WO2016010157A1 - Système de préparation de solution chimique, dispositif de nettoyage, et système de dispositif de nettoyage - Google Patents

Système de préparation de solution chimique, dispositif de nettoyage, et système de dispositif de nettoyage Download PDF

Info

Publication number
WO2016010157A1
WO2016010157A1 PCT/JP2015/070632 JP2015070632W WO2016010157A1 WO 2016010157 A1 WO2016010157 A1 WO 2016010157A1 JP 2015070632 W JP2015070632 W JP 2015070632W WO 2016010157 A1 WO2016010157 A1 WO 2016010157A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
robot
container
infusion bag
lid
Prior art date
Application number
PCT/JP2015/070632
Other languages
English (en)
Japanese (ja)
Inventor
宏彰 村上
正行 野村
茂二 田坂
梅野　真
光重 関口
和隆 村田
Original Assignee
株式会社安川電機
日科ミクロン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/JP2014/069259 external-priority patent/WO2016009568A1/fr
Priority claimed from PCT/JP2014/069258 external-priority patent/WO2016009567A1/fr
Application filed by 株式会社安川電機, 日科ミクロン株式会社 filed Critical 株式会社安川電機
Priority to JP2016534513A priority Critical patent/JP6314229B2/ja
Publication of WO2016010157A1 publication Critical patent/WO2016010157A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J3/00—Devices or methods specially adapted for bringing pharmaceutical products into particular physical or administering forms

Definitions

  • the disclosed embodiment relates to a chemical solution preparation system, a cleaning device, and a cleaning device system.
  • Patent Document 1 describes a mixed injection device in which a drug such as an anticancer drug is mixed and prepared in an infusion solution, and the prepared medicinal solution is transferred to an infusion bag.
  • the chemical solution is injected into the infusion bag disposed outside the mixed injection processing chamber through the opening formed in the partition plate.
  • a drug or a droplet of a drug solution may adhere to the surface of the infusion bag through the opening, which is not sufficient in terms of safety.
  • the present invention has been made in view of such problems, and an object thereof is to provide a chemical solution preparation system, a cleaning apparatus, and a cleaning apparatus system that can improve safety.
  • a robot for preparing a chemical solution and injecting it into a container a cleaning device for cleaning the surface of the container into which the chemical solution has been injected by the robot with a cleaning solution, Is applied.
  • a cleaning device for cleaning the surface of a container enclosing a chemical solution with a cleaning liquid, comprising a cleaning chamber having an opening and a hook member for hanging the container. And a lid member for closing or opening the opening.
  • a cleaning device system including the cleaning device and a cabinet that houses the cleaning device is applied.
  • Robot system 1 is a chemical solution preparation system for preparing a chemical solution. As shown in FIG. 1, the robot system 1 includes a robot 100 (details will be described later), a controller 300, and a cabinet 2 in which the robot 100 can perform work.
  • the controller 300 is composed of, for example, a computer having an arithmetic device, a recording device, an input device, etc., and is connected to the robot 100 so as to be able to communicate with each other.
  • the controller 300 may be provided inside the robot 100.
  • the controller 300 controls the operation of the robot 100 (details will be described later).
  • the cabinet 2 has a substantially rectangular parallelepiped housing 20.
  • the housing 20 may have a shape other than a substantially rectangular parallelepiped shape (for example, a substantially cubic shape or a substantially cylindrical shape).
  • a draft chamber, a clean bench, an isolator or the like can be used as the cabinet 2.
  • the robot 100 and the work table 3 are arranged inside the housing 20.
  • the work table 3 has a shape and arrangement surrounding the front, left, and right sides of the robot 100, but is not limited thereto.
  • a tray 4 on which a plurality of devices used for preparing a chemical solution are mounted, a mounting table 200, a holding device 400, a preparation station 500, a cleaning device 600, and the like are included within the movable range of the robot 100.
  • a plurality of devices and the like are arranged.
  • the tray 4 is arranged on the right side of the robot 100
  • the mounting table 200, the holding device 400 and the cleaning device 600 are arranged in front of the robot 100
  • the preparation station 500 is arranged on the left side of the robot 100.
  • the types of devices and the like arranged within the movable range of the robot 100 and the arrangement positions of the devices are not limited to this.
  • an infusion bag 5, a syringe 6, a drug container 7, and the like are placed as chemical solution preparation devices.
  • the robot system 1 prepares a drug solution using the infusion bag 5, the syringe 6, the drug container 7, and the like. Note that devices other than these may be placed on the tray 4.
  • the infusion bag 5 has a bag body 51 and a port member 52.
  • the bag body 51 is a bag-like product in which two transparent resin sheets having the same dimensions, for example, having flexibility are overlapped and the peripheral edges thereof are joined by heat welding or the like.
  • the port member 52 is made of plastic, for example, and is attached to the end portion of the bag body 51 while being sandwiched between the two resin sheets.
  • a rubber stopper (not shown) is attached to the opening (not shown) of the port member 52, and the injection needle 63 of the syringe 6 is inserted into and removed from the rubber stopper.
  • An infusion solution such as a physiological saline solution or a glucose solution is sealed in the infusion bag 5, and is used for preparing a chemical solution by the robot system 1.
  • the prepared medicinal solution is returned to the infusion bag 5 and administered to the patient via a bottle needle, a drip tube, etc. (not shown).
  • the syringe 6 is used for transferring infusions and chemicals.
  • a plurality of types of syringes 6 having different diameters and lengths are prepared, and can be selectively used according to the type of infusion or drug solution to be transferred, the transfer amount, and the like.
  • a case where two types of syringes 6A and 6B having different diameters and lengths are used as shown in FIG. 1 will be described as an example, but only one type may be used. More than one type of syringe may be used.
  • FIG. 2 illustrates a case where a syringe 6A having a large diameter and length is set in the holding device 400.
  • the syringe 6A includes an outer cylinder 61, a plunger 62 that can move forward and backward with respect to the outer cylinder 61, and an injection needle 63 attached to the tip of the outer cylinder 61. And have. Since the syringe 6B having a small diameter and length has the same configuration, the configuration of the plunger and the like of the syringe 6B will be described below with the same reference numerals as the syringe 6A.
  • the powder container 7 is filled with a powder or liquid drug.
  • the infusion fluid sucked from the infusion bag 5 by the syringe 6 is injected into the medicine container 7, and the infusion fluid and the medicine are mixed and prepared.
  • FIG. 1 illustrates a case where three drug containers 7 are placed on the tray 4, the number of drug containers 7 is not limited to this.
  • the infusion bag 5 is placed on the mounting table 200 in a laid state.
  • the “laying state” means a state in which the infusion bag 5 is not self-supporting, and the positional relationship between the port member 52 and the bag body 51 is not in the vertical direction but in the surface direction of the mounting surface 201 of the mounting table 200.
  • the mounting surface 201 of the mounting table 200 is inclined so that the left end is lower than the right end. That is, when the placement surface 201 is placed so that the port member 52 of the infusion bag 5 faces the left side, the port member 52 is perpendicular to the end of the bag body 51 opposite to the port member 52. It inclines so that it may become downward in a direction.
  • the mounting table 200 has a function of a mass meter for measuring the mass of the placed infusion bag 5.
  • the measured mass data is output from the mounting table 200 to the controller 300.
  • the controller 300 can simultaneously monitor the transfer amount while transferring the infusion solution or the drug solution between the infusion bag 5 and the syringe 6.
  • the mounting table 200 includes a tilting mechanism 202, and the mounting surface 201 can be tilted by rotating around the fulcrum 203.
  • the holding device 400 is configured so that the position of the outer cylinder 61 and the injection needle 63 of the syringe 6 is fixed, and the syringe needle 63 is placed on the mounting table 200 side so that the plunger 62 can be moved back and forth with respect to the outer cylinder 61. Hold to face. As shown in FIG. 2, the syringe 6 is held so that the injection needle 63 faces substantially in the horizontal direction at substantially the same height as the port member 52 of the infusion bag 5 placed on the placement table 200.
  • the holding device 400 includes a plurality of holders with different diameters for holding a plurality of types of syringes 6 with different diameters. Details of this will be described later.
  • the preparation station 500 is a station for preparing a chemical solution by mixing an infusion solution and a drug, and includes, for example, a device (not shown) for injecting the infusion solution into the drug container 7, a stirrer (not shown), and the like.
  • the robot 100 transfers the syringe 6 that sucks the infusion from the infusion bag 5 and the drug container 7 to the preparation station 500 and sets them.
  • an infusion solution is injected from the syringe 6 into the drug container 7, the contents of the drug container 7 are agitated to prepare a drug solution, and the drug solution is sucked into the syringe 6 from the drug container 7.
  • the robot 100 takes out the syringe 6 that has sucked the chemical solution from the preparation station 500 and injects the chemical solution into the infusion bag 5.
  • the cleaning device 600 is a device for cleaning the infusion bag 5 into which a chemical solution has been injected.
  • the cabinet 2 there is a possibility that the liquid droplets or spilled liquid during preparation may adhere to the surface of the infusion bag 5.
  • preparation work may be performed using a drug or the like that is highly toxic or allergenic. For this reason, it is possible to prevent harmful substances from leaking outside the cabinet 2 by cleaning the infusion bag 5 with a cleaning liquid such as ozone water or hydrogen peroxide water. Details of the cleaning apparatus 600 will be described later. Note that the cleaning liquid includes a liquid not containing water.
  • the robot 100 is a so-called double-arm robot having a base 101, a body portion 102, and two arms 103L and 103R configured as separate bodies. Note that the robot 100 is not necessarily a double-arm robot, and may be configured as a robot having only a single arm.
  • the base 101 is fixed to the installation surface of the robot 100 (in this example, the floor surface of the cabinet 2) with, for example, anchor bolts.
  • the base 101 may be fixed to a surface (for example, a ceiling surface or a side surface) other than the floor surface in the cabinet 2.
  • the body portion 102 is supported at the distal end portion of the base 101 so as to be rotatable around a rotation axis Ax1 substantially perpendicular to the fixed surface of the base 101.
  • the body portion 102 is driven to rotate around the rotational axis Ax1 with respect to the distal end portion of the base 101 by driving an actuator Ac1 provided at a joint portion between the body portion 102 and the base 101.
  • the arm 103 ⁇ / b> L is rotatably supported on one side portion of the body portion 102.
  • the arm 103L includes a shoulder portion 104L, an upper arm A portion 105L, an upper arm B portion 106L, a lower arm portion 107L, a wrist A portion 108L, a wrist B portion 109L, and a flange portion 110L.
  • the shoulder portion 104L is supported on one side of the body portion 102 so as to be rotatable about a rotation axis Ax2 substantially perpendicular to the rotation axis Ax1.
  • the shoulder portion 104L is driven to rotate around the rotation axis Ax2 with respect to one side portion of the trunk portion 102 by driving of an actuator Ac2 provided at a joint portion between the shoulder portion 102L and the trunk portion 102.
  • the upper arm A portion 105L is supported on the distal end side of the shoulder portion 104L so as to be rotatable around a rotation axis Ax3 substantially perpendicular to the rotation axis Ax2.
  • the upper arm A portion 105L is pivotally driven around the rotation axis Ax3 with respect to the distal end side of the shoulder portion 104L by driving an actuator Ac3 provided at a joint portion between the upper arm A portion 105L and the shoulder portion 104L.
  • the upper arm B portion 106L is supported on the distal end side of the upper arm A portion 105L so as to be rotatable around a rotation axis Ax4 substantially perpendicular to the rotation axis Ax3.
  • the upper arm B portion 106L is rotationally driven around the rotation axis Ax4 with respect to the distal end side of the upper arm A portion 105L by driving of an actuator Ac4 provided at a joint portion between the upper arm A portion 105L.
  • the lower arm portion 107L is supported on the distal end side of the upper arm B portion 106L so as to be rotatable around a rotation axis Ax5 substantially perpendicular to the rotation axis Ax4.
  • the lower arm 107L is pivotally driven around the rotation axis Ax5 with respect to the distal end side of the upper arm B 106L by driving an actuator Ac5 provided at a joint between the lower arm 107L and the upper arm B 106L.
  • the wrist A portion 108L is supported on the distal end side of the lower arm portion 107L so as to be rotatable around a rotation axis Ax6 substantially perpendicular to the rotation axis Ax5.
  • the wrist A portion 108L is driven to rotate about the rotation axis Ax6 with respect to the distal end side of the lower arm portion 107L by driving of an actuator Ac6 provided at a joint portion between the wrist A portion 108L and the lower arm portion 107L.
  • the wrist B portion 109L is supported on the distal end side of the wrist A portion 108L so as to be rotatable around a rotation axis Ax7 substantially perpendicular to the rotation axis Ax6.
  • the wrist B portion 109L is pivotally driven around the rotational axis Ax7 with respect to the distal end side of the wrist A portion 108L by driving an actuator Ac7 provided at a joint portion between the wrist A portion 108L and the wrist A portion 108L.
  • the flange portion 110L is supported on the tip side of the wrist B portion 109L so as to be rotatable around a rotation axis Ax8 substantially perpendicular to the rotation axis Ax7.
  • the flange portion 110L is rotationally driven around the rotation axis Ax8 with respect to the distal end side of the wrist B portion 109L by driving of an actuator Ac8 provided at a joint portion with the wrist B portion 109L.
  • a hand 120L is attached to the tip of the flange portion 110L.
  • the hand 120L attached to the tip of the arm 103L rotates around the rotation axis Ax8 together with the rotation around the rotation axis Ax8 of the flange portion 110L.
  • the hand 120L includes a pair of claw members 130 and 130 that can operate in directions away from each other.
  • the hand 120L can hold the port member 52 of the infusion bag 5, the drug container 7 and the like with the claw members 130 and 130, and can operate various devices such as the holding device 400 and the cleaning device 600. is there.
  • the arm 103R has a symmetrical structure with the arm 103L, and is rotatably supported on the other side portion of the body portion 102.
  • the arm 103R includes a shoulder portion 104R, an upper arm A portion 105R, an upper arm B portion 106R, a lower arm portion 107R, a wrist A portion 108R, a wrist B portion 109R, and a flange portion 110R.
  • the shoulder portion 104R is supported on the other side of the body portion 102 so as to be rotatable around a rotation axis Ax9 substantially perpendicular to the rotation axis Ax1.
  • the shoulder 104R is rotationally driven around the rotational axis Ax9 with respect to the other side of the body 102 by driving of an actuator Ac9 provided at a joint between the shoulder 104R and the body 102.
  • the upper arm A portion 105R is supported on the distal end side of the shoulder portion 104R so as to be able to turn around a rotation axis Ax10 substantially perpendicular to the rotation axis Ax9.
  • the upper arm A portion 105R is pivotally driven around the rotation axis Ax10 with respect to the distal end side of the shoulder portion 104R by driving an actuator Ac10 provided at a joint portion between the upper arm A portion 105R and the shoulder portion 104R.
  • the upper arm B portion 106R is supported on the distal end side of the upper arm A portion 105R so as to be rotatable around a rotation axis Ax11 substantially perpendicular to the rotation axis Ax10.
  • the upper arm B portion 106R is rotationally driven around the rotational axis Ax11 with respect to the distal end side of the upper arm A portion 105R by driving of an actuator Ac11 provided at a joint portion between the upper arm A portion 105R.
  • the lower arm portion 107R is supported on the distal end side of the upper arm B portion 106R so as to be rotatable around a rotation axis Ax12 substantially perpendicular to the rotation axis Ax11.
  • the lower arm portion 107R is pivotally driven around the rotation axis Ax12 with respect to the distal end side of the upper arm B portion 106R by driving of an actuator Ac12 provided at a joint portion with the upper arm B portion 106R.
  • the wrist A portion 108R is supported on the distal end side of the lower arm portion 107R so as to be rotatable around a rotation axis Ax13 substantially perpendicular to the rotation axis Ax12.
  • the wrist A portion 108R is driven to rotate about the rotation axis Ax13 with respect to the distal end side of the lower arm portion 107R by driving of an actuator Ac13 provided at a joint portion between the wrist A portion 108R and the lower arm portion 107R.
  • the wrist B portion 109R is supported on the distal end side of the wrist A portion 108R so as to be able to turn around a rotation axis Ax14 substantially perpendicular to the rotation axis Ax13.
  • the wrist B portion 109R is pivotally driven around the rotational axis Ax14 with respect to the distal end side of the wrist A portion 108R by driving an actuator Ac14 provided at a joint portion between the wrist A portion 108R and the wrist A portion 108R.
  • the flange portion 110R is supported on the tip side of the wrist B portion 109R so as to be rotatable around a rotation axis Ax15 substantially perpendicular to the rotation axis Ax14.
  • the flange portion 110R is rotationally driven around the rotational axis Ax15 with respect to the distal end side of the wrist B portion 109R by driving of an actuator Ac15 provided at a joint portion between the flange B portion 109R and the wrist B portion 109R.
  • a hand 120R is attached to the tip of the flange portion 110R.
  • the hand 120R attached to the tip of the arm 103R rotates around the rotation axis Ax15 as the flange 110R rotates around the rotation axis Ax15.
  • the hand 120R includes a pair of claw members 140 and 140 that can operate in directions away from each other.
  • the hand 120R can hold the outer cylinder 61 or the plunger 62 of the syringe 6 with the claw members 140 and 140, and can operate various devices such as the holding device 400 and the cleaning device 600.
  • the rotation axis Ax1 and the rotation axes Ax2 and Ax9 are offset by a length D1 in a direction substantially perpendicular to the fixed surface of the base 101.
  • a body portion 102 protrudes from 101. Accordingly, the space below the shoulder portions 104L and 104R can be used as a work space, and the reachable range of the arms 103L and 103R is expanded by rotating the body portion 102 about the rotation axis Ax1.
  • the shape of the upper arm B portion 106R is set so that the positions of the rotational axis Ax11 and the rotational axis Ax12 in the top view are offset by the length D2, and the rotational axis Ax12 and the rotational axis
  • the shape of the lower arm portion 107R is set so that the position of the center Ax13 in the top view is offset by the length D3.
  • the shape of the upper arm B portion 106L is set so that the positions of the rotation axis Ax4 and the rotation axis Ax5 in the top view are offset by the length D2, and the rotation axis
  • the shape of the lower arm portion 107L is set so that the positions of Ax5 and the rotation axis Ax6 in the top view are offset by the length D3.
  • each of the actuators Ac1 to Ac15 is constituted by, for example, a servo motor provided with a speed reducer.
  • the rotational position information of the actuators Ac1 to Ac15 is output as a signal from a rotational position sensor (not shown) built in the actuator to the controller 300 at every predetermined calculation cycle.
  • rotation around the rotation axis along the longitudinal direction (or the extending direction) of the arms 103L and 103R is referred to as “rotation”, and is approximately in the longitudinal direction (or extending direction) of the arms 103L and 103R.
  • the rotation around the vertical rotation axis is called “swivel” to distinguish.
  • vertical in the above description is not strict, and tolerances and errors that occur substantially are allowed.
  • vertical in the above description does not mean that virtual axes intersect, but includes a case of a twisted position as long as the directions formed by the virtual axes intersect.
  • the hand 120L includes the pair of claw members 130 and 130 described above and a base portion 122L.
  • the base portion 122L has a built-in drive source (not shown) that drives the pair of claw members 130 and 130 so as to move to and away from each other.
  • a built-in drive source (not shown) that drives the pair of claw members 130 and 130 so as to move to and away from each other.
  • an air cylinder or an electric motor is used as the drive source, but other drive sources such as a hydraulic motor may be used.
  • two rectangular openings 123L are formed on the end surface of the base portion 122L opposite to the flange portion 110L.
  • the claw member 130 is connected to a drive source through the opening 123L.
  • the one claw member 130 and the other claw member 130 are members of substantially the same shape, and are rotationally symmetric arrangements rotated by 180 degrees about the rotation axis Ax8 (see FIG. 3). Thereby, the number of parts and cost can be reduced. In addition, you may use the nail
  • Each claw member 130 is directed to a connecting portion 131 connected to a drive source by a bolt or the like, and a reference surface for a perspective operation from the connecting portion 131 (that surface on which each claw member 130 operates a perspective with the same reference surface as a center).
  • each claw member 130 is not limited to this.
  • the connecting portions 131 of the claw members 130 are offset from each other in a direction perpendicular to the surface direction of the reference surface.
  • the grip 134 is disposed on the same reference plane.
  • a substantially trapezoidal concave portion 135 is formed inside the grip portion 134 (on the side where the claw members face each other).
  • the shape and size of the recess 135 are set according to the shape and size of the port member 52 and the drug container 7 of the infusion bag 5 held by the holding portion 134.
  • the shape of the recess 135 may be a shape other than a trapezoid (such as a triangular shape or an arc shape).
  • the thickness of the grip portion 134 in the direction perpendicular to the surface direction of the reference surface shown as the thickness t1 in FIG. 4C) is smaller than the thickness of the extending portion 133.
  • the thickness t1 of the grip portion 134 is configured to be thinner than the thickness in the direction perpendicular to the plane direction of the reference surface of the grip portion 143 of the claw member 140 of the hand 120R (shown as the thickness t2 in FIG. 6C). The However, it is not limited to this.
  • a support member 138 is fixed to one of the pair of claw members 130 and 130.
  • the support member 138 is a substantially rectangular plate-like member, and is fixed to the extending portion 133 of one claw member 130 by a screw 139.
  • the support member 138 has a length that reaches, for example, the other claw member 130 when the claw members 130, 130 grip the port member 52 or the drug container 7.
  • the support member 138 is fixed to one of the claw members 130 so as not to come into contact with the other claw member 130 (escape in a direction perpendicular to the reference plane), so that the claw members 130 and 130 can be operated in a perspective direction. There is no inhibition.
  • the support member 138 may have a shape other than a rectangle, or a shape other than a plate (for example, a prismatic shape). Further, it may be fixed by bonding or the like instead of a screw, or may be fixed to a portion other than the extending portion 133 of the claw member 130. Furthermore, the number of support members 138 is not necessarily one. For example, a support member separated into two may be fixed to both the claw members 130 and 130.
  • the medicine container 7 includes, for example, a cap 71 and a container body 72.
  • the container body 72 has a neck portion 72a and a shoulder portion 72b.
  • the neck portion 72 a is a portion of the container main body 72 whose outer diameter is substantially equal to (or less than) the cap 71.
  • the shoulder portion 72 b is a portion whose outer diameter increases from the outer diameter of the neck portion 72 a to the maximum outer diameter of the container main body 72.
  • the medicine container 7 may be held by the robot 100 with its posture changed (tilted obliquely). is there.
  • the shoulder 72 b of the drug container 7 with the neck 72 a held by the claw member 130 can be supported by the support member 138.
  • the shape and dimensions of the support member 138 are set according to the shape and dimensions of the drug container 7 so that such support is possible.
  • the hand 120R has the above-described pair of claw members 140, 140 and a base portion 122R.
  • the base portion 122R has a built-in drive source (not shown) that drives the pair of claw members 140 and 140 so as to move to and away from each other.
  • a built-in drive source (not shown) that drives the pair of claw members 140 and 140 so as to move to and away from each other.
  • two rectangular openings 123R are formed on the end surface of the base portion 122R opposite to the flange portion 110R.
  • the claw member 140 is connected to a drive source through the opening 123R.
  • One claw member 140 and the other claw member 140 are members having substantially the same shape except for engagement grooves 146 and 147, which will be described later, and are rotated 180 degrees around the rotation axis Ax15 (see FIG. 3). It has a rotationally symmetric arrangement. In addition, you may use the nail
  • Each claw member 140 is connected to a connecting portion 141 connected to a drive source by a bolt or the like, and a reference surface for the perspective operation from the connecting portion 141 (the surface on which each claw member 140 operates in a perspective manner around the same reference surface). And a curved portion 142 that is curved and extends, and a hook-shaped grip portion 143 that extends from the curved portion 142 in the direction of the rotation axis Ax15.
  • the configuration of each claw member 140 is not limited to this.
  • the connecting portions 141 of the claw members 140 are offset from each other in a direction perpendicular to the surface direction of the reference plane, but the gripping portions 143 of the claw members 140 are Arranged on the same reference plane.
  • a plurality of concave portions 144 and 145 having different diameters are formed inside the grip portion 143 (on the side where the claw members face each other). Specifically, a comparatively large concave portion 144 having a substantially trapezoidal shape and a comparatively small concave portion 145 having a substantially trapezoidal shape are formed on the distal end side of the concave portion 144.
  • the shape and size of the concave portion 144 are set according to the shape and size of the syringe 6A gripped by the grip portion 134, and the shape and size of the concave portion 145 are set according to the shape and size of the syringe 6B gripped by the grip portion 134. Is set.
  • the hand 120R can hold two types of syringes 6A and 6B with one type of claw member 140.
  • the shapes of the concave portions 144 and 145 may be shapes other than the trapezoid (such as a triangular shape or an arc shape). In this example, two types of recesses are formed. However, only one type of recess may be used as in the case of the hand 120L, or three or more types of recesses corresponding to three or more types of syringes 6 may be formed. .
  • An engagement groove 147 with which the flange portion 62a of the plunger 62 of the syringe 6B is engaged is formed on the inner wall surface of the corresponding recess 145 along the direction of the rotation axis Ax15.
  • the engagement grooves 146 and 147 are formed by being offset in a direction perpendicular to the reference surface, thereby preventing the engagement grooves from interfering with each other.
  • the thickness of the grip portion 143 in the direction perpendicular to the surface direction of the reference surface (shown as the thickness t2 in FIG. 6C) is thicker than the thickness t1 of the grip portion 134 of the claw member 130 of the hand 120L.
  • the gripping part 143 can also grip a flexible drip tube, for example.
  • the above-mentioned hand 120L, 120R has a laser sensor which can detect articles
  • FIG. 7A to 7C show a state where the holding device 400 holds the syringe 6A, and also shows a state where the injection needle cover 64 is attached to the syringe 6A.
  • the holding device 400 includes a base plate 402 supported at both ends in the front-rear direction by support columns 401, a support plate 403 erected on the right side of the base plate 402, and a holder switch erected on the left side of the base plate 402.
  • Mechanism 410 In the upper part of the support plate 403, a recess 404 is formed in which a needle support part 61 a provided at the tip of the outer cylinder 61 of the syringe 6 is engaged. Since the needle support portion 61a has substantially the same shape and size in both the syringes 6A and 6B, the support plate 403 can support the needle support portions 61a of both the syringes 6A and 6B.
  • the holder switching mechanism 410 includes two holders 420 and 430 having different diameters (recesses) for holding two types of syringes 6A and 6B having different diameters.
  • the holder 420 is a holder for holding the syringe 6A having a large diameter and length, and a concave portion 421 having a large diameter with which the outer cylinder 61 of the syringe 6A is engaged is formed.
  • the holder 420 has a groove 422 into which the flange portion 61b of the outer cylinder 61 is inserted when the outer cylinder 61 of the syringe 6A is engaged with the recess 421. Due to the engagement between the groove 422 and the flange portion 61b, the syringe 6A is held so that the plunger 62 can be advanced and retracted while the position of the outer cylinder 61 is fixed.
  • the holder 430 is a holder for holding the syringe 6B having a small diameter and length, and a small-diameter concave portion 431 with which the outer cylinder 61 of the syringe 6B is engaged is formed.
  • the holder 430 has a groove (not shown) into which the flange portion 61b of the outer cylinder 61 is inserted when the outer cylinder 61 of the syringe 6B is engaged with the recess 431. Due to the engagement between the groove and the flange portion 61b, the syringe 6B is held so that the plunger 62 can be advanced and retracted while the position of the outer cylinder 61 is fixed.
  • the configurations of the holder 420 and the holder 430 are not limited to the above.
  • the holder 420 and the holder 430 are connected by a connecting member 405 at an interval of about 90 degrees in the rotation direction, and the connecting member 405 is supported so as to be rotatable about a shaft 406.
  • a handle 407 is installed in the holder 420.
  • the connecting member 405 is rotated 90 degrees, and the holder 420, the holder 430, Can be switched.
  • the connecting member 405 connects the holder 420 and the holder 430 by offsetting them in the left-right direction by a predetermined dimension (dimension L shown in FIG. 7B). This dimension L corresponds to the difference in length between the syringe 6A and the syringe 6B.
  • the holding device 400 is configured to hold the two types of syringes 6A and 6B.
  • the configuration is not limited thereto, and may be configured to hold only one type of syringe 6. It is good also as a structure which can hold
  • the interval between the holders may be smaller than 90 degrees (for example, an interval of 60 degrees).
  • a mass meter may be provided in the lower part of the holding device 400, or the holding device 400 itself may have a measurement function for measuring the mass of the syringe 6 in the same manner as the mounting table 200.
  • the controller 300 transfers the infusion solution or the drug solution between the infusion bag 5 and the syringe 6, and at the same time, determines the transfer amount by the mass measurement result on the mounting table 200. And can be monitored more accurately.
  • the cleaning device 600 includes a hook member 601 that suspends the infusion bag 5 into which the prepared medicinal solution is injected, and a cleaning that cleans the infusion bag 5 that is suspended from the hook member 601.
  • a guide member 602 that guides to the cleaning chamber 610.
  • the hook member 601 is a plate-like member, and has, for example, a notch 601a capable of locking the port member 52 of the infusion bag 5 at the center thereof.
  • a handle 604 is provided on the upper portion of the hook member 601 via a connecting plate 603, and the robot 100 grips the handle 604 using either the hand 120L or 120R and moves it up and down, so that the hook The infusion bag 5 suspended from the member 601 can be taken in and out of the cleaning chamber 610.
  • struts 609 are extended downward at the lower portion of the hook member 601. These struts 609 abut against the bag body 51 when the infusion bag 5 is cleaned, thereby preventing the infusion bag 5 from rotating due to the pressure of the cleaning liquid or air.
  • pillars 609 is not limited above, One or two may be sufficient and it is good also as four or more.
  • a plate-like lid member 605 is fixed to the connecting plate 603.
  • Guide members 602 and 602 are slidably passed through both ends of the lid member 605.
  • the hook member 601 is movable along the guide direction of the guide member 602.
  • the number of guide members 602 is not limited to two, but may be one or three or more.
  • a magnet 612 (an example of a holding member) is installed on the upper portion of the lid member 605 (or the lower portion of the gate member 611). With the magnet 612, the lid member 605 is attracted to the gate member 611 installed at the upper end of the guide member 602 in a state where the hook member 601 is located at the attachment position (position shown in FIG. 8A). Thereby, even if the robot 100 releases the hands 120L and 120R from the handle 604, the lid member 605 is held at the attachment position.
  • a holding member that holds the lid member 605 may be other than a magnet (for example, a device that hooks the lid member).
  • the magnet 612 attracts the lid member 605 and the gate member 611 to be separated by the downward movement operation of the handle 604 by the hands 120L and 120R.
  • This downward movement operation is executed so as to have a constant speed, for example, by speed control by the controller 300, so that rapid speed fluctuation during separation can be suppressed.
  • the speed control may be performed so that the speed is not constant.
  • the lid member 605 closes the opening 606 and seals the cleaning chamber 610 when the hook member 601 moves into the cleaning chamber 610.
  • the guide structure of the hook member 601 and the closing structure of the opening 606 are not limited to this.
  • the cleaning room 610 is accommodated in the work table 3, for example.
  • the entire cleaning apparatus 600 including the cleaning chamber 610 may be installed on the work table 3.
  • a plurality of cleaning nozzles 607 from which cleaning liquid such as ozone water or hydrogen peroxide water is jetted are installed in the cleaning chamber 610.
  • the cleaning liquid is ejected from the plurality of cleaning nozzles 607 toward the infusion bag 5 in a state where the hook member 601 is moved into the cleaning chamber 610 and the lid member 605 closes the opening 606.
  • the length of the connecting plate 603, the arrangement height of the cleaning nozzle 607, and the like are set so that the cleaning liquid is ejected not only to the bag body 51 of the infusion bag 5 but also to the port member 52.
  • an air nozzle 608 (an example of a first air nozzle) is installed above the cleaning nozzle 607, in other words, on the opening 606 side of the cleaning nozzle 607.
  • the air nozzle 608 is disposed in the vicinity of the infusion bag 5 disposed in the cleaning chamber 610, and has one or more pipes provided with air ejection holes 608a formed at a plurality of locations.
  • the air nozzle 608 has a configuration in which, for example, a plurality of ejection holes 608a facing obliquely downward (or in the horizontal direction) are formed at a plurality of locations in the circumferential direction of an annular tube or pipe installed in the vicinity of the opening 606. It has become.
  • the configuration of the air nozzle 608 is not limited to this.
  • the air nozzle 608 may be provided below the cleaning nozzle 607.
  • the cleaning nozzle 607 may have the same configuration as the air nozzle 608.
  • the controller 300 includes a first operation control unit 301, a second operation control unit 302, a third operation control unit 303, a fourth operation control unit 304, and a fifth operation control unit 305. , A sixth operation control unit 306, a seventh operation control unit 307, and an eighth operation control unit 308.
  • the first operation control unit 301 moves the port member 52 of the infusion bag 5 placed on the placement table 200 at least once to the hand 120L.
  • the operation of the robot 100 is controlled so as to be pushed downward in the vertical direction by the claw member 130 (see FIG. 13 described later).
  • the second operation control unit 302 moves the port member 52 of the infusion bag 5 placed on the placement table 200 to the claw member of the hand 120L.
  • the operation of the robot 100 is controlled so as to be held at 130 (see FIGS. 15A and 17A described later).
  • the third operation control unit 303 moves the port member 52 held by the claw member 130 of the hand 120 ⁇ / b> L to the injection needle 63.
  • the operation of the robot 100 is controlled so as to be moved (see FIGS. 15B and 17B described later).
  • the fourth operation control unit 304 controls the operation of the robot 100 so that the holders 420 and 430 of the holding device 400 are switched by the claw member 140 of the hand 120R or the claw member 130 of the hand 120L according to the syringe 6 to be used.
  • the fifth operation control unit 305 moves the plunger 100 of the syringe 6 with the claw member 140 of the hand 120R to move the robot 100 so that the infusion solution is transferred between the infusion bag 5 and the syringe 6. Control (see FIGS. 15C and 17C described later).
  • the sixth operation control unit 306 performs the holding of the port member 52 of the infusion bag 5 and the forward / backward movement of the plunger 62 of the syringe 6 independently with the hands 120L and 120R of the different arms 103L and 103R, The operation of the robot 100 is controlled (see FIGS. 15C and 17C described later).
  • the seventh operation control unit 307 makes the port member 52 of the infusion bag 5 face the hand 120R side of the other arm 103R. Then, the operation of the robot 100 is controlled (see FIG. 12B described later).
  • the eighth operation control unit 308 hangs the infusion bag 5 on the hook member 601 of the cleaning device 600, and moves the hook member 601 from the attachment position to the cleaning chamber 610 along the guide member 602. To control the operation of the robot 100.
  • each of the operation control units 301 to 308 described above is not limited to the example of sharing of these processes, and may be processed by, for example, one processing unit or further subdivided. It may be processed by another processing unit.
  • Each function of the controller 300 may be implemented by a program executed by a CPU 901 (see FIG. 34) to be described later, or a part or all of it is a dedicated integrated circuit 907 such as an ASIC or FPGA (see FIG. 34), It may be implemented by an actual device such as another electric circuit.
  • step S100 the controller 300 executes a placement process for the infusion bag 5.
  • the robot 100 under the control of the controller 300, the robot 100 performs operations such as transferring the infusion bag 5 from the tray 4 with the hand 120L of the arm 103L and placing it on the mounting table 200 (see FIG. 11 described later for details). ).
  • step S200 the controller 300 executes the infusion process.
  • the robot 100 transfers the syringe 6 from the tray 4 with the hand 120R of the arm 103R and sets it on the holding device 400, and is placed on the mounting table 200 with the hand 120L of the arm 103L.
  • the infusion bag 5 is moved, the injection needle 63 is inserted into the rubber stopper of the port member 52, and the plunger 62 of the syringe 6 is operated by the hand 120R of the arm 103R to perform operations such as sucking the infusion from the infusion bag 5 ( Refer to FIG. 14 for details).
  • step S300 the controller 300 executes a chemical preparation process.
  • the robot 100 transfers the syringe 6 that has sucked the infusion solution from the infusion bag 5 to the preparation station 500 and sets it with the hand 120R of the arm 103R.
  • the robot 100 transfers and sets the drug container 7 placed on the tray 4 to the preparation station 500 by the hand 120L of the arm 103L.
  • the controller 300 causes the robot 100 to perform the infusion processing of step S200 and the operation of transferring the suctioned syringe 6 to the preparation station 500 a plurality of times as necessary.
  • an infusion solution is injected from the syringe 6 into the drug container 7, the contents of the drug container 7 are agitated to prepare a drug solution, and the drug solution is sucked into the syringe 6 from the drug container 7.
  • step S400 the controller 300 executes a chemical injection process.
  • the robot 100 transfers the syringe 6 from the preparation station 500 with the hand 120R of the arm 103R, sets the syringe 6 on the holding device 400, and is mounted on the mounting table 200 with the hand 120L of the arm 103L.
  • the infusion bag 5 is moved, the injection needle 63 is inserted into the rubber stopper of the port member 52, and the plunger 62 of the syringe 6 is operated by the hand 120R of the arm 103R to inject the medicinal solution into the infusion bag 5. (See FIG. 16 for details).
  • step S500 the controller 300 executes a cleaning process for the infusion bag 5.
  • the robot 100 hangs the infusion bag 5 on the hook member 601, moves the hook member 601 along the guide member 602 from the attachment position to the cleaning chamber 610, and after the cleaning is completed, the hook member Operations such as taking out 601 from the cleaning chamber 610 are performed (refer to FIG. 18 described later for details).
  • processing steps described above are merely examples, and at least a part of the above steps may be deleted or changed, or steps other than the above may be added.
  • step S100 An example of a detailed process of the above-described infusion bag placement process (step S100) will be described with reference to FIGS.
  • step S110 under the control of the controller 300, the robot 100 grips the neck portion 52a of the port member 52 of the infusion bag 5 placed on the tray 4 by the claw member 130 of the hand 120L of the arm 103L, and removes the infusion bag 5 Transfer from the tray 4 to the mounting table 200.
  • FIG. 12A shows an example of the operation of the robot 100 at this time. In FIG. 12A, illustration of a part of the structure of the arm 103L is omitted.
  • step S120 the robot 100 controls the seventh operation control unit 307 of the controller 300 so that the robot 100 places the infusion bag 5 on the mounting table 200 with the hand 120L of one arm 103L, and the port member 52 of the infusion bag 5. Is placed on the mounting table 200 so that the other arm 103R faces the hand 120R side.
  • FIG. 12B shows an example of the operation of the robot 100 at this time. In FIG. 12B, illustration of a part of the structure of the arm 103L is omitted.
  • step S130 under the control of the first operation control unit 301 of the controller 300, the robot 100 pushes down the port member 52 of the infusion bag 5 placed on the placing table 200 downward by the claw member 130 of the hand 120L.
  • This depression may be performed once or a plurality of times. Thereby, the air in the port member 52 is vented.
  • FIG. 13 shows an example of the operation of the hand 120L and the like at this time. Note that the pushing-down operation of the port member 52 may be executed by the claw member 140 of the hand 120R.
  • processing steps described above are merely examples, and at least a part of the above steps may be deleted or changed, or steps other than the above may be added.
  • step S200 an example of a detailed process of the above-described infusion suction process (step S200) will be described with reference to FIGS. 15A to 15C show a case where the syringe 6A is held by the holding device 400.
  • FIGS. 15A to 15C show a case where the syringe 6A is held by the holding device 400.
  • step S210 the robot 100 operates the handle 407 of the holding device 400 using the claw member 140 of the hand 120R or the claw member 130 of the hand 120L under the control of the fourth operation control unit 304 of the controller 300, and the syringe to be used.
  • step S220 under the control of the controller 300, the robot 100 grips the outer cylinder 61 of the syringe 6 with the claw member 140 of the hand 120R of the arm 103R, and transfers the syringe 6 from the tray 4 to the holding device 400. At this time, the robot 100 grips using the recess 144 of the claw member 140 when using the syringe 6A, and grips using the recess 145 of the claw member 140 when using the syringe 6B.
  • the needle support portion 61a of the outer cylinder 61 of the syringe 6 is engaged with the recess 404 of the support plate 403, and the outer cylinder 61 is engaged with the recess 421 of the holder 420 (or the recess 431 of the holder 430).
  • the syringe 6 is set on the holding device 400 so that the flange portion 61b is inserted into the groove 422 of the holder 420 (or the groove of the holder 430).
  • the syringe 6 is held so that the plunger 62 can be advanced and retracted while the positions of the outer cylinder 61 and the injection needle 63 are fixed.
  • step S230 the robot 100 holds the port member 52 of the infusion bag 5 mounted on the mounting table 200 with the claw member 130 of the hand 120L under the control of the second operation control unit 302 of the controller 300.
  • FIG. 15A shows an example of the operation of the hand 120L and the like at this time.
  • the robot 100 moves the port member 52 held by the claw member 130 of the hand 120L so as to approach the injection needle 63, and moves the injection needle 63 to the port member. 52 is inserted into the rubber stopper.
  • FIG. 15B shows an example of the operation of the hand 120L and the like at this time.
  • step S240 under the control of the fifth operation control unit 305 of the controller 300, the robot 100 operates to pull out the plunger 62 of the syringe 6 from the outer cylinder 61 with the claw member 140 of the hand 120R, thereby injecting the infusion solution. Aspirate from 5. At this time, the robot 100 engages the flange portion 62a of the plunger 62 with the engagement groove 146 of the claw member 140 when the syringe 6A is used, and the flange portion 62a of the plunger 62 when the syringe 6B is used. 140 engagement grooves 147 are engaged.
  • the robot 100 controls the holding of the port member 52 of the infusion bag 5 and the operation of the plunger 62 of the syringe 6 by the control of the sixth operation control unit 306 of the controller 300, and the hands 120L and 120R of the different arms 103L and 103R. Individually and independently.
  • FIG. 15C shows an example of the operation of the hand 120R and the hand 120L at this time.
  • processing steps described above are merely examples, and at least a part of the above steps may be deleted or changed, or steps other than the above may be added.
  • step S400 an example of a detailed process of the above-described infusion processing (step S400) will be described with reference to FIGS. 17A to 17C illustrate the case where the syringe 6A is held by the holding device 400.
  • step S410 under the control of the controller 300, the robot 100 grips the outer cylinder 61 of the syringe 6 with the claw member 140 of the hand 120R of the arm 103R, and transfers the syringe 6 from the preparation station 500 to the holding device 400. In the preparation station 500, the drug solution is sucked into the syringe 6. Then, the robot 100 sets the syringe 6 on the holding device 400.
  • step S420 under the control of the second motion control unit 302 of the controller 300, the robot 100 moves the port member 52 of the infusion bag 5 placed on the placement table 200 to the claw member of the hand 120L as in step S230 described above. Hold at 130.
  • FIG. 17A shows an example of the operation of the hand 120L and the like at this time.
  • FIG. 17B shows an example of the operation of the hand 120L and the like at this time.
  • step S430 under the control of the fifth operation control unit 305 of the controller 300, the robot 100 operates to push the plunger 62 of the syringe 6 into the outer cylinder 61 with the claw member 140 of the hand 120R, thereby supplying the infusion bag. 5 is injected.
  • the robot 100 controls the holding of the port member 52 of the infusion bag 5 and the operation of the plunger 62 of the syringe 6 by the control of the sixth operation control unit 306 of the controller 300, and the hands 120L and 120R of the different arms 103L and 103R. Individually and independently.
  • FIG. 17C shows an example of the operation of the hand 120R and the hand 120L at this time.
  • processing steps described above are merely examples, and at least a part of the above steps may be deleted or changed, or steps other than the above may be added.
  • step S500 An example of a detailed process of the above-described infusion bag cleaning process (step S500) will be described with reference to FIG. 18 and FIG. 8 described above.
  • step S510 under the control of the controller 300, the robot 100 grips the neck 52a of the port member 52 of the infusion bag 5 into which the medicinal solution is injected by the claw member 130 of the hand 120L of the arm 103L, and places the infusion bag 5 on the mounting table. 200 to the cleaning device 600. Then, under the control of the eighth operation control unit 308 of the controller 300, the robot 100 hangs the infusion bag 5 on the hook member 601 of the cleaning device 600 and sets it. An example of this state is shown in FIG. 8A described above.
  • step S520 the robot 100 grips the handle 604 using either the hand 120L or 120R, and pushes down the handle 604 to be hung on the hook member 601 under the control of the eighth motion control unit 308 of the controller 300.
  • the infusion bag 5 is moved to the cleaning chamber 610.
  • step S530 the cleaning apparatus 600 starts cleaning under the control of the controller 300.
  • An example of this state is shown in FIG. 8B described above.
  • a cleaning start switch or the like may be installed in the cleaning apparatus 600 and the robot 100 may operate the switch using either the hand 120L or 120R, or the hook member 601 may enter the cleaning chamber 610. You may make it start washing
  • step S540 under the control of the controller 300, the robot 100 grips the handle 604 using either the hand 120L or 120R, lifts the handle 604, and takes out the infusion bag 5 from the cleaning chamber 610. At this time, air is ejected from the plurality of air nozzles 608 toward the infusion bag 5 to remove the cleaning liquid.
  • FIG. 8C An example of this state is shown in FIG. 8C described above.
  • step S550 under the control of the controller 300, the robot 100 grips the neck 52a of the port member 52 of the infusion bag 5 that has been cleaned with the claw member 130 of the hand 120L of the arm 103L, and cleans the infusion bag 5 with the cleaning device 600. To the tray 4.
  • processing steps described above are merely examples, and at least a part of the above steps may be deleted or changed, or steps other than the above may be added.
  • the robot system 1 includes the mounting table 200 on which the infusion bag 5 is mounted, and the syringe 6 is placed on the port member 52 of the infusion bag 5 mounted on the mounting table 200.
  • the infusion solution is transferred by inserting the injection needle 63. That is, since a holder for holding the infusion bag 5 is not required, it is not necessary to prepare a special holder corresponding to each of the various types of infusion bags 5. Therefore, the system configuration can be simplified and the cost can be reduced. Moreover, since it becomes unnecessary to replace
  • the first operation control unit 301 of the controller 300 is configured so that the port of the infusion bag 5 placed on the placement table 200 at least once before the injection needle 63 of the syringe 6 is inserted into and removed from the port member 52 of the infusion bag 5.
  • the operation of the robot 100 is controlled so that the member 52 is pushed downward in the vertical direction by the hand 120L of the arm 103L or the hand 120R of the arm 103R.
  • the infusion solution can be transferred with high accuracy, and the infusion solution can be transferred with the infusion bag 5 laid down.
  • the controller 300 moves the arm member 103L of the port member 52 of the infusion bag 5 placed on the placement table 200 when the injection needle 63 of the syringe 6 is inserted into and removed from the port member 52 of the infusion bag 5.
  • the first motion control unit 301 that controls the motion of the robot 100 is provided so as to be held by the hand 120L, the following effects are obtained. That is, since the infusion bag 5 is held by the hand 120L when the injection needle 63 is inserted into and removed from the port member 52, it is not necessary to prepare a special holder corresponding to each of the various types of infusion bags 5. Therefore, the system configuration can be simplified and the cost can be reduced. Moreover, since it becomes unnecessary to replace
  • the mounting table 200 is inclined such that the port member 52 of the infusion bag 5 on which the mounting table 200 is placed is lower in the vertical direction than the end opposite to the port member 52.
  • the air in the infusion bag 5 can be moved to the side opposite to the port member 52, so that the effect of preventing air from being mixed when the infusion is sucked by the syringe 6 can be further enhanced.
  • the mounting table 200 has a function of a mass meter for measuring the mass of the infusion bag 5 on which the infusion bag 200 is placed, while transferring the infusion between the infusion bag 5 and the syringe 6, Since the transfer amount can be monitored at the same time, the work efficiency can be further improved.
  • the controller 300 operates the robot 100 to move the port member 52 held by the hand 120L of the arm 103L with respect to the injection needle 63 when the injection needle 63 is inserted into and removed from the rubber stopper.
  • the injection needle 63 can be inserted into and removed from the rubber stopper of the infusion bag 5 with the syringe 6 fixed. Accordingly, it is not necessary to prepare a special moving device for moving the syringe 6 corresponding to each of the various types of syringes 6, so that the cost can be reduced. Further, since it is not necessary to replace the moving device in accordance with the syringe 6 to be used, the work efficiency can be improved.
  • the robot system 1 has a holding device 400 provided with a plurality of holders 420 and 430 having different diameters for holding a plurality of types of syringes 6 having different diameters, and a controller.
  • 300 has the fourth operation control unit 304 that controls the operation of the robot 100 so as to switch the holders 420 and 430 with either of the hands 120L and 120R according to the syringe 6 to be used
  • one holding device 400 can correspond to a plurality of types of syringes 6 having different diameters. Accordingly, it is not necessary to prepare a holding tool corresponding to each of various types of syringes 6, so that the cost can be reduced. Moreover, since it is not necessary to replace the holder in accordance with the syringe 6 to be used, work efficiency can be improved.
  • the controller 300 moves the plunger 62 of the syringe 6 with the hand 120R of the arm 103R to move the robot 100 so as to transfer the infusion between the infusion bag 5 and the syringe 6.
  • the infusion solution between the infusion bag 5 and the syringe 6 can be transferred only by the robot 100. Therefore, it is not necessary to prepare a special drive device for moving the plunger 62 of the syringe 6 forward and backward, so that the cost can be reduced. Further, since it is not necessary to replace the drive device in accordance with the syringe 6 to be used, the work efficiency can be improved.
  • the robot 100 has two or more arms 103L and 103R, and the controller 300 performs the holding of the port member 52 and the forward / backward movement of the plunger 62 by using the hands 120L and 103L of the different arms 103L and 103R.
  • the sixth operation control unit 306 that controls the operation of the robot 100 is performed as in 120R, the infusion bag 5 is held by one hand 120L and the plunger 62 of the syringe 6 is advanced and retracted by the other hand 120R. Can be done at the same time.
  • the cycle time can be greatly reduced as compared with the case where the port member 52 and the plunger 62 are moved with a single arm hand.
  • the robot 100 has two arms 103L and 103R having hands 120L and 120R at the tips, and the controller 300 places the infusion bag 5 on the mounting table 200 with the hand 120L of one arm 103L.
  • the seventh operation control unit 307 that controls the operation of the robot 100 so that the port member 52 of the infusion bag 5 faces the hand 120R side of the other arm 103R at the time of placement, the following effects are obtained. Get. That is, with the above-described configuration, the operation of inserting the injection needle 63 of the syringe 6 into the rubber plug of the port member 52 of the infusion bag 5 performed after the infusion bag 5 is placed, or holding the port member 52 of the infusion bag 5 The operation
  • Second Embodiment> Next, a second embodiment will be described.
  • the second embodiment is different from the first embodiment in that the robot system 1 has a cleaning device 700 instead of the cleaning device 600, a controller 800 instead of the controller 300, and the like.
  • description of the same configuration as in the first embodiment will be omitted as appropriate.
  • the cleaning apparatus 700 includes a cleaning chamber 701 and a lid unit 702.
  • the cleaning chamber 701 has an opening 703.
  • the cleaning chamber 701 includes a main body 704 that is, for example, a cylindrical tank, and a square-shaped top plate 705 that is installed at the upper end of the main body 704.
  • the opening 703 is formed in the opening.
  • the cleaning device 700 is installed such that the main body 704 is accommodated in the work table 3 and the top plate 705 is exposed on the upper surface of the work table 3.
  • the entire cleaning apparatus 700 including the cleaning chamber 701 may be installed on the work table 3. Since the internal configuration of the cleaning chamber 701 is the same as that of the above-described cleaning chamber 610, description thereof is omitted.
  • the lid unit 702 (an example of a lid member) is attached to or detached from the top plate portion 705 of the cleaning chamber 701 by the robot 100, thereby closing or opening the opening 703.
  • the lid unit 702 includes a lid plate 706 and a grip portion 707.
  • the lid plate 706 is a plate for closing the opening 703 and has substantially the same shape as the opening 703 and a larger area than the opening 703.
  • the grip portion 707 is erected on the rear side of the lid plate 706 (that is, the robot 100 side) and is gripped by the hand 120R (or hand 120L) of the robot 100.
  • a protrusion 707 a that matches the shape of the recess 145 (may be the recess 144) of the hand 120 ⁇ / b> R and engages with the recess 145 is formed at the upper end of the grip 707.
  • the lid unit 702 has a hook member 708 on the cleaning chamber 701 side (that is, the lower side). On the hook member 708, the infusion bag 5 and the like into which the prepared drug solution is injected are suspended. The hook member 708 is taken in and out of the cleaning chamber 701 through the opening 703 when the lid unit 702 is attached to and detached from the top plate portion 705.
  • the hook member 708 has an extending portion 709, a suspension support portion 710, a leaf spring member 711, and a support column 712.
  • the extending portion 709 is fixed to the lower surface of the lid plate 706 and extends downward.
  • the suspension support portion 710 is a plate member bent in a substantially L shape, and supports the infusion bag 5 and the like so as to be suspended.
  • the suspension support portion 710 is fixed to the extending portion 709 by an elongated hole 738 so that the vertical position can be adjusted.
  • the suspension support portion 710 is configured to be suspended at different positions depending on the type of the container into which the chemical solution is injected. Specifically, as shown in FIG.
  • a notch 713 capable of locking the port member 52 of the infusion bag 5 is formed on the left side of the suspension support portion 710, and is illustrated on the right side of the suspension support portion 710.
  • a notch 715 capable of locking the neck portion of the bottle 714 that is not to be engaged is formed. 21 to 23 show a case where the infusion bag 5 is suspended.
  • the infusion bag 5 and the bottle 714 are not distinguished from each other, they are appropriately described as a container 716.
  • the leaf spring member 711 is installed at a position corresponding to the notches 713 and 715 of the suspension support portion 710, respectively.
  • Each leaf spring member 711 has a substantially U-shaped support portion 717 fixed to the suspension support portion 710 and a pair of elastic engagement portions 718 provided at both ends of the support portion 717.
  • the elastic engagement portion 718 has a curved portion 739 that is curved at the tip, and the port member 52 of the infusion bag 5 and the neck portion of the bottle 714 are engaged with the curved portion 739.
  • the leaf spring member 711 prevents the suspended infusion bag 5 or bottle 714 from dropping while allowing the robot 100 to attach or detach the infusion bag 5 or the bottle 714 to the suspension support unit 710.
  • plate spring member 711 may be installed only with respect to any one of the infusion bag 5 and the bottle 714. Further, the leaf spring member 711 is not necessarily provided.
  • the support column 712 (an example of a rotation prevention member) has the same configuration as the support column 609 described above, and extends from the tip end portion (that is, the lower end portion) of the suspension support portion 710 along the suspension direction (that is, the vertical direction) of the container 716. It extends downward.
  • three struts 712 are installed. Even when either the infusion bag 5 or the bottle 714 is suspended on the suspension support portion 710, two struts are applied to the left and right sides of each container. Touch. This prevents the infusion bag 5 and the bottle 714 from rotating due to the pressure of the cleaning liquid or air.
  • the number of support columns 712 is not limited to three, but may be one or two, or four or more.
  • the rotation preventing member for preventing the rotation of the container 716 is not limited to the above-mentioned support column. For example, a wall member formed of sheet metal or the like may be provided around the container 716.
  • the lid unit 702 includes, for example, two air nozzles 719 (an example of a second air nozzle) installed on the lower surface of the lid plate 706.
  • the air nozzle 719 is disposed at a position corresponding to each of a plurality of hanging positions of the hook member 708 (that is, positions of the notches 713 and 715).
  • Each air nozzle 719 blows air toward the upper surface of the port member 52 of the infusion bag 5 suspended from the hook member 708 and the upper surface of the cap of the bottle 714 (not shown), and the cleaning liquid adhering to the upper surface of each of the air nozzles 719 is removed. Remove and dry.
  • the air nozzle 719 may be installed only for one of the infusion bag 5 and the bottle 714.
  • the two air nozzles 719 are respectively connected to an air pipe (not shown) formed inside the grip portion 707 through a tube 720 installed on the upper surface of the lid plate 706 as shown in FIGS. Yes.
  • the air pipe is opened on the lower surface of the lid plate 706, and a seal member 721 having an O-ring or the like is provided in the opening.
  • the top plate portion 705 of the cleaning chamber 701 is provided with a connection port 722 for an air pipe for the air nozzle 608 installed in the cleaning chamber 701 at a position corresponding to the seal member 721.
  • the lid unit 702 when the lid unit 702 is mounted on the top plate portion 705, the air piping for the air nozzle 608 and the air piping of the grip portion 707 are connected by the seal member 721, and air is ejected from the air nozzle 719.
  • the lid unit 702 when the lid unit 702 is removed from the top plate portion 705, the air piping for the air nozzle 608 and the air piping of the grip portion 707 are separated, and air cannot be physically supplied to the air nozzle 719. Become.
  • a valve (not shown) is controlled by the controller 800, and the ejection of air from the air nozzle 719 is stopped.
  • the lid unit 702 has a function other than the functions related to cleaning by the cleaning device 700 (such as the opening / closing function of the opening 703 and the air ejection function by the air nozzle 719), and is configured as a multifunctional lid unit. ing. Specifically, as shown in FIG. 19 and the like, a jig used for a predetermined application, in this example, a cap holding device 723 is arranged on the upper surface of the lid plate 706.
  • the cap holding device 723 is a device that holds the cap 726 in order to attach and detach the cap 726 of the infusion discarding tube 725 provided with bottle needles 724 at both ends as shown in FIG.
  • a pair of cap holding devices 723 are arranged on the left and right sides of the lid plate 706.
  • the left-side cap holding device 723 is installed to be tiltable toward the left side with respect to the lid plate 706, and when it falls down, the holding portion 727 that holds the tip of the tube 725 and the lid plate 706 are provided.
  • the formed tube opening 728 is exposed.
  • the bottle needle 724 of the tube 725 held by the holding unit 727 is introduced into the cleaning chamber 701 through the tube opening 728.
  • the right cap holding device 723 is not configured to be tiltable, and is fixedly installed on the lid plate 706.
  • the retractable cap holding device 723 will be referred to as a cap holding device 723A, and the fixed cap holding device 723 will be referred to as a cap holding device 723B. If it is not necessary to distinguish between these, the cap holding device 723 will be described. .
  • the cap holding device 723 is a so-called toggle clamp. As illustrated in FIGS. 20 and 22, the cap holding device 723 includes a base 729, a lever 730, a link member 731, and a pressing portion 732.
  • the lever 730 can be rotated with respect to the base portion 729, and when the lever 730 is rotated toward the rear side (the arrow direction in FIGS. 20 and 22), the pressing portion 732 presses the cap 726 and the cap 726 Retained.
  • the lever 730 is rotated toward the front side, the pressing by the pressing portion 732 is released and the holding of the cap 726 is released.
  • the cap holding device 723A and the cap holding device 723B have the same configuration except for the installation method (falling or fixing). FIGS.
  • 19 to 23 illustrate a state in which the cap holding devices 723A and 724B both hold the cap 726 of the tube 725 and the cap holding device 723A is tilted. Note that the posture of the cap holding device 723A (standing posture and tilted posture) is changed by the robot 100 holding the lever 730 with the hand 120L or the hand 120R.
  • cap holding devices 723A and 724B may be provided.
  • a jig other than the cap holding device may be installed on the upper surface of the lid plate 706.
  • a positioning member 733 is installed on the upper surface of the top plate portion 705 of the cleaning chamber 701.
  • the positioning member 733 is disposed in the vicinity of the opening 703, in this example, behind the opening 703 (the rear end portion of the top plate portion 705).
  • the positioning member 733 has recesses 734 formed at two places in the left-right direction, for example.
  • the lid plate 706 of the lid unit 702 has a fitting portion 735 having a shape matching the concave portion 734 at a position corresponding to the concave portion 734.
  • the two fitting portions 735 are fitted into the recesses 734, whereby the lid unit 702 is positioned.
  • the configuration aspect of the positioning member 733 is not limited to the above.
  • the recess 734 and the fitting portion 735 may be formed at one place or three or more places. Further, the concave-convex relationship between the positioning member 733 and the lid plate 706 may be reversed.
  • an abutting member 736 is installed on the upper side of the positioning member 733.
  • the contact member 736 has a contact portion 736 a that protrudes forward, and when the lid unit 702 is attached to the top plate portion 705 of the cleaning chamber 701, the contact portion 736 a is located behind the grip portion 707. Abuts against the side surface. Accordingly, the contact member 736 prevents the lid unit 702 from being tilted, tilted, or misaligned due to a moment acting on the lid unit 702 when the robot 100 operates the lever 730 of the cap holding device 723.
  • the cleaning chamber 701 has a pressing table 737 installed on the right front portion of the top surface of the top plate portion 705 so as to protrude upward.
  • the plunger 62 of the syringe 6 holding the outer cylinder 61 is pressed against the pressing table 737 by the hand 120 ⁇ / b> R (or hand 120 ⁇ / b> L) of the robot 100. Since the syringe 6 before use has a variation in the position of the plunger 62, the outer cylinder 61 and the plunger 62 are relatively moved forward and backward by pressing against the pressing table 737, and the position of the plunger 62 is set in advance. It is possible to adjust the position.
  • the structural aspect of the pressing stand 737 is not limited to the above.
  • the pressing base 737 includes a horizontal surface that presses the plunger 62 from above.
  • the plunger 62 includes a surface that is pressed from the direction inclined with respect to the lateral direction or the vertical direction, or from below. It is good.
  • the installation position of the pressing table 737 may be anywhere as long as it is an empty space on the top plate portion 705.
  • the controller 800 includes the first operation control unit 301, the second operation control unit 302, the third operation control unit 303, the fourth operation control unit 304, the fifth operation control unit 305, and the sixth operation control unit described above.
  • the operation control unit 306 the seventh operation control unit 307, and the eighth operation control unit 308, a ninth operation control unit 309 and a tenth operation control unit 310 are included.
  • the ninth operation control unit 309 controls the operation of the robot 100 related to the cleaning of the container 716 by the cleaning device 700. That is, when cleaning the container 716, the robot 100 is operated such that the lid unit 702 is removed from the cleaning chamber 701, the container 716 is suspended on the hook member 708, and the lid unit 702 is attached to the cleaning chamber 701. To control the operation.
  • the tenth operation control unit 310 controls the operation of the robot 100 related to the disposal of the infusion solution in the infusion bag 5. That is, the caps 726 on both ends of the tube 725 provided with the bottle needles 724 at both ends are removed using the cap holding devices 723A and 723B, respectively, and the bottle needles 724 at one end are exposed by tilting the cap holding device 723A. The operation of the robot 100 is controlled so that the bottle needle 724 at the other end is inserted into the port member 52 of the infusion bag 5.
  • each of the operation control units 309 and 310 described above is not limited to the example of sharing these processes, and may be processed by, for example, one processing unit or further subdivided. It may be processed by another processing unit.
  • Each function of the controller 800 may be implemented by a program executed by a CPU 901 (see FIG. 34) to be described later, or a part or all of it is a dedicated integrated circuit 907 such as an ASIC or FPGA (see FIG. 34), It may be implemented by an actual device such as another electric circuit.
  • step S600 An example of detailed steps of the cleaning process (step S600) of the container 716 by the robot 100, which is executed by the ninth operation control unit 309 of the controller 800, will be described with reference to FIG.
  • the controller 800 executes step S600 in place of the infusion bag cleaning process (step S500) shown in FIGS. 10 and 18 described above.
  • step S610 under the control of the ninth operation control unit 309 of the controller 800, the robot 100 holds the holding unit 707 of the lid unit 702 with the hand 120R (or the hand 120L), and the lid unit 702 is removed from the top of the cleaning chamber 701. Remove from the plate portion 705. Then, the robot 100 transfers the lid unit 702 to a predetermined position for setting the container 716.
  • step S620 under the control of the ninth operation control unit 309 of the controller 800, the robot 100 causes the neck portion of the container 716 (for example, the port member in the case of the infusion bag 5) that has been injected with the chemical solution by the hand 120L (or the hand 120R). 52, the container 716 is transported toward the lid unit 702, and the container 716 is suspended from the hook member 708 of the lid unit 702 and set.
  • the container 716 for example, the port member in the case of the infusion bag 5
  • the container 716 is transported toward the lid unit 702, and the container 716 is suspended from the hook member 708 of the lid unit 702 and set.
  • step S630 under the control of the ninth operation control unit 309 of the controller 800, the robot 100 transfers the lid unit 702 in which the container 716 is set on the hook member 708 toward the cleaning chamber 701, and the top plate of the cleaning chamber 701. Attach to part 705. At this time, the lid plate 706 is pressed against the top plate portion 705 to close the opening 703, and the air piping for the air nozzle 608 of the cleaning chamber 701 and the air piping for the air nozzle 719 of the lid unit 702 are sealed by the seal member 721. Communicated.
  • step S640 under the control of the controller 800, the cleaning apparatus 700 ejects cleaning liquid from the plurality of cleaning nozzles 607 toward the surface (including the upper surface) of the container 716 and starts cleaning by the cleaning apparatus 700.
  • a cleaning start switch or the like may be installed in the cleaning device 700 and the robot 100 may operate the switch using either the hand 120L or 120R, or the lid unit 702 may enter the cleaning chamber 701. You may make it start washing
  • the cleaning device 700 stops, for example, after the cleaning liquid is ejected for a predetermined time, and ejects air from the plurality of ejection holes 608a of the air nozzle 608 toward the side surface of the container 716 and the like, and from the air nozzle 719 of the lid unit 702. Air is ejected toward the upper surface of the container 716 or the like.
  • step S650 under the control of the ninth operation control unit 309 of the controller 800, the robot 100 grasps the lid unit 702 with the hand 120R of the arm 103R, removes it from the cleaning chamber 701, and lifts the hook member 708 from the opening 703. At this time, the ejection of air from the air nozzle 719 is stopped as described above, and the air is ejected from the plurality of ejection holes 608a of the air nozzle 608 toward the container 716. Thereby, it becomes possible to blow air over the entire side surface of the container 716 while pulling up the container 716, and the cutting of the cleaning liquid can be improved.
  • the robot 100 repeats the lifting operation of the lid unit 702 a plurality of times or changes the position and angle of the container 716 by changing the posture of the lid unit 702 while performing the lifting operation. It is possible to adjust the degree of hitting, thereby further improving the cutting of the cleaning liquid.
  • step S660 the robot 100 moves the lid unit 702 to a predetermined position for removing the container 716 by the hand 120R (or the hand 120L) under the control of the ninth operation control unit 309 of the controller 800. Then, the hand 120L (or the hand 120R) may be used to grip the neck of the container 716 that has been cleaned and remove it from the hook member 708.
  • step S670 under the control of the ninth operation control unit 309 of the controller 800, the robot 100 attaches a cap (not shown) to the port member 52 of the container 716 that has been cleaned with the hand 120L (or the hand 120R).
  • step S680 the robot 100 transfers the container 716, which has been cleaned with the hand 120L (or the hand 120R), to the tray 4 under the control of the ninth operation control unit 309 of the controller 800.
  • processing steps described above are merely examples, and at least a part of the above steps may be deleted or changed, or steps other than the above may be added.
  • step S700 an example of detailed steps of the infusion discarding process (step S700) by the robot 100, which is executed by the tenth operation control unit 310 of the controller 800, will be described.
  • This processing is not included in the processing step for preparing the chemical solution shown in FIG. 10 described above.
  • the controller 800 executes this processing at an appropriate timing as necessary in the chemical solution preparation process.
  • the infusion disposal process is performed in a state where the lid unit 702 is mounted in the cleaning chamber 701.
  • step S710 under the control of the tenth operation control unit 310 of the controller 800, the robot 100 grips both ends with, for example, the hands 120L and 120R and takes out the tube 725 for infusion disposal from the tray 4.
  • FIG. 28 shows an example of the tube 725. As shown in FIG. 28, the tube 725 includes a bottle needle 724 and a cap 726 at both ends.
  • step S720 the robot 100 sets the caps 726 at both ends of the tube 725 to the cap holding devices 723A and 723B of the lid unit 702 under the control of the tenth operation control unit 310 of the controller 800, respectively.
  • An example of the operation at this time is shown in FIG. As shown in FIG. 29, when the robot 100 rotates the lever 730 of the cap holding device 723A using the hand 120R (or the hand 120L), the pressing unit 732 presses the cap 726 and the cap 726 is held. The Similarly, when the robot 100 rotates the lever 730 of the cap holding device 723B using the hand 120L (or the hand 120R), the pressing portion 732 presses the cap 726 and the cap 726 is held.
  • FIG. 30 shows an example of the state where the caps 726 at both ends of the tube 725 are held by the cap holding devices 723A and 723B, respectively.
  • step S730 the robot 100 controls the end of the tube 725 on one side (cap holding device 723A side) using the hand 120R (or the hand 120L) under the control of the tenth operation control unit 310 of the controller 800. Pull the cap 726 off. Then, using the hand 120L (or the hand 120R), the lever 730 of the cap holding device 723A is gripped, and the cap holding device 723A is tilted.
  • FIG. 31 As shown in FIG. 31, when the cap holding device 723A is tilted, the holding portion 727 and the tube opening 728 are exposed.
  • the robot 100 sets the one end of the tube 725 to the holding unit 727 with the hand 120R (or the hand 120L).
  • An example of a holding state by the holding unit 727 at this time is shown in FIG.
  • the bottle needle 724 on one side of the tube 725 is introduced into the cleaning chamber 701 through the tube opening 728 by being held by the holding portion 727.
  • step S740 the robot 100 uses the hand 120L (or hand 120R) to control the end of the tube 725 on the other side (cap holding device 723B side) with the cap 726 under the control of the tenth motion control unit 310 of the controller 800. Pull the cap 726 off. Then, the robot 100 transfers the other end of the tube 725 toward, for example, the infusion bag 5 placed on the mounting table 200 described above, and inserts the bottle needle 724 into the port member 52 of the infusion bag 5. An example of the state at this time is shown in FIG.
  • step S750 under the control of the tenth motion control unit 310 of the controller 800, the robot 100 grips a handle (not shown) of the mounting surface 201 of the mounting table 200 using, for example, the hand 120L (or the hand 120R), and The infusion solution in the infusion bag 5 is discarded into the cleaning chamber 701 through the tube 725 by gravity, for example, by tilting the mounting surface 201 by the tilt mechanism 202.
  • the controller 800 monitors the discard amount of the infusion solution based on the mass of the infusion bag 5 measured by the mounting table 200, and stops discarding the infusion solution when the predetermined amount of disposal is completed.
  • the robot 100 stops the infusion by pressing the tube 725 against a predetermined member with the hand 120L (or hand 120R) to close the flow path.
  • step S760 under the control of the tenth motion control unit 310 of the controller 800, the robot 100 attaches the caps 726 to both ends of the tube 725 using the hands 120L and 120R, and the caps 726 by the cap holding devices 723A and 723B. Release the hold.
  • step S770 under the control of the tenth motion control unit 310 of the controller 800, the robot 100 discards the used tube 725 having caps 726 attached to both ends thereof in a discard box (not shown).
  • processing steps described above are merely examples, and at least a part of the above steps may be deleted or changed, or steps other than the above may be added.
  • the robot system 1 includes the robot 100 that prepares a chemical solution and injects it into the container 716, and the cleaning device 700 that cleans the surface of the container 716 into which the chemical solution has been injected by the robot 100 with the cleaning liquid. .
  • the robot system 1 when the robot 100 prepares a chemical solution and injects it into the container 716, there is a possibility that a drug used for the preparation, a droplet of the prepared chemical solution, or the like may adhere to the surface of the container 716. Since the medicine used for the preparation and the prepared chemical liquid may be highly toxic or allergenic, for example, the cleaning device 700 cleans the surface of the container 716 with the cleaning liquid, so that harmful substances leak outside the system. Can be prevented. Therefore, safety can be improved.
  • the cleaning apparatus 700 includes a cleaning chamber 701 having an opening 703, a cleaning nozzle 607 that is disposed in the cleaning chamber 701, and jets a cleaning liquid into the container 716, and a cleaning device in the cleaning chamber 701.
  • the air nozzle 608 is disposed on the opening 703 side of the nozzle 607 and ejects air to the container 716, the following effects are obtained. That is, with the above configuration, the cleaning liquid adhering to the cleaned container 716 can be removed by air and dried.
  • the air nozzle 608 is disposed on the opening side of the cleaning nozzle 607, it is possible to apply air over the entire container 716 while pulling out the container 716 from the cleaning chamber 701. Can be improved.
  • the air nozzle 608 is disposed on the opening side with respect to the cleaning nozzle 607, the vertical direction when the container 716 is taken out as compared with the case where the cleaning nozzle 607 is disposed on the opening side with respect to the air nozzle 608. , And the vertical dimension of the cleaning chamber 701 can be reduced. This is particularly effective when a container having an elongated shape in the vertical direction is used as the container 716.
  • the air nozzle 608 is disposed in the vicinity of the container 716 disposed in the cleaning chamber 701, and has one or more pipes having air ejection holes 608a formed at a plurality of locations.
  • the cleaning apparatus 700 when the cleaning apparatus 700 includes a hook member 708 for hanging the container 716 and has a lid unit 702 that closes or opens the opening 703 by being attached to and detached from the cleaning chamber 701,
  • the following effects are obtained. That is, since the lid unit 702 can be detached from the cleaning chamber 701 by being attached to and detached from the cleaning chamber 701, the degree of freedom in lifting the lid unit 702 when air is blown can be improved. As a result, the degree of air contact with the container 716 can be adjusted, for example, by changing the position and angle while repeating the lifting operation of the lid unit 702, so that the reliability of removal of the cleaning liquid can be improved.
  • the container 716 can be attached to the hook member 708 by moving the lid unit 702 to an arbitrary position, the attaching operation of the container 716 can be facilitated. Furthermore, since the sliding part of the lid unit 702 and another member can be reduced compared with the case where the guide member 602 is provided as in the first embodiment, for example, durability can be improved.
  • the lid unit 702 has an air nozzle 719 for ejecting air to the port member 52 of the container 716 (infusion bag 5) suspended from the hook member 708, the following is performed. Get the effect. That is, there is a possibility that the cleaning liquid adhering to the upper surface of the port member 52 of the container 716 cannot be removed by air blowing by the air nozzle 608 disposed in the cleaning chamber 701. In this case, the cleaning liquid that could not be removed remains in the cap that is subsequently attached to the port member 52, which may lead to the propagation of various germs. Therefore, since the cleaning liquid adhering to the upper surface of the port member 52 and the like can be removed by air blowing by the air nozzle 719 of the lid unit 702, it is possible to prevent propagation of germs due to the remaining cleaning liquid.
  • the hook member 708 is configured to suspend the container 716 depending on the type, and the air nozzle 719 corresponds to each of the plurality of suspension positions of the hook member 708.
  • the cleaning liquid adhering to the upper surface of the port member 52 or the like can be removed from the plurality of types of containers 716 suspended by the hook member 708.
  • the configuration of the lid unit 702 can be simplified and costs can be reduced as compared with the case where different hook members are provided for each type of container. .
  • the lid unit 702 extends from the tip of the hook member 708 along the hanging direction of the container 716, and includes a plurality of support columns 712 that prevent rotation of the container 716 due to the ejection of the cleaning liquid and air. If so, the following effects are obtained. That is, with the above-described configuration, the plurality of support columns 712 can come into contact with the container 716 during cleaning and air blowing, and the container 716 can be prevented from rotating due to the pressure of the cleaning liquid or air. Therefore, the functions of the cleaning device 700 (cleaning function, cleaning liquid removing function, and so on) can be satisfactorily exhibited and the reliability can be improved.
  • the lid unit 702 includes a lid plate 706 for closing the opening 703 and a grip portion 707 that is erected on the lid plate 706 and gripped by the robot 100.
  • the lid unit 702 has the abutting member 736 that abuts on the grip portion 707 when the lid unit 702 is attached to the cleaning chamber 701
  • the following effects are obtained. That is, according to the above configuration, it is possible to prevent the lid unit 702 from being tilted, tilted, or misaligned due to the moment acting on the lid unit 702 when the robot 100 operates the cap holding device 723. Therefore, the function of the cleaning device 700 can be exhibited well and the reliability can be improved.
  • the cleaning chamber 701 includes a positioning member 733 disposed in the vicinity of the opening 703, and the lid plate 706 is attached to the positioning member 733 when the lid unit 702 is attached to the cleaning chamber 701.
  • the lid unit 702 can be positioned with respect to the cleaning chamber 701.
  • the opening 703 of the cleaning chamber 701 can be properly closed by the lid plate 706, and the container 716 suspended by the hook member 708 and the cleaning nozzle 607 and the air nozzle 608 in the cleaning chamber 701 are properly positioned. It can be. Therefore, the function of the cleaning device 700 can be exhibited well and the reliability can be improved.
  • the lid unit 702 when the lid unit 702 has a jig used for a predetermined application arranged on the upper surface of the lid plate 706, the following effects are obtained. That is, according to the above configuration, the lid unit 702 can have not only the opening / closing function of the opening 703 of the cleaning chamber 701 but also other functions. As a result, the space of the lid portion of the cleaning chamber 701 can be used effectively, and the robot system 1 can be downsized.
  • the jig is a cap holding device 723 for attaching and detaching the cap 726 of the tube 725 provided with the bottle needle 724
  • the cap 726 can be attached to and detached from the. As a result, there is no need to secure the work space in another place, and the robot system 1 can be downsized.
  • the cap holding device 723A is disposed on the lid plate 706 in a tiltable manner, and a tube opening 728 formed in the lid plate 706 and a holding portion 727 that holds the distal end portion of the tube 725 when it is collapsed.
  • the following effects are obtained. That is, with the above configuration, by holding down the cap holding device 723A, one end of the tube 725 is held so that the bottle needle 724 of the tube 725 from which the cap 726 has been removed is inserted into the cleaning chamber 701. Can do. Therefore, using the tube 725, for example, an infusion solution or a chemical solution can be discarded in the cleaning chamber 701. In this way, since the cleaning chamber 701 can be used as a waste liquid chamber, the robot system 1 can be downsized.
  • the controller 800 further controls the operation of the robot 100, and the controller 800 uses the cap holding devices 723 ⁇ / b> A and 723 ⁇ / b> B for the caps 726 on both ends of the tube 725 having the bottle needles 724 on both ends.
  • the robot 100 is configured so that the bottle needle 724 at one end is held by the holding portion 727 exposed by tilting the cap holding device 723A, and the bottle needle 724 at the other end is inserted into the port member 52 of the infusion bag 5.
  • the tenth operation control unit 310 that controls the operation is provided, the following effects are obtained.
  • the infusion in the infusion bag 5 can be discarded by the robot 100, and it is not necessary for the operator to perform the operation of discarding the infusion.
  • the discarded infusion contains a harmful substance or the like. In this case, safety can be further improved.
  • the cleaning chamber 701 has the pressing table 737 for pressing the plunger 62 of the syringe 6 used for preparing the chemical solution
  • the following effects are obtained. That is, in general, the syringe 6 before use has a variation in the position of the plunger 62, but by pressing against the pressing table 737, the outer cylinder 61 and the plunger 62 of the syringe 6 are relatively moved forward and backward, and the position of the plunger 62 is changed. The position can be adjusted to a preset position. Further, since the vacant space of the top plate portion 705 of the cleaning chamber 701 can be effectively utilized by providing the pressing table 737, the robot system 1 can be downsized.
  • the robot system 1 may be disposed in the disposal chamber.
  • the cap holding device 723 may be installed on the top plate portion of the disposal chamber.
  • the robot system 1 that is a chemical solution preparation system includes the cleaning devices 600 and 700.
  • the cleaning devices 600 and 700 are independent from the chemical solution preparation system. May be installed.
  • the operator can perform the cleaning operation using the cleaning devices 600 and 700 as well as the robot 100.
  • the cleaning devices 600 and 700 and the cabinet 2 constitute a cleaning device system.
  • an operator can clean the container 716 by manually attaching and detaching the lid unit 702 to / from the cleaning chamber 701, or the robot 100 can be used for cleaning.
  • the controllers 300 and 800 include, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or FPGA, an input device 913, and an output device. 915, a storage device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected to each other via a bus 909 and an input / output interface 911 so that signals can be transmitted to each other.
  • the program can be recorded in a recording device such as the ROM 903, the RAM 905, or the storage device 917, for example.
  • the program can be recorded temporarily or permanently on, for example, a magnetic disk such as a flexible disk, an optical disk such as various CD / MO disks / DVDs, or a removable recording medium 925 such as a semiconductor memory.
  • a removable recording medium 925 can also be provided as so-called package software.
  • the program recorded on these removable recording media 925 may be read by the drive 919 and recorded in the recording device via the input / output interface 911, the bus 909, or the like.
  • the program can be recorded on, for example, a download site, another computer, another recording device (not shown), or the like.
  • the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives this program.
  • the program received by the communication device 923 may be recorded in the recording device via the input / output interface 911, the bus 909, or the like.
  • the program can be recorded in, for example, an appropriate external connection device 927.
  • the program may be transferred via an appropriate connection port 921 and recorded in the recording device via the input / output interface 911, the bus 909, or the like.
  • the CPU 901 executes various processes according to the programs recorded in the recording device, thereby realizing the processes by the operation control units 301 to 310 and the like.
  • the CPU 901 may directly read and execute the program from the recording apparatus, or may be executed after it is once loaded into the RAM 905. Further, for example, when the program is received via the communication device 923, the drive 919, and the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device.
  • the CPU 901 may perform various processes based on signals and information input from the input device 913 such as a mouse, a keyboard, and a microphone (not shown) as necessary.
  • the input device 913 such as a mouse, a keyboard, and a microphone (not shown) as necessary.
  • the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device, and the CPU 901 may send the processing result to the communication device 923 or the connection device as necessary. It may be transmitted via the port 921 or may be recorded on the recording device or the removable recording medium 925.
  • Robot system (an example of a chemical preparation system) 5 Infusion bag (an example of a container) 6 Syringe 52 Port member 62 Plunger 100 Robot 310 10th motion control part (an example of motion control part) 607 Nozzle for cleaning 608 Air nozzle (an example of a first air nozzle) 608a ejection hole 612 magnet (an example of a holding member) 700 Cleaning Device 701 Cleaning Room 702 Lid Unit 703 Opening 706 Lid Plate 707 Grip Part 708 Hook Member 712 Post (Example of Anti-Rotation Member) 714 Bottle (an example of a container) 716 Container 719 Air nozzle (an example of a second air nozzle) 723A Cap holding device (an example of a jig) 723B Cap holding device (example of jig) 724 bottle needle 725 tube 726 cap 727 holding part 728 tube opening 733 positioning member 735 fitting part 736 abutting part 737 pressing stand 800 controller

Landscapes

  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)

Abstract

La présente invention vise à fournir un système de préparation de solution chimique et un dispositif de nettoyage qui peuvent augmenter la sécurité. À cet effet, l'invention concerne un système de robot (1) qui a un robot (100) qui prépare une solution chimique et injecte la solution chimique dans un récipient, et un dispositif de nettoyage (700) qui nettoie, à l'aide d'un liquide de nettoyage, une surface du récipient (716) dans lequel la solution chimique a été injectée par le robot (100). Le dispositif de nettoyage (700) a une unité de couvercle (702), dont une ouverture (703) est fermée ou ouverte en étant fixée à une chambre de nettoyage (701) ou détachée de cette dernière, et l'unité de couvercle (702) comprend un élément de crochet (708) pour suspendre le récipient (716).
PCT/JP2015/070632 2014-07-18 2015-07-17 Système de préparation de solution chimique, dispositif de nettoyage, et système de dispositif de nettoyage WO2016010157A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2016534513A JP6314229B2 (ja) 2014-07-18 2015-07-17 薬液調製システム、洗浄装置、洗浄装置システム

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JPPCT/JP2014/069259 2014-07-18
PCT/JP2014/069259 WO2016009568A1 (fr) 2014-07-18 2014-07-18 Robot et système robotisé
JPPCT/JP2014/069258 2014-07-18
PCT/JP2014/069258 WO2016009567A1 (fr) 2014-07-18 2014-07-18 Système de robot et procédé de préparation de solution de médicament

Publications (1)

Publication Number Publication Date
WO2016010157A1 true WO2016010157A1 (fr) 2016-01-21

Family

ID=55078642

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/070632 WO2016010157A1 (fr) 2014-07-18 2015-07-17 Système de préparation de solution chimique, dispositif de nettoyage, et système de dispositif de nettoyage

Country Status (2)

Country Link
JP (1) JP6314229B2 (fr)
WO (1) WO2016010157A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020122760A (ja) * 2019-01-31 2020-08-13 株式会社安川電機 液体移送システム、液体移送方法、及びプログラム
CN113379983A (zh) * 2021-05-11 2021-09-10 刘红芳 一种具有自清洁功能的智慧医疗监控设备及其监控方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009544391A (ja) * 2006-07-26 2009-12-17 ヘルス ロボティクス エスアールエル 医薬品の調製装置
JP2012101028A (ja) * 2009-03-24 2012-05-31 Yuyama Manufacturing Co Ltd 分注装置
JP2013052250A (ja) * 2011-08-08 2013-03-21 Yuyama Manufacturing Co Ltd 混注装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002367945A (ja) * 2001-06-08 2002-12-20 Rix Corp ウエーハ移載ロボットを備えたウエーハ洗浄システム
JP5057014B2 (ja) * 2006-04-10 2012-10-24 花王株式会社 汚れ検出装置
JP2009165908A (ja) * 2008-01-11 2009-07-30 Seiwa Giken Kk ロボット洗浄装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009544391A (ja) * 2006-07-26 2009-12-17 ヘルス ロボティクス エスアールエル 医薬品の調製装置
JP2012101028A (ja) * 2009-03-24 2012-05-31 Yuyama Manufacturing Co Ltd 分注装置
JP2013052250A (ja) * 2011-08-08 2013-03-21 Yuyama Manufacturing Co Ltd 混注装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020122760A (ja) * 2019-01-31 2020-08-13 株式会社安川電機 液体移送システム、液体移送方法、及びプログラム
JP7156062B2 (ja) 2019-01-31 2022-10-19 株式会社安川電機 液体移送システム、液体移送方法、及びプログラム
CN113379983A (zh) * 2021-05-11 2021-09-10 刘红芳 一种具有自清洁功能的智慧医疗监控设备及其监控方法

Also Published As

Publication number Publication date
JPWO2016010157A1 (ja) 2017-04-27
JP6314229B2 (ja) 2018-04-18

Similar Documents

Publication Publication Date Title
CN113039123B (zh) 填充针系统
AU2012270009B2 (en) Machine and method for the automatic preparation of intravenous medication
US10106769B2 (en) Automatic culturing device
EP2843417B1 (fr) Système de robot et procédé de fabrication d'un spécimen sujet à fonctionnement
JP6545459B2 (ja) 細胞処理システムおよび把持具
JP6314229B2 (ja) 薬液調製システム、洗浄装置、洗浄装置システム
US10942093B2 (en) Powder collector, powder collection device, and automatic powder collecting system
WO2016009568A1 (fr) Robot et système robotisé
TW201726098A (zh) 用於在受控環境外殼中保護及去保護流體路徑的設備及方法
JP6577233B2 (ja) 生命工学・医薬品化学用自動作業セル、生命工学・医薬品化学用自動作業方法、及び自動作業セル
US20220379500A1 (en) Method for transferring at least one filling needle of a number of filling needles into an aseptic isolator
EP3972789B1 (fr) Système de transfert de fluide destiné à des séparateurs
EP3456488A1 (fr) Système d'assistance à la préparation et procédé de préparation au moyen d'un robot
FI126653B (fi) Menetelmä ja laitteisto lääkeruiskun käyttämiseksi sekä lääkeaineen liuottamiseksi nesteeseen
JP2015167643A (ja) 流体移送装置、流体移送制御方法、流体移送制御装置、流体移送システム及び薬剤製造方法
JP6315297B2 (ja) ロボットシステム及び薬液の調製方法
JP2018175286A (ja) 調製システム及び調製方法
JP6435396B2 (ja) 細胞培養加工設備
JP6437261B2 (ja) 液体貯留ユニット及び分注システム
JP6709023B2 (ja) 薬液充填システム、薬液充填方法、ロボットシステム、及びトレイ
JP6517510B2 (ja) 細胞処理方法
WO2017056304A1 (fr) Procédé de préparation d'un médicament liquide et système de préparation d'un médicament liquide
CN215693538U (zh) 一种冻干粉针剂药物溶解用振荡器
JP2019024564A (ja) 薬液調製装置
JP2022155709A (ja) 流路閉塞状態検出装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15822524

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2016534513

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15822524

Country of ref document: EP

Kind code of ref document: A1