 is a flowchart showing another example of the infusion volume control process. In the example shown in FIG. 29, in the infusion volume control process, step S201 is executed before step S21, and steps S23 and S211 are omitted.

<Step S201>
In step S201, the second control unit 500 determines whether the extraction container or the replenishment container is placed on the tray 101. Specifically, the second control unit 500 controls the first robot arm 21 in the mixed injection process, and the drug container 10 and the syringe 11 from the tray 101 together with the extraction container or the replenishment container. Take out in order. Then, the second control unit 500 uses the medicine reading unit 34 to read a barcode for identifying the extraction container or the replenishment container from the extraction container or the replenishment container. Then, the second control unit 500 places the extraction container or the replenishment container on the placing shelf 33. Thereby, the second control unit 500, when the medicine reading unit 34 reads the identification information of the extraction container or the replenishment container, the second control unit 500, if the extraction container or the replenishment container It is possible to determine that it was placed. Here, when it is determined that the extraction container or the replenishment container has been placed (S201: Yes), the process proceeds to step S21. On the other hand, when it is determined that the extraction container or the replenishment container is not placed (S201: No), the infusion volume control process ends. Thus, instead of the method of determining the presence or absence of a change in the amount of liquid in the infusion bag 12 as in steps S23 and S211, the presence or absence of the extraction container or the supplement container in step S201 is checked. It is also possible to judge. In addition, the said 2nd control part 500 may judge in the said step S201 whether the said extraction container or the said replenishment container is contained as a required equipment in the said preparation data.

[Third Embodiment]
In the mixed injection apparatus 1, after the loading preparation process is completed, the mixed injection process is started when a sensor (not shown) detects that the tray 101 has been loaded from the tray insertion port 114. On the other hand, in the present embodiment, the first control unit 400 and the second control unit 500 can automatically start the mixed injection process based on the preparation data at a reserved execution time. explain.

[Reservation setting processing]
First, an example of the reservation setting process executed by the first control unit 400 will be described with reference to FIG.

<Step S31>
First, in step S31, the first control unit 400 waits for a user's reservation setting operation on the operation unit 405 (S31: No). Then, when the first control unit 400 determines that the reservation setting operation has been performed (S31: Yes), the process shifts to step S32.

Specifically, the first control unit 400 displays the reservation screen and displays the reservation screen when a predetermined operation for displaying the reservation screen is performed using the operation unit 405. A reservation setting operation for the mixed injection process based on the preparation data is accepted according to the operation of the operation unit 405 during display. In the reservation setting operation, the preparation data to be reserved is selected and the completion time of the mixed injection process of the preparation data is designated. In the reservation setting operation, the start time of the mixed injection process may be designated instead of the completion time of the mixed injection process of the preparation data. For example, the designation of the completion time or the start time is performed by inputting the date and time. The designation of the completion time or the start time may be performed by inputting the elapsed time from the current date and time.

<Step S32>
In step S32, the first control unit 400 determines whether or not the total number of the preparation data already reserved and the current reservation is within a predetermined maximum reservation number. The maximum reservation number is a number that is predetermined according to the specifications of the mixed injection device 1, and corresponds to the number of trays 101 that can be loaded in the mixed injection device 1. In the mixed injection device 1 according to the present embodiment, the number of the tray 101 that can be inserted into the tray insertion port 114 is one. Therefore, in step S32, it is determined whether or not the reserved preparation data already exists. Will be judged. Here, if the first control unit 400 determines that the total is within the maximum number of reservations (S32: Yes), the process proceeds to step S33. When the first control unit 400 determines that the total is not within the maximum reservation number (S32: No), for example, after displaying a predetermined error message or the like, the process returns to step S31.

<Step S33>
In step S33, the first control unit 400 executes a process for arbitrarily reserving the mixed injection process based on the preparation data according to the reservation setting operation. Here, the first control unit 400 when executing the process for enabling the reservation of the mixed injection process is an example of the reservation setting processing unit. Specifically, the first control unit 400 executes a time when the mixed injection processing based on the preparation data is completed at the completion time, based on the preparation data and the completion time specified by the reservation setting operation. Specify as the time. Therefore, for example, the data storage unit 404 stores the required time for each preparation content instructed by the preparation data, or the information for calculating the required time, and the first control unit 400. Specifies the execution time based on the required time. In addition, when the start time of the mixed injection process is designated by the reservation setting operation, the start time is specified as the execution time. Then, the first control unit 400 transmits to the second control unit 500, together with the preparation data, reservation information such as the execution time set for the preparation data. For example, the reservation information includes, in addition to the execution time, information indicating a correspondence relationship between information for identifying the preparation data to be reserved and the identification information of the tray 101 corresponding to the preparation data. included. The first control unit 400 can also cancel or change the reservation of the mixed injection process based on the preparation data set in the reservation setting process.

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

<Step S41>
In step S41, the second control unit 500 determines whether or not the tray 101 is loaded in the mixed injection processing unit 300 (S41: No). Specifically, the second controller 500 loads the tray 101 when the IC reader 101c reads the identification information from the IC tag 101b of the tray 101 loaded from the tray insertion port 114. Determine that Here, when the second control unit 500 determines that the tray 101 is loaded (S41: Yes), the process proceeds to step S42. The second controller 500 causes the process to wait in step S41 until it is determined that the tray 101 is loaded (S41: No).

In the present embodiment, a case will be described in which the execution of the mixed injection process is suspended while the tray 101 is loaded from the tray insertion port 114. Thereby, for example, when the execution of the mixed injection process based on the preparation data is canceled, the tray 101 can be ejected from the tray insertion port 114.

On the other hand, when the tray 101 is loaded in the mixed injection processing unit 300, the second control unit 500 executes the mixed injection process with the equipment in the tray 101 taken in the mixed injection processing unit 300. It is possible to put it on hold. Specifically, the medicine container 10 and the syringe 11 placed on the tray 101 are taken into the mixed injection processing chamber 104. As described above, the chemical container 10 and the syringe 11 are housed in the mixed injection processing chamber 104 provided with the exhaust system (not shown), so that the chemical container 10 and the syringe 11 are dusted. It is also possible to prevent the user's hand or the like from touching the medicine container 10 and the syringe 11 and the like. Further, it is conceivable that the infusion bag 12 placed on the tray 101 is transported to the tray transport terminal end portion 110a after the equipment is taken out from the tray 101. As a result, dust is prevented from adhering also to the infusion bag 12, and the user's hand or the like is prevented from touching it.

<Step S42>
In step S42, the second control unit 500 determines whether the tray 101 loaded in the tray insertion port 114 corresponds to the preparation data for which the execution time has come. Specifically, the second control unit 500 determines whether or not the preparation data to be reserved is associated with the identification information read by the IC reader 101c from the IC tag 101b of the tray 101. .. For example, the reservation information received from the first control unit 400 includes information indicating a correspondence relationship between the preparation data to be reserved in the reservation information and the identification information of the tray 101, and the second information. It is conceivable that the control unit 500 determines, based on the reservation information, whether the tray 101 corresponds to the preparation data for which the execution time has come. When the second control unit 500 determines that the tray 101 corresponds to the preparation data for which the execution time has come (S42: Yes), the process proceeds to step S43. On the other hand, when the second control unit 500 determines that the tray 101 does not correspond to the preparation data for which the execution time has come (S42: No), the process proceeds to step S44. Even if such suitability determination of the tray 101 is not executed, an error occurs if it is determined that the equipment stored in the tray 101 and the preparation data do not match in the mixed injection process. The process of step S42 may be omitted. That is, the second controller 500 uses the tray 101 loaded in the tray insertion port 114 without judging the suitability of the tray 101 at the time when the execution time comes, and the mixed injection process is performed. It is possible to start the execution of. In this case, the reservation information does not have to include information indicating the correspondence between the preparation data to be reserved in the reservation information and the identification information of the tray 101.

<Step S43>
In step S43, the second control unit 500 waits for the arrival of the execution time received from the first control unit 400 (S43: No). Then, if the second control unit 500 determines that the execution time has come (S43: Yes), it shifts the process to step S44.

<Step S44>
In step S44, the second control unit 500 starts the mixed injection process based on the preparation data corresponding to the tray 101 loaded in the tray insertion port 114. That is, when the tray 101 is the preparation data to be reserved, the mixed injection process is started at the timing when the execution time comes. Here, the second control unit 500 when executing the process is an example of the reservation execution processing unit. On the other hand, when the tray 101 is not the reserved data for the reservation, the mixed injection process is started at the timing when the tray 101 is loaded in the tray insertion port 114.

As a result, in the mixed injection apparatus 1, it is possible to execute the mixed injection process at a predetermined execution time such as midnight or a holiday by reserving the execution of the mixed injection process of the preparation data.

Here, the case where the second control unit 500 starts the execution of the mixed injection process when the execution time of the mixed injection process set in the reservation setting process comes has been described as an example. It is also conceivable that the first control unit 400 determines whether or not the execution time of the mixed injection process set in the reservation setting process has come. In this case, the first control unit 400 transmits the preparation data to the second control unit 500 to start the mixed injection process when the execution time comes. That is, the first control unit 400 may be an example of the reservation execution processing unit.

By the way, in the present embodiment, the configuration in which one tray 101 can be inserted into the mixed injection device 1 has been described. On the other hand, the mixed injection device 1 may also include a tray accommodating portion that accommodates a plurality of the trays 101, and a tray insertion portion that takes out any of the trays 101 from the tray accommodating portion and inserts it into the tray insertion opening 114. Other embodiments are possible. Thereby, in the reservation setting process, it is possible to accept a reservation for the mixed injection process of a plurality of the preparation data, and in the mixed injection control process, the mixed injection process for each of the reserved preparation data is performed in each of the above-mentioned mixed injection processes. It can be started at the time of execution.

[Fourth Embodiment]
By the way, it is conceivable that the mixed injection apparatus 1 has a preparation list output function capable of outputting a preparation schedule list sheet S100 indicating a schedule for executing the mixed injection processing based on the preparation data received from the host system 600. Thereby, the user can refer to the preparation schedule list sheet S100 to confirm in advance the execution schedule of the mixed injection process based on the preparation data.

Specifically, the first control unit 400 inputs a preparation condition for the preparation schedule list sheet S100 in response to a preset list output request operation on the operation unit 405, and a condition input screen (not shown). Is displayed. In the creation condition, as conditions for narrowing down the preparation data output to the preparation schedule list sheet S100, for example, the contents of items such as a preparation date, a prescription classification, a medical department, and a ward included in the preparation data are specified. It Then, when the creation condition is input on the condition input screen, the first control unit 400 reads the preparation data that matches the creation condition from the data recording unit 404 and outputs the preparation schedule list sheet S100. Data is created and displayed and output on the display 203.

FIG. 32 is a diagram showing an example of the preparation schedule list sheet S100. As shown in FIG. 32, the preparation schedule list sheet S100 displays a list of the preparation data that matches the creation condition, and an area A32 that indicates the necessity and content of the preliminary work for each of the preparation data. Information is displayed. Specifically, the first control unit 400 displays a blank in the area A32 for the preparation data that does not require the preliminary work among the preparation data. On the other hand, the first control unit 400 displays, in the area A32, the characters “hand-drawing” for the preparation data that needs the extraction work as the preliminary work among the preparation data. In addition, the first control unit 400 causes the area A32 to display the characters "manual injection" for the preparation data that requires the supplement work or the injection work as the preliminary work among the preparation data. In addition, in the area A32, the replenishment work and the injection work may be displayed so as to be distinguishable by different characters.

Thereafter, the first control unit 400 is a printer (not shown) communicatively connected to the mixed injection device 1 or a printer (not shown) provided in the mixed injection device 1 according to a user operation on the operation unit 405. The print data of the preparation schedule list sheet S100 is output to. As a result, the preparation schedule list sheet S100 is printed by the printer. It is also possible that the host system 600 can display or print out the preparation schedule list sheet S100.

In this way, in the configuration in which the preparation schedule list sheet S100 can be output by the mixed injection device 1 or the host system 600, the user can grasp the execution schedule of the mixed injection processing based on the preparation data in advance. Particularly, in the preparation schedule list sheet S100, the necessity of the preparatory work is displayed, so that it is possible to grasp the work amount of the user associated with the execution of the mixed injection process for each of the preparatory data in advance. ..

1 Mixed Injection Device 10 Chemical Container 11 Syringe 12 Infusion Bag 21 First Robot Arm 22 Second Robot Arm 31 Ampoule Cutter 32 Stirrer 33 Placement Shelf 34 Chemical Reading Unit 35 Weighing Meter 36 Needle Bending Detection Unit 37 Mixed Injection Communication Port 100 Mixed Injection Control Unit 101 Tray 101a Electronic Paper 101b IC Tag 101c IC Reader 110 Tray Conveying Unit 200 Chemical Loading Unit 300 Mixed Injection Processing Unit 400 First Control Unit 500 Second Control Unit 600 Upper System

Claims (6)

A mixed injection processing unit including a drive unit capable of operating a syringe,
Wherein by controlling the mixed injection unit, and the causes executes a mixed injection process for injecting the drug into the infusion container from the syringe mixed injection control unit while sucking the chemicals in the syringe from the ampoule based on preparation data,
Equipped with
The mixed injection control unit controls the mixed injection processing unit, it is possible to perform the replenishing step for replenishing an infusion into the infusion container with a syringe,
Mixed injection device. A mixed injection processing unit including a drive unit capable of operating a syringe,
By controlling the mixed injection processing unit , based on the preparation data, after injecting the infusion solution sucked from the infusion solution container into the medicine container and mixing with the powdered medicine, the mixed medicine in which the infusion solution and the powdered medicine are mixed from the medicine container is Perform a mixed injection process of injecting the mixed drug from the syringe into the infusion container while suctioning with a syringe
And the co-injection control unit that makes,
Equipped with
The mixed injection control unit,
When the withdrawal amount of the infusion solution extracted from the infusion container in the mixed injection process is larger than the injection amount of the liquid injected into the infusion container, the mixed injection processing unit is controlled to replenish the infusion container with the infusion solution by a syringe. make the replenishment process to be executed,
Mixed injection device. A mixed injection processing unit including a drive unit capable of operating a syringe,
By controlling the mixed injection processing unit , based on the preparation data, after injecting the infusion solution sucked from the infusion solution container into the medicine container and mixing with the powdered medicine, the mixed medicine in which the infusion solution and the powdered medicine are mixed from the medicine container is A mixed injection control unit that performs mixed injection processing of injecting the mixed drug from the injector into the infusion container while sucking with a syringe ,
Equipped with
The mixed injection control unit,
When the difference between the withdrawal amount of the infusion solution extracted from the infusion container in the mixed injection process and the injection amount of the liquid injected into the infusion container is equal to or more than a preset threshold value, the mixed injection processing unit is controlled, It causes execution replenishment step for replenishing an infusion into the infusion container with a syringe,
Mixed injection device. In the replenishment process, the infusion of the mixed injection process is accommodated in advance the placed replenishing container mixed injection process chamber to be performed Ru supplemented to the infusion container,
The mixed injection device according to claim 1. When the replenishment step is performed in the mixed injection process, a notification for notifying that the chemical container used in the mixed injection process is at least placed and the replenishment container is placed on the tray supplied to the mixed injection device. Equipped with a processing unit,
The mixed injection device according to claim 1. By controlling the mixed injection unit comprising a steerable driving unit of a syringe, the step of executing a mixed injection process for injecting the drug into the infusion container from the syringe together with the sucking chemicals in the syringe from the ampoule based on preparing data When,
Controlling the mixed injection processing unit to execute a replenishment step of replenishing the infusion solution with an injection syringe ,
Mixed injection control program for causing a computer to execute.