JP6939359B2 - Puncture device, puncture method, puncture execution program, and mixed injection device - Google Patents

Description

The present invention relates to a treatment for an infusion container.

Conventionally, a drug such as an anticancer drug contained in a container such as a vial or an ampoule is sucked with a syringe, and the drug is placed in another container such as an infusion container (infusion bag) containing a liquid such as saline solution. A mixed injection device that performs a mixed injection process for injecting is known. An example of the mixed injection device is disclosed in Patent Document 1.

The mixed injection device of Patent Document 1 detects the width of each of the projected images of the needle tip when the needle tip of the injection needle of the syringe is irradiated with light from a plurality of directions. Then, the mixed injection device moves from the center of the injection needle to the tip of the injection needle in the radial direction of the injection needle according to the width of each detected projected image and the irradiation direction of each light corresponding to the projected image. Detect the direction. This makes it possible to use the syringe in consideration of the direction of the needle tip or the inclination of the injection needle.

Japanese Patent No. 5867665 (registered on January 15, 2016)

In order to administer the mixed solution after injecting the drug from the infusion container to the patient, a bottle of the drug administration system (anticancer drug administration system) is placed at a predetermined position (out port for infusion) on the lid (mixed injection port) of the infusion container. By piercing the needle, the drug solution administration system is attached to the infusion container.

Here, the thickness of the bottle needle is thicker than that of the injection needle of the syringe (eg, the diameter of the bottle needle is 4.5 mm). Therefore, depending on the relationship between the puncture positions of the injection needle and the bottle needle and the thickness of the bottle needle, the puncture mark formed on the lid of the infusion container by the puncture of the injection needle at the time of chemical injection in the mixed injection device of Patent Document 1. May spread and the mixture may leak out of the infusion container. The present inventors have found that such a liquid leak can occur, and have come up with the result of diligent research and a configuration capable of reducing the possibility of the liquid leak.

Further, the liquid in the infusion container may not be required in order to inject the chemical into the infusion container or to adjust the concentration of the chemical in the infusion container. There is no particular disclosure regarding the processing when is no longer necessary.

One aspect of the present invention is to improve the convenience of injecting a drug into an infusion container.

[1] In order to solve the above problems, the puncture device according to one aspect of the present invention is the above-mentioned in the mixed injection port of the infusion container in which the first puncture position for puncturing the first needle for infusion is specified. A puncture device for puncturing the second needle of the injector to a second puncture position different from the first puncture position, the first direction which is the width direction of the puncture mark by the puncture of the second needle, and the first. A puncture motion portion for puncturing the second needle is provided so that the second direction connecting the puncture position and the second puncture position is not parallel at least within a predetermined range from the first puncture position.

In the puncture area (cover, mixed injection port) of the infusion container, when the first needle for infusion is punctured at the first puncture position, the force is transmitted radially around the first puncture position. That is, the force is transmitted along the second direction. When the second needle of the syringe is punctured at the second puncture position so that the first direction and the second direction are parallel, when the first needle is punctured at the first puncture position, the second puncture position Depending on the case, a force may be applied to the puncture mark due to the puncture of the second needle in the direction of expanding the puncture mark. When a certain amount of force is applied to the puncture mark, the mixed solution in the infusion container (a liquid in which a chemical is injected into a liquid such as a saline solution) may leak from the puncture mark.

According to the above configuration, the second needle is punctured at the second puncture position so that the first direction and the second direction are not parallel at least within a predetermined range from the first puncture position. Therefore, the possibility that the puncture mark is widened as described above can be reduced. That is, it is possible to reduce the possibility of liquid leakage from the puncture mark that may occur when the first needle is punctured into the infusion container.

[2] Further, in the puncture device according to one aspect of the present invention, the puncture motion unit has a smaller angle of 45 ° or more and less than 90 ° among the angles formed by the first direction and the second direction. The second needle may be punctured so that the angle formed by the needle is 90 °.

According to the above configuration, the possibility of liquid leakage from the puncture mark can be reduced.

[3] Further, in the puncture device according to one aspect of the present invention, the puncture motion unit may adjust the second puncture position and puncture the second needle to the adjusted second puncture position. ..

According to the above configuration, the second puncture position can be adjusted so that the first direction and the second direction are not parallel, and the second needle can be punctured at the second puncture position.

[4] Further, in the puncture device according to one aspect of the present invention, the puncture operation unit adjusts the rotation angle of the second needle with respect to the mixed injection port, and the second needle after adjusting the rotation angle is used. You may puncture the second puncture position.

According to the above configuration, the second needle can be punctured at the second puncture position so that the direction of the second needle is not parallel to the first direction and the second direction.

[5] Further, in the puncture device according to one aspect of the present invention, when the puncture operation unit is arranged so that the puncture region in which the second needle is punctured in the infusion container extends in the vertical direction. The second needle may be punctured with any position in the lower half of the puncture area as the second puncture position.

According to the above configuration, by puncturing the lower half of the puncture area with the second needle, it becomes easier to insert the second needle into the liquid contained in the infusion container. Therefore, it becomes easy to extract the liquid from the infusion container. That is, it is particularly useful when extracting liquid from the infusion container.

[6] Further, in order to solve the above-mentioned problems, the puncture device according to one aspect of the present invention is used in a mixed injection port of an infusion container in which a first puncture position for puncturing a first needle for infusion is specified. , A puncture device for puncturing the second needle of the syringe to a second puncture position different from the first puncture position, and the first needle interferes with the mixed injection port when the first needle is punctured. In the non-interference region, which is a region outside the interference region including the first puncture position, the prohibition region having a predetermined width from the interference region and where puncture of the second needle is prohibited is excluded. It is provided with a puncture motion unit that punctures two needles.

In the puncture area (mixed injection port) of the infusion container, when the first needle for infusion is punctured at the first puncture position, the force is transmitted radially around the first puncture position. Further, the closer the second puncture position is to the first puncture position, the greater the force applied to the puncture mark due to the puncture of the second needle. Therefore, when the second needle is punctured at the second puncture position where the distance from the first puncture position is less than a predetermined distance, the puncture mark may be widened by the above force. In this case, the mixed solution in the infusion container may leak from the puncture mark.

According to the above configuration, since the second needle can be punctured by excluding the prohibited area, the possibility that the puncture mark is widened as described above can be reduced. That is, it is possible to reduce the possibility of liquid leakage from the puncture mark that may occur when the first needle is punctured into the infusion container.

[7] Further, in the puncture device according to one aspect of the present invention, the predetermined width has a puncture mark due to the puncture of the second needle by the force applied to the mixed injection port when the first needle is punctured. It does not matter if the width does not spread.

According to the above configuration, the possibility of liquid leakage from the puncture mark can be reliably reduced.

[8] Further, in order to solve the above-mentioned problems, the puncture method according to one aspect of the present invention is in the mixed injection port of the infusion container in which the first puncture position for puncturing the first needle for infusion is specified. A puncture method for puncturing the second needle of the syringe to a second puncture position different from the first puncture position, the first direction which is the width direction of the puncture mark by the puncture of the second needle, and the above. The puncture operation step of puncturing the second needle is included so that the second direction connecting the first puncture position and the second puncture position is not parallel at least within a predetermined range from the first puncture position.

According to the above method, the same effect as that of the above [1] is obtained.

[9] Further, in order to solve the above problems, the puncture execution program according to one aspect of the present invention is a mixed injection port of an infusion container in which the first puncture position for puncturing the first needle for infusion is specified. Is a puncture execution program for making a computer function as a puncture device for puncturing the second needle of a syringe to a second puncture position different from the first puncture position, wherein the puncture device is the second needle. The first direction, which is the width direction of the puncture mark due to the puncture, and the second direction connecting the first puncture position and the second puncture position are not parallel at least within a predetermined range from the first puncture position. As described above, the puncture operation unit for puncturing the second needle is provided, and the puncture execution program is a puncture execution program for operating the computer as a control unit for controlling the puncture operation unit.

According to the above program, the same effect as that of the above [1] is obtained.

[10] Further, in order to solve the above problems, the mixed injection device according to one aspect of the present invention is a mixed injection device that sucks the drug from the drug container with a syringe and injects the drug from the syringe into the infusion container. It has an infusion container holding part that holds the infusion container and a syringe holding part that holds and operates the syringe. The syringe is pierced into the infusion container and the liquid in the infusion container is extracted by the syringe. A syringe operating unit for discharging the liquid extracted by the syringe to a predetermined area is provided.

According to the above configuration, a liquid that is unnecessary for injecting a chemical into the infusion container or for adjusting the concentration of the chemical in the infusion container can be discharged as a waste liquid to a predetermined area. Also, use a syringe used to aspirate and inject the drug to remove unwanted liquid from the infusion container. Therefore, it is not necessary to separately provide a member for extracting the unnecessary liquid.

[11] Further, the mixed injection device according to one aspect of the present invention includes a waste liquid container for accommodating the liquid extracted by the syringe, and the predetermined area is an open end of the waste liquid container or a waste liquid duct leading to the waste liquid container. It may be the open end of.

According to the above configuration, unnecessary liquid can be stored in the waste liquid container.

[12] Further, in the mixed injection device according to one aspect of the present invention, in order to prevent the chemicals from being exposed to the outside of the mixed injection device, the syringe, the chemical container in which the needle of the syringe is punctured, and the infusion solution are pierced. A puncture area in each of the containers and a chamber containing at least a chamber thereof may be provided, and the waste liquid container may be arranged outside the chamber.

When the waste liquid container is arranged in the chamber, the mixed injection space in the chamber for performing the mixed injection work of the chemicals into the infusion container becomes narrow. In that case, the waste liquid container adheres to the chemicals. The mixed injection device handles exposed chemicals such as anticancer agents. Therefore, when chemicals adhere to the waste liquid container, the waste liquid container is contaminated.

By arranging the waste liquid container outside the chamber as in the above configuration, the space of the mixed injection space can be maintained. In addition, contamination of the waste liquid container can be prevented.

[13] Further, in the mixed injection device according to one aspect of the present invention, the predetermined area may be an open end of a waste liquid duct leading to the outside of the mixed injection device.

According to the above configuration, unnecessary liquid can be discharged to the outside of the mixed injection device. The liquid contained in the infusion container before injection of the drug is, for example, a liquid containing saline solution or glucose, and does not affect the human body even if it is discharged to the outside. According to the above configuration, unnecessary liquid can be discharged directly into, for example, sewage.

[14] Further, in the mixed injection device according to one aspect of the present invention, in order to prevent the chemical from being exposed to the outside of the mixed injection device, the syringe, the medicine container in which the needle of the syringe is punctured, and the infusion solution are pierced. A chamber including at least a puncture region in each of the containers may be provided, and the predetermined region may be provided with a blocking portion for blocking the inside of the chamber from the outside.

According to the above configuration, the inside of the chamber and the outside thereof can be blocked when the unnecessary liquid is not discharged to the predetermined region. Therefore, it is possible to prevent the invasion of various germs into the mixed injection space in that case.

[15] Further, in the mixed injection device according to one aspect of the present invention, when the injection amount of the drug to be injected into the infusion container is equal to or more than a predetermined amount, the syringe operating unit uses the liquid in the infusion container as described above. You may remove it with a syringe.

According to the above configuration, when the injection amount of the chemical is equal to or more than a predetermined amount, the chemical cannot be injected into the infusion container. Therefore, it is possible to inject the chemical into the infusion container by extracting the liquid that is not needed in that case.

According to one aspect of the present invention, there is an effect that the convenience of injecting a drug into an infusion container can be improved.

It is a block diagram which shows an example of a mixed injection device. (A) is a perspective view showing an example of the appearance configuration of a mixed injection device, and (b) is a perspective view showing an example of a state in which the main door of the mixed injection device is opened. (A) is a front view showing an example of a state in which a part of the main door and the front wall of the mixed injection device is removed, and (b) is a perspective view of the mixed injection device as viewed from below. (A) is a perspective view showing an example of a holding portion of the second robot arm of the mixed injection device, and (b) is a perspective view showing an example of a needle bending detection unit of the mixed injection device. (A) is a schematic plan view which shows an example of the tray transport part of a mixed injection device, and (b) is a perspective view which shows an example of the mechanism of the tray transport part of a mixed injection device. It is a figure which shows an example of the state in which the bottle needle of the drug administration system was punctured in the mixed injection port when the mixed solution after the drug injection was administered to a patient from the infusion container, and (a) is a figure which punctured the bottle needle. It is a figure which shows the state immediately after, and (b) is the figure which shows the state after the puncture of the bottle needle and the lapse of a predetermined time. It is a figure for demonstrating the spread of the puncture mark by the puncture of the bottle needle, (a) shows the state of the mixed injection port before the puncture of the bottle needle, and (b) is the mixed injection after the puncture of the bottle needle. Indicates the condition of the mouth. (A) and (c) are diagrams for explaining puncture of an injection needle into a mixed injection port, and (b) is a diagram showing an example of an infusion container. It is a figure which shows an example of the needle tip of an injection needle, (a) is an example of a three-sided cut shape, and (b) is a figure which shows an example of a five-sided cut shape. (A) is a diagram for explaining an example of a method for determining an injection needle puncture position, and (b) is a diagram showing another example thereof. It is a figure for demonstrating the range of the angle formed by the 1st direction and the 2nd direction, (a) shows the case where the said angle is less than 45 °, and (b) shows the case where the said angle is larger than 45 °. Show the case. (A) is a diagram showing an example of the correspondence between the angle formed by the first direction and the second direction and the angle point, and (b) is a diagram showing the maximum distance from the puncture position of the bottle needle to the farthest position. , Is a diagram showing an example of the correspondence between the ratio of the distance from the puncture position of the bottle needle to the puncture position of the injection needle and the distance point. (A) is a diagram for explaining the above ratio, and (b) is a diagram showing an example of the angle formed and the injection needle puncture position determined based on the above ratio. It is a figure for demonstrating another example of the method of determining an injection needle puncture position. It is a flowchart which shows an example of a mixed injection process. It is a perspective view which shows an example of a disposal mechanism. FIG. (A) is a plan view of the disposal mechanism, and (b) is a perspective view showing the superstructure of the disposal mechanism. It is a side view of a disposal mechanism. It is a figure which shows the state in the process of attaching and detaching the waste liquid duct. It is a flowchart which shows an example of the waste liquid treatment which discharges the liquid in an infusion container to a waste liquid container. It is a flowchart which shows an example of the cap mounting method.

[Basic configuration of mixed injection device]
[Mixed injection device 1]
As shown in FIGS. 1 and 2, the mixed injection device 1 according to the present embodiment includes a mixed injection control device 100, a chemical loading unit 200, and a mixed injection processing unit 300. In the mixed injection device 1, the mixed injection processing unit 300 is controlled by the mixed injection control device 100, so that the syringe contains the drug (eg, anticancer drug) shown in the preparation data in a drug container containing a predetermined amount of the drug. A mixed injection process is performed in which the drug is sucked from the syringe and the drug is injected into the infusion container from the syringe. Examples of the chemical container include one or more containers such as ampoules or vials. In addition, as another example of the mixed injection process, a process of sucking a drug from a drug container with a syringe and injecting it into another drug container, a process of sucking a drug from an infusion container with a syringe and injecting it into another drug container, etc. Is also included. That is, a saline solution (saline saline solution) or a liquid containing glucose contained in an infusion container is also an example of a drug to be mixed-injected.

The preparation data is the preparation data or the prescription data itself generated based on the prescription data. 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 or external use, etc.), usage information (internal or external use, etc.). Includes medical treatment type (outpatient or inpatient, etc.), clinical department, ward, ward, etc. (after meals three times a day, etc.). In addition, the preparation data includes patient information, doctor information, drug information, prescription amount of drug, type of drug container (ampoule containing drug solution, vial containing drug solution, vial containing powder drug, etc.), preparation content information (used for mixed injection processing). Drug container, syringe, type and number of injection needles, etc.), preparation procedure information (work content, dissolving drug, solvent, dissolving drug amount, solvent amount, sampling amount, etc.), preparation date, prescription classification, medication date, Includes medical department, ward, preparation time, etc.

[Mixed injection control device 100]
As shown in FIG. 1, the mixed injection control device 100 includes a first control unit 400 and a second control unit 500 that are communicably connected. The processing division of each of the first control unit 400 and the second control unit 500 described in the present embodiment is only an example, and each processing procedure of the mixed injection processing is either the first control unit 400 or the second control unit 500. It may be executed by.

The first control unit 400 can communicate with a higher-level system (not shown) such as an electronic medical record system or a dispensing management system that inputs preparation data to the mixed injection device 1. Further, the first control unit 400 is communicably connected to the display 203, the barcode reader 204, and the air purifier 205 (see FIGS. 2A and 2) of the chemical loading unit 200, and connects the member. Control.

For example, the first control unit 400 reads the preparation data from the host system based on the input operation of the user, and collates the preparation data with the prescription data read by the barcode reader 204.

The second control unit 500 is communicably connected to various members such as the first robot arm 21, the second robot arm 22, the tray transport unit 110, etc. provided in the mixed injection processing unit 300, and controls the members.

Further, in the storage unit (not shown) of the mixed injection control device 100, 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 are stored. .. The shape of the needle tip of the injection needle is stored in the injection needle master for each type of injection needle. The shape of the needle tip 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. In addition, the drug master includes drug code, drug name, JAN code (or RSS), drug bottle code, classification (dosage form: powder, tablet, liquid or external drug, etc.), specific gravity, drug type (ordinary drug, anti-drug, etc.) Cancer drugs, poisons, narcotics, powerful drugs, anti-psychiatric drugs, therapeutic drugs, etc.), formulation changes, excipients, precautions, types of drug containers (ampoules or vials, etc.), drug storage capacity per drug container (drugs) Information such as the default amount) and the weight of the drug container is included.

[Chemical loading unit 200]
As shown in FIGS. 2A and 2B, the chemical loading section 200 is a clean bench including a door 201, a work table 202, a display 203, a barcode reader 204, and an air purifying device 205. As shown in FIG. 2B, the chemical loading unit 200 and the mixed injection processing unit 300 are communicated with each other by a tray insertion port 114 formed on the side surface of the mixed injection processing unit 300.

The display 203 displays various information (eg, preparation data that is a candidate for the mixed injection target in the mixed injection device 1) in response to a control instruction from the first control unit 400. The bar code reader 204 reads the bar code written on the prescription, the preparation instruction sheet, or the like, and inputs the content of the bar code (eg, prescription data) to the first control unit 400. The air purifier 205 supplies air into the chemical loading unit 200 through a predetermined filter.

The door 201 is provided on the front surface of the chemical loading unit 200 and can be opened and closed vertically in the vertical direction. As shown in FIG. 2A, the user performs a preparatory work for the mixed injection process executed by the mixed injection device 1 with the door 201 slightly opened and the hand placed in the chemical loading unit 200. For example, the user places the medicine container 10, each member that can form the syringe 11, and the infusion container 12 at a predetermined position on the tray 101 placed on the work table 202, and places the tray 101 in the mixed injection processing unit. Load into 300. The tray 101 in which the chemical container 10 and the like are set is supplied to the mixed injection processing unit 300 through the tray insertion port 114.

The tray 101 has an equipment mounting portion 102 (see (a) of FIG. 5) and an infusion container mounting portion 103 (see (a) of FIG. 5). (1) A medicine container 10 and (2) a syringe 11a, a plunger 11b, an injection needle 11c, and a cap that can form the syringe 11 are placed on the equipment mounting portion 102. The infusion container 12 is placed on the infusion container mounting portion 103. Further, the tray 101 is provided with, for example, an IC tag (not shown) in which the identification information of the tray 101 is stored.

The syringe 11 includes at least a syringe 11a and a plunger 11b. If necessary, the injection needle 11c is attached to the syringe 11a. In this case, the one to which the injection needle 11c is attached is referred to as a syringe 11. That is, in this case, the syringe 11 includes a syringe 11a, a plunger 11b, and an injection needle 11c. For example, a process of injecting a chemical into the infusion container 12, a process of removing a liquid from the infusion container 12, a process of adjusting the relative arrangement relationship between the mixed injection port of the infusion container 12 and the injection needle 11c for performing these processes, or When the process of discharging the liquid removed from the infusion container 12 to a predetermined area is performed, the injection needle 11c is attached to the syringe 11a. Further, if necessary, a cap is attached to the injection needle 11c attached to the syringe 11a. In this case, the syringe with the cap attached is referred to as a syringe 11. That is, in this case, the syringe 11 includes a syringe 11a, a plunger 11b, an injection needle 11c, and a cap. For example, when the used injection needle 11c is discarded, a cap is attached to the injection needle 11c attached to the syringe 11a.

[Mixed injection processing unit 300]
As shown in FIG. 2, the main door 301, the syringe take-out door 302, the dust storage chamber door 13, the touch panel monitor 14, and the tray discharge port 15 are mainly provided on the front surface of the mixed injection processing unit 300.

The main door 301 is opened and closed to access the inside of the mixed injection processing chamber 104, for example, when cleaning the inside of the mixed injection processing chamber 104 provided in the mixed injection processing unit 300. The syringe take-out 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 opened and closed to remove waste from the garbage storage chamber 13a in which waste such as the chemical container 10 and the syringe 11 after being used in the mixed injection treatment in the mixed injection treatment chamber 104 is stored. The touch panel monitor 14 displays various information (example: images taken by various cameras described later) in response to a control instruction from the second control unit 500. The tray discharge port 15 is opened and closed to take out the tray 101 on which the infusion container 12 is placed after the chemicals have been injected by the mixed injection treatment in the mixed injection processing chamber 104.

[Mixed injection processing room 104]
As shown in (b) of FIG. 2 and (a) of FIG. 3, mainly in the mixed injection processing chamber 104, a first robot arm 21, a second robot arm 22, an ampoule cutter 31, a stirrer 32, and a mounting shelf 33, a chemical reading unit 34, a weighing scale 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, and a dust lid 132 are provided. Further, as shown in FIG. 3B, a tray confirmation camera 41, a syringe confirmation camera 42, an injection needle attachment / detachment device 43, and a needle insertion confirmation camera 44 are mainly provided on the ceiling side of the mixed injection processing chamber 104. ing.

[1st robot arm 21, 2nd robot arm 22]
The first robot arm 21 and the second robot arm 22 are drive units having an articulated structure, and are provided in a hanging shape with a base end portion fixed to the ceiling side of the mixed injection processing chamber 104. In the mixed injection device 1, each work step in the mixed injection process is executed by the double-armed first robot arm 21 and the second robot arm 22.

Specifically, the second control unit 500 individually drives the drive motors provided at the joints of the first robot arm 21 and the second robot arm 22, and mix-injects the first robot arm 21 and the second robot arm 22. Let each work in the process be executed. The mixed injection processing unit 300 has, for example, a configuration having one robot arm, a configuration including three or more robot arms, or a configuration without using a robot arm, as long as it has a structure capable of executing the mixed injection processing. It doesn't matter.

As shown in FIG. 3B, the first robot arm 21 is provided with a holding portion 25 capable of holding equipment such as a medicine container 10 and a syringe 11 at its tip. The first robot arm 21 can move the holding portion 25 to an arbitrary position within a predetermined movable range. The second robot arm 22 can hold equipment such as a medicine container 10 and a syringe 11 at its tip, and can also perform operations of suction and injection of medicine by the syringe 11. 26 is provided. The second robot arm 22 can move the holding portion 26 to an arbitrary position within a predetermined movable range.

FIG. 4A shows a configuration example of the holding portion 26 of the second robot arm 22. The holding unit 26 includes a syringe holding unit 261 and a plunger holding unit 262 and a moving unit 263. The syringe holder 261 includes a pair of gripping claws 261a that hold the syringe 11a of the syringe 11. The pair of gripping claws 261a are gripping portions that hold and release the syringe 11a in close proximity to and separated from each other by a drive mechanism. The pair of gripping claws 261a are formed with inclined portions 261b that are inclined downward from the upper end surface of the gripping claws 261a toward the facing surfaces on the facing surfaces facing each other.

The plunger holding portion 262 includes a pair of gripping claws 262a for holding the flange portion of the plunger 11b of the syringe 11. The pair of gripping claws 262a are gripping portions that hold and release the flange portion of the plunger 11b close to and separated from each other by a mechanism similar to the driving mechanism. A gripping claw 262b is fixed to the upper surface of each of the gripping claws 262a. Each of the gripping claws 262b is a gripping portion that brings the pair of gripping claws 262a close to each other and separated from each other to grip not only the syringe 11 but also other equipment such as the medicine container 10.

The moving unit 263 can move the plunger holding unit 262 in the moving direction of the plunger 11b by the drive mechanism.

[Tray transport unit 110]
The mixed injection processing unit 300 includes a tray transport unit 110 that transports the tray 101 supplied from the tray insertion port 114 (see (b) in FIG. 3) to the tray transport end 110a (see (b) in FIG. 3). It is provided.

FIG. 5A is a schematic plan view showing an example of a transport path of the tray 101 in the tray transport unit 110. The pressure inside the tray transport section 110 is set to be higher than that inside the mixed injection processing chamber 104. As shown in FIG. 5A, the tray transport unit 110 transports the tray 101 by passing the tray 101 below the mixed injection processing chamber 104 and behind the dust storage chamber 13a located under the dust lid 132. It is provided to do so. As a result, the dust storage chamber 13a can be accessed from the front side of the mixed injection device 1.

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 of the tray 101. The IC reader 101c is provided at the tray transport start portion 110b where the tray 101 is loaded from the tray insertion port 114, and the IC reader 15a is provided at the tray transport end portion 110a where the tray 101 is discharged from the tray discharge port 15. Has been done.

When the second control unit 500 determines that the tray 101 has been inserted into the tray transfer start unit 110b from the tray insertion port 114 based on the output of a sensor (not shown), the IC reader 101c outputs information from the IC tag of the tray 101. read. Further, when the second control unit 500 determines that the tray 101 has been inserted into the tray transfer terminal 110a based on the output of a sensor (not shown), the IC reader 15a reads information from the IC tag of the tray 101. The second control unit 500 executes a tray collation process or the like for determining the suitability or the like 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 a 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 unit 110 and the mixed injection process are processed. The shutter 111 that communicates and shields the chamber 104 is slid in the horizontal direction. When the shutter 111 is opened, the equipment mounting portion 102 is exposed in the mixed injection processing chamber 104.

As shown in FIG. 5B, the tray transport unit 110 includes a tray elevating unit 112 that raises and lowers the equipment mounting unit 102 of the tray 101 that has been moved into the tray transport unit 110 through the tray insertion port 114. It is provided. The tray elevating part 112 lifts the equipment mounting part 102 from the bottom to the top by, for example, driving the four shafts 112a provided so as to be able to move up and down in the vertical direction.

The second control unit 500 raises the equipment mounting unit 102 by the tray elevating unit 112, and then takes a picture with the tray confirmation camera 41. The tray confirmation camera 41 photographs the medicine container 10 placed on the equipment mounting portion 102, the syringe 11 (at least, the syringe 11a, the plunger 11b, and the injection needle 11c) from above. The second control unit 500 executes an image recognition process using the captured image of the tray confirmation camera 41, and the number of drug containers 10 and syringes 11 and the like shown in the preparation data are present on the equipment mounting unit 102. Make a judgment as to whether or not it is.

Further, as shown in FIG. 5B, the tray transport end portion 110a is provided with a container elevating portion 113 for raising and lowering the infusion container mounting portion 103. The second control unit 500 transports the tray 101 to the front of the container elevating unit 113, and then attaches the hook portion 113a of the container elevating unit 113 to the engaging hole portion (not shown) provided in the infusion container mounting portion 103. Hook on. The second control unit 500 raises the infusion container mounting portion 103 by raising the arc gear portion 113b on which the hook portion 113a is formed, and positions the mixed injection port of the infusion container 12 at the mixed injection communication port 37. Further, the second control unit 500 can drive the container elevating unit 113 to incline the infusion container mounting unit 103 and make the mixed injection port of the infusion container 12 upward or downward by controlling the motor 113c. ..

Further, as shown in FIG. 3B, a dome-shaped light 120 for illuminating the infusion container 12 transported to the tray transport end portion 110a and an infusion camera 121 are provided above the tray transport end portion 110a. ing. 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 container 12. As a result, the second control unit 500 determines the suitability of the infusion container 12 according to the bar code information read by the infusion camera 121.

[Ampoule cutter 31]
The ampoule cutter 31 cuts the head of the ampoule.

[Agitator 32]
The stirring device 32 stirs the chemicals in the chemical container 10, for example, by rotating the chemical container 10 in the axial direction. As a result, for example, when a chemical that needs to be dissolved such as powdered medicine (powder) is contained in the vial, the chemical or the liquid contained in the infusion container 12 is injected into the vial to dissolve the chemical such as powdered medicine. It is possible to generate a mixed chemical for injecting into the infusion container 12.

[Placement shelf 33]
As shown in FIG. 3A, the mounting shelf 33 is used for temporarily placing the drug container 10, the syringe 11 and the like in the mixed injection process performed in the mixed injection device 1. The mounting shelf 33 is provided at a position accessible to both the first robot arm 21 and the second robot arm 22.

[Chemical reading unit 34]
The chemical reading unit 34 reads a bar code written on a label attached to the chemical container 10 and indicating chemical information of the contained chemical.

[Weighing meter 35]
The weighing meter 35 is used to measure the weight of the syringe 11 in the mixed injection process performed in the mixed injection device 1, and the measurement result by the weighing meter 35 is input to the second control unit 500. The weighing scale 35 is arranged within the movable range of the second robot arm 22, and measures the weight of the syringe 11 mounted by the second robot arm 22.

[Needle bending detection unit 36]
The needle bending detection unit 36 is for detecting the amount and orientation of the needle bending of the injection needle 11c of the syringe 11. As shown in FIG. 4B, the needle bending detection unit 36 is formed with an elongated hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. Further, the needle bending detection unit 36 includes a first optical sensor 361 and a second optical sensor 362 arranged so that the detection lights are irradiated and received with the elongated hole 36a interposed therebetween and the detection lights are non-parallel to each other. .. 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 by the first optical sensor 361 and the second optical sensor 362 are input to the second control unit 500.

The second robot arm 22 inserts the injection needle 11c attached to the syringe 11 into the elongated hole 36a and moves it in the vertical direction. At this time, the first optical sensor 361 and the second optical sensor 362 are turned off when the detection light emitted by the own sensor is blocked by the injection needle 11c, respectively. Thereby, the second control unit 500 can specify the position of the injection needle 11c when blocking the detection light. The second control unit 500 calculates the needle bending amount of the injection needle 11c and the correction amount for correcting the bending using the position.

When the injection needle 11c is bent, the second control unit 500 punctures the mixed injection port of the infusion container 12 with the injection needle 11c by the second robot arm 22 based on the needle bending amount of the injection needle 11c. It is possible to adjust the needle tip position (puncture position) of.

Further, the second control unit 500 detects the width of the projected image of each needle tip when the needle tip of the injection needle 11c is irradiated with light from each of the first optical sensor 361 and the second optical sensor 362. Depending on the width of each detected projected image and the irradiation direction of each light corresponding to each projected image, the direction from the center of the injection needle 11c toward the tip of the injection needle 11c is detected in the radial direction of the injection needle 11c. By doing so, the direction of the needle tip is specified. An example of a specific needle tip orientation detection process is disclosed in Patent Document 1.

The injection needle 11c may be photographed with a camera, and the amount and orientation of the needle bending may be detected by image recognition processing on the photographed image.

[Mixed injection communication port 37]
The mixed injection communication port 37 is formed on the side wall of the mixed injection processing chamber 104 as shown in FIG. 2B in order to pass the mixed injection port of the infusion container 12 to the mixed injection processing chamber 104 side. Specifically, the mixed injection communication port 37 is formed by forming a notch for passing the mixed injection port of the infusion container 12 at the dome-shaped portion protruding outward on the side wall of the mixed injection processing chamber 104. When the infusion container mounting portion 103 is raised, the mixed injection port of the infusion container 12 is located in the mixed injection processing chamber 104.

[Needle insertion confirmation transparent window 38]
The needle insertion confirmation transparent window 38 is a window in which the infusion container 12 of the tray transport end portion 110a can be visually recognized from the mixed injection processing unit 300, and is for confirming the state in which the injection needle 11c of the syringe 11 is inserted into the infusion container 12. Used when taking an image.

[Syringe confirmation camera 42]
As shown in FIG. 3B, the syringe confirmation camera 42 is arranged on the ceiling of the mixed injection processing unit 300. The syringe confirmation camera 42 is mainly used for photographing the syringe 11 in order to confirm the presence / absence and amount of the medicine sucked into the syringe 11.

[Injection needle attachment / detachment device 43]
The injection needle attachment / detachment device 43 is a device that allows the injection needle 11c and the cap to be attached / detached to / from the syringe 11a. The injection needle attachment / detachment device 43 attaches the injection needle 11c and the cap to its own device by, for example, rotating the injection needle 11c and the cap in the axial direction by a drive mechanism. Then, the injection needle attachment / detachment device 43 attaches the injection needle 11c and the cap held attached to the own device to the syringe 11a. Further, the injection needle attachment / detachment device 43 removes the injection needle 11c and the cap attached to the syringe 11a by, for example, a drive mechanism, and attaches and holds the injection needle 11c to its own device. The second robot arm 22 brings the syringe 11 closer to or further from the injection needle attachment / detachment device 43 to perform the attachment / detachment. Further, the second robot arm 22 may attach / detach the cap to / from the injection needle 11c.

[Needle insertion confirmation camera 44]
The needle insertion confirmation camera 44 photographs the infusion container 12 located outside the mixed injection processing chamber 104 and the syringe 11 inside the mixed injection processing chamber 104 so as to fit in one image. When the mixed injection port of the infusion container 12 is punctured with the injection needle 11c, the second control unit 500 photographs the direction of the needle insertion confirmation transparent window 38 by the needle insertion confirmation camera 44. The image captured by the needle insertion confirmation camera 44 is displayed on, for example, the touch panel monitor 14. As a result, the user can confirm from the photographed image whether or not the tip end side of the injection needle 11c is located in the infusion container 12.

[Mixed injection processing]
An example of a basic procedure of the mixed injection processing executed by the mixed injection processing unit 300 in the mixed injection apparatus 1 will be described.

When the tray 101 is supplied to the tray transport unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag of the tray 101 by the IC reader 101c. Then, the second control unit 500 opens the shutter 111 when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process. After that, the second control unit 500 raises the equipment mounting 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 photographs the equipment mounting unit 102 with the tray confirmation camera 41. The second control unit 500 grasps the position and orientation of the equipment such as the medicine container 10 and the syringe 11 mounted on the equipment mounting unit 102 by the image recognition process based on the image taken by the tray confirmation camera 41.

Subsequently, the second control unit 500 temporarily places the syringe 11 mounted on the equipment mounting unit 102 exposed in the mixed injection processing chamber 104 on the mounting shelf 33 by the first robot arm 21. Further, the second control unit 500 sets the chemical container 10 mounted on the equipment mounting portion 102 in the chemical reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of the chemical contained in the chemical container 10 by the chemical reading unit 34. After that, the second control unit 500 moves the chemical container 10 set in the chemical reading unit 34 to the loading shelf 33 by the second robot arm 22.

Further, the second control unit 500 sets the first injection needle 11c on the injection needle attachment / detachment device 43 by the first robot arm 21, and temporarily places the second injection needle 11c on the mounting shelf 33. 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 is attached to the injection needle 11c mounted on the equipment mounting portion 102, and the cap is attached / detached by the injection needle attachment / detachment device 43.

Then, when the second control unit 500 takes out all the equipment on the equipment mounting unit 102, the tray elevating unit 112 of the tray transporting unit 110 lowers the equipment mounting unit 102 and returns it to the tray 101. The second control unit 500 confirms whether or not all the equipment on the equipment mounting unit 102 has been taken out by an image recognition process based on the captured image by the tray confirmation camera 41.

After that, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport end portion 110a. Next, the second control unit 500 forms a mixed injection port of the infusion container 12 mounted on the infusion container mounting unit 103 of the tray 101 in the mixed injection processing chamber 104 by the container elevating unit 113 of the tray transport unit 110. It is located at the mixed injection communication port 37.

The second control unit 500 takes out the syringe 11 (syringe 11a and plunger 11b) from the mounting shelf 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second control unit 500 moves the syringe 11 to the syringe needle attachment / detachment device 43 by the second robot arm 22, sets the syringe needle 11c in the syringe 11a of the syringe 11, and puts the cap on the injection needle attachment / detachment device 43. Remove the syringe 11a with the injection needle 11c from the cap while leaving it in. After that, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22, and detects the presence or absence of the needle bending of the injection needle 11c. When the injection needle 11c is set on the tray 101 while being attached to the syringe 11a, the step of setting the injection needle 11c on the syringe 11a is omitted.

When the chemical container 10 is an ampoule, the second control unit 500 takes out the chemical container 10 from the mounting shelf 33 by the first robot arm 21, and uses the ampoule cutter 31 to fold the head of the chemical container 10. The second control unit 500 brings the medicine container 10 and the syringe 11 close to each other by the first robot arm 21 and the second robot arm 22, and inserts the injection needle 11c of the syringe 11 into the medicine container 10. The second control unit 500 operates the plunger 11b by the second robot arm 22 to suck a predetermined amount of the drug from the drug container 10 by the syringe 11.

After that, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22, the chemical container 10 after the chemical is sucked, and the syringe in the state where the chemical is sucked. 11 is moved within the imaging range of the syringe confirmation camera 42. The second control unit 500 photographs the medicine container 10 and the syringe 11 at once by the syringe confirmation camera 42, and stores the captured images as inspection images in a storage unit (not shown) of the mixed injection control device 100.

Next, the second control unit 500 replaces the injection needle 11c of the syringe 11 by the first robot arm 21 and the second robot arm 22. Specifically, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of the needle bending of the injection needle 11c. Then, the second robot arm 22 moves the syringe 11 to the injection needle attachment / detachment device 43 to attach the cap to the injection needle 11c. The second control unit 500 removes the injection needle 11c and the cap from the syringe 11 by the injection needle attachment / detachment device 43.

The second control unit 500 opens the dust lid 132, and the first robot arm 21 drops the injection needle 11c held by the injection needle attachment / detachment device 43 into the dust storage chamber 13a for disposal. After that, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter from the mounting shelf 33 on the injection needle attachment / detachment device 43. The second control unit 500 moves the syringe 11 to the injection needle attachment / detachment device 43 by the second robot arm 22 to attach the injection needle 11c to the syringe 11. In this case as well, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence / absence and orientation of the needle bending of the injection needle 11c.

The second control unit 500 punctures the injection needle 11c of the syringe 11 into the mixed injection port of the infusion container 12 conveyed to the tray transfer end portion 110a by the second robot arm 22, and injects the medicine in the syringe 11 into the infusion container. Inject into 12. On the other hand, the second control unit 500 opens the dust lid 132, and the first robot arm 21 drops the chemical container 10 into the dust storage chamber 13a for disposal. Further, the second control unit 500 moves the syringe 11 to the injection needle attachment / detachment device 43 by the second robot arm 22, attaches a cap to the injection needle 11c of the syringe 11, and then puts the syringe 11 in the garbage storage chamber 13a. Drop it in and discard it.

After that, the second control unit 500 reads various images taken by the syringe confirmation camera 42 and the like from the storage unit and displays them on the touch panel monitor 14. As a result, the user can inspect the suitability of the mixed injection process while looking at the touch panel monitor 14.

When the chemical container 10 is a vial and the chemical in the vial needs to be dissolved, the second control unit 500 is the infusion container 12 conveyed to the tray transfer end portion 110a by the second robot arm 22. The injection needle 11c of the syringe 11 is punctured into the mixed injection port, and the dissolved amount of the liquid indicated by the preparation data is sucked from the infusion container 12. Further, the second control unit 500 takes out the chemical container 10 mounted on the mounting shelf 33 by the first robot arm 21. Then, the second control unit 500 brings the medicine container 10 and the syringe 11 close to each other by the first robot arm 21 and the second robot arm 22, and punctures the medicine container 11c with the injection needle 11c. After that, the second control unit 500 injects the liquid in the syringe 11 into the medicine container 10 by operating the plunger 11b by the second robot arm 22. As a result, the chemicals in the chemical container 10 are dissolved in the liquid.

Next, the second control unit 500 sets the chemical container 10 into which the liquid is injected in the stirring device 32 by the first robot arm 21. As a result, the agitator 32 agitates the chemicals and the liquid in the chemical container 10. When the stirring by the stirring device 32 is completed, the second control unit 500 takes out the chemical container 10 from the stirring device 32 by the first robot arm 21. Then, the second control unit 500 brings the medicine container 10 and the syringe 11 close to each other by the first robot arm 21 and the second robot arm 22, and punctures the medicine container 11c with the injection needle 11c. After that, the second control unit 500 operates the plunger 11b by the second robot arm 22 to suck the mixed drug in the drug container 10 with the syringe 11.

After that, in the same manner as described above, the second control unit 500 photographs the drug container 10 after the mixed drug is sucked and the syringe 11 in the state where the mixed drug is sucked by the syringe confirmation camera 42, and inspects the photographed images. It is stored in the storage unit as an image. Then, the second control unit 500 punctures the injection needle 11c into the mixed injection port of the infusion container 12 conveyed to the tray transfer end portion 110a by the second robot arm 22, and injects the mixed drug in the syringe 11 into the infusion container 12. Inject into. On the other hand, the second control unit 500 opens the dust lid 132, drops the chemical container 10 into the dust storage chamber 13a by the first robot arm 21, and discards it. Further, the second robot arm 22 drops the syringe 11 having the injection needle 11c with the cap attached into the garbage storage chamber 13a and discards it. After that, the second control unit 500 displays the inspection image on the touch panel monitor 14.

In the following description, the mixed drug will also be described as a drug.

[Puncture position determination process in mixed injection process]
Next, a process of determining the puncture position when the injection needle 11c attached to the syringe 11a of the syringe 11 is punctured into the mixed injection port 12A (eg, rubber stopper) of the infusion container 12 will be described.

[Problems related to mixed injection processing]
6 (a) and 6 (b) show an example of a state in which the bottle needle 1000 of the drug administration system is punctured into the mixed injection port 12A when the mixed solution after the drug injection is administered to the patient from the infusion container 12. Is. FIG. 6A shows a state immediately after the bottle needle 1000 is punctured, and FIG. 6B shows a state after the bottle needle 1000 is punctured and a predetermined time has elapsed. The surface of the mixed injection port 12A can also be referred to as a puncture region in the infusion container 12 in which the injection needle 11c and the bottle needle 1000 are punctured.

As shown in FIG. 6A, when the puncture mark M1 by the puncture of the injection needle 11c is formed at a position close to the puncture position of the bottle needle 1000, or when the puncture mark M1 extends in a predetermined direction. , As shown in FIG. 6B, the mixed solution in the infusion container 12 may leak from the puncture mark M1. Dr shown in FIG. 6B is a mixed solution leaking from the puncture mark M1.

This phenomenon will be described with reference to FIG. FIG. 7 is a diagram for explaining the spread of the puncture mark M1 due to the puncture of the bottle needle 1000, FIG. 7A shows the state of the mixed injection port 12A before the puncture of the bottle needle 1000, and FIG. 7B shows the state of the mixed injection port 12A. The state of the mixed injection port 12A after the puncture of the bottle needle 1000 is shown.

As shown in FIG. 7A, when the injection needle 11c is punctured into the mixed injection port 12A, a puncture mark M1 is formed after the injection needle 11c is removed. When the injection needle 11c shown in FIG. 9 described later is used, the puncture mark M1 becomes substantially linear. In this state, the puncture mark M1 is closed.

As shown in FIG. 7B, when the bottle needle 1000 is punctured at the bottle needle puncture position P1 in the mixed injection port 12A, the force is transmitted radially around the bottle needle 1000. The puncture mark M1 is within a certain distance from the puncture position of the bottle needle 1000, and the direction in which this force is transmitted (the direction of the arrow in the figure) and the width direction of the puncture mark M1 are substantially parallel (the force is approximately parallel). When the puncture mark M1 is stretched in the transmitted direction), a force is applied in the direction of widening the puncture mark M1. That is, when a force substantially parallel to the width direction of the puncture mark M1 (force in the arrow direction) is applied to the puncture mark M1 by puncturing the bottle needle 1000, the force acts on the puncture mark M1 to act on the puncture mark M1 and the mixed injection port 12A. (That is, the rubber stopper) is distorted, and the distortion causes the puncture mark M1 to shrink by the distance Ds in the width direction. As a result, the puncture mark M1 is expanded and becomes an open state (a state in which a hole is opened), and a phenomenon occurs in which the mixed solution leaks from the puncture mark M1. Note that FIG. 7B shows a state in which the puncture mark M1 is extremely wide open from the viewpoint of facilitating understanding.

Further, the closer the puncture position of the bottle needle 1000 is to the puncture position of the injection needle 11c, the greater the force applied to the puncture mark M1. Therefore, even when the two puncture positions are relatively close to each other, as a result of the force acting on the puncture mark M1, the puncture mark M1 may be widened and the mixed solution may leak from the puncture mark M1.

The present inventors have found that the above phenomenon occurs, and that the injection needle 11c may be punctured into the mixed injection port 12A so as to reduce the possibility of the phenomenon occurring. That is, it has been found that the above possibility can be reduced by adjusting the relative arrangement relationship between the injection needle 11c and the mixed injection port 12A. This configuration will be described in more detail below.

In the present specification, the adjustment of the "relative arrangement relationship" means adjusting the position of the injection needle 11c with respect to the surface of the mixed injection port 12A when the injection needle 11c is arranged facing the surface. Point. Alternatively, it can be said that the position of the surface with respect to the injection needle 11c when the mixed injection port 12A is arranged with respect to the injection needle 11c so that the injection needle 11c faces the surface of the mixed injection port 12A. The adjustment of the "relative arrangement relationship" also includes changing the orientation of the injection needle 11c with respect to the surface of the mixed injection port 12A without changing the position of the injection needle 11c with respect to the surface of the mixed injection port 12A.

[Concrete configuration]
As a basic configuration for solving the above problem, the mixed injection device 1 of the present embodiment includes a second robot arm 22. In this case, mixed injection of the infusion container 12 in which the bottle needle puncture position P1 (first puncture position), which is the puncture position for puncturing the bottle needle 1000 (first needle for infusion), is specified by the second robot arm 22. A puncture device for puncturing the injection needle 11c (second needle) of the syringe 11 into the injection needle puncture position P2 (second puncture position) different from the bottle needle puncture position P1 in the mouth 12A is configured.

Specifically, in the mixed injection device 1 (puncture device), as shown in FIG. 8A, the second robot arm 22 uses the injection needle 11c of the syringe 11 held by the holding unit 26 as the second control unit. It is a puncture operation part that punctures the injection needle puncture position P2 determined by 500. In the present embodiment, the holding portion 26 is provided at the tip of the second robot arm 22, but the holding portion 26 may not be connected to the second robot arm 22.

Further, the container elevating part 113 (see (b) of FIG. 5) serves as an infusion container holding part for holding the infusion container 12 so that the mixed injection port 12A is inserted into the mixed injection processing chamber 104 through the mixed injection communication port 37. Function. Further, the holding portion 26 functions as a syringe holding portion that holds and operates the syringe 11 having the injection needle 11c punctured by the mixed injection port 12A.

Further, in the holding state in which the infusion container 12 is held so that the mixed injection port 12A is inserted into the mixed injection processing chamber 104 through the mixed injection communication port 37, the shaded portions shown in FIGS. 8 (b) and 8 (c) are shown. , The lower half of the mixed injection port 12A. The holding state may also be referred to as a state in which the surface of the mixed injection port 12A is arranged so as to extend in the vertical direction (that is, a state in which the surface of the mixed injection port 12A extends in a direction different from the horizontal direction). can. Further, the "lower half" refers to a region below the horizontal plane passing through the center point between the highest point and the lowest point of the puncture region in the vertical direction (Z-axis direction). In the examples of FIGS. 8B and 8C, the infusion container 12 is held by the container elevating part 113 so that the surface of the mixed injection port 12A is parallel to the vertical direction.

When the injection needle 11c is punctured by the second robot arm 22 into the mixed injection port 12A, a substantially linear (specifically, substantially arcuate) puncture mark M1 is formed as shown in FIG. 8 (c). .. In the present embodiment, the direction connecting the two farthest ends E1 and E2 of the sites forming the puncture mark M1 is defined as the width direction of the puncture mark M1 (first direction D1). Further, the straight line connecting the bottle needle puncture position P1 and the injection needle puncture position P2 is defined as the second direction D2.

The injection needle 11c assumed in the present embodiment is, for example, a three-sided cut shape in which the inclined surface 11s of the needle tip has three surfaces as shown in FIG. 9A, or FIG. 9B. As shown in the above, there is a five-sided cut shape in which the inclined surface 11s of the needle tip has five surfaces. As shown in FIG. 8, a substantially arc-shaped puncture mark M1 is formed regardless of the needle tip of the injection needle 11c.

Here, the width direction of the puncture mark M1 (that is, the direction in which the puncture mark M1 is formed) is uniquely determined by the direction of the injection needle 11c when puncturing the mixed injection port 12A. That is, the width direction of the puncture mark M1 can be specified from the direction of the injection needle 11c. As shown in FIG. 9A, when the axial direction of the injection needle 11c is the Ax1 direction and the height directions of the ends 11e1 and 11e2, which are both ends of the inclined surface 11s, are the Ax2 directions, the Ax1 direction and the Ax2 direction. The direction perpendicular to (Ax3 direction) can be defined as the width direction of the injection needle 11c. Then, when the injection needle 11c is punctured into the mixed injection port 12A, the width direction (first direction D1) of the puncture mark M1 is determined so as to substantially coincide with the width direction of the injection needle 11c.

[Example of determining the injection needle puncture position]
Next, an example of determining the injection needle puncture position P2 by the second control unit 500 will be described. Examples of the determination example include the following determination examples 1 to 4.

(Determination example 1: Puncture position determination based on angle-Change of puncture position)
The determination example 1 will be described with reference to FIG. 10 (a). In FIG. 10A, a case where the first direction D1 which is the width direction of the puncture mark M1 extends in the X-axis direction will be described as an example. In the present determination example 1, eight injection needle puncture positions P2 (injection needle puncture positions P21 to P28 shown in FIG. 10A) are specified as candidate positions where the injection needle 11c can be punctured. The injection needle puncture position P2 as a candidate position is stored in, for example, a storage unit. Further, the puncture marks M1 that can be formed when the injection needle 11c is punctured at the injection needle puncture positions P21 to P28 are shown as puncture marks M11 to M18.

The second control unit 500 specifies the direction of the needle tip based on the detection result by the needle bending detection unit 36. As described above, the direction of the needle tip is the width direction of the puncture mark M1 formed when the surface of the mixed injection communication port 37 (that is, the surface of the mixed injection port 12A located at the mixed injection communication port 37) is punctured. It almost matches. In the present embodiment, the width direction of the puncture mark M1 is defined as an angle (0 ° or more and 90 ° or less) when the horizontal direction (X-axis direction) is 0 ° with respect to the surface of the mixed injection communication port 37. ..

The second control unit 500, for example, makes the injection needle 11c in the state before puncture image the injection needle 11c from a position facing the injection needle 11c with a camera capable of imaging the injection needle 11c, and performs image recognition to perform the needle. You may specify the direction of the tip.

The second control unit 500 determines at least one of the above eight locations as the injection needle puncture position P2 at which the injection needle 11c can be punctured. Further, the second control unit 500 specifies the bottle needle puncture position P1. Then, the second control unit 500 specifies the second directions D21 to D24 connecting the specified bottle needle puncture position P1 and the injection needle puncture position P2 as a candidate position, and the first direction D1 and the second direction D21 to 1 The angle formed by D24 is calculated respectively.

The second control unit 500 identifies the bottle needle puncture position P1 by photographing the mixed injection port 12A located at the mixed injection communication port 37 and analyzing the photographed image, for example. In the mixed injection port 12A, the bottle needle puncture position P1 is provided with a protrusion or a mark for indicating the bottle needle puncture position P1. The second control unit 500 specifies the bottle needle puncture position P1 by specifying the protrusion or mark from the captured image. In addition, the bottle needle puncture position P1 may be stored in the storage unit in advance, or may be specified by user input, for example.

As shown in FIG. 10A, the second control unit 500 calculates the formed angle to be 0 ° for the injection needle puncture positions P21 and P25 where the puncture marks M11 and M15 can be formed. Further, the second control unit 500 calculates 45 ° for the injection needle puncture positions P22 and P26 where the puncture marks M12 and M16 can be formed, and the injection needle puncture positions P24 and P28 where the puncture marks M14 and M18 can be formed. do. Further, the second control unit 500 calculates 90 ° for the injection needle puncture positions P23 and P27 where the puncture marks M13 and M17 can be formed.

The second control unit 500 actually injects at least one of the injection needle puncture positions P22 to 24 and P26 to P28 other than the injection needle puncture positions P21 and P25 in which the first direction D1 and the second direction D2 are parallel. It is determined as the injection needle puncture position P2 for puncturing the needle 11c. The second control unit 500 punctures the injection needle 11c at the determined injection needle puncture position P2 by controlling the second robot arm 22 and the holding unit 26.

That is, the second robot arm 22 punctures the injection needle 11c so that the first direction D1 and the second direction D2 connecting the bottle needle puncture position P1 and the injection needle puncture position P2 as a candidate position are not parallel to each other. .. In the present embodiment, the second robot arm 22 adjusts the relative arrangement relationship between the mixed injection port 12A and the injection needle 11c of the syringe 11 so that the first direction D1 and the second direction D2 are not parallel to each other.

Then, in the present determination example 1, the second robot arm 22 adjusts the injection needle puncture position P2, and punctures the injection needle 11c into the adjusted injection needle puncture position P2. In other words, the second robot arm 22 adjusts (determines) the injection needle puncture position P2 that actually punctures the injection needle 11c to adjust the relative arrangement relationship.

In addition, in FIG. 10A, the annular virtual line L1 indicates a position separated from the bottle needle puncture position P1 by a predetermined distance. As described above, the internal region of the annular virtual line L1 (within a predetermined range from the bottle needle puncture position P1) needs to be adjusted so that the angle between the first direction D1 and the second direction D2 does not become 0 °. Area. The above-mentioned predetermined range may cover the entire surface of the mixed injection port 12A.

In this way, the injection needle 11c is punctured in the mixed injection port 12A so that the angle formed is other than 0 °, so that the liquid from the puncture mark M1 when the bottle needle 1000 is punctured in the infusion container 12. The possibility of leakage can be reduced.

Further, the second control unit 500 sets the injection needle puncture position P2 at which the angle formed is 45 ° or more and 90 ° or less (particularly 90 °), and the injection needle puncture position P2 that actually punctures the injection needle 11c. It is preferable to determine as. The reason will be described with reference to FIG. 11A and 11B are views for explaining the range of the formed angle, where FIG. 11A shows a case where the formed angle is less than 45 °, and FIG. 11B shows a case where the formed angle is larger than 45 °. ..

Assuming that the force applied to the injection needle puncture position P2 (compressive force for compressing the puncture mark M1) when the bottle needle 1000 is punctured is Fo, the compressive force Fo is the width direction component Fox of the compressive force Fo. It can be represented by a vertical component Foy, which is a component of a compressive force Fo perpendicular to the width component Fox. As shown in FIG. 11A, when the angle formed is less than 45 ° (θ <45 °), the force for expanding the puncture mark M1 (the force for substantially compressing the puncture mark M1) is used. The width component Fox acting on the puncture mark M1 is larger than the vertical component Foy. On the other hand, as shown in FIG. 11B, when the formed angle is larger than 45 ° (θ> 45 °), the width direction component Fox is smaller than the vertical direction component Foy. Then, when the formed angle is 45 ° (θ = 45 °), the size of the width direction component Fox is substantially the same as the size of the vertical direction component Foy.

That is, when the formed angle changes from less than 45 ° to 45 ° or more, the magnitude relationship of the magnitude is reversed between the width direction component Fox and the vertical direction component Foy. Specifically, when the temperature is 45 ° or more, the width component Fox is equal to or less than the vertical component Foy, so that the puncture mark M1 may be compressed and expanded as compared with the case where the width component Fox is larger than the vertical component Foy. Will be low. Further, when the formed angle is 90 °, the width direction component Fox becomes 0, so that the puncture mark M1 is least likely to be widened. From this point of view, as described above, it is preferable that the range of the formed angle is 45 ° or more and 90 ° or less (particularly, the formed angle is 90 °).

Further, the number of times the injection needle 11c is punctured may be once or a plurality of times. When the number of punctures is a plurality of times, the second control unit 500 performs the number of punctures in order from the position having the largest angle (eg, 90 °) among the plurality of preset injection needle puncture positions P2. The injection needle puncture position P2 of is selected. The number of punctures is set, for example, by the adjustment procedure information (example: information indicating the work content) indicated by the preparation data.

When the injection needle 11c is punctured a plurality of times, the injection needle puncture position P2 having a relatively small angle may be selected. By selecting the injection needle puncture position P2 as described above, the injection needle 11c can be punctured with priority given to the position where the angle formed is as large as possible. As a result, the possibility of liquid leakage from the infusion container 12 can be further reduced.

In the example of FIG. 10A, for example, the injection needle puncture position P23 (the above-mentioned puncture angle 90 °) → the injection needle puncture position P27 (the above-mentioned puncture angle 90 °) → the injection needle puncture position P22 (the above-mentioned puncture angle 45 °). → The needle puncture position P26 (the above-mentioned puncture angle 45 °) → the injection needle puncture position P24 (the above-mentioned puncture angle 45 °) → the injection needle puncture position P28 (the above-mentioned puncture angle 45 °) are selected in this order. The injection needle puncture positions P21 and P25 having an angle of 0 ° are not selected. That is, in this example, a maximum of 6 injection needle puncture positions P2 can be selected.

When the number of punctures is one, the position having the largest angle is determined as the injection needle puncture position P2.

Further, when the number of punctures is a plurality of times, the injection needle puncture position P2 is similarly selected in order from the position where the angle formed is large in the determination example 2 described later. Further, in the determination example 3 described later, the above-mentioned angle and the position where the distance (or the ratio described later) from the bottle needle puncture position P1 to the injection needle puncture position P2 becomes large, and in the determination example 4 described later, the distance or the ratio. The injection needle puncture position P2 is selected in order from the position where becomes larger.

(Determination example 2: Puncture position determination based on angle-change of injection needle orientation)
The second determination example 2 will be described with reference to FIG. 10 (b). Instead of determining the injection needle puncture position P2, the injection needle 11c may be rotated so that the puncture mark M1 is formed so that the angle formed above does not become 0 °.

The second control unit 500 calculates the formed angle as described above when the injection needle 11c faces the surface of the mixed injection port 12A, and when the formed angle is 0 °, the formed angle is, for example, 90. The injection needle 11c is rotated in the axial direction so as to be °. Specifically, the holding portion 26 rotates the injection needle 11c in the axial direction. Therefore, in the second determination example 2, the holding portion 26 has a rotation drive mechanism for rotating the syringe 11 in the axial direction.

That is, in the present determination example 2, the second robot arm 22 adjusts the rotation angle of the injection needle 11c with respect to the mixed injection port 12A so that the formed angle does not become 0 °, and the injection needle after adjusting the rotation angle. 11c is punctured to the injection needle puncture position P2. In other words, the second robot arm 22 adjusts the relative arrangement relationship by adjusting the rotation angle of the injection needle 11c with respect to the mixed injection port 12A.

The angle formed above may not be at least 0 ° with 90 ° as the upper limit, and preferably 45 ° or more and less than 90 ° as described above.

(Determination example 3: Puncture position determination based on angle and distance)
The determination example 3 will be described with reference to FIGS. 12 and 13. In the third determination example, the second control unit 500 considers the angle formed above and also considers the distance from the bottle needle puncture position P1 to the injection needle puncture position P2, and actually punctures the injection needle 11c. The position P2 is determined. Specifically, as shown in FIG. 12, "angle points" and "distance points" are assigned to the above-mentioned angle and the above-mentioned distance, respectively, and the second control unit 500 sets the total value of the points to a predetermined value. The above-mentioned injection needle puncture position P2 is determined as the injection needle puncture position P2 that actually punctures the injection needle 11c. The "angle point" and the "distance point" are stored in the storage unit.

FIG. 12A is a diagram showing an example of assigning angle points. In the example of FIG. 12A, 1 to 10 angle points are given to the above-mentioned formed angle of 0 ° or more and 90 ° or less in 10 ° increments in order from the smallest of the above-mentioned formed angles.

FIG. 12B is a diagram showing an example of assigning distance points. In the present embodiment, as shown in FIG. 13A, on the surface of the mixed injection port 12A, the injection needle puncture is performed from the bottle needle puncture position P1 with respect to the maximum distance Dimax from the bottle needle puncture position P1 to the farthest position Pmax. Distance points are given to the ratio of the distance Di to the position P2. In this case, the ratio 0.0 indicates that the bottle needle puncture position P1 and the injection needle puncture position P2 are at the same position, and the ratio 1.0 indicates that the injection needle puncture position P2 is at the maximum distance Dimax. Is shown. In the example of FIG. 12B, distance points of 1 to 10 are given in increments of 0.1 in ascending order from the smallest ratio.

As described above, the second control unit 500 calculates the angle formed by the injection needle puncture position P2 as the candidate position and specifies the angle point for the injection needle puncture position P2. Further, the second control unit 500 calculates the maximum distance Dimax using the bottle needle puncture position P1 and calculates the distance Di for the injection needle puncture position P2 as a candidate position, and calculates the above ratio (distance Di / maximum distance Dimax). ) Is calculated. Then, the second control unit 500 specifies a distance point for the injection needle puncture position P2.

The second control unit 500 adds the specified angle points and distance points, and determines whether or not the total value is equal to or greater than a predetermined value. The predetermined value is set to a value such that the puncture mark M1 does not spread due to the force applied to the infusion container 12 (specifically, the mixed injection port 12A) when the bottle needle 1000 is punctured. When the second control unit 500 determines that the calculated total value is equal to or higher than a predetermined value, the second control unit 500 actually punctures the injection needle 11c at the injection needle puncture position P2 for which the above-mentioned angle and the above-mentioned ratio are calculated. The needle puncture position P2 is determined. Then, the second robot arm 22 adjusts the relative arrangement relationship so that the injection needle 11c is punctured at the determined injection needle puncture position P2.

The above-mentioned predetermined value is set by an experiment or the like. However, the force applied to the puncture mark M1 by the puncture of the bottle needle 1000 differs depending on the material of the mixed injection port 12A, the puncture direction of the injection needle 11c, and the like. The above predetermined value can be changed as appropriate in consideration of the circumstances. Further, the comparison target with the predetermined value may be calculated as the total value of "angle point x predetermined coefficient" and "distance point x predetermined coefficient".

FIG. 13B is a diagram showing an example of the determined needle puncture position P2. In the example of FIG. 13B, the width direction (needle tip direction) of the formed puncture mark M1 is parallel to the X axis. In addition, seven positions are set as candidate positions for the injection needle puncture position P2 (injection needle puncture positions P31 to P37 in FIG. 13B), and the number of times the injection needle 11c is punctured is determined to be five. do. Further, it is assumed that at least any two of the above distances for each of the above seven locations have different lengths.

In the example of FIG. 13B, the second control unit 500 actually punctures the injection needle puncture positions P31 to P35 among the injection needle puncture positions P31 to P37 as candidate positions. It is determined as the puncture position P2 (marked with ● in the figure). Further, the second control unit 500 determines the puncture order of the injection needle 11c, assuming that the injection needle 11c is punctured in the order of the injection needle puncture positions P31 to P35. On the other hand, the second control unit 500 determines the injection needle puncture positions P36 and P37 as the injection needle puncture position P2 (x mark in the figure) which cannot be punctured.

The second control unit 500 calculates the total value of the angle point and the distance point for each of the injection needle puncture positions P31 to P37, and determines the puncture order in descending order of the predetermined value or more and the total value. There is. If the number of punctures is less than the number of punctures, even if the total value is less than a predetermined value, it may be determined as the injection needle puncture position P2 for actually puncturing the injection needle 11c.

Here, the formed angle θ1 of the injection needle puncture position P35 is smaller than the above-mentioned formed angle θ2 of the injection needle puncture position P36. When considering only the angle formed above, the injection needle puncture position P36 is selected as the injection needle puncture position P2 for actually puncturing the injection needle 11c, and the injection needle puncture position P35 is not selected. However, the distance Di1 of the injection needle puncture position P35 is larger than the distance Di2 of the injection needle puncture position P35. Therefore, (the above-mentioned total value of the injection needle puncture position P35)> (the above-mentioned total value of the injection needle puncture position P36). , The needle puncture position P35 is selected, and the needle puncture position P36 is not selected.

When two or more injection needle puncture positions P2 having the same total value are present as candidate positions, the second control unit 500 actually punctures any injection needle puncture position P2 with the injection needle 11c. It may be determined as the injection needle puncture position P2.

As described above, two factors that can cause liquid leakage from the infusion container 12, the angle formed by the first direction D1 and the second direction D2 and the distance from the bottle needle puncture position P1 to the injection needle puncture position P2. In consideration of the above, the injection needle puncture position P2 for actually puncturing the injection needle 11c is determined. Therefore, the possibility of liquid leakage from the infusion container 12 can be reduced more reliably.

Further, if the distance is large, the injection needle 11c can be punctured even in a place where the angle formed is small. Therefore, the range in which the injection needle 11c can be punctured can be expanded as compared with the case where the injection needle puncture position P2 is determined only by considering only the above-mentioned formed angle.

(Determination example 4: Puncture position determination based on distance)
The determination example 4 will be described with reference to FIG. In the determination example 4, the second control unit 500 determines the position of the injection needle puncture position P2 that actually punctures the injection needle 11c in consideration of only the above distance.

Specifically, the second control unit 500 receives the puncture needle 1000 to the extent that the puncture mark M1 does not spread due to the force applied to the infusion container 12 (specifically, the mixed injection port 12A) when the puncture needle 1000 is punctured. The position away from the injection needle 11c is determined as the injection needle puncture position P2 that actually punctures the injection needle 11c. As shown in FIG. 14, the second control unit 500 injects into a region on the surface of the mixed injection port 12A excluding the prohibited region PR in the non-interference region InR, which is a region outside the interference region IR (hatched portion). The injection needle puncture position P2 is determined so that the needle 11c is punctured.

Here, the interference region IR is a region including the bottle needle puncture position P1 in which the bottle needle 1000 interferes with the mixed injection port 12A when the bottle needle 1000 is punctured. Specifically, the interference region IR is a region on the surface of the mixed injection port 12A that is expanded in contact with the bottle needle 1000 by puncturing the bottle needle 1000. That is, the interference region IR is a region corresponding to the thickness of the bottle needle 1000 on the surface of the mixed injection port 12A in a state where the bottle needle 1000 is punctured.

The prohibited area PR is a non-interfering area InR (area other than the shaded area in FIG. 14) where puncture of the injection needle 11c is prohibited. Since the injection needle puncture position P2 is determined as described above, it can be said that the prohibited region PR is a region having a predetermined width such that the puncture mark M1 does not spread due to the above force. In the example of FIG. 14, the internal region of the ring road L1 is the prohibited region PR.

As described above, the second control unit 500 calculates the distance between the bottle needle puncture position P1 and the injection needle puncture position P2 as a candidate position. The second control unit 500 determines whether or not the calculated distance is equal to or greater than the second predetermined value, and if it is equal to or greater than the second predetermined value, the injection needle puncture position P2 is actually set to the injection needle 11c. It is determined as the puncture position P2 of the injection needle to be punctured. That is, as a result, as shown in FIG. 14, the injection needle 11c is punctured in the region other than the prohibited region PR, and the puncture mark M1 is formed by the puncture.

Then, the second robot arm 22 adjusts the relative arrangement relationship so that the injection needle 11c is punctured at the determined injection needle puncture position P2.

As with the above-mentioned predetermined value, the second predetermined value is such that the puncture mark M1 does not spread due to the force applied to the infusion container 12 (specifically, the mixed injection port 12A) when the bottle needle 1000 is punctured. The value of is set by an experiment or the like. Further, the second predetermined value can be appropriately changed in consideration of the above-mentioned circumstances, similarly to the above-mentioned predetermined value.

Further, the second control unit 500 may determine the injection needle puncture position P2 to actually puncture the injection needle 11c by using the above ratio instead of the above distance.

As described above, even when the injection needle puncture position P2 is determined not considering the above-mentioned angle but only the above-mentioned distance, the possibility of liquid leakage from the infusion container 12 can be reduced. That is, even if the angle θ formed is very small (eg, 0 ° or near 0 °), the injection needle 11c punctures a position (a region other than the prohibited area PR) a predetermined distance from the bottle needle puncture position P1. If the relative arrangement relationship is adjusted so as to be performed, the possibility of the liquid leakage can be suppressed.

[Flow of mixed injection processing]
FIG. 15 is a flowchart showing an example of mixed injection processing. Since the basic mixed injection treatment has been described above, the treatment (puncture method) when the injection needle 11c is punctured on the surface of the mixed injection port 12A will be mainly described here. Further, as an example of this mixed injection processing, the flow of processing based on the above-mentioned determination example 1 is shown.

At the time of injecting the chemical into the infusion container 12 or extracting the gas or liquid in the infusion container 12, the second control unit 500 controls the container elevating unit 113 to connect the mixed injection port 12A to the mixed injection communication port 37. Position it. That is, the container elevating portion 113 holds the mixed injection port 12A so as to be located at the mixed injection communication port 37 (S1). Further, the second control unit 500 controls the holding unit 26 of the second robot arm 22 so that the holding unit 26 holds the syringe 11 having the injection needle 11c (S2). In this state, the second control unit 500 moves the second robot arm 22 and specifies the direction of the injection needle 11c based on the detection result of the needle bending detection unit 36 (S3). As described above, the second control unit 500 specifies the orientation of the injection needle 11c, for example, by using the orientation detection process disclosed in Patent Document 1. Further, the second control unit 500 identifies the bottle needle puncture position P1 by analyzing the captured image of the mixed injection port 12A located at the mixed injection communication port 37, for example (S4).

As described above, the second control unit 500 calculates the formed angle based on the orientation of the injection needle 11c and the bottle needle puncture position P1, and actually punctures the injection needle 11c at a position where the formed angle does not become 0 °. It is determined as the injection needle puncture position P2 to be performed (S5). The second control unit 500 controls the second robot arm 22 to puncture the injection needle 11c at the determined injection needle puncture position P2 (S6: puncture operation step). In other words, the second robot arm 22 punctures the injection needle 11c in a state where the relative arrangement relationship is adjusted so that the formed angle does not become 0 °.

After that, the second control unit 500 controls the holding unit 26 to inject the drug in the syringe 11 into the infusion container 12 or withdraw the liquid (or gas) in the infusion container 12 (S7).

It is sufficient that the processing of S4 is performed before the processing of S5. That is, it may be executed in parallel with the processes of S1 to S3, or may be executed before and after the processes of S1 to S3.

Further, in the determination example 2, in the process of S5, the second control unit 500 changes the direction of the injection needle 11c with respect to the surface of the mixed injection port 12A so that the angle formed by the second control unit 500 does not become 0 ° (the injection needle 11c is changed). Rotate in the axial direction). In the determination example 3, in the process of S5, the second control unit 500 calculates the ratio together with the angle formed, and determines the injection needle puncture position P2 based on the total value. In the determination example 4, in the process of S5, the second control unit 500 calculates the distance and determines the injection needle puncture position P2 based on the distance. In the above-mentioned determination example 4, it is not necessary to perform the processing of S3 from the viewpoint of determining the injection needle puncture position P2.

Further, the above processing has been described as the processing of the mixed injection device 1, but the present invention is not limited to this, and the user may perform the above processing. That is, the user holds the mixed injection port 12A and the syringe 11 so that the angle formed is not 0 °, the total value is equal to or greater than the predetermined value, or the distance is equal to or greater than the second predetermined value. The injection needle 11c may be punctured so as to be.

[Other configurations]
As another configuration, the second robot arm 22 has an injection needle 11c at any position in the lower half region of the surface of the mixed injection port 12A (the region shown by the shaded portions in FIGS. 8B and 8C). The relative arrangement may be adjusted so as to puncture. In this case, the second control unit 500 determines any position in the lower half region as the injection needle puncture position P2 that actually punctures the injection needle 11c. This makes it easier to remove the liquid accumulated on the lower side of the infusion container 12. Therefore, it is useful that such a determination process is applied as a process for draining the liquid from the infusion container 12.

Further, in the above-described configuration, the second control unit 500 punctures the injection needle 11c at the determined injection needle puncture position P2 by adjusting the arrangement position of the holding portion 26 of the second robot arm 22. Not limited to this, the second control unit 500 punctures the injection needle 11c at the determined injection needle puncture position P2 by adjusting the arrangement position of the mixed injection port 12A while the position of the holding unit 26 is fixed. It doesn't matter. In this case, the mixed injection communication port 37 has a size such that the arrangement position of the mixed injection port 12A can be adjusted. Further, the container elevating portion 113 is a mechanism capable of changing the arrangement position of the mixed injection port 12A at the mixed injection communication port 37. In this case, the container elevating part 113 functions as a puncture operation part. Further, both the second robot arm 22 and the container elevating part 113 may function as the puncture operation part.

Further, the second control unit 500 moves only the injection needle 11c or rotates it in the axial direction to change the direction of the needle tip in a state where the position of the holding unit 26 is fixed. The target arrangement relationship may be adjusted.

[Disposal]
Next, a disposal mechanism and a disposal operation for discarding the liquid in the infusion container 12 will be described.

[Disposal mechanism and operation]
14A and 14B are perspective views showing an example of the disposal mechanism, FIG. 14A is a view when the dust lid 132 is in the open state, and FIG. 14B is a view when the dust lid 132 is in the closed state. be. FIG. 17A is a plan view of the disposal mechanism, and FIG. 17B is a perspective view showing the superstructure of the disposal mechanism. FIG. 18 is a side view of the disposal mechanism. FIG. 19 is a diagram showing a state in which the waste liquid duct 141 is being attached / detached.

The mixed injection device 1 has, as the disposal mechanism, (1) a first disposal mechanism for accommodating waste such as a chemical container 10 and a syringe 11, and (2) a second disposal for discarding the liquid in the infusion container 12. A mechanism and is provided. It differs from the conventional mixed injection device (eg, the mixed injection device of Patent Document 1) in that the second disposal mechanism is provided in addition to the first disposal mechanism.

As shown in FIGS. 16A and 16B, in the present embodiment, the first disposal mechanism is a waste input port 131, which is formed on the pedestal 104a of the mixed injection processing chamber 104 and into which waste is input. The waste input port 131 is provided with a trash lid 132 that can be opened and closed, and a trash box 133 that stores the waste. The trash can 133 is arranged in the trash storage chamber 13a located below the waste input port 131. Further, the first disposal mechanism includes a drive mechanism 134 (see FIG. 18) that controls the opening / closing operation of the dust lid 132.

As described above, the second control unit 500 controls the drive mechanism 134 to open the dust lid 132, and the first robot arm 21 or the second robot arm 22 causes the used medicine container 10 or the syringe 11 (injection needle). (11c alone may be sufficient) is discharged to the waste input port 131 and stored in the garbage box 133. Further, the second control unit 500 controls the drive mechanism 134 to close the dust lid 132 after the used waste is discharged to the waste input port 131. It can be said that the second control unit 500, the first robot arm 21, the second robot arm 22, the holding unit 25, and the holding unit 26 that perform these operations and processes are also a part of the first disposal mechanism.

The mixed injection processing chamber 104 includes the syringe 11, the puncture region of the drug container 10 in which the injection needle 11c of the syringe 11 is punctured, and the puncture region of the infusion container 12 (specifically, the surface of the mixed injection port 12A). It is also referred to as at least a contained chamber. The mixed injection processing chamber 104 includes at least the puncture region in order to prevent the chemical contained in the chemical container 10 from being exposed to the outside of the mixed injection device 1.

As shown in FIGS. 16 to 18, the second disposal mechanism mainly includes a waste liquid duct 141, a groove guide 143, a waste liquid hose 144, and a waste liquid container 145.

The waste liquid duct 141 is a groove leading to the waste liquid container 145. The liquid discharge port 142 is a portion (predetermined area) from which the liquid extracted from the infusion container 12 by the syringe 11 is discharged. The liquid discharge port 142 is an open end formed at one end of the waste liquid duct 141. The liquid extracted from the infusion container 12 by the syringe 11 flows into the waste liquid duct 141 through the liquid discharge port 142, and flows to the waste liquid container 145.

As shown in FIG. 17B, the waste liquid duct 141 can be inserted or taken out from the duct insertion port 148 formed on the outer edge of the waste input port 131. That is, as shown in FIG. 19, the waste liquid duct 141 has a structure that can be attached to and detached from the mixed injection device 1. The formation position of the duct insertion port 148 is not limited to the outer edge of the waste input port 131, and may be any position of, for example, the pedestal 104a. Further, the duct insertion port 148 can also be referred to as a waste liquid port formed on the pedestal 104a of the mixed injection processing chamber 104 and from which the liquid extracted by the syringe 11 is discharged.

When the waste liquid duct 141 is removable, the waste liquid duct 141 can be easily cleaned. Therefore, the waste liquid duct 141 can be kept clean, and the generation of bacteria and the like that may propagate due to the liquid component can be suppressed. If the simplification of cleaning is not taken into consideration, the groove guide 143 (that is, the mixed injection device 1) may be fixed.

Further, at the portion of the liquid discharge port 142 (one end of the waste liquid duct 141) of the waste liquid duct 141, the eaves portion 141a (FIG.) that comes into contact with the outer edge of the waste input port 131 when the waste liquid duct 141 is inserted into the groove guide 143 17 (see (a) and (b)) are provided. It can be said that the liquid discharge port 142 is formed in the eaves portion 141a.

The groove guide 143 is a member whose one end is connected to the duct insertion port 148 and extends downward in the dust storage chamber 13a, and functions as a guide when the waste liquid duct 141 is inserted. The groove guide 143 has a cross-sectional size (a surface perpendicular to the extending direction of the groove guide 143) so that the waste liquid duct 141 can be inserted and the groove guide 143 comes into contact with the outer edge of the inserted waste liquid duct 141.

As a result, when the waste liquid duct 141 is inserted into the groove guide 143, the eaves portion 141a can be fixed to the groove guide 143 of the waste liquid duct 141 only by contacting the outer edge of the waste input port 131. Therefore, for example, it is not necessary to provide a fixing member for fixing the waste liquid duct 141 on the waste liquid container 145 side (lower side) of the groove guide 143.

A fixing member (fixing member) that fixes the waste liquid duct 141 to the groove guide 143 when the eaves portion 141a comes into contact with the outer edge of the waste input port 131 on the duct insertion port 148 side (upper side) of the groove guide 143. Example: A lock mechanism) may be provided. In this case, the inserted waste liquid duct 141 can be securely fixed by the groove guide 143.

The waste liquid hose 144 is a member that leads to the waste liquid container 145, and the liquid that has flowed out of the waste liquid duct 141 is poured into the waste liquid container 145. Specifically, one end of the waste liquid hose 144 is connected to the other end of the groove guide 143, and the other end is connected to the open end 146 of the waste liquid container 145.

The waste liquid container 145 stores the liquid extracted by the syringe 11 and discharged through the waste liquid duct 141 and the waste liquid hose 144, and is arranged inside the mixed injection device 1 (specifically, the garbage storage chamber 13a). There is. That is, the waste liquid container 145 is arranged outside the mixed injection processing chamber 104 via the duct insertion port 148.

Further, the waste liquid container 145 is provided so as to be removable. Therefore, the user can take out the waste liquid container 145 from the mixed injection device 1 and discharge the liquid contained in the waste liquid container 145 to the outside of the mixed injection device 1 (eg, sewage).

Further, in the present embodiment, as shown in FIGS. 16A and 16B, the first and second disposal mechanisms have a dust lid as a blocking portion for blocking the inside of the mixed injection processing chamber 104 from the outside. It includes 132 and a drive mechanism 134 that controls the opening and closing of the dust lid 132. That is, in the present embodiment, the dust lid 132 and the drive mechanism 134 are also used in the first and second disposal mechanisms. The dust lid 132, together with the waste input port 131, enables opening and closing of the duct insertion port 148 (the liquid discharge port 142 of the inserted waste liquid duct 141).

In addition, as shown in FIG. 17B, the second disposal mechanism preferably includes a seal member 147 (eg, packing) for maintaining the airtightness of the mixed injection processing chamber 104. The seal member 147 is provided at the duct insertion port 148, and abuts on the bottom surface of the eaves 141a of the inserted waste liquid duct 141 to ensure the airtightness of the mixed injection processing chamber 104.

Here, an example of an operation of extracting gas or liquid in the infusion container 12, an operation of injecting a chemical into the infusion container 12, and an operation of discharging liquid will be described.

The second control unit 500 controls the second robot arm 22 (including the control of the holding unit 26), and punctures the injection needle 11c of the syringe 11 held by the holding unit 26 into the mixed injection port 12A of the infusion container 12. Then, the liquid in the infusion container 12 is withdrawn by the syringe 11.

The second control unit 500 determines whether or not it is necessary to withdraw the liquid from the infusion container 12 based on the injection amount of the chemical indicated by the preparation data and the amount of liquid and gas in the infusion container 12.

The amount of chemicals that can be injected into the infusion container 12 is, for example, the maximum amount of chemicals that can be injected without removing the gas in the infusion container 12 (first injectable amount) and the gas in the infusion container 12 is removed. It is preset as the maximum amount of chemicals that can be injected (second injectable amount).

When the injection amount of the chemical is specified, the second control unit 500 determines whether or not the specified injection amount is equal to or less than the first injectable amount. When the injection amount is equal to or less than the first injectable amount, the second control unit 500 controls the second robot arm 22 and uses the syringe 11 to inject the amount of gas or liquid without extracting the gas or liquid in the infusion container 12. Inject the chemicals of the above into the infusion container 12. When the injection amount is more than the first injectable amount and less than or equal to the second injectable amount, the second control unit 500 controls the second robot arm 22 and uses the syringe 11 to inject at least the amount of gas as much as the injection amount. It is withdrawn from the infusion container 12, and the injection amount of the medicine is injected into the infusion container 12 after the withdrawal with the syringe 11.

When the injection amount is larger than the first injectable amount and larger than the second injectable amount, the second control unit 500 determines that the injection amount is equal to or more than a predetermined amount. In this case, the second control unit 500 controls the second robot arm 22 to extract the gas and the liquid corresponding to the injection amount. As described above, the predetermined amount is the minimum value of the injection amount of the chemical that needs to drain the liquid from the infusion container 12.

When the liquid is drawn from the infusion container 12, the second control unit 500 controls the drive mechanism 134 to open the dust lid 132, controls the second robot arm 22, and controls the second robot arm 22 in the infusion container 12 drawn by the syringe 11. The liquid is discharged to the liquid discharge port 142.

That is, the second robot arm 22 functions as a syringe operation unit that extracts the liquid in the infusion container 12 with the syringe 11 and discharges the liquid extracted by the syringe 11 to the liquid discharge port 142. Further, the second control unit 500, the second robot arm 22 and the holding unit 26 that perform the above operations and processing are also a part of the above second disposal mechanism.

The liquid must be extracted before the chemical is injected into the infusion container 12, but the gas may be extracted after the chemical is injected into the infusion container 12. This is because when the chemical is injected into the infusion container 12, the chemical and the liquid are mixed, so that it is impossible to remove only the liquid. However, even if the chemical and the liquid are mixed, the tip of the injection needle 11c This is because it is possible to remove only the gas if is located in the gas layer in the infusion container 12.

[Waste liquid treatment]
An example of the waste liquid treatment for discharging the liquid in the infusion container 12 to the waste liquid container 145 will be described with reference to FIG. 20.

When the chemical is injected into the infusion container 12, the second control unit 500 controls the container elevating unit 113 to position the mixed injection port 12A at the mixed injection communication port 37. That is, the container elevating portion 113 holds the mixed injection port 12A so as to be located at the mixed injection communication port 37 (S11; infusion container holding step). Further, the second control unit 500 controls the holding unit 26 of the second robot arm 22 to hold the syringe 11 having the injection needle 11c (S12: syringe holding step). Next, the second control unit 500 specifies the injection amount of the chemical into the infusion container 12 and determines whether or not the injection amount is equal to or more than a predetermined value (S13).

When the second control unit 500 determines that the injection amount is equal to or more than a predetermined value (YES in S13), the second control unit 500 determines the injection needle puncture position in which the injection needle 11c is actually inserted. The injection needle puncture position may be determined by the method as described above, or may be a preset position (S14). The second control unit 500 controls the second robot arm 22 to puncture the injection needle 11c at the determined injection needle puncture position (S15), and controls the holding unit 26 to inject the liquid in the infusion container 12 into a syringe. Extraction in step 11 (S16: liquid extraction step). At this time, depending on the case, the gas in the infusion container 12 may be extracted together.

The second control unit 500 controls the second robot arm 22 to move the syringe 11 to a position where the needle tip of the injection needle 11c of the syringe 11 containing the extracted liquid faces the liquid discharge port 142. (S17). The second control unit 500 controls the drive mechanism 134 to open the dust lid 132, controls the holding unit 26, and discharges the extracted liquid to the liquid discharge port 142 (S18: liquid discharge step). After discharging, the dust lid 132 is closed.

After that, the syringe 11 (or the needle 11c) is replaced as needed, and the syringe 11 (or the needle 11c) that is no longer needed is discarded in the trash can 133. In this case, the holding unit 26 newly holds the syringe 11 having the injection needle 11c. Then, the second control unit 500 controls the second robot arm 22 and the holding unit 26 to suck the chemicals in the chemical container 10 into the syringe 11 by the injection amount indicated by the preparation data (S19). After that, the same treatment as in S14 and S15 is performed (S20 and S21), so that the drug in the syringe 11 is injected into the infusion container 12 (S22).

When the second control unit 500 determines that the injection amount is less than a predetermined value (NO in S13), it is not necessary to extract the liquid in the infusion container 12, so the process proceeds to the process of S19. In some cases, the gas in the infusion container 12 may be removed before the treatment shifts to S19.

As described above, in the present embodiment, the liquid in the infusion container 12 which is unnecessary for injecting the chemical can be extracted by using the syringe 11 and discharged to at least the outside of the mixed injection processing chamber 104. Further, it is not necessary to separately provide a member for extracting unnecessary liquid.

[Other configurations]
In the above, the liquid extracted by the syringe 11 is discharged to the waste liquid container 145, but the present invention is not limited to this, and the liquid may be directly discharged to the outside of the mixed injection device 1. Since the liquid in the infusion container 12 is a liquid containing saline solution or glucose, there is no effect on the human body even if it is directly discharged to the outside of the mixed injection device 1.

In the case of this configuration, the liquid flows through the waste liquid duct 141 and the waste liquid hose 144 leading to the outside (eg, sewage) of the mixed injection device 1 and is directly discharged to the outside. Further, the liquid discharge port 142 of the waste liquid duct 141 is the predetermined area.

Further, if the waste liquid duct 141 can be directly connected to the open end 146 of the waste liquid container 145, it is not necessary to provide the waste liquid hose 144. On the other hand, if the viewpoint of simplification of cleaning is not taken into consideration, the waste liquid hose 144 may be directly connected to the duct insertion port 148. In this case, the waste liquid duct 141 is unnecessary, and the open end of the waste liquid hose 144 connected to the duct insertion port 148 is the predetermined area. Further, the open end 146 of the waste liquid container 145 may be directly connected to the duct insertion port 148. In this case, the waste liquid duct 141 and the waste liquid hose 144 are unnecessary, and the open end 146 of the waste liquid container 145 connected to the duct insertion port 148 is the predetermined area.

Further, the waste liquid container 145 may be provided inside the mixed injection processing chamber 104. In this case, the blocking portion for opening and closing the opening end 146 is provided at the opening end 146. However, in this case, the mixed injection space for performing the mixed injection work of the chemicals into the infusion container 12 becomes narrow. Further, when the anticancer agent adheres to the waste liquid container 145, the waste liquid container 145 is contaminated. Considering this point, it is preferable that the waste liquid container 145 is provided outside the mixed injection processing chamber 104.

Further, the infusion container 12 may be arranged inside the mixed injection processing chamber 104 at least when the chemical is injected. However, for the same reason as the waste liquid container 145, the infusion container 12 is preferably arranged outside the mixed injection processing chamber 104.

Further, although the dust lid 132 has the function of the blocking portion, the member different from the dust lid 132 as the blocking portion (that is, the waste liquid lid portion for opening and closing the liquid discharge port 142 and the waste liquid lid portion) A drive mechanism for controlling opening and closing) may be provided in the duct insertion port 148. However, in consideration of simplification of the mixed injection device 1 and reduction of the number of parts, it is preferable that the dust lid 132 also has the function of the blocking portion.

[Separate configuration of mixed injection device 1]
The mixed injection device 1 may have the following configuration.

[How to attach the cap]
As described above, when the syringe 11 is discarded, a cap is attached to the injection needle 11c before the syringe 11 is discarded. At this time, the second control unit 500 calculates a correction amount in consideration of the needle bending amount of the injection needle 11c based on the detection result of the needle bending detecting unit 36 so that the injection needle 11c does not pierce the cap. The second robot arm 22 inserts the injection needle 11c into the cap while making a correction based on the correction amount.

Further, the second control unit 500 is a holding unit of the second robot arm 22 when, for example, the thickness (size) of the injection needle 11c calculated based on the detection result of the needle bending detection unit 36 is equal to or larger than a predetermined value. Assuming that the injection needle 11c having a size different from that of the injection needle 11c to be gripped by 26 is gripped, it is determined that the size of the injection needle 11c is abnormal.

Here, when the injection needle 11c has been used, there is a possibility that a chemical or a liquid is attached to the injection needle 11c. In this case, the thickness of the needle or the amount of bending of the needle is calculated including the size of the droplet due to the attached chemical or liquid. Therefore, when a droplet having a size large enough to determine that the above abnormality has occurred is attached to the injection needle 11c, it is calculated based on the calculated needle bending amount and the needle bending amount. The correction amount may be a value significantly different from the actually occurring needle bending amount and the correction amount calculated based on the needle bending amount. In this case, since the correction amount is inaccurate, the injection needle 11c may pierce the cap when the insertion operation into the cap is executed based on the correction amount. In some cases, the injection needle 11c stuck in the cap may be broken, or depending on how it is broken, the injection needle 11c may not be removable and it may be necessary to interrupt the mixed injection process.

In order to avoid the above-mentioned problems, the mixed injection device 1 performs, for example, the process shown in FIG. In this process, the cap is attached / detached by the second robot arm 22. However, as described above, the injection needle attachment / detachment device 43 may attach / detach the cap.

Specifically, as shown in FIG. 21, before the cap is attached, the second control unit 500 sets the injection needle 11c of the syringe 11 held by the holding unit 26 based on the detection result of the needle bending detecting unit 36. The correction amount based on the needle bending amount is calculated (S31). Further, the second control unit 500 determines whether or not the above abnormality has occurred by determining whether or not the thickness of the injection needle 11c is equal to or greater than a predetermined value (S32).

When it is determined that the above abnormality has occurred (YES in S32), the second control unit 500 determines whether or not the injection needle 11c is unused (S33).

Here, the second control unit 500 manages the usage state of the syringe 11. For example, the used syringe 11 is flagged as used. The usage state may be managed for each of the syringe 11a, the plunger 11b and the injection needle 11c. At the start of the mixed injection process (when the syringe 11 or the like is inserted into the mixed injection processing chamber 104), the syringe 11 is in an unused state. The second control unit 500 refers to the syringe 11 when, for example, the injection needle 11c is punctured into the drug container 10 to suck the drug, or when the infusion container 12 is punctured to suck the liquid. And flag it as used. The second control unit 500 determines whether or not the injection needle 11c is used based on the presence or absence of the above flag.

When it is determined that the injection needle 11c is unused (YES in S33), the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to use a new injection needle 11c. Replace with the injection needle 11c (S34). After that, the process returns to the process of S31.

On the other hand, when it is determined in S32 that the abnormality is not present (NO in S32), the second robot arm 22 receives the control of the second control unit 500 and injects while making a correction based on the correction amount. The needle 11c is inserted into the cap (S35). After that, the second robot arm 22 discards the syringe 11 to which the cap is attached to the waste inlet 131 (S36).

If there is no above abnormality, the inaccurate correction amount due to the droplets will not be calculated as described above regardless of whether or not the injection needle 11c is used. Therefore, the second control unit 500 inserts the injection needle 11c into the cap while making a correction based on the calculated correction amount. In particular, even if the used injection needle 11c is used, if the amount of needle bending is such that it is not recognized as abnormal, the error of the correction amount calculated based on the amount of needle bending is small. It is unlikely that the injection needle 11c will stick into the needle.

On the other hand, when the above abnormality is found and it is determined that the injection needle 11c has been used (NO in S33), the second robot arm 22 is controlled by the second control unit 500, and is in the mixed injection processing chamber 104. The syringe 11 is placed in a predetermined position on the pedestal 104a (S37). The predetermined position is, for example, a return position of the injection needle 11c in which the user can open the syringe take-out door 302 and take out the syringe 11.

When the syringe 11 is placed in a predetermined position, the user takes out the syringe 11 and attaches a cap to the injection needle 11c (S38). After that, the user opens the main door 301 and attaches the syringe 11 after attaching the cap to the holding portion 26 of the second robot arm 22 (S39). When the second control unit 500 recognizes the holding of the syringe 11 by the holding unit 26, the second robot arm 22 causes the second robot arm 22 to discard the syringe 11 (S36).

In the case where the above abnormality has occurred and the used injection needle 11c is used, there is a high possibility that an inaccurate correction amount due to the above-mentioned droplets will be calculated. Therefore, when the injection needle 11c is automatically inserted into the cap using the second robot arm 22, the injection needle 11c may pierce the cap. Therefore, in the above case, the above-mentioned problems can be avoided by manually inserting the cap.

[Chemical gripping operation]
The holding portion 25 of the first robot arm 21 has a pair of gripping claws (not shown) that can be held by sandwiching the chemical container 10. When the chemical container 10 is gripped by the pair of gripping claws, if the chemical container 10 is not located substantially in the center of the pair of gripping claws, the holding state of the chemical container 10 may become unstable or the chemicals may be held. It may not be possible to grip the container 10 at one time.

In order to avoid the above possibility, the second control unit 500 causes the holding unit 25 to perform an operation of closing the pair of gripping claws once, opening the pair slightly, and then closing the pair again. As a result, even the chemical container 10 which is not located at the substantially center can be moved to the substantially center. Therefore, the chemical container 10 can be gripped stably.

[Example of realization by software]
The control block of the mixed injection device 1 (particularly, the first control unit 400 and the second control unit 500 of the mixed injection control device 100) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. However, it may be realized by software.

In the latter case, the mixed injection device 1 includes a computer that executes instructions of a program that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-temporary tangible medium", for example, a ROM (Read Only Memory) or the like, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

The program is a puncture execution program for operating a computer as a second control unit 500 (control unit) that controls the puncture operation unit described above.

[Additional notes]
The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1 Mixed injection device (puncture device)
10 Chemical container 11 Syringe 11c Injection needle (second needle)
12 Infusion container 22 Second robot arm (puncture movement part, syringe operation part)
26 Holding part (syringe holding part)
113 Container lifting part (infusion container holding part)
104 Mixed injection processing chamber (chamber)
132 Garbage lid (blocking part)
141 Waste liquid duct 142 Liquid discharge port (predetermined area, open end)
145 Waste liquid container 146 End of opening (predetermined area)
D1 1st direction D2, D21 to D24 2nd direction IR interference area InR non-interference area M1 Puncture mark P1 Bottle needle puncture position (1st puncture position)
P2, P21-P28, P31-P37 (second puncture position)
PR prohibited area 1000 bottle needle (1st needle)

Claims (7)

Puncture to puncture the second needle of the syringe to a second puncture position different from the first puncture position in the mixed injection port of the infusion container in which the first puncture position for puncturing the first needle for infusion is specified. It ’s a device,
When the second needle is punctured within a predetermined range from at least the first puncture position, the first direction which is the width direction of the puncture mark by the puncture of the second needle, the first puncture position and the second needle. A puncture device including a puncture motion unit that punctures the second needle so that the second direction connecting the puncture position is not parallel to the puncture position. The puncture motion portion is formed so that the smaller angle between the first direction and the second direction is 45 ° or more and less than 90 °, or the angle formed is 90 °. The puncture device according to claim 1, wherein the second needle is punctured. The puncture device according to claim 1 or 2, wherein the puncture operation unit adjusts the second puncture position and punctures the second needle into the adjusted second puncture position. The puncture operation unit adjusts the rotation angle of the second needle with respect to the mixed injection port, and punctures the second needle after adjusting the rotation angle to the second puncture position, according to claim 1 or 2. Puncture device. When the puncture area in the infusion container to which the second needle is punctured is arranged so as to extend in the vertical direction, the puncture motion unit performs the second puncture at any position of the lower half of the puncture area. The puncture device according to any one of claims 1 to 4, wherein the second needle is punctured as a position. Puncture to puncture the second needle of the syringe to a second puncture position different from the first puncture position in the mixed injection port of the infusion container in which the first puncture position for puncturing the first needle for infusion is specified. It ’s a method,
When the second needle is punctured within a predetermined range from at least the first puncture position, the first direction which is the width direction of the puncture mark by the puncture of the second needle, the first puncture position and the second needle. A puncture method including a puncture operation step of puncturing the second needle so that the second direction connecting the puncture position is not parallel to the puncture position. A puncture motion unit that punctures the second needle of the syringe to a second puncture position different from the first puncture position in the mixed injection port of the infusion container in which the first puncture position for puncturing the first needle for infusion is specified. A puncture execution program for operating a computer as a control unit for controlling a puncture device.
When the second needle is punctured within a predetermined range from at least the first puncture position, the control unit has a first direction which is the width direction of the puncture mark by the puncture of the second needle and the first puncture. The puncture motion unit is controlled so as to puncture the second needle so that the position and the second direction connecting the second puncture position are not parallel to each other.
A puncture execution program for operating a computer as the control unit.

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