JP7401779B2 - Mixed injection control device, mixed injection control program, mixed injection system, mixed injection device - Google Patents

Description

The present invention relates to a control technology for a co-infusion device that performs a co-infusion process of injecting a drug such as an anticancer drug contained in a drug container into an infusion container.

BACKGROUND ART A mixed injection device is known that performs a mixed injection process in which a medicine such as an anticancer drug contained in a medicine container such as a vial is aspirated with a syringe, and the medicine is injected into an infusion bag containing an infusion solution. Furthermore, in this type of co-infusion device, there is also known a technique that allows the timing of execution of the co-infusion process to be reserved (see, for example, Patent Document 1).

JP 2019-721 Publication

However, the operation of setting the execution timing for each mixed injection process is troublesome for the user.

An object of the present invention is to provide a mixed injection control device and a mixed injection control program that can reduce user operations for reserving execution timing of mixed injection processing.

A mixed injection control device according to the present invention is a mixed injection control device that controls a mixed injection device that performs a mixed injection process of injecting a medicine in a first container into a second container based on preparation data, and includes the following: The apparatus includes a reservation processing unit that reserves the execution timing of the mixed injection process based on the preparation data, based on reservation correspondence information in which the contents of the specific information are associated with the reservation conditions regarding the execution timing of the mixed injection process.

The mixed injection control program according to the present invention is configured to include information included in the preparation data in a processor included in a mixed injection control device that controls a mixed injection device that executes a mixed injection process of injecting a medicine in a first container into a second container based on the preparation data. a step of reserving an execution timing of the mixed injection process based on the preparation data based on reservation correspondence information in which contents of specific information to be stored are associated with reservation conditions regarding the execution timing of the mixed injection process; This is a mixed injection control program for causing the mixed injection device to execute the mixed injection processing based on the mixed injection method.

The co-infusion system according to the present invention includes an input device capable of inputting the preparation data into a co-infusion support device that displays the details of the co-infusion work to be performed by an operator based on the input preparation data; Based on the equipment conversion information indicating the correspondence between the information on the first equipment to be obtained and the information on the second equipment that can be used in the mixed injection device that executes the mixed injection process of injecting the medicine in the first container into the second container, a conversion processing unit that generates conversion preparation data in which information about the first equipment in the preparation data is converted to information about the second equipment; and executing the mixed injection process based on the conversion preparation data generated by the conversion processing unit. and a co-infusion device.

The co-infusion device according to the present invention includes an operation part that can operate a syringe, and a state in which the tip of the injection needle of the syringe is punctured into a drug container and the tip of the injection needle is directed upward rather than horizontally, a replacement processing section that executes a drug suction step multiple times, including a first step of controlling the operating section to pull the plunger of the syringe; and a second step of controlling the operating section and pushing the plunger of the syringe; a first change processing unit that changes the pulling speed of the plunger in the first step according to the viscosity of the drug in the drug container; and a waiting time from execution of the first step until the start of the second step. a second change processing section that changes the viscosity of the medicine in the medicine container.

The co-infusion device according to the present invention includes a first drive unit that displaceably holds a drug container, a second drive unit that displaceably holds a syringe, and a state in which an injection needle of the syringe is stuck into the drug container. and a control section that controls the first drive section and the second drive section to displace the syringe and the medicine container and executes a stirring step of stirring the medicine in the medicine container.

According to the present invention, it is possible to provide a mixed injection control device and a mixed injection control program that can reduce user operations for reserving execution timing of mixed injection processing.

FIG. 1 is a block diagram showing the configuration of a co-infusion system according to an embodiment of the present invention. FIG. 2 is a perspective view showing the external configuration of the co-infusion device according to the embodiment of the present invention. FIG. 3 is a perspective view with a part of the storage unit of the co-infusion device according to the embodiment of the present invention omitted. FIG. 4 is a front view of the co-infusion device according to the embodiment of the present invention with the main door and a portion of the front wall removed. FIG. 5 is a perspective view showing a tray used in the co-infusion device according to the embodiment of the present invention. FIG. 6 is a perspective view of the co-infusion device according to the embodiment of the present invention, viewed from below. FIG. 7 is a perspective view showing the holding part of the first robot arm of the co-infusion device according to the embodiment of the present invention. FIG. 8 is a perspective view showing the holding part of the second robot arm of the co-infusion device according to the embodiment of the present invention. FIG. 9 is a schematic plan view showing the tray conveyance section of the co-infusion device according to the embodiment of the present invention. FIG. 10 is a perspective view showing the mechanism of the tray transport section of the co-infusion device according to the embodiment of the present invention. FIG. 11 is a diagram showing the configuration of a storage unit of the co-infusion device according to the embodiment of the present invention. FIG. 12 is a flowchart illustrating an example of the procedure of mixed injection management processing executed by the mixed injection control device according to the embodiment of the present invention. FIG. 13 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 14 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 15 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 16 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 17 is a flowchart showing an example of the procedure of the mixed injection control process executed by the mixed injection control device according to the embodiment of the present invention. FIG. 18 is a schematic diagram showing an example of a chemical suction process executed by the co-infusion control device according to the embodiment of the present invention. FIG. 19 is a schematic diagram showing an example of a chemical suction process performed by the co-infusion control device according to the embodiment of the present invention.

The following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention.

[Mixed injection system 2]
As shown in FIG. 1, the mixed injection system 2 according to the present embodiment includes a mixed injection device 1, a host system 600, a mixed injection support device 610, a printer 506, and the like. The co-infusion device 1, the host system 600, the co-infusion support device 610, the printer 506, and the like are connected to be able to communicate wirelessly or by wire.

[Mixed injection device 1]
As shown in FIGS. 1 and 2, the co-infusion device 1 according to the present embodiment includes a co-infusion control device 100, a drug loading section 200, a co-infusion processing section 300, and a storage unit 700. The co-infusion device 1 is installed in a medical facility such as a hospital. In the co-infusion device 1, the co-infusion control device 100 controls the operations of the co-infusion processing section 300 and the storage unit 700 based on the preparation data, so that the anticancer drug indicated in the preparation data can be used with the syringe. A mixed injection process is performed in which drugs such as the following are injected from one or more first containers containing a predetermined amount of drugs into a second container such as an infusion bag.

[Mixed injection control device 100]
A schematic configuration of the mixed injection control device 100 will be described with reference to FIG. 1.

The co-infusion control device 100 includes a first control section 400 and a second control section 500 that are communicably connected. The first control section 400 is provided on the drug loading section 200 side, and the second control section 500 is provided on the mixed injection processing section 300 side. Further, a printer 506 such as a monochrome printer, a color printer, or a label printer is connected to the second control unit 500, and the printer 506 is used to print various information on paper or labels.

The processing division of each of the first control unit 400 and the second control unit 500 described in this embodiment is only an example, and each process executed by the mixed injection control device 100 is The process may be executed by either one of the two control units 500. Moreover, as another embodiment, it is also possible that the co-infusion control device 100 is one control section or has three or more control sections. Note that part or all of the processing executed by the first control section 400 and the second control section 500 may be executed by an electronic circuit such as an ASIC or a DSP.

The first control unit 400 is capable of communicating with a host system 600 such as an electronic medical record system or a dispensing management system that inputs preparation data into the co-infusion device 1 . The preparation data is preparation data generated based on prescription data or the prescription data itself.

The prescription data includes prescription date, patient ID, patient name, patient date of birth, drug information (drug code, drug name, dose, etc.), dosage form information (oral use, external use, etc.), and usage information (1 Includes information such as three times a day (after each meal, etc.), type of treatment (outpatient, inpatient, etc.), department, ward, and hospital room. The preparation data includes preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescribed amount of drug, type of drug container (ampule with drug solution, vial with drug solution, vial with powder drug). ), preparation content information (type and number of drug containers, syringes, and needles used for mixed injection processing, etc.), preparation procedure information (work details, dissolving drug, solvent, amount of dissolved drug, amount of solvent, amount to be extracted), preparation Includes date, prescription category, medication date, department, ward, required time, etc.

The first control unit 400 is a computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, an operation unit 405, and the like. Furthermore, various electrical components such as a touch panel monitor 203, a barcode reader 204, an air purifying device 205, and an IC reader 207 provided in the chemical loading section 200 are connected to the first control section 400.

The CPU 401 is a processor that executes processing according to various control programs. The ROM 402 is a nonvolatile memory in which programs such as BIOS to be executed by the CPU 401 are stored in advance. The RAM 403 is a volatile memory or nonvolatile memory used by the CPU 401 to develop various control programs and temporarily store data.

The data storage unit 404 is a non-volatile storage device such as a hard disk that stores various application programs and various data for causing the CPU 401 to execute various processes. Specifically, the data storage unit 404 stores a first mixed injection control program for causing the CPU 401 to execute mixed injection management processing, which will be described later. Further, the data storage unit 404 stores the preparation data input from the host system 600.

The first control unit 400 stores the preparation data input from the host system 600 as well as identification information of the tray 101, which will be described later, corresponding to each of the preparation data in the data storage unit 404. For example, the first control unit 400 associates the preparation data with the identification information of the tray 101. Further, information indicating the correspondence between the preparation data and the identification information of the tray 101 may be input from the host system 600 to the co-infusion device 1 together with the preparation data.

The data storage unit 404 stores various databases such as a pharmaceutical master, a patient master, a doctor master, a prescription classification master, a clinical department master, and a ward master. The drug master includes the drug code, drug name, JAN code (or RSS), drug bottle code, category (dosage form: powdered medicine, tablet, solution, external medicine, etc.), specific gravity, viscosity, drug type ( common drugs, anticancer drugs, poisonous drugs, narcotics, powerful drugs, antipsychotic drugs, therapeutic drugs, etc.), combination changes, excipient drugs, precautions, type of drug container (ampule, vial), drug container unit. Information such as the storage capacity (predetermined amount), container shape information of the drug container, and weight of the drug container is included. Further, in the drug master, it is registered in advance that the drug to be used as a leftover drug is a drug to be stored as a leftover drug, and the first control unit 400 controls the It is conceivable that the medicine container 10 is determined to be used as a leftover medicine.

Further, the data storage unit 404 stores remaining drug information D30, correspondence information D31, and reservation correspondence information D32. The remaining drug information D30 and the correspondence information D31 are updated by the first control section 400 and the second control section 500. Note that updating of the remaining drug information D30 and the correspondence information D31 includes new registration, modification, deletion, etc. of data. The reservation correspondence information D32 is set or updated by the first control section 400 or the second control section 500 according to a user operation.

As shown in FIG. 15(A), the remaining drug information D30 includes "preparation No." which is the identification information of the preparation data, "drug name" of the drug remaining in the co-infusion process based on the preparation data, "Remaining amount", "opening date and time", "expiration date", "preparation data scheduled for use", "number of punctures", etc. are associated with each other. The planned use preparation data is identification information for identifying preparation data for which the remaining medicine is planned to be used. Note that the remaining medicine information D30 also includes other information such as positional information on a shelf 33, which will be described later, on which the medicine container 10 containing the remaining medicine is placed. If the leftover medicine is a mixed medicine, the leftover medicine information D30 includes the components of the mixed medicine (drug name, solvent name), solvent amount, remaining amount, opening date and time, expiration date, scheduled use preparation data information. , and various information such as the number of punctures.

As shown in FIG. 15(B), the correspondence information D31 includes "Preparation No." which is the identification information of the preparation data, "Tray ID" which is the identification information of the tray 101, and the storage location of the tray 101. is associated with the identification information "accommodating section No." of the tray accommodating section 811. In addition, in the correspondence information D31, each of the preparation data includes "drug name", "amount used", "predetermined amount", "whether leftover drug is used", " Information such as "chemical loading/absence" and "execution timing" is also associated. In the correspondence information D31 shown in FIG. 15(B), each of the preparation data is displayed from the top in the order in which the co-infusion process is executed first.

As shown in FIG. 16(A), in the reservation correspondence information D32, a reference item D321 and a reservation condition D322 corresponding to the reference item D321 are associated.

The reference item D321 indicates the content of information that is referred to when reserving the execution timing of the co-infusion process based on the preparation data, among various information included in the preparation data to be reserved. For example, the reference item D321 is a ward, a hospital room, a therapy, a drug name, a treatment type, a patient ID, or the like. Hereinafter, in this embodiment, as shown in FIG. 16(A), the case where the content of the reference item D321 is information on the ward of the patient corresponding to the preparation data will be described as an example.

The reservation condition D322 is information used to set the execution timing of the co-infusion process based on the preparation data. Specifically, the reservation condition D322 is a reservation time slot, a reservation date, a reservation day of the week, or the like. Hereinafter, in this embodiment, as shown in FIG. 16(A), a case where the content of the reservation condition D322 is the reservation time slot will be described as an example.

More specifically, in the reservation correspondence information D32 shown in FIG. 16(A), when the ward is "Ward A", the reservation time slot is "before 9 o'clock", and when the ward is "Ward B", the reservation time slot is "before 9 o'clock". In some cases, the reservation time slot is set to be "9:00 to 10:00". That is, in the reservation correspondence information D32, the execution timing of the co-infusion process based on the preparation data corresponding to the patient admitted to ward A is before 9 o'clock, and the execution timing is based on the preparation data corresponding to the patient admitted to ward B. It is determined that the execution timing of the mixed injection process should be between 9:00 and 10:00.

The operation unit 405 includes various operation units such as a keyboard, a mouse, or a touch panel that accept various user operations on the first control unit 400.

The second control unit 500 is a computer including a CPU 501, a ROM 502, a RAM 503, a data storage unit 504, an operation unit 505, and the like. The second control unit 500 includes a first robot arm 21, a second robot arm 22, a tray transport unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, and a tray confirmation camera provided in the mixed injection processing unit 300. 41, various electrical components such as a syringe confirmation camera 42 are connected.

The CPU 501 is a processor that executes processing according to various control programs. The ROM 502 is a nonvolatile memory in which programs such as BIOS to be executed by the CPU 501 are stored in advance. The RAM 503 is a volatile memory or nonvolatile memory used by the CPU 501 to develop various control programs and temporarily store data.

The data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU 501 to execute various processes. Specifically, the data storage unit 504 stores a second mixed injection control program for causing the CPU 501 to execute mixed injection control processing, which will be described later. Further, the data storage unit 504 also stores the medicine master similar to the data storage unit 404, and the second control unit 500 can refer to the medicine master. In another embodiment, the second control section 500 may be configured to be able to acquire information on the drug master from the first control section 400.

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

[Chemical loading section 200]
Next, a schematic configuration of the chemical loading section 200 will be described with reference to FIGS. 2 and 3. Note that FIG. 3 is a diagram showing a main part of the internal configuration of the medicine loading section 200, and the description of the storage unit 700 is omitted.

As shown in FIGS. 2 and 3, the chemical loading section 200 is a clean bench equipped with a door 201, a work table 202, a touch panel monitor 203, a barcode reader 204, an air purifier 205, a tray outlet 206, etc. be. The drug loading section 200 and the mixed injection processing section 300 communicate with each other through a tray loading port 114 (see FIG. 6) and a tray discharge port 701 (see FIG. 11) formed on the side surface of the mixed injection processing section 300. There is.

The door 201 is provided on the front surface of the chemical loading section 200, and is a transparent member that can be opened and closed vertically and vertically. As shown in FIG. 2, the user opens the door 201 slightly and puts his/her hand into the drug loading section 200, and performs preparation work for the mixed injection process to be executed by the mixed injection device 1. Specifically, as shown in FIG. 5, the tray 101 placed on the work table 202 has a medicine container 10 (an example of a first container) used in the mixed injection process performed by the mixed injection device 1. , a syringe 11, an infusion bag 12 (an example of a second container), and the like. The infusion bag 12 stores a predetermined amount of infusion such as saline, glucose, or high-calorie infusion corresponding to the type of the infusion bag 12. Further, the medicine contained in the medicine container 10 is, for example, an anticancer drug, but it may be a medicine other than an anticancer drug. The preparation work includes, for example, a loading work of placing the drug container 10, the syringe 11, and the infusion bag 12 at predetermined positions on the tray 101, and loading the tray 101 into the storage unit 700. . In this embodiment, a case will be described in which the drug container 10 is a vial. On the other hand, the drug container 10 may be a drug container in another shape such as an ampoule.

The work table 202 is used to prepare for the co-infusion process executed by the co-infusion device 1, and the work table 202 includes the touch panel monitor 203, the barcode reader 204, the tray 101, etc. It will be placed. Furthermore, the tray discharge port 206 is provided on the front surface of the work table 202 and is opened and closed when the tray 101 is discharged from the storage unit 700. Also, provided within the work table 202 is the IC reader 207 that can read information from the IC tag 101b of the tray 101 placed on the work table 202. Note that the reading result by the IC reader 207 is input to the first control section 400.

The touch panel monitor 203 has a display section such as a liquid crystal display or an organic EL display that displays various information according to control instructions from the first control section 400, and an operation section such as a touch panel that accepts touch operations from the user. include.

The barcode reader 204 reads a barcode written on a prescription or preparation instruction, and inputs the contents of the barcode to the first control unit 400. The air purifying device 205 supplies air into the chemical loading section 200 through a predetermined filter.

As shown in FIG. 5, the tray 101 includes an electronic paper 101a on which the patient name (patient identification information), regimen name (regimen identification information), administration, etc. are displayed in text, and an RFID that can read and write various information. (Radio Frequency Identification) tag such as an IC tag 101b. The IC tag 101b is provided on the bottom surface of the tray 101, and the IC tag 101b is a recording medium in which identification information for identifying the tray 101 is stored.

The tray 101 includes an equipment placement section 102 on which the drug container 10 and the syringe 11 (syringe 11a, injection needle 11c) are placed, and an infusion bag holding section 103 that holds the infusion bag 12. The equipment mounting section 102 and the infusion bag holding section 103 can be individually attached to and detached from the tray 101. The equipment mounting section 102 is provided with a support section 102A that supports the injection needle 11c and the like in an inclined state.

As shown in FIG. 5, the drug container 10 and the syringe 11 are set in a tilted state on the equipment placement section 102. The syringe 11 has a syringe 11a and a needle 11c separated from each other. In addition, the arrangement form in the said equipment mounting part 102 demonstrated here is an illustration, and is not limited to this.

As shown in FIG. 5, the infusion bag holding part 103 is provided with a chuck part 140 for fixing the mixed injection port (neck part) of the infusion bag 12. In the preparatory work, the user sets the infusion bag 12 in the infusion bag holding section 103 with the infusion bag 12 held by the chuck section 140. Further, the infusion bag holding section 103 is provided with an engagement hole 103a that is used when raising and lowering the infusion bag holding section 103.

The tray 101 is loaded into the storage unit 700 after the user sets the medicine container 10, the syringe 11, the infusion bag 12, and other equipment. As will be described later, the plurality of trays 101 can be accommodated in the accommodation unit 700, and the trays 101 can be delivered from the accommodation unit 700 to the mixed injection process through the tray discharge port 701 and the tray loading port 114 as needed. 300 automatically. Thereafter, after the co-infusion process in the co-infusion processing unit 300 is completed, the tray 101 is discharged from the tray outlet 15 of the co-infusion processing unit 300 with the infusion bag 12 accommodated therein, or 700 and is discharged from the tray discharge port 206 of the chemical loading section 200.

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

As shown in FIGS. 2 to 4, the front surface of the mixed injection processing unit 300 is provided with a main door 301, a syringe removal door 302, a dust storage chamber door 13, a touch panel monitor 14, a tray discharge port 15, etc. There is.

The main door 301 is opened and closed to access the mixed injection processing chamber 104 for the purpose of cleaning the mixed injection processing chamber 104 provided in the mixed injection processing section 300 or taking out the drug container 10, for example. . In the co-infusion device 1, in addition to dispensing the infusion bag 12 filled with medicine, it is also possible to dispense the syringe 11 filled with medicine, and the syringe take-out door 302 is used for the co-infusion process. It is used when taking out the syringe 11 from the chamber 104.

The garbage storage chamber door 13 is for removing the waste from the garbage storage chamber 13a in which waste such as the drug container 10 and the syringe 11 after being used in the mixed injection processing in the mixed injection processing chamber 104 is stored. It is opened and closed. Further, the tray discharge port 15 is opened and closed in order to take out the tray 101 on which the infusion bag 12 is placed after the execution of the co-infusion process in the co-infusion process chamber 104 .

The touch panel monitor 14 includes a display section such as a liquid crystal display or an organic EL display that displays various information according to control instructions from the second control section 500, and an operation section such as a touch panel that accepts touch operations from the user. include.

[Mixed injection processing room 104]
As shown in FIGS. 3 and 4, the mixed injection processing chamber 104 includes a first robot arm 21, a second robot arm 22, a stirring device 32, a loading shelf 33, a medicine reading section 34, a weighing scale 35, and a needle. A bend detection section 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, a dust cover 132a, and the like are provided. Further, as shown in FIG. 6, a tray confirmation camera 41, a syringe confirmation camera 42, a needle attachment/detachment device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, etc. are provided on the ceiling of the mixed injection processing chamber 104. There is.

[First robot arm 21, second robot arm 22]
The first robot arm 21 and the second robot arm 22 are drive units having a multi-joint structure, and are provided in a hanging manner with their base ends fixed to the ceiling side of the co-infusion processing chamber 104. Note that the first robot arm 21 is an example of a first drive section according to the present invention, and the second robot arm 22 is an example of a second drive section according to the present invention.

For example, the first robot arm 21 and the second robot arm 22 each have 5 to 8 joints. In the co-infusion device 1, each work step in the co-infusion process is executed by the first robot arm 21 and the second robot arm 22, which are double-armed.

Specifically, the second control unit 500 individually drives drive motors provided at each joint of the first robot arm 21 and the second robot arm 22, and The robot arm 22 is caused to perform each work in the mixed injection process. Note that the mixed injection processing unit 300 may have a structure that can execute the mixed injection processing, for example, a configuration including one robot arm, a configuration including three or more robot arms, or a configuration without using a robot arm. It may be.

As shown in FIG. 6, the first robot arm 21 includes a holding part 25 that can displaceably hold instruments such as the drug container 10 and the syringe 11, and the holding part 25 is set in advance. It is possible to move it to any position within the specified range of motion. The second robot arm 22 includes a holding part 26 capable of movably holding instruments such as the drug container 10 and the syringe 11, and allows the drug container 10 and the syringe 11 to be moved in a predetermined manner. It is possible to move it to any position within the range. Further, the holding section 26 is an operation section that can perform suction and injection operations using the syringe 11.

As shown in FIG. 7, the holding part 25 of the first robot arm 21 includes a pair of gripping claws 25a, a motor 251, two screw shafts 252 and 253 rotated by the motor 251, and the Nut blocks 254 and 255 are screwed onto threaded shafts 252 and 253.

The pair of gripping claws 25a are gripping portions having recesses suitable for holding the drug container 10. The pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. Then, the nut blocks 254 and 255 move due to the rotation of the screw shafts 252 and 253, and the pair of gripping claws 25a approach and separate from each other, so that the holding portion 25 holds the drug container 10 or the like. Release hold. The holding portion 25 can also hold the injection needle 11c or the syringe 11 by the pair of gripping claws 25a.

As shown in FIG. 8, the holding section 26 of the second robot arm 22 includes a syringe holding section 261, a plunger holding section 262, and a moving section 263. The syringe holding part 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 parts that hold and release the syringe 11a of the syringe 11 by approaching and separating from each other by a mechanism similar to the drive mechanism used in the holding part 25. Further, in the pair of gripping claws 261a, an inclined portion 261b that slopes downward from the upper end surface of the gripping claws 261a toward the opposing surfaces is formed on opposing surfaces thereof.

The plunger holding portion 262 includes a pair of gripping claws 262a that hold the flange of the plunger 11b of the syringe 11. The pair of gripping claws 262a are gripping parts that hold and release the flange of the plunger 11b of the syringe 11 by approaching and separating from each other by a mechanism similar to the drive mechanism used in the holding part 25. be. 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 can be moved close to and separated from each other by moving the pair of gripping claws 262a closer to each other and separated from each other, and grips not only the syringe 11 but also other equipment such as the medicine container 10. A recess into which the flange of the plunger 11b is inserted is formed on the upper surface of the pair of gripping claws 262a facing each other. Further, the tips of the pair of gripping claws 262b protrude more forward than the pair of gripping claws 262a, so that the pair of gripping claws 262b can easily grip equipment such as the drug container 10. Note that the gripping claw 262b may be provided on the gripping claw 261a.

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

[Tray transport section 110]
Further, the mixed injection processing section 300 is provided with a tray conveyance section 110 that can reciprocate the tray 101 between the tray loading port 114 at the right end in FIG. 6 and the tray conveyance terminal end section 110a at the left end. It is being

Here, FIG. 9 is a schematic plan view showing an example of the conveyance path of the tray 101 in the tray conveyance section 110. As shown in FIG. 9, the tray transport unit 110 allows the tray 101 to pass through the rear side of the dust storage chamber 13a located below the mixed injection processing chamber 104 and under the dust cover 132a. It is provided so that it can be transported by

In FIG. 9, the trays 101 moving within the tray conveyance section 110 are shown with chain double-dashed lines in order to show the conveyance path of the tray conveyance section 110. The tray 101 does not exist. Furthermore, the tray transport section 110 may be configured to be able to transport a plurality of trays 101 simultaneously between the tray loading port 114 and the tray transport terminal end 110a within the tray transport section 110.

The tray conveyance start section 110b of the tray conveyance section 110 has a mechanism capable of pulling the tray 101 inserted from the tray loading opening 114 into the tray or ejecting the tray 101 from the tray loading opening 114. The illustrated belt conveyor is provided. Further, the tray transport section 110 is provided with an IC reader 101c and an IC reader 15a that can read information from the IC tag 101b provided on the infusion bag holding section 103 of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags. The IC reader 101c is provided at a tray transport start section 110b into which the tray 101 is loaded from the tray loading port 114. Further, the IC reader 15a is provided at the tray conveyance terminal end portion 110a where the tray 101 is discharged from the tray discharge port 15.

When the second control unit 500 determines that the tray 101 has been inserted into the tray transport start unit 110b from the tray loading port 114 based on a sensor output (not shown), the IC reader 101c causes the IC Information is read from the tag 101b. Further, when the second control unit 500 determines that the tray 101 has been inserted into the tray conveyance end portion 110a based on a sensor output (not shown), the second control unit 500 reads information from the IC tag 101b using the IC reader 15a. . Similarly, when the tray 101 is transported from the tray transport start section 110b toward the storage unit 700 via the tray loading port 114, the second control section 500 controls the IC reader 101c to Information can be read from the IC tag 101b. Then, the second control unit 500 executes a tray verification process to determine whether the tray 101 is appropriate or not, depending on the reading results by the IC reader 101c and the IC reader 15a.

Further, when the second control unit 500 determines that the tray 101 has passed through the tray loading port 114 and reached a predetermined position within the tray transport unit 110, based on the output of a sensor (not shown), for example, , the shutter 111 that communicates with and shields the tray transport section 110 and the mixed injection processing chamber 104 is opened by sliding in the horizontal direction. When the shutter 111 is opened, the instrument mounting section 102 is exposed into the co-infusion processing chamber 104. FIG. 9 shows a state in which the instrument mounting section 102 is exposed in the mixed injection processing chamber 104.

The tray transport section 110 is provided with a tray lifting section 112 that raises and lowers the instrument mounting section 102 of the tray 101 that has been moved into the tray transport section 110 through the tray loading port 114. As shown in FIG. 10, the tray lifting section 112 lifts the instrument mounting section 102 upward from below, for example, by vertically driving four shafts 112a that are provided to be able to rise and fall.

Then, the second control section 500 causes the tray confirmation camera 41 to take an image after raising the instrument placement section 102 using the tray lifting section 112. The tray confirmation camera 41 photographs the drug container 10, the syringe 11, etc. placed on the predetermined equipment placement section 102 from above. The second control unit 500 executes image recognition processing using the captured image of the tray confirmation camera 41, and identifies the number of drug containers 10 and syringes 11 (syringes 11a and injection needles) indicated in the preparation data. 11c) and the like are present on the equipment mounting section 102.

Further, as shown in FIG. 10, a bag elevating section 113 for elevating and lowering the infusion bag holding section 103 is provided at the tray conveyance terminal end section 110a located in the left side space of the co-infusion processing chamber 104. After the tray 101 is conveyed to the front of the bag elevating section 113, the second control section 500 hooks the hook section 113a of the bag elevating section 113 into the engagement hole section 103a from below. Then, the second control unit 500 raises the infusion bag holding unit 103 by rotationally driving the arcuate gear part 113b in which the hook part 113a is formed using the motor 113c, and opens the mixed injection port of the infusion bag 12. It is located at the mixed injection communication port 37. Further, the second control unit 500 controls the motor 113c to drive the bag elevating unit 113 to tilt the infusion bag holding unit 103 so that the mixed injection port of the infusion bag 12 is directed upward or downward. can do.

Further, as shown in FIG. 6, a dome-shaped light 120 and an infusion camera 121 for illuminating the infusion bag 12 conveyed to the tray conveyance terminal end 110a are provided above the tray conveyance terminal end 110a. ing. The infusion camera 121 is provided at the center of the dome-shaped light 120 and reads the barcode attached to the surface of the infusion bag 12.

[Agitator 32]
The stirring device 32 stirs the medicine in the medicine container 10 by swinging one or more medicine containers 10 set in the stirring device 32 .

[Placement shelf 33]
As shown in FIG. 4, the storage shelf 33 is used to temporarily store equipment such as the drug container 10 and the syringe 11 during the mixed injection process performed in the mixed injection device 1. Further, the storage shelf 33 is also used to store the medicine container 10 in which the medicine used in the mixed injection process remains. The storage shelf 33 is provided at a position accessible to both the first robot arm 21 and the second robot arm 22.

The storage shelf 33 includes an equipment mounting area where the equipment used in the mixed injection process is placed, and a storage area where the medicine containers 10 containing the chemicals used in the mixed injection process are placed. A medicine placement area is provided. One or more preset medicine containers 10 can be placed in the remaining medicine placement area.

[Drug reading section 34]
The medicine reading section 34 reads a barcode written on a label attached to the medicine container 10. The barcode indicates identification information of the medicine contained in the medicine container 10. Specifically, the medicine reading section 34 can read the barcode from the label attached to the medicine container 10 while rotating the medicine container 10 in the circumferential direction.

[Weighing scale 35]
The scale 35 is used to measure the weight of the syringe 11 in the co-infusion process performed in the co-infusion device 1, and the measurement result by the scale 35 is input to the second control unit 500. Note that the weighing scale 35 is disposed within the movable range of the second robot arm 22 and measures the weight of the syringe 11 placed by the second robot arm 22.

[Mixed injection communication port 37]
As shown in FIG. 3, the mixed injection communication port 37 is formed in a dome-shaped part of the side wall of the mixed-infusion processing chamber 104 that protrudes outward, and the infusion bag 12 is connected to the dome-shaped part in the vertical direction. A notch is formed to allow the mixed injection port to pass through. Therefore, when the infusion bag holding section 103 is raised, the mixed injection port of the infusion bag 12 is located within the mixed injection processing chamber 104. Thereby, the injection needle 11c of the syringe 11 held by the second robot arm 22 can be inserted into the mixed injection port of the infusion bag 12.

[Accommodation unit 700]
Next, the accommodation unit 700 will be explained with reference to FIG. 11. Note that the following description may be made using the up, down, left, and right directions shown in FIG. 11 .

The storage unit 700 includes a tray loading section 712, a lifting unit 800, and the like, and is controlled by the mixed injection control device 100. The tray loading section 712 and the lifting unit 800 are arranged behind the work table 202. The storage unit 700 can accommodate a plurality of trays 101, and the mixed injection control device 100 can transport any tray 101 from the storage unit 700 to the mixed injection processing section 300. Note that the specific configuration of the accommodation unit 700 is not limited to the configuration described here as long as it can achieve the same function.

The tray loading section 712 is opened and closed to load the tray 101 into the lifting unit 800 in the storage unit 700. The user can load the tray 101 into the lifting unit 800 by sliding the tray 101 backward on the work table 202.

The elevating unit 800 includes a movable housing 810 that is supported so as to be vertically movable, a plurality of tray accommodating portions 811 arranged vertically within the movable housing 810, and the like. The movable housing 810 is supported so as to be slidable in the vertical direction, for example, by a rail portion (not shown) formed on the inner surface of the housing of the accommodation unit 700. The movable housing 810 is configured such that at least the tray accommodating section 811 at the topmost stage is located above the tray loading section 712, and the tray accommodating section 811 at the bottom stage is located below the tray loading section 712. It is possible to move up and down between the two states.

The storage unit 700 also includes a transport mechanism (not shown) that can transport the trays 101 loaded in each of the tray storage parts 811 from the tray storage parts 811 to the mixed injection processing part 300 via the tray discharge port 701. ). Further, the transport mechanism (not shown) can transport the tray 101 supplied from the mixed injection processing section 300 to each of the storage sections 811. That is, in the mixed injection device 1, the tray 101 can be transported from the tray storage section 811 to the mixed injection processing section 300, and the tray 101 after the execution of the mixed injection processing can be stored in the tray storage section 811. It is possible to do so.

[Mixed injection process]
Next, an example of a procedure of a mixed injection process executed in the mixed injection apparatus 1 by controlling the mixed injection processing section 300 by the mixed injection control apparatus 100 will be described.

In the mixed injection process, as described below, the second control unit 500 controls the first robot arm 21, the second robot arm 22, etc. to perform one or more injections based on the preparation data. The medicine is aspirated from the medicine container 10 with the syringe 11, and the medicine is injected from the syringe 11 into another container such as the infusion bag 12.

Here, the medicine contained in the medicine container 10 is a powder-like medicine that needs to be dissolved, and a mixed injection process will be described in which the medicine is mixed with an infusion and then injected into the infusion bag 12. Further, here, the processing after the tray 101 is supplied from the storage unit 700 to the mixed injection processing section 300 will be explained.

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

Next, the second control section 500 photographs the instrument placement section 102 using the tray confirmation camera 41. Then, the second control unit 500 determines the position of the equipment such as the medicine container 10 and the syringe 11 placed on the equipment placement unit 102 by image recognition processing based on the image taken by the tray confirmation camera 41. Understand the direction. In particular, each time the second control unit 500 takes out the drug container 10 or the syringe 11 from the equipment placement unit 102, the second control unit 500 photographs the equipment placement unit 102 with the tray confirmation camera 41, and from the captured image. The latest positions and orientations of the drug container 10 and the syringe 11 are ascertained.

Subsequently, the second control section 500 causes the first robot arm 21 to move the syringe 11 placed on the instrument placement section 102 exposed in the mixed injection processing chamber 104 to the placement shelf 33. Place it temporarily. Further, the second control unit 500 causes the first robot arm 21 to set the medicine container 10 placed on the equipment placement unit 102 in the medicine reading unit 34 . Then, the second control unit 500 reads information such as the type of medicine contained in the medicine container 10 using the medicine reading unit 34 .

Next, when all the instruments on the instrument mounting section 102 are taken out, the second control section 500 lowers the instrument mounting section 102 using the tray lifting section 112 of the tray conveyance section 110 to place the instrument on the tray. Return to 101. Note that the second control section 500 checks whether all the instruments on the instrument mounting section 102 have been taken out by image recognition processing based on the image taken by the tray confirmation camera 41.

Thereafter, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport end portion 110a. Next, the second control unit 500 causes the bag elevating unit 113 of the tray transport unit 110 to move the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 into the mixed injection processing chamber. It is located at the mixed injection communication port 37 formed in 104.

Then, the second control unit 500 causes the second robot arm 22 to move the medicine container 10 set in the medicine reading unit 34 to the storage shelf 33. Meanwhile, in parallel with this movement process, the second control unit 500 causes the first robot arm 21 to attach and detach the injection needle 11c of the syringe 11 placed on the instrument placement unit 102. Set it in the device 43.

Next, the second control unit 500 uses the first robot arm 21 to take out the syringe 11 from the storage shelf 33 and sets it on the second robot arm 22 . Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the syringe needle attaching/detaching device 43 to set the syringe needle 11c on the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detection unit 36, and detects whether or not the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 with the syringe 11a of the syringe 11 attached. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.

Subsequently, the second control unit 500 causes the injection needle 11c of the syringe 11 to puncture the rubber stopper of the mixed injection port of the infusion bag 12 that has been transported to the tray transport terminal end 110a by the second robot arm 22. Then, an infusion suction step is executed to aspirate an amount of infusion indicated by the preparation data from the infusion bag 12. In the infusion suction step, the infusion bag 12 placed on the tray 101 is not used, but the infusion bag 12 that has been loaded in the co-infusion device 1 in advance for common use in a plurality of co-infusion processes for a plurality of patients. The infusion solution may be aspirated from a dissolution infusion container such as a dissolution infusion bag. On the other hand, the second control unit 500 uses the first robot arm 21 to take out the drug container 10 placed on the storage shelf 33 .

Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to bring the drug container 10 and the syringe 11 closer to each other, and moves the injection needle 11c of the syringe 11 into the Puncture the drug container 10. Thereafter, the second control unit 500 executes an infusion injection step of injecting the infusion in the syringe 11 into the medicine container 10 by operating the plunger 11b with the second robot arm 22. In this way, when the drug is a powder, the mixed injection process includes the infusion suction step of drawing out the infusion from the infusion bag 12 with the syringe 11, and the infusion step of injecting the infusion from the syringe 11 into the drug container 10. An infusion injection step is performed. As a result, the medicine in the medicine container 10 is dissolved in the infusion solution and becomes a medicine solution. At this time, the postures of the syringe 11 and the drug container 10 are such that the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the drug container 10 is directed vertically upward.

Next, the second control unit 500 uses the first robot arm 21 to set the medicine container 10 on the stirring device 32 and stir the medicine and infusion in the medicine container 10 using the stirring device 32. Execute the stirring process. The stirring time in the stirring step is predetermined, for example, depending on the type of the chemical. Further, the stirring time may be predetermined for each combination of the drug and the infusion solution, or may be changed depending on the amount of the drug in the drug container 10. When the stirring process by the stirring device 32 is completed, the second control unit 500 uses the first robot arm 21 to take out the drug container 10 from the stirring device 32.

Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to puncture the injection needle 11c of the syringe 11 into the drug container 10, and causes the second robot arm 22 to By operating the plunger 11b, a drug suction step is performed in which the drug in the drug container 10 is sucked into the syringe 11. At this time, the postures of the syringe 11 and the drug container 10 are such that the mouth of the drug container 10 is directed vertically downward, and the injection needle 11c of the syringe 11 is directed vertically upward. The postures of the syringe 11 and the drug container 10 are such that at least the tip of the injection needle 11c of the syringe 11 is directed upwards from the horizontal direction, and the opening of the drug container 10 is directed downward from the horizontal direction. It suffices as long as it is directed.

Thereafter, the second control unit 500 causes the injection needle 11c of the syringe 11 to puncture the rubber stopper of the mixed injection port of the infusion bag 12 that has been transported to the tray transport terminal end 110a by the second robot arm 22. Then, a drug injection step of injecting the drug in the syringe 11 into the infusion bag 12 is executed. In this manner, the mixed injection process includes the drug suction step in which the drug is sucked from the drug container 10 with the syringe 11, and the drug injection step in which the drug is injected from the syringe 11 into the infusion bag 12. executed.

Further, the second control unit 500 opens the garbage lid 132a and causes the first robot arm 21 to drop the chemical container 10 into the garbage storage chamber 13a to discard it. Further, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle attaching/detaching device 43, and drops the syringe 11 into the waste storage chamber 13a to be discarded. Further, an optical sensor capable of detecting passage of waste such as the medicine container 10 or the syringe 11 may be provided in the waste storage chamber 13a or the like. Then, the second control unit 500 controls the first robot arm 21 or the second robot arm 22 to perform an operation of dropping the waste such as the medicine container 10 or the syringe 11, and then It may be determined that waste is accommodated in the garbage storage chamber 13a based on a detection result by the optical sensor.

It is also conceivable that the medicine contained in the medicine container 10 is a medicine such as a medicine solution that does not need to be dissolved. In this case, the mixed injection process is such that the medicine contained in the medicine container 10 is a medicine such as a powder medicine that needs to be dissolved, except that the infusion suction process, the infusion injection process, and the stirring process are not performed. Since this is the same as the mixed injection process described above in the case of , the explanation will be omitted. Further, even when the medicine contained in the medicine container 10 is a liquid, the stirring step may be performed depending on the type of medicine.

Hereinafter, an example of the procedure of the mixed injection management process and the mixed injection control process executed by the mixed injection control device 100 in the mixed injection device 1 will be described with reference to FIGS. 12 to 17.

[Mixed injection management process]
First, an example of the mixed injection management process executed by the first control unit 400 will be described with reference to FIG. 12.

<Step S20>
In step S20, the first control unit 400 waits for the user to perform a loading preparation start operation using the touch panel monitor 203 (S20: No). Specifically, the first control unit 400 causes the touch panel monitor 203 to display a prescription selection screen M1 showing a list of the preparation data input to the co-infusion device 1. Then, when the user selects the preparation data to be processed on the prescription selection screen M1, it is determined that the loading preparation start operation has been performed (S20: Yes), and the process moves to step S21. Note that hereinafter, the preparation data to be processed selected here may be referred to as target preparation data.

Here, FIG. 13 is a diagram showing an example of the prescription selection screen M1. The prescription selection screen M1 shown in FIG. 13 includes a search condition display section D1 in which input fields for search conditions for narrowing down the selection candidates are arranged, and a prescription display in which the preparation data of the selection candidates are arranged side by side. Part D2 etc. are included. In the search condition display section D1, an extraction key D11 is arranged for starting an extraction process for narrowing down selection candidates of the preparation data according to the search conditions.

When there are multiple selection candidates for the preparation data to be subjected to the co-infusion process in the co-infusion device 1, the preparation data of the selection candidates are displayed in a state arranged according to preset sorting conditions on the prescription selection screen M1. be done. The sorting conditions are determined, for example, by any one or a combination of the date and time of preparation by the co-infusion device 1, the date and time of administration, the prescription category, and the date and time of publication of the preparation data.

In addition, the first control unit 400 reads identification information such as "preparation number" that can identify the preparation data from a barcode written on a prescription or preparation instruction sheet using the barcode reader 204. In this case, it may be determined that the loading preparation start operation has been performed using the preparation data as the target preparation data.

<Step S21>
In step S21, the first control unit 400 determines whether a request for execution of the co-infusion process based on the target preparation data has been made. Here, if it is determined that the execution request has been made (S21: Yes), the process moves to step S22, and until the execution request is made (S21: No), the process waits in step S21. do.

Specifically, in step S21, the first control unit 400 causes the touch panel monitor 203 to display an execution instruction screen P10 for instructing execution of the co-infusion process based on the target preparation data. Here, FIG. 14 is a diagram showing an example of the execution instruction screen P10.

In FIG. 14, the execution instruction screen P10 is displayed as a pop-up on a loading check screen M11 for supporting loading of equipment into the tray 101. The loading check screen M11 includes a display area A11 in which various information such as the medical department, treatment type, and ward included in the target preparation data is displayed, and a display area A11 in which various information such as the medical department, treatment type, and ward included in the target preparation data is displayed, and information necessary for the mixed injection process based on the target preparation data. A display area A12 in which equipment such as the medicine container 10 and the infusion bag 12 are displayed is included.

As shown in FIG. 14, on the execution instruction screen P10, information regarding the target preparation data includes, for example, a patient ID and patient name for identifying the patient, and a management number for identifying the target preparation data. and the required time for the co-infusion process based on the target preparation data are displayed. The time required for the co-infusion process is stored in the data storage unit 404 for each preparation content (regimen) specified by the target preparation data. Further, calculation information for calculating the required time may be stored in the data storage unit 404, and the first control unit 400 may calculate the required time for the mixed injection process based on the calculation information. .

On the execution instruction screen P10, there are operation keys K11 to K13 for accepting an operation for selecting a reservation method for the target preparation data, an operation key K14 for accepting an operation for executing a reservation for the target preparation data, and an operation key K14 for accepting an operation for selecting a reservation method for the target preparation data. Operation keys K15 and the like are displayed for accepting settings for availability.

Then, when the operation key K14 is operated, the first control unit 400 determines that a request for execution of the co-infusion process based on the target preparation data has been made (S21: Yes).

Further, the operation key K11 is an operation key for selecting, as a reservation method, a reservation without time specification in which the co-infusion process based on the target preparation data is executed in the order in which the target preparation data is input.

The operation key K12 is an operation key for selecting, as a reservation method, a time-specified reservation in which co-infusion processing based on the target preparation data is executed based on an execution timing preset by a user operation. The execution timing is set by inputting a preparation end time indicating the scheduled completion time of the mixed injection process, or inputting a scheduled start time indicating the scheduled start time of the mixed injection process. More specifically, when the operation key K12 is selected, the date and time for executing the co-infusion process based on the target preparation data can be set on the execution instruction screen P10. For example, the execution instruction screen P10 shown in FIG. 14 is in a state where a time-specified reservation is set to finish the co-infusion process by 19:00 on August 22nd.

Further, in the execution instruction screen P10, when a reservation with time specification is made, a margin time for the scheduled completion time of the mixed injection process can also be set. The margin time indicates a range that can be changed when the execution timing of the co-infusion process is brought forward after the scheduled completion time is set. The surplus time is a time set for each drug in the drug master, or a time input in response to a user operation on the execution instruction screen P10. For example, if the scheduled completion time is 19:00 and the margin time is 30 minutes, the execution timing of the mixed injection process is after 18:30, which is 30 minutes before the scheduled completion time, and is 19:00. It can be changed as long as the mixed injection process is completed before 00 minutes.

Then, when the time-specified reservation is made for the target preparation data, the first control unit 400 finishes the co-infusion process based on the target preparation data at the scheduled completion time set in the time-specified reservation. The execution timing is set so that. Note that the first control unit 400 can set reservations for the preparation data that are equal to or less than the preset maximum number of reservations as the number of tray accommodating units 811. For example, if the time obtained by subtracting the time required for the mixed injection process from the scheduled completion time is set as the execution timing, and the execution times of a plurality of the mixed injection processes overlap, the execution timing of one or more of the mixed injection processes The execution timing is set so that the execution times of the plurality of mixed injection processes do not overlap by advancing the execution timing.

The operation key K13 is an operation key for selecting, as a reservation method, an automatic reservation process in which a reservation is automatically made based on preset automatic reservation conditions for the co-infusion process based on the target preparation data.

The operation key K15 is an operation unit for accepting a setting as to whether or not the remaining medicine can be used in the co-infusion process based on the target preparation data. Then, the first control unit 400 controls whether or not the remaining medicine is to be used depending on whether or not the remaining medicine can be used by using the operation key K15. Furthermore, it is also conceivable that the first control unit 400 automatically determines whether or not the remaining medicine can be used in the co-infusion process based on the target preparation data, based on patient information corresponding to the target preparation data. Specifically, the first control unit 400 allows the use of the remaining medicine in the co-infusion process for the preparation data corresponding to inpatients among the target preparation data, and allows the use of the remaining medicine in the co-infusion process for the preparation data corresponding to inpatients among the target preparation data. Regarding the preparation data, it is conceivable that the use of leftover medicine in the above-mentioned co-infusion process is not permitted. In addition, on the contrary, for the preparation data corresponding to outpatients among the target preparation data, the use of leftover medicine in the co-infusion process is permitted, and among the target preparation data, the preparation data corresponding to inpatients is permitted. It is conceivable that the use of leftover medicine in the co-infusion process is not permitted.

<Step S22>
In step S22, the first control unit 400 determines whether to execute an automatic reservation process of reserving the execution timing of the mixed injection process based on the target preparation data based on the automatic reservation condition. Specifically, the first control unit 400 determines whether or not the automatic reservation process is to be executed in accordance with the operation state of the operation key K13 on the execution instruction screen P10. Here, if it is determined that the automatic reservation process is not to be executed (S22: No), the process proceeds to step S221, and if it is determined that the automatic reservation process is to be executed (S22: Yes), the process is transferred to step S222. to move to.

Further, the display of the operation keys K11 to K13 is omitted on the execution instruction screen P10, and when it is determined that the execution request for the co-infusion process has been made in the step S21, the first control unit 400 Step S222 may also be executed. In this case, the display of the execution instruction screen P10 in step S21 may be omitted, and the loading preparation start operation in step S20 may be accepted as the execution request. For example, the first control unit 400 uses the barcode reader 204 to read identification information such as "preparation number" that can identify the target preparation data from a barcode written on a prescription or preparation instruction sheet. In this case, it is determined that a request for execution of the co-injection process for the target preparation data has been made (S22: Yes), and the process moves to step S222. That is, the first control unit 400 automatically executes the automatic reservation process without requiring selection operation of the operation key K13 on the execution instruction screen P10. Thereby, the user can omit the effort of operating the operation keys K13 on the execution instruction screen P10, and can perform the work efficiently.

<Step S221>
In step S221, the first control unit 400 executes a reservation setting process for setting the execution timing of the target preparation data based on the reservation conditions input on the execution instruction screen P10, and the corresponding information D31. After updating, the process moves to step S23.

For example, when the operation key K11 is operated and the reservation without time specification is selected, the first control unit 400 executes the co-infusion process based on the target preparation data in the order in which execution instructions are given. The correspondence information D31 is updated so that. That is, if the mixed injection process is not being executed in the mixed injection apparatus 1, the mixed injection process based on the target preparation data will be started. Further, when the mixed injection process is being executed in the mixed injection device 1, and after the completion of the mixed injection process, if the other mixed injection process based on the preparation data is not on standby, the mixed injection process based on the target preparation data Mixed injection processing will start. On the other hand, when the operation key K12 is operated and the reservation with time specification is selected, the first control unit 400 controls the preparation date included in the target preparation data and the scheduled end time or scheduled start time. Based on this, the execution timing of the mixed injection process based on the target preparation data is set so that the execution timing of the mixed injection process does not overlap, and the correspondence information D31 is updated.

<Step S222>
In step S222, the first control unit 400 executes the automatic reservation process, updates the correspondence information D31, and then moves the process to step S23. Here, the first control unit 400 that executes the automatic reservation process is an example of a reservation processing unit according to the present invention.

Specifically, in the automatic reservation process, the first control unit 400 reads the reservation correspondence information D32 from the data storage unit 404. Then, the first control unit 400 reserves the execution timing of the co-infusion process based on the target preparation data, based on the reservation correspondence information D32 and the specific information included in the target preparation data. For example, the first control unit 400 may provide information regarding the co-infusion process based on the target preparation data ("drug name", "amount used", "predetermined amount", "whether leftover drug is used", "whether medicine is loaded or not"), Information such as "execution timing") is newly added to the correspondence information D31. Note that, if the new addition of information regarding the co-infusion process based on the target preparation data has an effect on the information regarding the co-infusion process based on other preparation data, the first control unit 400 updates the information. Also updated. Specifically, when the execution times of the co-infusion processes based on a plurality of pieces of preparation data overlap, the first control unit 400 controls one or more of the execution times that have already been reserved and registered in the correspondence information D31. Regarding the preparation data, it is conceivable to change the execution timing so that the execution times of the mixed injection processing based on the preparation data do not overlap. For example, if the execution times of the co-infusion processing based on a plurality of the preparation data overlap, the first control unit 400 controls one or more of the preparation data that has already been reserved and registered in the correspondence information D31. It is conceivable to shift the execution timing of the mixed injection process based on the following. This eliminates the trouble of user operation for registering the execution timing of the mixed injection process based on the target preparation data according to the contents of the target preparation data.

For example, when the automatic reservation process is executed based on the reservation correspondence information D32 shown in FIG. The execution timing is set to satisfy the condition of "before 9 o'clock" on the preparation date included in the target preparation data. Similarly, if the patient's ward is "Ward B", the execution timing of the co-infusion process based on the target preparation data satisfies the condition of "9:00 to 10:00" on the preparation date included in the target preparation data. It is set as follows. The preparation date may be specified by a user operation on the execution instruction screen P10.

In this embodiment, a case will be described in which the reference item D321 in the reservation correspondence information D32 is "ward" and the reservation condition D322 is "reservation time slot". On the other hand, as shown in FIG. 16(B) or FIG. 16(C), the reference item D321 may be information on other items such as "medical treatment type" and "prescription category." For example, in FIG. 16(B), a "reservation time slot" is set for each treatment type such as "outpatient" and "inpatient." Similarly, in FIG. 16(C), a "reservation time slot" is set for each prescription category such as "regular" and "temporary".

Further, a plurality of the reservation correspondence information D32 having different reference items D321 may be stored in the data storage unit 404, and a priority order may be set in advance for each reservation correspondence information D32. In this case, the first control unit 400 selects the reference item with the highest priority among various information included in the target preparation data, based on the target preparation data, the reservation correspondence information D32, and the priority order. The reservation correspondence information D32 corresponding to the information D321 may be specified, and the automatic reservation process may be executed based on the reservation correspondence information D32.

Note that, in the automatic reservation process, if the reservation time slot corresponding to the content of the specific information included in the target preparation data is not set in the reservation correspondence information D32, the first control unit 400 Regarding the target preparation data, the execution timing of the co-infusion process based on the target preparation data may be set, similar to the reservation without time specification in step S221.

In addition, in the automatic reservation process, when reserving the co-infusion process based on the target preparation data, the first control unit 400 may be configured to Reservations for preparation data may be performed. Specifically, the first control unit 400 sets the expiry date of the leftover medicine included in the leftover medicine information D30 or the expiry date of the leftover medicine so that the leftover medicine can be used until after a predetermined period of time has elapsed from the expiration date. Execute a reservation for the target preparation data. For example, if the remaining medicine can be used in the co-infusion process based on the target preparation data, the first control unit 400 may terminate the co-infusion process before the expiration date of the remaining medicine expires. , the execution order or execution timing of the co-infusion process is set based on the target preparation data. In addition, the first control unit 400 controls, when the remaining medicine can be used in the co-infusion process based on the target preparation data, the remaining time until the expiration date of the remaining medicine is equal to or longer than a predetermined time. As such, the execution order or execution timing of the mixed injection process may be set based on the target preparation data.

<Step S23>
In step S23, the first control unit 400 supports the work of setting the drug container 10, the syringe 11, the infusion bag 12, etc. necessary for the co-infusion process on the tray 101 based on the target preparation data. Execute equipment preparation support processing.

For example, in step S23, the first control unit 400 controls the loading of the infusion bag 12 and the drug container 10, including a message and image for instructing reading of identification information such as a GS1 data bar attached to the infusion bag 12 and the medicine container 10. A check screen M11 is displayed on the touch panel monitor 203. Specifically, the loading check screen M11 displays the type of the infusion bag 12, the type of the syringe 11, the type of the drug container 10, etc. included in the target preparation data.

Then, when the barcode reader 204 reads the identification information of the infusion bag 12 and the medicine container 10, and the matching results match the target preparation data, the first control unit 400 shifts the process to step S24. let Note that, if the identification information of the infusion bag 12 or the drug container 10 and the target preparation data do not match, the first control unit 400 causes the touch panel monitor 203 to display an error message or the like. Further, in step S23, the first control unit 400 uses the IC reader 207 to extract the identification information of the tray 101 currently placed on the work table 202 from the IC tag 101b of the tray 101. A process of reading information for identifying the tray 101 corresponding to the target preparation data is also executed.

<Step S24>
In step S24, the first control unit 400 determines whether or not there is a confirmation operation to the effect that loading preparation for the target preparation data is completed. Specifically, the first control unit 400 displays an operation key or the like for accepting the confirmation operation on the touch panel monitor 203, and determines that the confirmation operation has been performed when the operation key is operated. Here, if the confirmation operation is performed (S24: Yes), the process moves to step S25, and until the confirmation operation is performed (S24: No), the process is kept on standby in step S24.

<Step S25>
In step S25, the first control section 400 opens the tray loading section 712 of the storage unit 700. Specifically, the first control section 400 transmits an instruction to open the tray loading section 712 to the second control section 500 . Accordingly, the second controller 500 controls the storage unit 700 to open the tray loading section 712, and the user can store the tray 101 in the tray storage section 811.

Note that, before opening the tray loading section 712, the second control section 500 moves the unused tray accommodating section 811 to a position where the tray 101 can be accommodated based on the correspondence information D31. The position of the movable housing 810 is controlled so that the movable housing 810 is positioned. Specifically, the tray accommodating section 811 that is not stored in the correspondence information D31 as the tray accommodating section 811 corresponding to the tray 101 is determined to be unused. Note that the second control section 500 edits the correspondence information D31 when loading the tray 101 into the tray accommodating section 811 and when ejecting the tray 101 from the tray accommodating section 811.

<Step S26>
Then, in step S26, when the tray 101 is accommodated in the tray accommodating section 811 of the accommodating unit 700, the first control section 400 combines the target preparation data, the identification information of the tray 101, and the tray accommodating section 811 of the accommodating unit 700. 811 is executed. Specifically, the first control unit 400 records the correspondence between the target preparation data, the identification information of the tray 101, and the tray storage unit 811 in the correspondence information D31. Thereby, the first control unit 400 and the second control unit 500 recognize the correspondence relationship between the target preparation data, the identification information of the tray 101, and the tray storage unit 811 based on the correspondence information D31. Is possible.

For example, when the step S23 is executed, the first control unit 400 uses the IC reader 207 provided on the work table 202 to read the information on the tray 101 placed on the work table 202. The identification information of the tray 101 is read from the IC tag 101b. Then, in step S26, the first control unit 400 uses the identification information read from the IC tag 101b as the identification information of the tray 101 corresponding to the target preparation data selected as the processing target. It is stored in the correspondence information D31 of the data storage unit 404. Further, in the correspondence information D31, leftover drug usage information indicating whether or not the leftover medicine is to be used in the mixed injection process based on the preparation data may be stored in the tray 101 corresponding to each of the preparation data.

Note that the correspondence between the preparation data and the tray 101, the correspondence between the preparation data or the tray 101 and the tray accommodating section 811, and the correspondence between the preparation data and the leftover medicine usage information are determined individually. It may also be managed in a database. Further, the correspondence relationship between the preparation data and the tray 101 is stored in the data storage unit 404 of the first control unit 400, and the correspondence relationship between the preparation data or the tray 101 and the tray storage unit 811 is stored in the second control unit 400. It may be stored in the data storage unit 504 of the control unit 500.

Note that if the equipment such as the drug container 10, the syringe 11, and the infusion bag 12 necessary for the mixed injection process based on the target preparation data cannot be placed on one tray 101, the first control unit 400 may execute a process of associating the target preparation data selected as a processing target with a plurality of the trays 101 and storing them in the correspondence information D31. In the mixed injection process based on the target preparation data, equipment such as the drug container 10 supplied from the plurality of trays 101 is used.

<Step S27>
In step S27, the first control section 400 transmits the object preparation data to the second control section 500. Note that the first control unit 400 generates mixed injection control data for causing the mixed injection processing unit 300 to execute mixed injection processing based on not only the target preparation data itself, but also the target preparation data, and uses the mixed injection control data may be transmitted to the second control unit 500. Preparation data identification information that can identify the target preparation data is transmitted to the second control unit 500, and the second control unit 500 transfers the target preparation data corresponding to the preparation data identification information to the data storage unit. 404 is also considered.

[Mixed injection control process]
Next, an example of the procedure of the mixed injection control process executed by the second control unit 500 will be described with reference to FIG. 17.

<Step S50>
In step S50, the second control unit 500 determines whether the execution timing of the co-infusion process has arrived for any of the preparation data registered in the correspondence information D31. If it is determined that the execution timing has arrived (S50: Yes), the process moves to step S51, and if the execution timing has not arrived (S50: No), the process waits in step S50.

Specifically, the first control unit 400 issues a request to start execution of the mixed injection process for the preparation data for which the execution timing of the mixed injection process has arrived among the reserved preparation data registered in the correspondence information D31. It is conceivable to transmit the information to the second control unit 500. In this case, when the second control unit 500 receives the execution start request, it determines that the execution timing has arrived. Hereinafter, the preparation data for which it is determined in step S50 that the execution timing of the mixed injection process has arrived may be referred to as execution preparation data.

<Step S510>
Next, in step S510, when the second control unit 500 uses the drug container 10 loaded in the co-infusion device 1 in accordance with the execution preparation data in the co-infusion process based on the execution preparation data. Next, it is determined whether or not there is any remaining medicine in the medicine container 10. Here, if the second control unit 500 determines that there is a residual medicine in the medicine container 10 (S51: Yes), the second control unit 500 moves the process to step S51, and determines that there is no medicine left in the medicine container 10. If it is determined (S51: No), the process moves to step S52.

<Step S51>
In step S51, the second control unit 500 determines whether or not to use the remaining medicine from the previously executed co-infusion process in the co-infusion process based on the execution preparation data. Here, if the second control unit 500 determines that the leftover medicine is to be used (Yes side of S51), the process moves to step S53, and if it is determined that the leftover medicine is not to be used (No side of S51), The process moves to step S52.

Specifically, the second control unit 500 determines, based on the remaining drug information D30 and the correspondence information D31, whether or not a remaining drug is to be used in the co-infusion process based on the execution preparation data. For example, the second control unit 500 executes the execution when the use of leftover medicine is set to Yes for the execution preparation data in the correspondence information D31, and the content of the leftover medicine information D30 satisfies preset usage conditions. It is determined that the remaining medicine should be used in the co-infusion process based on the preparation data. The usage conditions include, for example, that the expiration date of the leftover medicine stored in the leftover medicine information D30 has not passed, that a predetermined time has not passed since the date and time of opening the leftover medicine, or that the leftover medicine has not been stored in the medicine container 10. The number of puncturing times of the injection needle 11c has not reached the upper limit number of times.

<Step S52>
In step S52, the second control unit 500 controls the mixed injection processing unit 300 based on the execution preparation data input from the first control unit 400, thereby controlling the tray 100 corresponding to the execution preparation data. The usual mixed injection process of injecting medicine from the medicine container 10 placed in the infusion bag 12 into the infusion bag 12 is performed.

Specifically, in step S52, the second control unit 500 controls the accommodation unit 700, and moves the tray 101 associated with the execution preparation data whose execution timing has arrived to the storage unit 700. It is supplied from the tray accommodating section 811 to the mixed injection processing section 300. In the mixed injection process, the second control unit 500 aspirates the medicine indicated in the execution preparation data from the one or more medicine containers 10 placed on the tray 101 with the syringe 11, and Inject from the syringe 11 into the infusion bag 12.

<Step S53>
On the other hand, in step S53, the second control unit 500 controls the mixed injection processing unit 300 based on the execution preparation data input from the first control unit 400, the remaining drug information D30, and the correspondence information D31. By doing so, the exceptional mixed injection process of injecting medicine into the infusion bag 12 using the remaining medicine is executed. That is, in the mixed injection process based on each piece of preparation data to be processed, the second control unit 500 controls the remaining medicine in the drug container 10 from the mixed injection process based on other preparation data different from the preparation data to the mixed injection processing unit. 300 can be used. Therefore, for example, when a medicine remains in the medicine container 10 after the co-injection process, the medicine is effectively utilized and waste of the medicine is suppressed.

Specifically, in step S53, the second control unit 500 controls the accommodation unit 700, and moves the tray 101 associated with the execution preparation data whose execution timing has arrived to the storage unit 700. It is supplied from the tray accommodating section 811 to the mixed injection processing section 300. In the mixed injection process, the second control unit 500 aspirates the medicine indicated in the execution preparation data from the medicine container 10 placed on the storage shelf 33 with the syringe 11, and 11 into the infusion bag 12. In addition, in the mixed injection process based on the execution preparation data, one or more of the drug containers 10 placed on the tray 101 are used together with the drug containers 10 stored as leftover drugs in the storage shelf 33. Sometimes it happens.

<Step S54>
When the co-infusion process is completed, the second control unit 500 determines whether or not any medicine remains in the medicine container 10 in step S54. The process of determining whether there is a residual drug in step S54 may be the same process as step S510, or may be determined by the second control unit 500 based on the result of the mixed injection process. Here, if the second control unit 500 determines that the drug remains (Yes in S54), the process proceeds to step S55, and if it determines that the drug does not remain (No in S54), The process moves to step S541.

<Step S55>
In step S55, the second control unit 500 executes a determination process to determine whether or not the medicine container 10 is to be stored in the storage shelf 33 as a leftover medicine. Specifically, the second control unit 500 determines that the medicine container 10 is to be stored as a leftover medicine when preset storage conditions are met. The storage conditions include one or more preset determination conditions. For example, the judgment conditions include that the drug container 10 is the drug container 10, that the drug container 10 is registered as a drug to be stored in the drug master, and that the drug container 10 is the drug container 10 that is the drug container 10. The remaining amount is at least a preset minimum remaining amount, the identification information of the drug container 10 is successfully read by the barcode reader 34b, and the number of punctures of the drug container 10 is within the upper limit number of times. , or the expiration date of the medicine container 10 has not passed. Note that when a plurality of the determination conditions are set as the storage conditions, it is determined that the storage conditions are satisfied if all of the determination conditions are satisfied.

<Step S56>
In step S56, the second control unit 500 stores the medicine in the medicine container 10 in the mixed injection processing chamber 104 in a reusable state. More specifically, the second control unit 500 controls the first robot arm 21 of the mixed injection processing unit 300 to place the drug container 10 on the storage shelf 33 in a state where it can be used again. let That is, the co-infusion processing unit 300 stores the drug container 10 in which the drug remains after the co-infusion process based on the execution preparation data in the co-infusion device 1 as a remaining drug container, and transfers the drug in the remaining drug container to other medicines. can be used in the mixed injection process based on the preparation data. Further, the second control unit 500 updates various information registered in the remaining medicine information D30 as necessary.

<Step S541>
On the other hand, if no medicine remains in the medicine container 10, the second control unit 500 causes the first robot arm 21 to discard the medicine container 10 into the waste storage chamber 13a in step S541. That is, basically, if the medicine in the medicine container 10 is not used up, the medicine container 10 is returned to the storage shelf 33, and if the medicine in the medicine container 10 is used up, the medicine container 10 is returned to the storage shelf 33. is discarded.

[Other functions]
Hereinafter, various functions provided in the mixed injection system 2 or other embodiments of the mixed injection system 2 will be described.

[Preparation conversion function]
As described above, the host system 600 generates the preparation data based on the prescription data, and inputs the preparation data to the co-infusion device 1. As shown in FIG. 1, the host system 600 also includes a mixed injection system in which an operator such as a pharmacist manually aspirates a medicine from the medicine container 10 using the syringe 11 and injects it into the infusion bag 12. A co-infusion support device 610 that supports work may be connected. Then, the co-infusion support device 610 displays the details of the co-infusion work to be performed by the worker based on the input preparation data. For example, as the content of the mixed injection work, each procedure included in the mixed injection work is displayed in the order of execution. Thereby, the worker can perform the mixed injection work while viewing the content displayed by the mixed injection support device 610.

Then, the host system 600 inputs the preparation data to the co-infusion device 1 and the co-infusion support device 610. Further, the host system 600 may input the preparation data to either the co-infusion device 1 or the co-infusion support device 610 based on preset distribution conditions. Furthermore, the host system 600 may switch the destination of the preparation data according to a selection operation by the user. The host system 600 is an example of the input device according to the present invention, and the system including the co-infusion device 1, the co-infusion support device 610, and the host system 600 is an example of the co-infusion system according to the present invention.

By the way, the preparation data generated by the host system 600 may not be suitable for the co-infusion device 1. For example, in the co-infusion device 1, the tray 101 is loaded into the co-infusion device 1 with various instruments such as the drug container 10, the syringe 11, and the infusion bag 12 placed on the tray 101. . Here, it is conceivable that the number of the infusion bags 12 that can be placed on the tray 101 is one, and the number of the infusion bags 12 indicated in the preparation data is two or more. In this case, since two or more of the infusion bags 12 cannot be placed on the tray 101, the preparation data is not suitable for the co-infusion device 1. Furthermore, even if the drug container 10 indicated in the preparation data is an ampoule made of glass that is easily broken, the preparation data is not suitable for the co-infusion device 1.

Therefore, when transmitting the preparation data to the co-infusion device 1, the host system 600 converts the preparation data so that the contents are suitable for the co-infusion device 1, and after the conversion, It is conceivable to include a data conversion function for transmitting preparation data (hereinafter referred to as "converted preparation data") to the co-infusion device 1.

Specifically, the host system 600 includes a control unit 601 including a CPU, RAM, ROM, etc., and a storage unit 602 such as a hard disk drive. The control unit 601 implements the preparation conversion function by executing a preparation conversion process for converting the preparation data into the conversion preparation data according to the data conversion program stored in the storage unit 602. Note that the control unit 601 that executes the preparation conversion process is an example of a conversion processing unit according to the present invention.

Specifically, the storage unit 602 stores equipment conversion information indicating a correspondence relationship between information on a first equipment that may be included in the preparation data and information on a second equipment that can be used in the co-infusion device. There is. The second equipment is set in advance as an equipment that can be used in place of the first equipment.

Specifically, the equipment conversion information includes information on the infusion bag 12 of a specific size that may be included in the preparation data, and information on one or more drug containers 10 that can be used in place of the infusion bag 12. are associated with each other. For example, if the infusion bag 12 (first equipment) of the specific size can be replaced with three medicine containers 10 (second equipment) containing infusions equivalent to the infusion bag 12, In the equipment conversion information, information on the infusion bag 12 and information on the three medicine containers 10 are associated. In addition, the equipment conversion information includes information on a glass ampoule (first equipment) that can be included in the preparation data as information on the medicine container 10 and a plastic ampoule that can be used in place of the medicine container 10. Information on the ampoule (second equipment) is associated with the information.

When inputting the preparation data from the host system 600 to the co-infusion support device 610, the control unit 601 inputs the preparation data as is, or converts the preparation data into other information different from the equipment conversion information. Enter the edited preparation data based on On the other hand, when inputting the preparation data from the host system 600 to the co-infusion apparatus 1, the control unit 601 converts the information of the first equipment in the preparation data into the second equipment based on the equipment conversion information. Conversion preparation data is generated by converting into equipment information. That is, the control unit 601 generates the converted preparation data based on the preparation data before being input to the co-infusion device 1. Specifically, based on the equipment conversion information, the control unit 601 changes the information of the first equipment in the preparation data to the information of the first equipment in the preparation data when input to the co-infusion support device 610. It is possible to convert the information into information on the second equipment different from the information. Thereafter, the control unit 601 inputs the conversion preparation data to the co-injection device 1. Thereby, the co-infusion device 1 can execute the co-infusion process based on the converted preparation data instead of the preparation data, and in the co-infusion system including the co-infusion device 1 and the co-infusion support device 610, It becomes possible to increase the number of co-injection processes that can be executed by the co-infusion device 1.

Note that if the preparation data is data that does not need to be converted based on the equipment conversion information, the control unit 601 transmits the preparation data as it is to the co-infusion device 1 without converting it into the converted preparation data. . Further, when the control unit 601 receives a request to send the preparation data from the co-infusion device 1, the control unit 601 generates the conversion preparation data based on the preparation data and transmits the conversion preparation data to the co-infusion device 1. You may.

Furthermore, the conversion from the preparation data to the converted preparation data may be executed by another control entity such as the first control unit 400 of the co-infusion device 1. Specifically, the preparation data is input to the co-infusion device 1 by the control unit 601, and the first control unit 400 performs the control based on the preparation data and the equipment conversion information after being input to the co-infusion device 1. The conversion preparation data may be generated. Thereby, in the co-infusion device 1, the co-infusion process is executed based on the conversion preparation data generated by the first control unit 400. In this case, the first control section 400 is an example of a conversion processing section according to the present invention.

[Example of chemical suction process]
As described above, in the co-infusion process performed by the co-infusion device 1 , the second control unit 500 executes the drug suction step of sucking the drug from the drug container 10 with the syringe 11 . The second control unit 500 controls the first robot arm 21 and the second robot arm 22 so that the injection needle 11c of the syringe 11 is pierced into the drug container 10 and the tip of the injection needle 11c is The chemical suction step is performed in a state in which the drug is oriented upward rather than horizontally. Puncture of the medicine container 10 by the injection needle 11c may be performed with the tip of the injection needle 11c directed downward rather than horizontally.

By the way, the second control section 500 controls the first step of controlling the holding section 26 to pull the plunger 11b and sucking the drug from the drug container 10 in the drug suction step, and the second control section 500 that controls the holding section 26 in the drug suction step. and a second step of pushing the plunger 11b and injecting the air in the syringe 11a from the syringe 11 into the drug container 10 may be performed multiple times. As a result, the medicine in the medicine container 10 and the air in the syringe 11a are gradually replaced, so that the inside of the syringe 11 becomes too positive and the inside of the medicine container 10 becomes negative. Overpressure conditions are avoided. Here, the second control section 500 when executing the chemical suction step is an example of the replacement processing section according to the present invention.

Specifically, as shown in FIG. 18(A), when the first step is first performed, air is in the syringe 11a. In the first step, the injection needle 11c is inserted into the drug container 10, and the plunger 11b is pulled, so that the drug in the drug container 10 is removed from the drug container 10, as shown in FIG. 18(B). It is injected into the syringe 11a. Subsequently, in the second step, by pushing the plunger 11b, the air in the syringe 11a is injected into the medicine container 10, as shown in FIG. 18(C).

Then, similarly, in the first step, by pulling the plunger 11b, the medicine in the medicine container 10 is further injected into the syringe 11a, as shown in FIG. 18(D). Similarly, in the second step, the air in the syringe 11a is injected into the medicine container 10 by pushing the plunger 11b.

In this way, in the drug suction step, by repeatedly performing the first step and the second step, the drug in the drug container 10 gradually moves into the syringe 11a, and the drug in the syringe 11a gradually moves. Air gradually moves into the drug container 10. In addition, as another embodiment, after the plunger 11b is pulled and the medicine in the medicine container 10 is sucked into the syringe 11a as shown in FIG. 18(D), as shown in FIG. The injection needle 11c may be removed from the medicine container 10 without going through the step of injecting the air in the syringe 11a into the medicine container 10. In this case, since the inside of the medicine container 10 becomes negative pressure, liquid leakage is prevented when the injection needle 11c is pulled out from the medicine container 10 with the mouth of the medicine container 10 facing downward. be done.

By the way, if the waiting time from the end of the first step to the execution of the second step is too short, after the first step is executed, the inside of the syringe 11a is A problem may arise in that the second step is performed and the medicine returns to the medicine container 10 before the medicine taken in moves downward. In particular, such a problem becomes noticeable when the viscosity of the medicine in the medicine container 10 is high.

On the other hand, the second control unit 500 controls the pulling speed of the plunger 11b in the first step of the chemical suction step and the waiting time from the end of the first step until the start of the second step. It is conceivable to change the time depending on the viscosity of the drug. In particular, the second control unit 500 decreases the pulling speed as the viscosity of the medicine increases, and shortens the waiting time as the viscosity of the medicine increases.

Specifically, when the viscosity of the medicine in the medicine container 10 is equal to or higher than a preset specific value, the second control unit 500 sets the pulling speed to a preset first speed. Also,
The second control unit 500 sets the waiting time to a preset first time when the viscosity of the medicine in the medicine container 10 is equal to or higher than the specific value. For example, when the plunger 11b is pushed or pulled by forward and reverse rotation of the motor that drives the moving section 263 of the holding section 26, the first time is 0, except for the time when the motor is switched between forward and reverse directions. . That is, if a predetermined stop time is required when switching from forward rotation (reverse rotation) to reverse rotation (forward rotation) in controlling the motor, the first time is the time excluding the predetermined stop time. This is the set time for processing by the second control unit 500. Therefore, even if the first time is set to 0, the predetermined time period is set between the time when the forward rotation (reverse rotation) of the motor stops and the time when the reverse rotation (forward rotation) starts. The operation of the plunger 11b may be stopped for a period of time during which the plunger 11b is stopped.

On the other hand, when the viscosity of the medicine in the medicine container 10 is less than the specific value, the second control unit 500 sets the pulling speed to a preset second speed that is faster than the first speed. do. Furthermore, when the viscosity of the medicine in the medicine container 10 is less than the specific value, the second control unit 500 sets the waiting time to a second time that is longer than the first time. It should be noted that the second control unit 500 used when changing the pulling speed according to the viscosity of the medicine is an example of the first changing processing unit according to the present invention, and when changing the waiting time according to the viscosity of the medicine. The second control unit 500 is an example of the second change processing unit according to the present invention.

Note that the larger the amount of air in the drug container 10, the smaller the pressure drop in the drug container 10 when the plunger 11b is pulled, and the slower the speed at which the drug moves from the drug container 10 to the syringe 11. . Moreover, the larger the inner diameter of the injection needle 11c of the syringe 11, the faster the speed at which the medicine moves from the medicine container 10 to the syringe 11 when the plunger 11b is pulled. Therefore, the second time is determined based on the amount of air in the medicine container 10 ("volume of medicine container 10" - "amount of liquid in medicine container 10"), the inner diameter of the injection needle 11c of the syringe 11, etc. Set in advance. Specifically, the second time is set to be longer as the amount of air in the medicine container 10 is larger, and is set to be shorter as the inner diameter of the injection needle 11c of the syringe 11 is larger.

In this manner, in the chemical suction step, when the viscosity of the chemical is equal to or higher than the specific value, the plunger 11b is slowly pulled in the first step, but the waiting time is shortened, and the viscosity of the chemical is reduced. If it is less than the specific value, the time from execution of the first step to execution of the second step becomes longer, but the pulling speed becomes faster. Therefore, depending on the viscosity of the medicine, it is possible to suppress backflow of the medicine from the syringe 11a to the medicine container 10, and also to prevent waste of time required for the medicine suction step.

[Other examples of chemical suction process]
Here, another example of the chemical suction step will be described with reference to FIG. 19. Note that the second control unit 500 controls the first robot arm 21 and the second robot arm 22 so that the tip of the injection needle 11c of the syringe 11 is directed upward from the horizontal direction. After puncturing the medicine container 10 with the injection needle 11c, the medicine suction step is executed. Furthermore, at the start of the drug suction step, the plunger 11b of the syringe 11 is pushed to the tip side end of the syringe 11a, as shown in FIG. 19(A).

In the drug suction step, the second control section 500 controls the holding section 26 to pull the plunger 11b of the syringe 11, and after performing the third step, the second control section 500 controls the holding section 26 to pull the plunger 11b of the syringe 11. A fourth step of controlling and pushing the plunger 11b, and a fifth step of controlling the holding part 26 and pulling the plunger 11b after execution of the fourth step are executed. Thereby, unnecessary air within the syringe 11 can be discharged, and the accuracy of the amount of medicine sucked into the syringe 11 can be improved.

<3rd process>
In the third step in the drug suction step, the plunger 11b of the syringe 11 is pulled, so that the drug in the drug container 10 is transferred into the syringe 11a of the syringe 11, as shown in FIG. 19(B). It gets sucked in. Here, at the start of the third step, there is no air in the syringe 11a, but since air A1 exists in the injection needle 11c of the syringe 11, the drug container 10 is removed in the third step. When the medicine is sucked into the syringe 11a of the syringe 11, the air A1 inside the injection needle 11c is sucked into the syringe 11a.

The amount by which the plunger 11b is pulled in the third step is at least a preset amount of air A1 in the injection needle 11c of the syringe 11 taken into the syringe 11a. Moreover, the amount by which the plunger 11b is pulled in the third step may be determined in advance for each type of the syringe 11 or the injection needle 11c.

<4th step>
In the fourth step executed after the third step, the plunger 11b of the syringe 11 is pushed to the tip, so that the air A1 in the syringe 11a of the syringe 11 is removed, as shown in FIG. 19(C). and a medicine is injected into the medicine container 10. At this time, since the syringe 11 is directed upward and the air A1 in the syringe 11a of the syringe 11 is discharged first, the injection needle of the syringe 11 after the execution of the fourth step is The chemical remains in 11c.

Note that in the fourth step, the plunger 11b may be pushed to the tip, but the plunger 11b may be pushed by a specific amount preset as the amount by which the air A1 in the syringe 11a moves from the syringe 11a to the drug container 10. Good too.

<5th step>
In the fifth step executed after the fourth step, the plunger 11b of the syringe 11 is pulled, as in the third step, so that the inside of the drug container 10 is removed, as shown in FIG. 19(D). medicine is aspirated into the syringe 11a of the syringe 11. At this time, since there is no air in the injection needle 11c of the syringe 11 at the start of the fifth step, there is no air in the syringe 11a of the syringe 11 after the fifth step.

The amount by which the plunger 11b is pulled in the fifth step corresponds to the required amount of the chemical based on the preparation data. In addition, in the fourth step, if all the medicine in the syringe 11a is not discharged into the medicine container 10, the amount of pulling of the plunger 11b in the third step and the amount of pushing of the plunger 11b in the fourth step Based on this, the amount by which the plunger 11b is pulled in the fifth step may be determined.

In this way, in the drug suction step, when the third step, the fourth step, and the fifth step are executed in order, no unnecessary air remains in the syringe 11a, so that the syringe 11a It is possible to improve the accuracy of the amount of medicine injected from the medicine container 10 into the infusion bag 12.

[Other examples of stirring process]
In the embodiment, a case has been described in which the stirring device 32 is used to stir the medicine and the infusion solution in the medicine container 10 in the stirring step in the co-infusion process executed by the second control unit 500. On the other hand, in the stirring step, the first robot arm 21 and the second robot arm 22 may be used to stir the medicine and infusion in the medicine container 10.

Hereinafter, an example of the mixed injection process in which the first robot arm 21 and the second robot arm 22 are used in the stirring step will be described. In particular, here, a case will be described in which, in the co-infusion process based on the preparation data, drugs in a plurality of drug containers 10 are dissolved in an infusion solution, and the drugs are injected from each of the drug containers 10 into the infusion bag 12. In addition, the said stirring process demonstrated here may be performed when the said chemical|medical agent container 10 is one. Below, parts that are different from the mixed injection process described above will be explained.

<Infusion suction process>
First, in the infusion suction step, the second control unit 500 controls the second robot arm 22 to determine the amount of infusion to dissolve the drugs in the plurality of drug containers 10 indicated by the preparation data. Based on this, the total amount of infusion corresponding to each of the drug containers 10 is aspirated from the infusion bag 12 with the syringe 11. For example, if the preparation data indicates that the medicines in the three medicine containers 10 are each dissolved in 20 ml of infusion solution and injected into the infusion bag 12, the second control unit 500 In the infusion suction step, a total of 60 ml of infusion used for dissolving the medicines in the three medicine containers 10 is collectively aspirated from the infusion bag 12 using the syringe 11 . Hereinafter, for convenience of explanation, a case where the medicines in the three medicine containers 10 are each dissolved in 20 ml of infusion solution and injected into the infusion bag 12 will be described as a specific example.

After executing the infusion suction process, the second control unit 500 successively executes a series of processes including the infusion injection process, the stirring process, and the medicine suction process for each medicine container 10. . Thereafter, the second control unit 500 executes the drug injection step of injecting the liquid in the syringe 11 into the infusion bag 12. Hereinafter, the infusion injection step, the stirring step, and the medicine suction step will be explained.

<Infusion process>
After executing the infusion suction process, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to adjust the injection needle 11c of the syringe 11 in the infusion injection process after executing the infusion suction process. The drug container 10 is punctured, and part or all of the liquid in the syringe 11 is injected into the drug container 10. For example, the first drug container 10 is injected with the amount of liquid in the syringe 11 that is indicated in the preparation data as the amount of infusion used for dissolving the first drug container 10. . In the case of the specific example, 20 ml of liquid corresponding to one drug container 10 is injected from the syringe 11 into the drug container 10.

<Stirring process>
After executing the infusion injection step, the second control unit 500 controls the medicine container 10 using the first robot arm 21 and the second robot arm 22 without using the stirring device 32 in the stirring step. Stir the medicines and infusions inside. Specifically, the second control unit 500 controls the first robot arm 21 and the second robot arm while the injection needle 11c of the syringe 11 remains stuck in the medicine container 10 in the infusion injection process. 22 to displace the syringe 11 and the drug container 10 to stir the drug in the drug container 10.

For example, the second control section 500 controls the first robot arm 21 and the second robot arm 22, and controls the syringe 11 and the drug container 10 held by the holding section 25 and the holding section 26, It oscillates synchronously for a preset time. The second control unit 500 causes the first robot arm 21 and the second robot arm 22 to simultaneously move the syringe 11 and the drug container 10 by the same distance in the same direction, thereby adjusting the injection needle of the syringe 11. 11c remains pierced into the medicine container 10. Further, the second control unit 500 maintains the relative postures of the syringe 11 and the drug container 10 by using the first robot arm 21 and the second robot arm 22. may be rotated. For example, the second control unit 500 controls the medicine container 10 and the medicine container 10 from a state in which the opening of the medicine container 10 is directed downward and the injection needle 11c of the syringe 11 is directed upward. The syringe 11 may be rotated 45 degrees clockwise and then rotated 90 degrees counterclockwise. Note that the second control unit 500 may rotate the syringe 11 and the drug container 10 with the horizontal direction as the rotation axis, or may rotate the syringe 11 and the drug container 10 while arbitrarily changing the rotation axis multiple times. good.

<Chemical suction process>
After executing the stirring step, the second control unit 500 causes the second robot arm 22 to move the plunger while the injection needle 11c of the syringe 11 remains stuck in the drug container 10 in the drug suction step. By operating 11b, the medicine in the medicine container 10 is sucked into the syringe 11.

Then, when the drug suction step is completed, the second control unit 500 removes the injection needle 11c of the syringe 11 from the drug container 10, punctures the next drug container 10, and similarly performs the infusion injection step. , the stirring step, and the chemical suction step. Thereafter, the second control unit 500 similarly controls the infusion injection step, the stirring step, and the agitation step until the infusion injection step, the stirring step, and the drug suction step are completed for all of the plurality of medicine containers 10. , and repeating the chemical suction step. This eliminates the need for a moving operation to take out the drug container 10 from the stirring device 32 again after setting the drug container 10 in the stirring device 32 by the first robot arm 21, thereby reducing the required time. Is possible. Further, it is also possible to omit the stirring device 32 from the configuration of the mixed injection device 1.

By the way, in the second and subsequent infusion injection steps, the amount of liquid injected from the syringe 11 into the drug container 10 may be the same as the injection amount in the first infusion injection step; It is considered that the injection amount in the subsequent transfusion injection step is larger than the injection amount in the first transfusion injection step. Furthermore, when the drug injection process is performed a plurality of times for a plurality of drug containers 10, the second control unit 500 may gradually increase the injection amount as the infusion injection process is executed later. Conceivable. According to these configurations, undissolved drug in the drug container 10 is suppressed depending on the situation where the concentration of the drug in the infusion in the syringe 11 gradually increases each time the drug suction step is executed. . Further, when the stirring step is executed for a plurality of the chemical containers 10, the second control unit 500 may make the stirring step longer for the later the stirring step is executed.

[Remaining medicine usage restriction function]
In the mixed injection process, when a drug remains in the drug container 10 after execution of the mixed injection process, the drug container 10 is placed in the remaining drug placement area of the placement shelf 33, and the process is then executed. It may be used in other mixed injection processes. In addition, below, the said medicine container 10 in which the said leftover medicine is accommodated may be called 10 A of leftover medicine containers.

By the way, if the amount of medicine required for the mixed injection process does not remain in the remaining medicine container 10A, it is necessary to use the medicine container 10 placed on the tray 101 together with the remaining medicine container 10A. be. However, in this case, it is necessary to perform an operation of sucking the medicine from the remaining drug container 10A and an operation of sucking the medicine from the medicine container 10, resulting in a problem that the time required for the mixed injection process becomes longer.

Therefore, when the amount of medicine required in the co-infusion process is smaller than the amount of the remaining medicine in the remaining medicine container 10A, the second control unit 500 controls the medicine without using the remaining medicine container 10A. It is conceivable that the container 10 is provided with a remaining medicine use restriction function that executes the mixed injection process.

More specifically, the second control unit 500 determines that the amount of medicine required for the co-infusion process based on the preparation data is the same as the capacity of one bottle of the medicine container 10, and that the remaining medicine container 10A is If the amount of medicine remaining in the tray 101 is less than the storage capacity of one medicine container 10, the remaining medicine container 10A is not used and the tray 101 loaded in accordance with the preparation data is The mixed injection process is performed using the medicine container 10 placed in the container.

On the other hand, the second control unit 500 determines that the amount of medicine required for the co-infusion process based on the preparation data is the same as the capacity of one bottle of the medicine container 10, and that no medicine remains in the remaining medicine container 10A. If the amount of medicine in the medicine container 10 is greater than or equal to the capacity of one medicine container 10, the mixed injection process is performed using the remaining medicine container 10A.

In this manner, in the mixed injection process, if the mixed injection process can be completed with only one remaining drug container 10A, the remaining drug container 10A is used; If the co-infusion process cannot be completed, the remaining drug container 10A is not used, and a new drug container 10 is used. Therefore, both the remaining medicine container 10A and the new medicine container 10 are not used, and the time required for the mixed injection process is shortened.

[Remaining medicine dispensing function]
As described above, in the co-infusion device 1, the syringe 11 can be taken out from the syringe take-out door 302 in a state where the syringe 11 is filled with a medicine. By the way, in the co-infusion device 1, the remaining drug container 10A may be placed in the remaining drug placement area of the placement shelf 33. Therefore, in the co-infusion device 1, the second control unit 500 is configured to aspirate the remaining medicine in the remaining medicine container 10A with the syringe 11 and discharge it from the syringe extraction door 302. It is conceivable to have a dispensing function.

More specifically, the second control unit 500 selects the remaining drug container 10A to be dispensed by a specific user operation set in advance, and controls the syringe 11 used for dispensing the medicine in the remaining drug container 10A. When the tray 101 on which is placed is loaded, the remaining medicine dispensing process is executed. In the remaining drug dispensing process, the second control unit 500 controls the first robot arm 21 to take out the remaining drug container 10A from the storage shelf 33, and controls the second robot arm 22 to take out the remaining drug container 10A from the storage shelf 33. The medicine in the remaining drug container 10A is aspirated by the syringe 11 placed on the tray 101. Then, the syringe 11 after sucking the medicine is moved to the vicinity of the syringe removal door 302. Further, the second control unit 500 may place the syringe 11 that has sucked the medicine in the remaining medicine container 10A on the tray 101 and discharge the tray 101 from the tray discharge port 15. According to the remaining drug dispensing function, it is possible to take out the medicine in the remaining drug container 10A to the outside and use it effectively.

Further, in the remaining medicine dispensing process, the second control unit 500 may print dispensing remaining medicine information indicating information on the remaining medicine dispensed with the syringe 11 on a label using the printer 506. Specifically, the dispensed remaining drug information includes "preparation No.", "drug name (drug identification)", and "drug name (drug identification)" which are stored in the remaining drug information D30 as information on the drugs remaining in the remaining drug container 10A. It includes various types of information that will be referenced when the medicine in the syringe 11 is used later, such as "information)," "remaining amount," "date and time of opening," or "expiration date."

Accordingly, by pasting the label on the syringe 11, the user can easily grasp information on the remaining medicine in the syringe 11 and use it even after the syringe 11 is removed from the co-infusion device 1. is possible. Note that the label may be automatically attached to the syringe 11 by the first robot arm 21 and the second robot arm 22 of the co-infusion device 1. Moreover, the co-infusion device 1 may be separately provided with a pasting device that automatically pastes the label on the syringe 11.

Further, code information such as a one-dimensional code or a two-dimensional code indicating the undisbursed medicine information may be printed on the label. Then, when the code information on the label is read, the second control unit 500 makes the syringe 11 corresponding to the code information usable again in the co-infusion device 1 based on the code information. It is possible to do so. Specifically, the second control unit 500 may add the dispensed remaining drug information to the remaining drug information D30. As a result, the second control unit 500 performs a process of comparing the medicine contained in the syringe 11 with the preparation data, acquiring information on the remaining amount of the medicine, checking the expiration date of the medicine, and checking the expiration date of the medicine. It is possible to perform checks such as checking the number of punctures of 10. Note that, after the second control unit 500 executes the remaining medicine dispensing process for the syringe 11, when the mixed injection management process is executed for the preparation data in which the medicine in the syringe 11 can be used as a leftover medicine. Another possibility is to display the presence of the syringe 11 on the touch panel monitor 203.

Claims (6)

A mixed injection control device that controls a mixed injection device that performs a mixed injection process of injecting a medicine in a first container into a second container based on preparation data,
Reservation processing for reserving execution timing of the mixed injection process based on the preparation data, based on reservation correspondence information in which content of specific information included in the preparation data is associated with reservation conditions regarding the execution timing of the mixed injection process. Equipped with a department ,
The specific information is information on the patient's ward, treatment type, or prescription category corresponding to the preparation data,
The reservation conditions are a reservation time slot, a reservation date, or a reservation day of the week,
In the reservation correspondence information, the contents of the reservation condition are set for each content of the specific information,
Mixed injection control device. When the reservation processing unit receives a request to execute the mixed injection process based on the preparation data, the reservation processing unit reserves a timing for executing the mixed injection process based on the preparation data.
The mixed injection control device according to claim 1. The reservation processing unit reserves the execution timing of the mixed injection process based on the expiration date of the remaining medicine when the remaining medicine is used in the mixed injection process based on the preparation data.
The mixed injection control device according to claim 1 or 2 . Based on the expiry date of the leftover medicine, the reservation processing unit is configured to make the reservation process such that the remaining time until the expiration date of the leftover medicine passes or the remaining time until the expiration date of the leftover medicine becomes equal to or longer than a predetermined time. , reserving the execution timing of the mixed injection process;
The mixed injection control device according to claim 3 . The reservation processing unit changes the execution timing of the mixed injection process based on one or more of the preparation data that has already been reserved, if the execution times of the mixed injection process based on a plurality of the preparation data overlap.
The mixed injection control device according to any one of claims 1 to 4 . A processor included in a mixed injection control device that controls a mixed injection device that executes a mixed injection process of injecting the medicine in the first container into the second container based on the preparation data,
reserving execution timing of the mixed injection process based on the preparation data based on reservation correspondence information in which content of specific information included in the preparation data is associated with reservation conditions regarding the execution timing of the mixed injection process; ,
a step of causing the mixed injection device to execute the mixed injection process based on the execution timing;
A mixed injection control program for executing
The specific information is information on the patient's ward, treatment type, or prescription category corresponding to the preparation data,
The reservation conditions are a reservation time slot, a reservation date, or a reservation day of the week,
In the reservation correspondence information, the contents of the reservation condition are set for each content of the specific information,
Mixed injection control program .

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