TWI817541B - Automatic dispensing system and method thereof - Google Patents

Abstract

An automatic dispensing system includes a moving mechanism, a first image recognition module and a control module. The moving mechanism is configured to move a handle of a plunger of a syringe, so as to draw medicine from a medicine supply container into the syringe or remove air in the syringe. The first image recognition module is configured to recognize a first information of a scale of the air in the syringe and a second information of a scale of the medicine in the syringe when the first information is zero. The control module is connected between the moving mechanism and the first image recognition module, and the control module is configured to receive a dispensing instruction, the first information and the second information, and control the moving mechanism according to the dispensing instruction, the first information, the second information or a combination thereof.

Description

Automated dispensing system and method

The invention relates to an automated dispensing system and a method thereof.

The traditional dispensing process is to manually connect the syringe to one end of the conductive tube, connect the drug supply container to the other end of the conductive tube, and then pull the piston of the syringe outward to draw a certain amount of medicine and inject it into the syringe. , and then this measured amount of medicine can be injected into a container containing personalized medicine. However, the above-mentioned dispensing process is quite complicated, so an automated dispensing system is urgently needed in this field.

The invention provides an automated dispensing system, which includes a moving mechanism, a first image recognition module and a control module. The moving mechanism is configured to move the handle of the piston of the syringe to draw medicine from the medicine supply container into the syringe or to remove air from the syringe. The first image recognition module is configured to identify the first information of the scale of the air in the syringe and the second information of the scale of the medicine in the syringe when the first information is zero. The control module is connected between the moving mechanism and the first image recognition module. The control module It is configured to receive the dispensing instruction, the first information and the second information, and control the mobile mechanism according to the dispensing instruction, the first information, the second information or a combination thereof.

In some embodiments of the present invention, the automated dispensing system further includes: a second image recognition module connected to the control module, the second image recognition module is configured to recognize information on the medication container, and the control module is further configured to Receive the information and confirm whether the information matches the dispensing instructions.

In some embodiments of the present invention, the automated dispensing system further includes: an installation mechanism having one or more carrying mechanisms, and the installation mechanism is configured to enable one of the corresponding moving mechanisms among the one or more carrying mechanisms to carry the The medicine supply container is coupled to the syringe; and a second image recognition module is configured to identify the information of the medicine supply container carried by the corresponding moving mechanism among the one or more carrying mechanisms, wherein the control module is connected to the installation Between the mechanism and the second image recognition module, the control module is further configured to receive the information and confirm whether the information is consistent with the dispensing instruction.

In some embodiments of the present invention, the one or more carrying mechanisms are configured to carry corresponding one or more medicine supply containers.

In some embodiments of the present invention, the moving mechanism is further configured to move the handle of the piston of the syringe to deliver the medicine in the syringe to the medicine collection container.

In some embodiments of the present invention, the automated dispensing system further includes: a switching mechanism connected to a control module, wherein the control module is configured to control the switching mechanism according to dispensing instructions to connect the syringe and the medicine collection container.

In some embodiments of the present invention, the automated dispensing system further includes: a weight sensing mechanism connected to the control module, wherein the weight sensing mechanism is configured to sense the medicine container and its interior when transporting medicine to the medicine container. Weight changes.

In some embodiments of the present invention, the automated dispensing system further includes: a fixing mechanism configured to fix the handle of the syringe.

The present invention also provides an automated dispensing method, which includes: receiving a dispensing instruction; controlling a moving mechanism for moving the handle of a piston of a syringe according to the dispensing instruction to draw medicine from a medicine supply container into the syringe; drawing medicine from the medicine supply container to After entering the syringe, the first image recognition module is used to identify the first information of the scale of the air in the syringe; when the first information is zero, the first image recognition module is used to identify the second information of the scale of the medicine in the syringe, Alternatively, when the first information is greater than zero, the moving mechanism is controlled to eliminate the air in the syringe so that the first information is zero, and then the second information of the scale of the medicine in the syringe is recognized through the first image recognition module; and compare For dispensing instructions and secondary information.

In some embodiments of the present invention, the method further includes: after receiving the dispensing instruction and before controlling the moving mechanism according to the dispensing instruction, using the second image recognition module to identify the information of the medication container and confirming whether the information is consistent with the dispensing instruction.

In some embodiments of the present invention, the method further includes: after receiving the dispensing instruction and before controlling the moving mechanism according to the dispensing instruction, using the second image recognition module to identify the information of the corresponding moving mechanism among the plurality of medicine supply containers. , and confirm whether it is consistent with the dispensing instruction; and when the information of the corresponding mobile mechanism among the medication supply containers is consistent with the dispensing instruction, control the installation mechanism so that the person of the medication supply containers is coupled syringe, or when the information of the one corresponding to the moving mechanism among the medicine supply containers does not match the dispensing instruction, control the installation mechanism so that the other one of the medicine supply containers corresponds to the moving mechanism, and then through the second The image recognition module recognizes the information of the other of the medicine supply containers and confirms whether it is consistent with the medicine dispensing instruction.

In some embodiments of the present invention, the method further includes: when the second information matches the dispensing instruction, controlling the moving mechanism to transport the medicine in the syringe to the medicine collection container.

In some embodiments of the present invention, the method further includes: when the second information is smaller than the dispensing instruction, controlling the moving mechanism to transport the medicine in the syringe to the medicine collection container, and calculating the difference between the dispensing instruction and the second information.

In some embodiments of the present invention, the method further includes: when transporting the medicine to the medicine collection container, sensing the weight change of the medicine collection container and its interior through a weight sensing mechanism.

In some embodiments of the present invention, the method further includes: issuing a warning when the weight change reaches zero.

10: syringe

11:Piston

11a: handle

20:Medicine supply container

30:Tee pipe

40: Medicine collection container

100:Mobile mechanism

200: The first image recognition module

201: Imaging module

2011:Camera Module

2012:Light source

2013: Carrying and moving mechanisms

300:Control module

400: Second image recognition module

401: Image acquisition module

4011:Camera module

4012:Light source

500: Installation mechanism

501: Carrying mechanism

600:Switch mechanism

700: Weight sensing mechanism

S100, S200, S300, S301, S400, S500: steps

Aspects of the invention are best understood from the following embodiments, which will be read in conjunction with the accompanying drawings. It is understood, however, that in accordance with common practice in the industry, various features are not necessarily drawn to scale. Indeed, the shapes of the various features may be adjusted appropriately and the dimensions of the various features may be arbitrarily increased or reduced for clarity.

Figure 1 is a functional module diagram of an automated dispensing system according to some embodiments of the present invention.

Figure 2 is a schematic structural diagram of an automated dispensing system according to some embodiments of the present invention.

Figure 3 is a functional module diagram of an automated dispensing system according to some embodiments of the present invention.

Figure 4 is a flow chart of an automated dispensing method according to some embodiments of the present invention.

The advantages and features of the present invention, as well as the methods for achieving them, will be more readily understood from a more detailed description with reference to exemplary embodiments and the accompanying drawings. However, the invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments will be provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

Spatially relative terms used herein, such as "lower" and "upper", are used to facilitate description of the relative relationship between one element or feature and another element or feature in the drawings. The true meaning of these spatially relative terms includes other orientations. For example, when the diagram is flipped 180 degrees, the relationship between one element and another element may change from "down" to "up". The spatially relative statements used in this article should be interpreted similarly.

As mentioned in the prior art, the manual dispensing process is quite complicated, so an automated dispensing system is urgently needed in this field. Accordingly, the present invention provides an automated dispensing system and a method thereof to significantly reduce labor costs, shorten overall processing time, avoid human error, and avoid the impact of drug microleakage on dispensing personnel. Several embodiments of the automated dispensing system of the present invention are provided below.

Figure 1 is a functional module diagram of an automated dispensing system according to some embodiments of the present invention. Figure 2 is a schematic structural diagram of an automated dispensing system according to some embodiments of the present invention. As shown in Figures 1 and 2, the automated dispensing system includes a moving mechanism 100, a first image recognition module 200 and a control module 300.

The moving mechanism 100 is configured to move the handle 11 a of the piston 11 of the syringe 10 to draw medicine from the medicine supply container (or original medicine container) 20 into the syringe 10 or to remove air from the syringe 10 . The medicine supply container 20 can be, for example, a plastic hard bottle, a glass bottle, a soft bag, a portable chemotherapy infusion set, or a small syringe, but the invention is not limited thereto.

The first image recognition module 200 is configured to identify the first information of the scale of the air in the syringe 10 and the second information of the scale of the medicine in the syringe 10 when the first information is zero. In some embodiments, the first image recognition module 200 includes an imaging module 201 and a recognition module (not shown). The imaging module 201 includes a camera module 2011, a light source 2012, a carrying and moving mechanism 2013, and a camera. The module 2011 is arranged on the carrying and moving mechanism 2013. The camera module 2011 includes the camera body and the lens. After the moving mechanism 100 performs a step (such as sucking medicine or expelling air), the carrying and moving mechanism 2013 can move accordingly, and the light source 2012 provides light so that the camera module 2011 can obtain a clear image of the syringe 10 and its scale, and then The identification module is used to identify the first information of the air scale and/or the second information of the drug scale when the first information is zero.

The control module 300 is connected between the moving mechanism 100 and the first image recognition module 200 . The control module 300 is configured to receive the dispensing instruction, the first information and the second information, and control the mobile mechanism 100 according to the dispensing instruction, the first information, the second information or a combination thereof. The dispensing instruction may include one or more drug names and their dosages, or may optionally include the name of the drug collection container 40 or its corresponding barcode.

In some embodiments, the control module 300 controls the moving mechanism 100 according to the dosage of the dispensing instruction, so that the scale of the piston 11 reaches the dosage of the dispensing instruction, and then the first image recognition module 200 identifies the third value of the air scale in the syringe 10 One information. When the first information is zero, the first image recognition module 200 recognizes the second information of the medicine scale in the syringe 10 . When the first information is greater than zero, the control module 300 controls the moving mechanism 100 to eliminate the air in the syringe 10 so that the first information is zero, and then the first image recognition module 200 identifies the second value of the medicine scale in the syringe 10 information.

In some embodiments, when the first image recognition module 200 recognizes that the syringe 10 absorbs air, that is, when the first information begins to be greater than zero, the control module 300 can control the moving mechanism 100 to immediately exclude the syringe 10 based on the first information. air in the syringe 10 to prevent the syringe 10 from continuing to draw air.

Figure 3 is a functional module diagram of an automated dispensing system according to some embodiments of the present invention. In some embodiments, as shown in Figures 2 and 3, the automated dispensing system further includes: a second image recognition module 400, which is connected to the control module 300. The second image recognition module 400 is configured to identify the information of the medication container 20, and the control module 300 is further configured to receive the information and confirm whether the information is consistent with the medication dispensing instruction. In some embodiments, the second image recognition module 400 includes an imaging module 401 and a recognition module (not shown). The imaging module 401 includes at least one camera module 4011 and a light source 4012 . The camera module 4011 includes a camera body and a lens. When the medicine supply container 20 is installed at a position corresponding to the moving mechanism 100 (for example, installed on the carrying mechanism 501 directly above the moving mechanism 100), the light source 4012 provides light so that the camera module 4011 can obtain the label of the medicine supply container 20 The clear image is then passed to the identification module to identify the label information of the medicine supply container 20 . The control module 300 is further configured to receive the information and compare whether the information is consistent with the dispensing instruction. In some embodiments, as shown in Figure 2, the imaging module 401 includes two camera modules 4011, which can capture two images of the same medicine supply container 20 from different angles, which is beneficial to obtaining the medicine supply container. 20 full images of labels.

In some embodiments, as shown in Figures 2 and 3, the automated dispensing system further includes: an installation mechanism 500 and a second image recognition module 400. The installation mechanism 500 has one or more bearing mechanisms 501 . In some embodiments, the one or more carrying mechanisms 501 are configured to carry the corresponding one or more medicine supply containers 20 . The mounting mechanism 500 is configured to couple the medicine supply container 20 carried by one of the one or more carrying mechanisms 501 corresponding to the moving mechanism 100 to the syringe 10 . The second image recognition module 400 is configured to recognize the information of the medicine supply container 20 carried by the one of the one or more carrying mechanisms 501 corresponding to the moving mechanism 100 . The control module 300 is connected between the installation mechanism 500 and the second image recognition module 400. The control module 300 is further configured to receive the information and confirm whether the information is consistent with the dispensing instruction. For example, when the information matches the dispensing instruction, the control module 300 controls the installation mechanism 500 to lower it so that the medicine supply container 20 is connected to one end of the tee tube 30 and the medicine supply container 20 is coupled to the syringe 10; When the information does not match the dispensing instruction, the control module 300 controls the installation mechanism 500 to rotate so that another medicine supply container 20 corresponds to the moving mechanism 100, and then the second image recognition module 400 recognizes the other medicine supply container 20 information on the label and verify that the information matches the dispensing instructions.

In some embodiments, as shown in FIG. 2 , the moving mechanism 100 is further configured to move the handle 11 a of the piston 11 of the syringe 10 to deliver the medicine in the syringe 10 to the medicine collection container 40 . The medicine collection container 40 may be, for example, a soft drip bag, a hard plastic drip bottle, a drip glass bottle, or a portable chemotherapy infusion set, but the invention is not limited thereto.

In some embodiments, as shown in Figure 2, the automated dispensing system further includes: a switching mechanism 600, which is connected to the control module 300, wherein the control module 300 is configured to act according to the dispensing instruction (which includes the name of the medicine container 40 or The corresponding barcode) controls the switching mechanism 600 so that the syringe 10 can communicate with the medicine collection container 40 . The switching mechanism 600 is provided with a steering valve (not shown) for accommodating and rotating the tee pipe 30 . Through the control of the steering valve, the tee pipe 30 has two communication paths, one is for connecting the medicine supply container 20 and the syringe 10, and the other is for connecting the syringe 10 and the medicine collection container 40. During the dispensing process, the medicine supply container 20 is connected to the syringe 10, and the medicine can be sucked from the medicine supply container 20 into the syringe 10; before delivering the medicine to the medicine collection container 40, the control module 300 can control the rotation of the switching mechanism 600, and together with The steering valve is rotated to communicate with the syringe 10 and the medicine collecting container 40 .

In some embodiments, as shown in FIG. 2 , the automated dispensing system further includes: a weight sensing mechanism 700 , which is connected to the control module 300 , wherein the weight sensing mechanism 700 is configured to sense when delivering medicine to the medicine collection container 40 . Measure the weight change of the drug container 40 and its interior. Whether the medicine is actually delivered to the medicine collection container 40 can be known by the weight change.

In some embodiments, as shown in FIG. 2 , the automated dispensing system further includes: a fixing mechanism 800 , which is configured to fix the handle of the syringe 10 so that the empty barrel of the syringe 10 is fixed. Therefore, when the moving mechanism 100 is in When moving, the piston 11 can move relative to the empty cylinder.

Several embodiments of the automated dispensing method of the present invention are provided below. Figure 4 is a flow chart of an automated dispensing method according to some embodiments of the present invention. As shown in Figure 4, the automated dispensing method includes steps S100, S200, S300, S301, S400, and S500. These steps will be described in detail below with reference to Figures 2, 3, and 4.

First, step S100 is performed to receive a dispensing instruction (or prescription note). Prescription notes can be obtained by any method, such as manual input, AOI recognition reading, barcode reading or through HIS system link. The dispensing instruction may include one or more drug names and their dosages, or may optionally include the name of the drug collection container 40 or its corresponding barcode.

After receiving the dispensing instruction (step S100), the syringe 10 and the tee tube 30 connected to the syringe 10 are installed, and the corresponding medication container 20 is placed on the carrying mechanism 501 according to the dispensing instruction. If the dispensing instruction includes the name of the medicine collection container 40 or its corresponding barcode, then the medicine collection container 40 is connected to one end of the tee tube 30 .

After receiving the dispensing instruction (step S100) and before controlling the moving mechanism 100 according to the dispensing instruction (step S200), the information of the medication container 20 is recognized through the second image recognition module 400, and it is confirmed whether the information matches the dispensing instruction.

In some embodiments, multiple medicine supply containers 20 are installed on the carrying mechanisms 501, and then after receiving the medicine dispensing instruction (step S100) and before controlling the moving mechanism 100 according to the medicine dispensing instruction (step S200), the second medicine supply container 20 may be installed on the carrying mechanisms 501. The image recognition module 400 recognizes the information of the plurality of medicine supply containers 20 corresponding to the moving mechanism 100 and confirms whether it is consistent with the medicine dispensing instruction. When the information of the one of the medicine supply containers 20 matches the dispensing instruction, the installation mechanism 500 is controlled (for example, the installation mechanism 500 is lowered) so that the one of the medicine supply containers 20 is coupled to the syringe 10 . When the information corresponding to the moving mechanism 100 among the medicine supply containers 20 does not match the dispensing instruction, the installation mechanism 500 is controlled (for example, the installation mechanism 500 is rotated) so that the other medicine supply container 20 The corresponding moving mechanism 100 then identifies the information of the other of the medicine supply containers 20 through the second image recognition module 400, and confirms whether it is consistent with the medicine dispensing instruction. If the information on the medicine supply containers 20 on the carrying mechanism 501 is inconsistent with the dispensing instructions, the control module 300 issues a warning to remind the personnel that the medicine supply containers 20 must be replaced.

In some embodiments, after the medicine supply container 20 is coupled to the syringe 10, it is confirmed through the first image recognition module 200 whether the piston 11 of the syringe 10 is located at the starting point. When piston 11 is at the start when the piston 11 is not at the starting point, control the moving mechanism 100 so that the piston 11 is at the starting point, and then proceed to step S200.

Step S200 is performed to control the moving mechanism 100 configured to move the handle 11 a of the piston 11 of the syringe 10 according to the dispensing instruction, so that the syringe 10 draws medicine from the medicine supply container 20 . In some embodiments, according to the dosage of the dispensing instruction, the moving mechanism 100 is controlled so that the scale of the piston 11 reaches the dosage of the dispensing instruction.

Then, step S300 is performed to identify the first information of the scale of the air in the syringe 10 through the first image recognition module 200 .

When the first information is zero, step S400 is performed to identify the second information of the scale of the medicine in the syringe 10 through the first image recognition module 200 . When the first information is greater than zero, proceed to step S301 to control the moving mechanism 100 to exclude the air in the syringe 10 so that the first information is zero, and then proceed to step S400 to identify the air in the syringe 10 through the first image recognition module 200 Secondary information on the scale of the drug.

Then, step S500 is performed to compare the dispensing instruction and the second information. In some embodiments, after obtaining the second information and the dispensing instruction includes the name of the medicine collection container 40 or its corresponding barcode, the path of the tee tube 30 is switched to connect the syringe 10 with the medicine collection container 40 .

When the second information meets the dispensing instruction, the moving mechanism 100 is controlled to transport the medicine in the syringe 10 to the medicine collection container 40 . When the second information is smaller than the dispensing instruction, the moving mechanism 100 is controlled to transport the medicine in the syringe 10 to the medicine collection container 40 and the difference between the dispensing instruction and the second information is calculated. The empty medicine supply container 20 can then be replaced with another medicine supply container 20 that conforms to the dispensing instruction (for example, through the installation mechanism 500 ), and then the moving mechanism 100 is controlled according to the dispensing instruction and the difference to remove the medicine from the other medicine supply container. 20. Draw the medicine into the syringe 10, then perform steps S300 and S400, and then transport the medicine in the syringe 10 to the medicine collection container 40, so that the sum of the second information of the medicine scales delivered twice meets the dosage of the dispensing instruction. .

In some embodiments, when the medicine is delivered to the medicine collection container 40 , the weight change of the medicine collection container 40 and its interior is sensed through the weight sensing mechanism 700 . Whether the medicine is actually delivered to the medicine collection container 40 can be known by the weight change. In some embodiments, when the weight change reaches zero, an alarm is issued to alert personnel that a leak has occurred.

However, the above are only preferred embodiments of the present invention, and should not be used to limit the scope of the present invention. That is, simple equivalent changes and modifications may be made based on the patent scope of the present invention and the description of the invention. All are still within the scope of the patent of this invention. In addition, any embodiment or patentable scope of the present invention does not necessarily achieve all the purposes, advantages or features disclosed in the present invention. In addition, the abstract section and title are only used to assist in searching patent documents and are not intended to limit the scope of the invention.

S100, S200, S300, S301, S400, S500: steps

Claims (15)

An automated dispensing system includes: a moving mechanism configured to move a handle of a piston of a syringe to draw a medicine from a medicine supply container into the syringe or to eliminate air in the syringe; a first An image recognition module, configured to identify a first information of a scale of the air in the syringe and a second information of a scale of the medicine in the syringe when the first information is zero; and a control The module is connected between the moving mechanism and the first image recognition module. The control module is configured to receive a dispensing instruction, the first information and the second information, and according to the dispensing instruction, the first information information, the second information, or a combination thereof to control the mobile mechanism. The automated medication dispensing system as described in claim 1 further includes: a second image recognition module connected to the control module, the second image recognition module is configured to recognize information on the medication container, and the control module The group update setting is used to receive the information and confirm whether the information is consistent with the dispensing instruction. The automated dispensing system as described in claim 1, further comprising: an installation mechanism having one or more bearing mechanisms, the installation mechanism being configured to enable one of the one or more bearing mechanisms corresponding to the moving mechanism to carry The medicine supply container is coupled to the syringe; and a second image recognition module is configured to identify information about the medicine supply container carried by the one of the one or more carrying mechanisms corresponding to the moving mechanism, wherein The control module is connected between the installation mechanism and the second image recognition module. The control module is further configured to receive the information and confirm whether the information is consistent with the dispensing instruction. The automated dispensing system of claim 3, wherein the one or more carrying mechanisms are configured to carry the corresponding one or more medicine supply containers. The automated dispensing system of claim 1, wherein the moving mechanism is further configured to move the handle of the piston of the syringe to deliver the medicine in the syringe to the medicine collection container. The automated dispensing system of claim 5, further comprising: a switching mechanism connected to the control module, wherein the control module is configured to control the switching mechanism according to the dispensing instruction so that the syringe and the medicine collection container Connected. The automated dispensing system as described in claim 5, further comprising: a weight sensing mechanism connected to the control module, wherein the weight sensing mechanism is configured to sense the medicine collection when transporting the medicine to the medicine collection container. A change in weight of the container and its contents. The automated dispensing system as described in claim 1 further includes: a fixing mechanism configured to fix a handle of the syringe. An automated dispensing method, including: receiving a dispensing instruction; controlling a moving mechanism configured to move a handle of a piston of a syringe according to the dispensing instruction to draw a drug from a medication supply container into the syringe; After the medicine is sucked from the medicine supply container into the syringe, a first information of a scale of air in the syringe is identified through a first image recognition module; when the first information is zero, a first information of a scale of air in the syringe is identified through the first image recognition module. An image recognition module recognizes a second information of the scale of the medicine in the syringe, or, when the first information is greater than zero, controls the moving mechanism to discharge Remove the air in the syringe so that the first information is zero, and then identify a second information of the scale of the drug in the syringe through the first image recognition module; and compare the dispensing instruction with the first 2. Information. The method described in claim 9 further includes: after receiving the dispensing instruction and before controlling the mobile mechanism according to the dispensing instruction, identifying information of the medication container through a second image recognition module and confirming the information compliance with the dispensing order. The method of claim 9, further comprising: after receiving the dispensing instruction and before controlling the moving mechanism according to the dispensing instruction, using a second image recognition module to identify the corresponding moving mechanism among the plurality of medicine supply containers. information about the person and confirm whether it is consistent with the dispensing instruction; and when the information about the person corresponding to the mobile mechanism in the medicine supply containers is consistent with the dispensing instruction, control an installation mechanism so that the The one of the medicine supply containers is coupled to the syringe, or, when the information of the one of the medicine supply containers corresponding to the moving mechanism does not match the dispensing instruction, an installation mechanism is controlled so that the medicine supply containers The other container corresponds to the moving mechanism, and then uses the second image recognition module to identify an information of the other one of the medicine supply containers, and confirms whether it is consistent with the dispensing instruction. The method of claim 9 further includes: when the second information complies with the dispensing instruction, controlling the moving mechanism to transport the medicine in the syringe to the medicine collection container. The method of claim 9, further comprising: when the second information is smaller than the dispensing instruction, controlling the moving mechanism to transport the medicine in the syringe to the medicine collection container, and calculating the difference between the dispensing instruction and the dispensing instruction. A difference value of the second information. The method as described in claim 12 or 13 further includes: when transporting the medicine to the medicine collection container, sensing a weight change of the medicine collection container and its interior through a weight sensing mechanism. The method of claim 14 further includes: issuing a warning when the weight change reaches zero.

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