WO2016088660A1 - 混注装置 - Google Patents

混注装置 Download PDF

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Publication number
WO2016088660A1
WO2016088660A1 PCT/JP2015/083329 JP2015083329W WO2016088660A1 WO 2016088660 A1 WO2016088660 A1 WO 2016088660A1 JP 2015083329 W JP2015083329 W JP 2015083329W WO 2016088660 A1 WO2016088660 A1 WO 2016088660A1
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WO
WIPO (PCT)
Prior art keywords
infusion
mixed injection
syringe
container
control unit
Prior art date
Application number
PCT/JP2015/083329
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
啓史 家田
Original Assignee
株式会社湯山製作所
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
Application filed by 株式会社湯山製作所 filed Critical 株式会社湯山製作所
Priority to JP2016501702A priority Critical patent/JP5939371B1/ja
Publication of WO2016088660A1 publication Critical patent/WO2016088660A1/ja

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    • 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
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Definitions

  • the present invention relates to a co-infusion apparatus that performs co-infusion processing for injecting a drug such as an anticancer drug contained in a drug container into an infusion container.
  • an injection operation for injecting other chemicals such as an antiemetic agent into the infusion container may be required as a preliminary operation.
  • a withdrawal operation for extracting the infusion solution from the infusion container or a replenishment operation for replenishing the infusion solution to the infusion container in advance is performed. It may be necessary as work.
  • An object of the present invention is to provide a co-infusion apparatus capable of suppressing omissions in the preliminary work required separately from the co-infusion processing performed in the co-infusion apparatus.
  • the co-infusion apparatus separates the co-infusion process from the co-infusion control unit that performs the co-infusion process for aspirating the medicine from the medicine container with the syringe based on the preparation data and injecting the medicine from the syringe into the infusion container.
  • a notification processing unit capable of notifying a predetermined message when prior work is required before execution of the mixed injection process.
  • the pre-operation includes at least one of replenishment of the infusion into the infusion container, extraction of the infusion from the infusion container, and injection of other chemicals into the infusion container.
  • a dissolving step is performed in which the infusion is extracted from the infusion container with the syringe and the infusion is injected from the syringe into the medicine container.
  • an injection process is also performed in which the medicine is sucked from the medicine container with the syringe and the medicine is injected from the syringe into the infusion container.
  • the infusion time is shorter than when the prescribed amount is administered. Therefore, it is desirable to perform the replenishment operation of replenishing the infusion container with a predetermined amount of infusion before executing the mixed injection process.
  • the drug is a drug solution
  • the amount of liquid in the infusion container is accommodated in the infusion container. It exceeds the prescribed amount set as the infusion volume.
  • the infusion time becomes longer than when the prescribed amount is administered. For this reason, it is desirable to perform a sampling operation for extracting a predetermined amount of infusion from the infusion container before the mixed injection process is performed.
  • drugs such as antiemetics that are originally taken separately from the drugs such as anticancer drugs that are originally injected into the infusion container in the mixed injection process may be pre-injected into the infusion container.
  • an injection operation for injecting the other medicine into the infusion container before the mixed injection process is required.
  • the notification processing unit determines that the preliminary work is necessary when the amount of liquid in the infusion container changes as a result of the mixed injection processing based on the preparation data.
  • the mixed injection control unit when the drug is a powder medicine, in the mixed injection process, withdrawing the infusion from the infusion container with the syringe and injecting the infusion into the medicine container from the syringe; It is conceivable to perform an injection step of sucking the medicine from the medicine container with the syringe and injecting the medicine from the syringe into the infusion container.
  • the notification processing unit determines whether or not there is a change in the liquid amount based on the difference between the infusion volume extracted from the infusion container in the dissolution step and the liquid amount injected into the infusion container in the injection step. It is possible to do.
  • the notification processing unit may determine that the amount of liquid in the infusion container changes when the amount of change in the amount of liquid is equal to or greater than a predetermined threshold. Thereby, when the amount of change in the amount of liquid in the infusion container is small, an operation that does not require the prior work is also possible.
  • the notification processing unit may notify a message indicating that the replenishment operation is required when the amount of liquid in the infusion container decreases as a result of the mixed injection process based on the preparation data. Further, it is conceivable that the notification processing unit notifies a message indicating that the sampling operation is required when the amount of liquid in the infusion container increases as a result of the mixed injection process based on the preparation data. Further, when the preparation processing data determines that the notification processing unit needs to inject another medicine different from the medicine injected into the infusion container with the mixed injection device into the infusion container. It is conceivable that a message indicating that the injection operation is required is notified.
  • the notification processing unit determines that the amount of liquid in the infusion container increases when the chemical is a chemical solution.
  • the notification processing unit determines that the amount of liquid in the infusion container increases when the amount of the chemical solution is equal to or greater than a predetermined threshold.
  • the notification processing unit displays an image for guiding the needle stick position to the stopper of the infusion container when notifying the message.
  • the mixed injection control unit is for puncturing the needle of the syringe in the other region by detecting another region except for a predetermined specific puncture region on the upper surface of the stopper of the infusion container, It is conceivable that the image is an image that guides an area excluding a predetermined output puncture area in the specific puncture area as the needle puncture position.
  • the mixed injection control unit can execute a replenishing step of replenishing the infusion container with the infusion when the amount of liquid in the infusion container decreases.
  • the mixed injection control unit executes an extraction step of extracting the infusion from the infusion container when the amount of liquid in the infusion container increases. That is, it is conceivable that the preliminary work is automatically executed by the mixed injection device instead of the user.
  • the mixed injection device can arbitrarily reserve execution of the mixed injection processing based on one or a plurality of the preparation data, and the mixed injection processing based on the preparation data reserved by the reservation setting processing unit It is conceivable to include a reservation execution processing unit capable of executing the mixed injection process when the execution time of the first time arrives. Accordingly, by reserving the execution of the mixed injection processing of the preparation data, the mixed injection processing can be executed at a predetermined execution time such as midnight or a holiday, for example.
  • the present invention it is possible to realize a mixed injection device capable of suppressing omission of the preliminary work required separately from the mixed injection processing performed by the mixed injection device.
  • FIG. 1 is a block diagram showing a system configuration of a co-infusion apparatus according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing an external configuration of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 3 is a perspective view of the co-infusion apparatus according to the embodiment of the present invention with the main door opened.
  • FIG. 4 is a front view of the co-infusion apparatus according to the embodiment of the present invention with a main door and a part of the front wall removed.
  • FIG. 5 is a perspective view showing a tray used in the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 6 is a perspective view of the co-infusion apparatus according to the embodiment of the present invention as viewed from below.
  • FIG. 1 is a block diagram showing a system configuration of a co-infusion apparatus according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing an external configuration of the co-infusion apparatus according to the embodiment of the present invention
  • FIG. 7 is a perspective view showing a holding portion of the first robot arm of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 8 is a perspective view showing a holding portion of the second robot arm of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 9 is a schematic plan view showing a tray transport portion of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 10 is a perspective view showing the mechanism of the tray transport unit of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 11 is a perspective view showing an ampoule cutter of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 12 is a perspective view showing the internal configuration of the stirring device of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 13 is a perspective view showing a medicine reading unit of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 14 is a perspective view showing a needle bending detection unit of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 15 is a perspective view showing an internal structure of the injection needle attaching / detaching device of the mixed injection device according to the embodiment of the present invention.
  • FIG. 16 is a perspective view showing an internal structure of the injection needle attaching / detaching device of the mixed injection device according to the embodiment of the present invention.
  • FIG. 17 is a diagram illustrating an example of a captured image of the needle insertion confirmation camera of the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 18 is a flowchart showing an example of the procedure of the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 19 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 20 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 21 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 22 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 23 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 24 is a diagram illustrating an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 25 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 26 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 27 is a diagram showing an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 24 is a diagram illustrating an example of a display screen in the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 25 is a diagram showing an example of a display screen in the loading
  • FIG. 28 is a flowchart showing an example of the procedure of the infusion volume control process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 29 is a flowchart showing another example of the procedure of the infusion volume control process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 30 is a flowchart illustrating an example of a procedure of reservation setting processing executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 31 is a flowchart showing an example of the procedure of the co-infusion control process executed by the co-infusion apparatus according to the embodiment of the present invention.
  • FIG. 32 is a diagram illustrating an example of a preparation schedule list sheet output by the co-infusion apparatus according to the embodiment of the present invention.
  • the co-infusion apparatus 1 includes a co-infusion control unit 100, a medicine loading unit 200, and a co-infusion processing unit 300.
  • the co-infusion control unit 100 controls the operation of the co-infusion processing unit 300, whereby a predetermined amount of the anti-cancer drug or the like indicated in the preparation data is transferred by the syringe.
  • a mixed injection process is performed in which one or a plurality of ampoules or vials in which the liquid is stored is injected into another container such as an infusion container.
  • the mixed injection process include a process of sucking a drug from a container such as an ampoule or a vial with a syringe and injecting the drug into a container such as another ampoule or a vial, or a container such as an infusion container using a syringe.
  • a process of sucking a medicine and injecting it into a container such as another vial is also included. That is, sanitary saline or glucose contained in the infusion bag is an example of the drug to be subjected to the mixed injection process.
  • the mixed injection control unit 100 includes a first control unit 400 and a second control unit 500 that are communicably connected.
  • the first control unit 400 is provided on the medicine loading unit 200 side
  • the second control unit 500 is provided on the mixed injection processing unit 300 side.
  • each processing procedure of the mixed injection processing is the first control unit 400 and the second control. Any one of the units 500 may be executed.
  • the mixed injection control unit 100 may have one control unit or three or more control units as another embodiment.
  • part or all of the processing executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC or DSP.
  • the first control unit 400 can communicate with a host system 600 such as an electronic medical record system or a dispensing management system that inputs preparation data to the co-infusion apparatus 1.
  • the preparation data is data for preparation generated based on prescription data or the prescription data itself.
  • the prescription data includes prescription delivery date, patient ID, patient name, patient birth date, drug information (drug code, drug name, dose, etc.), dosage form information (internal use, external use, etc.), usage information (After three meals a day, etc.), medical treatment type (outpatient, hospitalization, etc.), medical department, ward, hospital room, etc. are included.
  • the preparation data includes patient information, doctor information, drug information, drug prescription amount, drug container type (ampoules with drug solution, vials with drug solutions, vials with powder drugs, etc.), preparation content information (mixed injection process) And the preparation procedure information (work contents, dissolved drug, solvent, dissolved drug amount, solvent amount, sampling amount), preparation date, prescription category, dosing date, Includes department, ward, preparation time, etc.
  • the first control unit 400 is a personal computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, an operation unit 405, and the like.
  • Various electrical components such as a display 203, a barcode reader 204, and an air cleaning device 205, which will be described later, provided in the medicine loading unit 200 are connected to the first control unit 400.
  • the CPU 401 is a processor that executes processing according to various control programs.
  • the ROM 402 is a non-volatile memory in which programs such as BIOS executed by the CPU 401 are stored in advance.
  • the RAM 403 is a volatile memory or a non-volatile memory used for development of various control programs and temporary storage of data by the CPU 401.
  • the data storage unit 404 is a hard disk or the like that stores various application programs and various data for causing the CPU 401 to execute various processes. Specifically, the preparation data input from the host system 600 is stored in the data storage unit 404.
  • the first control unit 400 stores the identification information of the later-described tray 101 corresponding to each preparation data together with the preparation data input from the host system 600. For example, the first control unit 400 associates the preparation data with the tray 101. It is also conceivable that information indicating the correspondence between the preparation data and the tray 101 is input to the co-infusion apparatus 1 together with the preparation data.
  • the data storage unit 404 stores various databases such as an injection needle master, a medicine master, a patient master, a doctor master, a prescription category master, a clinical department master, and a ward master.
  • the injection needle master the shape of the tip of the injection needle is stored for each type of injection needle.
  • the shape of the needle tip of the injection needle includes the outer diameter of the needle tube of the injection needle, the angle of the tip, the length of the cut surface (inclined surface), and the like.
  • the medicine master includes a medicine code, a medicine name, a JAN code (or RSS), a medicine bottle code, a classification (dosage form: powder, tablet, liquid medicine, topical medicine, etc.), specific gravity, kind of medicine (ordinary medicine, Anticancer drugs, poisons, narcotics, powerful drugs, antipsychotics, therapeutic drugs, etc.), formulation changes, excipients, precautions, types of drug containers (ampoules, vials), drug capacity per drug container ( Information) such as the predetermined amount) and the weight of the drug container.
  • the data storage unit 404 stores in advance a mixed injection control program for causing the CPU 401 to execute various processes.
  • the mixed injection control program may be read from a recording medium such as a CD, a DVD, a BD, or a flash memory and installed in the data storage unit 404 by a reading device (not shown) included in the first control unit 400. Good.
  • the operation unit 405 includes various operation units such as a keyboard, a mouse, or a touch panel that accept various user operations in the first control unit 400.
  • the second control unit 500 is a personal computer including a CPU 501, a ROM 502, a RAM 503, a data storage unit 504, an operation unit 505, and the like.
  • the second control unit 500 includes a first robot arm 21, a second robot arm 22, a tray transport unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, a tray, which will be described later, provided in the mixed injection processing unit 300.
  • Various electrical components such as a confirmation camera 41 and a syringe confirmation camera 42 are connected.
  • the CPU 501 is a processor that executes processing according to various control programs.
  • the ROM 502 is a non-volatile memory in which programs such as BIOS executed by the CPU 501 are stored in advance.
  • the RAM 503 is a volatile memory or a non-volatile memory used for development of various control programs by the CPU 501 and temporary storage of data.
  • the data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU 501 to perform various processes. Specifically, the data storage unit 504 stores in advance a mixed injection control program for causing the CPU 501 to execute a mixed injection process described later.
  • the mixed injection control program may be read from a recording medium such as a CD, a DVD, a BD, or a flash memory and installed in the data storage unit 504 by a reading device (not shown) included in the second control unit 500. Good.
  • the present invention can also be understood as an invention of the mixed injection control program for causing the CPU 401 and the CPU 501 to execute various processes in the mixed injection control unit 100 or a computer-readable recording medium recording the mixed injection control program. Good. Further, the present invention may be understood as an invention of a co-infusion method including each processing procedure executed in the co-infusion apparatus 1.
  • the operation unit 505 includes various operation units such as a keyboard, a mouse, or a touch panel that accept various user operations in the second control unit 500.
  • the medicine loading unit 200 is a clean bench including a door 201, a work table 202, a display 203, a barcode reader 204, and an air cleaning device 205. As shown in FIG. 3, the medicine loading unit 200 and the mixed injection processing unit 300 are communicated with each other through a tray insertion port 114 formed on a side surface of the mixed injection processing unit 300.
  • the display 203 is a display unit such as a liquid crystal display or an organic EL display that displays various types of information in response to a control instruction from the first control unit 400. Specifically, the display 203 displays preparation data and the like that are candidates for co-infusion in the co-infusion apparatus 1. Further, the barcode reader 204 reads a barcode described in a prescription or a preparation instruction, and inputs the content of the barcode to the first control unit 400. The air cleaning device 205 supplies air into the medicine loading unit 200 through a predetermined filter.
  • the door 201 is provided on the front surface of the medicine loading unit 200 and can be opened and closed vertically. As shown in FIG. 2, the user performs a preparatory work for the mixed injection process executed by the mixed injection device 1 in a state where the door 201 is slightly opened and a hand is placed in the medicine loading unit 200. Specifically, as shown in FIG. 5, the tray 101 placed on the work table 202 has a medicine container 10, a syringe 11, and an infusion bag used in the mixed injection process executed by the mixed injection device 1. 12 (an example of an infusion container) is accommodated.
  • the infusion bag 12 contains a prescribed amount of infusion solution such as physiological saline, glucose, or high calorie infusion solution corresponding to the type of the infusion bag 12.
  • medical agent container 10 is an anticancer agent
  • medical agents other than an anticancer agent may be sufficient.
  • the preparatory operation includes, for example, a loading operation in which the medicine container 10, the syringe 11, and the infusion bag 12 are placed at predetermined positions of the tray 101 and the tray 101 is loaded into the mixed injection processing unit 300. It is.
  • the chemical container 10 is an ampule
  • the chemical container 10 is referred to as an ampule 10A
  • the chemical container 10 is referred to as a vial 10B.
  • the tray 101 includes an electronic paper 101a on which a patient name and application are displayed as characters, and an IC tag 101b (recording medium) such as an RFID (Radio Frequency Identification) tag capable of reading and writing various types of information. Example). Identification information for identifying the tray 101 is stored in the IC tag 101b.
  • the tray 101 holds an instrument mounting portion 102 (see FIG. 9) on which the drug container 10 and the syringe 11 (syringe 11a, injection needle 11c, cap 11d) are mounted, and the infusion bag 12. And an infusion bag holding part 103 (see FIG. 5).
  • the instrument mounting part 102 and the infusion bag holding part 103 can be individually attached to and detached from the tray 101.
  • the equipment mounting portion 102 is provided with a support portion 102A that supports the ampoule 10A in an inclined state.
  • the ampoule 10A is set in a state where the ampoule 10A is stood diagonally by the support portion 102A. Thereby, a chemical
  • the injection needle 11c of the syringe 11 and the like are set in an inclined state on the support portion 102A.
  • the injection needle 11c includes an injection needle with a syringe filter.
  • a piece when the neck of the ampoule 10A is folded is injected from the syringe 11 into the infusion bag 12, or the piece flows into the syringe 11.
  • a syringe needle with a syringe filter is used.
  • the syringe filter is a filter generally referred to as a coma filter, and has a function of preventing passage of foreign substances other than chemicals.
  • a syringe filter manufactured by Nippon Pole is generally known.
  • the vial bottle 10B and the syringe 11 are set in a state in which they are laid on the device mounting portion 102, as shown in FIGS. At this time, the syringe 11 is in a state where the syringe 11a and the injection needle 11c are separated.
  • the arrangement form in the equipment mounting portion 102 described here is an exemplification, and the present invention is not limited to this.
  • the infusion bag holding portion 103 is provided with a chuck portion 140 for fixing the mixed injection port (neck portion) of the infusion bag 12.
  • the user sets the infusion bag 12 in the infusion bag holding portion 103 in a state where the infusion bag 12 is held by the chuck portion 140.
  • the infusion bag holding portion 103 is provided with an engagement hole portion 103a used when the infusion bag holding portion 103 is raised and lowered.
  • the tray 101 is supplied to the mixed injection processing unit 300 through the tray insertion port 114 after the medicine container 10, the syringe 11, and the infusion bag 12 are set by the user.
  • the medicine loading unit 200 includes a loading mechanism such as a belt conveyor that automatically loads the tray 101 into the mixed injection processing unit 300.
  • the carry-in mechanism has a function of automatically discharging the tray 101 from the mixed injection processing unit 300 to the medicine loading unit 200 side.
  • a main door 301, a syringe take-out door 302, a garbage storage room door 13, a touch panel monitor 14, a tray discharge port 15, and the like are provided on the front surface of the mixed injection processing unit 300. .
  • the main door 301 is opened and closed to access the mixed injection processing chamber 104, for example, when cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300.
  • the said co-infusion apparatus 1 besides the said infusion bag 12 with which the chemical
  • the syringe outlet door 302 is opened and closed when the syringe 11 is taken out from the mixed injection processing chamber 104.
  • the waste storage chamber door 13 is for removing the waste from the waste storage chamber 13a in which waste such as the chemical container 10 and the syringe 11 after being used in the mixed injection processing in the mixed injection processing chamber 104 is stored. Is opened and closed. In addition, the tray discharge port 15 is opened and closed to take out the tray 101 on which the infusion bag 12 is placed after the medicine is mixedly injected by the mixed injection processing in the mixed injection processing chamber 104.
  • the touch panel monitor 14 is a display unit such as a liquid crystal display or an organic EL display that displays various types of information in response to a control instruction from the second control unit 500.
  • the touch panel monitor 14 can display, for example, images or videos taken by various cameras described later.
  • the mixed injection processing chamber 104 includes a first robot arm 21, a second robot arm 22, an ampoule cutter 31, a stirring device 32, a mounting shelf 33, a rotating mounting portion 33 ⁇ / b> A, A medicine reading unit 34, a weighing meter 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, a dust cover 132a, and the like are provided. Further, as shown in FIG.
  • a tray confirmation camera 41, a syringe confirmation camera 42, a syringe needle attachment / detachment device 43, a needle insertion confirmation camera 44, a sterilization lamp 45, and the like are provided on the ceiling side of the mixed injection processing chamber 104.
  • the first robot arm 21 and the second robot arm 22 are drive units having a multi-joint structure, and are provided in a hanging manner with a base end fixed to the ceiling side of the mixed injection processing chamber 104.
  • the joints of the first robot arm 21 and the second robot arm 22 are 5 to 8 axes, respectively.
  • each work process in the co-infusion process is executed by the double-arm first robot arm 21 and the second robot arm 22.
  • the second control unit 500 individually drives drive motors provided at the joints of the first robot arm 21 and the second robot arm 22, so that the first robot arm 21 and the second robot arm 21 are driven.
  • the robot arm 22 is caused to execute each operation in the mixed injection process.
  • the mixed injection processing unit 300 has, for example, a configuration including one robot arm, a configuration including three or more robot arms, or a configuration not using a robot arm as long as the mixed injection processing unit 300 can execute the mixed injection processing. It may be.
  • the first robot arm 21 includes a holding portion 25 that can hold devices such as the medicine container 10 and the syringe 11, and the holding portion 25 has a predetermined movable range. It is possible to move to an arbitrary position.
  • the second robot arm 22 can hold and move equipment such as the medicine container 10 and the syringe 11 to an arbitrary position, and performs operations of sucking and injecting medicine by the syringe 11. It is an example of a holding part provided with the holding part 26 which can be.
  • the first robot arm 21 and the second robot arm 22 are an example of a first drive unit
  • the holding unit 26 is an example of a second drive unit.
  • the second robot arm 22 can move the medicine container 10 and the syringe 11 to any position within a predetermined movable range.
  • the holding portion 25 of the first robot arm 21 includes a pair of gripping claws 25a, a motor 251, two screw shafts 252, 253 rotated by the motor 251, the screw shaft 252, Nut blocks 254 and 255 screwed to 253 are provided.
  • the pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. Then, the nut blocks 254 and 255 are moved by the rotation of the screw shafts 252 and 253, and the pair of gripping claws 25a approach and separate from each other to hold and release the holding portion 25.
  • the pair of gripping claws 25a is a gripping portion having a recess suitable for holding the vial 10B and a recess suitable for holding the ampoule 10A on the tip side.
  • FIG. 7 shows a state in which both the ampoule 10A and the vial bottle 10B are held, but in reality, one ampoule 10A or the vial bottle 10B is held.
  • the holding unit 25 can also hold the injection needle 11c or the syringe 11 with the cap 11d attached by the pair of gripping claws 25a.
  • the second control unit 500 can measure the diameter of the syringe 11 according to the driving amount of the motor 251 when the syringe 11 is held by the pair of gripping claws 25a of the holding unit 25. Is possible. Accordingly, the second controller 500 can determine whether the syringe 11 is a syringe designated by the preparation content information of the preparation data.
  • the holding part 26 of the second robot arm 22 includes a syringe holding part 261, a plunger holding part 262, and a moving part 263.
  • the syringe holder 261 includes a pair of gripping claws 261 a that hold the syringe 11 a of the syringe 11.
  • the pair of gripping claws 261a are gripping portions that hold and release the syringe 11a of the syringe 11 by being close to and away from each other by a mechanism similar to the drive mechanism used in the holding portion 25.
  • inclined portions 261b that are inclined downward from the upper end surface of the gripping claws 261a toward the facing surface are formed on opposing surfaces facing each other.
  • the plunger holding portion 262 includes a pair of gripping claws 262a that hold the flange portion of the plunger 11b of the syringe 11.
  • the pair of gripping claws 262a are gripping portions that hold and release the flange portion of the plunger 11b of the syringe 11 by being close to and separated from each other by a mechanism similar to the driving mechanism used in the holding portion 25. is there.
  • a gripping claw 262b is fixed to the upper surface of each gripping claw 262a.
  • Each of the gripping claws 262b is a gripping part that approaches and separates the pair of gripping claws 262a by approaching and separating, and grips not only the syringe 11 but also other devices such as the drug container 10.
  • the recessed part for the collar part of the said plunger 11b to enter is formed in the upper surface of the opposing side of said pair of holding claw 262a.
  • the tips of the pair of gripping claws 262b project forward from the pair of gripping claws 262a, and the pair of gripping claws 262b can easily grip equipment such as the ampoule 10A and the vial bottle 10B.
  • the grip claw 262b may be provided on the grip claw 261a.
  • the moving unit 263 can move the plunger holding unit 262 in the moving direction of the plunger 11b of the syringe 11.
  • the moving unit 263 moves the plunger 11b by a driving mechanism such as a motor, a screw shaft rotated by the motor, a nut block screwed to the screw shaft, and a guide.
  • the plunger holding part 262 is fixed to the nut block, and moves by the movement of the nut block.
  • the mixed injection processing section 300 is provided with a tray transport section 110 that transports the tray 101 supplied from the tray insertion port 114 at the right end in FIG. 6 to the tray transport end section 110a at the left end. ing.
  • FIG. 9 is a schematic plan view showing an example of the transport path of the tray 101 in the tray transport section 110.
  • the inside of the tray transfer unit 110 is set at a positive pressure as compared with the inside of the mixed injection processing chamber 104.
  • the tray transport unit 110 allows the tray 101 to pass through the rear side of the dust storage chamber 13 a located below the mixed injection processing chamber 104 and below the dust cover 132 a. It is provided to convey. Thereby, the said garbage storage chamber 13a can be accessed from the front side of the said co-infusion apparatus 1.
  • the tray 101 that moves in the tray conveyance unit 110 is indicated by a two-dot chain line, and a plurality of the trays are simultaneously included in the tray conveyance unit 110. 101 does not exist.
  • the tray transport unit 110 is provided with an IC reader 101c and an IC reader 15a capable of reading information from the IC tag 101b provided in the infusion bag holding unit 10 of the tray 101.
  • the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags.
  • the IC reader 101c is provided in the tray conveyance start section 110b in which the tray 101 is loaded from the tray insertion port 114, and the IC reader 15a is configured to discharge the tray 101 from the tray discharge port 15. It is provided in the tray conveyance end portion 110a.
  • the second control unit 500 determines that the tray 101 is inserted into the tray conveyance start unit 110b from the tray insertion port 114 based on a sensor output (not shown)
  • the IC reader 101c performs the IC operation. Information is read from the tag 101b. Further, when the second control unit 500 determines that the tray 101 is inserted into the tray conveyance termination unit 110a based on a sensor output (not shown), the information is read from the IC tag 101b by the IC reader 15a. . Then, the second control unit 500 executes a tray collation process for determining whether or not the tray 101 is appropriate according to the reading results of the IC reader 101c and the IC reader 15a.
  • the tray transport is performed.
  • the shutter 111 that communicates and shields the unit 110 and the mixed injection processing chamber 104 is slid in the horizontal direction.
  • the equipment placement unit 102 is exposed in the mixed injection processing chamber 104.
  • FIG. 9 shows a state in which the equipment placing portion 102 is exposed in the mixed injection processing chamber 104.
  • the tray transport unit 110 is configured to raise and lower the equipment placement unit 102 in the tray 101 moved into the tray transport unit 110 through the tray insertion port 114.
  • An elevating part 112 is provided.
  • the tray lifting / lowering unit 112 lifts the equipment placing unit 102 from the bottom to the top by driving the four shafts 112a provided in a vertically movable manner, for example.
  • the second control unit 500 raises the equipment placing unit 102 by the tray lifting / lowering unit 112, and then performs imaging by the tray confirmation camera 41.
  • the tray confirmation camera 41 photographs from above the medicine container 10 and the syringe 11 that are placed on the device placement section 102 that is determined in advance.
  • the second control unit 500 executes an image recognition process using an image captured by the tray confirmation camera 41, and the number of the medicine containers 10 and the syringes 11 (the syringe 11a and the injection needle) indicated by the preparation data. 11c) or the like is present on the equipment placement unit 102.
  • a bag lifting / lowering unit 113 that lifts and lowers the infusion bag holding unit 103 is provided in the tray transfer terminal end portion 110 a located in the left space of the mixed injection processing chamber 104.
  • the second control unit 500 After the second control unit 500 transports the tray 101 to the front of the bag lifting / lowering unit 113, the second control unit 500 hooks the hook portion 113a of the bag lifting / lowering unit 113 into the engagement hole 103a from below. Then, the second control unit 500 drives the arc gear portion 113b formed with the hook portion 113a to rotate by a motor 113c, thereby raising the infusion bag holding portion 103 and opening the mixed injection port of the infusion bag 12. It is located in the mixed injection communication port 37. In addition, the second control unit 500 controls the motor 113c to drive the bag elevating unit 113 to incline the infusion bag holding unit 103 so that the mixed injection port of the infusion bag 12 faces upward or downward. can do.
  • a dome-shaped light 120 and an infusion camera 121 for illuminating the infusion bag 12 conveyed to the tray conveyance end portion 110a are provided above the tray conveyance end portion 110a.
  • the infusion camera 121 is provided in the center of the dome-shaped light 120 and reads a barcode attached to the surface of the infusion bag 12. Accordingly, the second control unit 500 can determine whether the infusion bag 12 is appropriate according to the barcode information read by the infusion camera 121.
  • the ampoule cutter 31 As shown in FIG. 11, the ampoule cutter 31 is provided with a file part 31a, a waste tray 31b, a head insertion part 31c, a drive box 31f, a waste box 31g, and a grip part 31h.
  • the file portion 31a is a member for notching the neck of the ampoule 10A, and the waste generated by the notch processing in the file portion 31a falls on the waste tray 31b.
  • the first robot arm 21 holds the ampoule 10A and slides with the neck of the ampoule 10A in contact with the file portion 31a, so that the neck of the ampoule 10A is reached. Notched.
  • the head insertion part 31c is positioned on the side of the head of the ampoule 10A protruding upward from the hole 31d and the hole 31d into which the head of the ampoule 10A to which the notch processing has been applied is inserted from below.
  • a pusher 31e On the other hand, the drive box 31f has a cam provided therein and a drive motor for driving the cam. When the cam is driven by the drive motor, the pusher 31e is moved by the cam to the ampoule 10A. It reciprocates in the direction of approaching and separating from the head.
  • the first robot arm 21 holds the ampoule 10A by the gripping claws 25a, the head of the ampoule 10A is inserted into the hole 31d from below, and the head above the neck is moved upward. To protrude. Thereafter, when the drive motor of the drive box 31f is driven by the second controller 500 and the pusher 31e is moved in the direction of pushing the head of the ampoule 10A, the pusher 31e pushes the head. To be folded. At this time, the head folded by the pusher 31e falls into the waste box 31g.
  • the grip portion 31h is used by a user when the ampule cutter 31 is slid along a rail 31i (see FIG. 4) that slidably supports the ampule cutter 31.
  • the agitator 32 when a medicine that needs to be dissolved such as powder (powder) is contained in the vial 10B, injects an infusion or medicine into the vial 10B to dissolve the medicine, Used when producing mixed chemicals.
  • the stirring device 32 includes a roller 32a, a pressing portion 32b, a rotation support portion 32c, a support base 32d, a horizontal swing mechanism 32e, a support portion 32f, a drive motor 32g, and the like. Is provided.
  • the two rollers 32a are opposed to each other with a predetermined distance therebetween.
  • One roller 32a is rotatably supported, and the other roller 32a is connected to the drive motor 32g.
  • Each of the rollers 32a is elongated in the axial direction, and the stirring device 32 can simultaneously stir the two vial bottles 10B placed on both ends of the roller 32a in the axial direction. .
  • the pressing portion 32b is a driven roller that is used to press the vial 10B placed on the roller 32a from above and rotates as the chemical container 10 rotates.
  • the rotation support portion 32c rotates the pressing portion 32b in a direction in contact with or away from the drug container 10 by a drive motor (not shown).
  • the support base 32d supports the roller 32a, the pressing portion 32b, the rotation support portion 32c, and the like.
  • the horizontal swing mechanism 32e has, for example, a crank mechanism, and can swing the support base 32d in the axial direction of the roller 32a.
  • the support portion 32f has U-shaped notches into which the neck of the vial bottle 10B is fitted at both ends in the axial direction of the roller 32a.
  • the vial 10B is placed on the roller 32a, the neck of the drug container 10 is engaged with the notch.
  • the support base 32d is swung in the axial direction of the roller 32a by the horizontal swing mechanism 32e, the chemical container 10 swings following the swing of the roller 32a in the axial direction.
  • the medicine in the medicine container 10 is stirred in the horizontal direction.
  • the placement shelf 33 is used to temporarily place the medicine container 10, the syringe 11, and the like in the mixed injection process executed in the mixed injection device 1.
  • the placement shelf 33 is provided at a position accessible by both the first robot arm 21 and the second robot arm 22.
  • the vial bottle 10B is placed in a state where it is stood at a predetermined position.
  • the placement shelf 33 is provided with an inclination holding part for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed in an inclined state on the inclination holding part.
  • the mounting shelf 33 is formed with a neck holding hole having a predetermined diameter, into which the neck of the syringe 11 is fitted, and the syringe 11 is in a state of only a syringe without an injection needle 11c attached. And temporarily placed with the neck facing down.
  • the rotation mounting portion 33A is used for the operation for rotating the syringe 11 in the circumferential direction, and is provided at a position where the first robot arm 21 can be accessed.
  • the rotation mounting portion 33A is formed with a neck holding hole having a predetermined diameter in which the neck portion of the syringe 11 is fitted, similarly to the mounting shelf 33, and the syringe 11 is a syringe needle. It is placed with the neck portion facing downward in the state of only the syringe not attached with 11c.
  • the first robot arm 21 can rotate the syringe 11 by 180 degrees in the circumferential direction after placing the syringe 11 on the rotation placement portion 33A.
  • the first robot arm 21 gradually rotates the syringe 11 up to 180 degrees in the circumferential direction by repeatedly executing the following (a) and (b).
  • the medicine reading unit 34 reads a barcode indicating medicine information of the contained medicine described on a label attached to the medicine container 10 such as the ampoule 10A and the vial bottle 10B.
  • the medicine reading unit 34 includes two rollers 34a and a barcode reader 34b as shown in FIG.
  • the rollers 34a are arranged to face each other with a predetermined interval.
  • One of the rollers 34a is rotatably supported, and the other roller 34a is connected to a drive motor (not shown).
  • the two rollers 34a are driven by the drive motor to rotate the medicine container 10 placed between the rollers 34a in the circumferential direction.
  • medical agent container 10 can be rotated once in the circumferential direction, the whole region of the label affixed on the said chemical
  • the barcode reader 34b reads the barcode from the label of the chemical container 10 rotated by the roller 34a.
  • the weighing instrument 35 is used to measure the weight of the syringe 11 in the mixed injection process executed in the mixed injection device 1, and the measurement result by the weighing instrument 35 is input to the second control unit 500.
  • the weigh scale 35 is disposed within the movable range of the second robot arm 22 and measures the weight of the syringe 11 placed by the second robot arm 22.
  • a weighing meter for weighing the drug container 10 or the syringe 11 is provided on the mounting shelf 33.
  • the needle bending detection unit 36 is formed with a long hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved.
  • the needle bending detection unit 36 irradiates and receives detection light across the elongated hole 36a, and the first optical sensor 361 and the second optical sensor 362 are arranged so that the detection lights are not parallel to each other. Is provided. That is, the detection light irradiation directions of the first optical sensor 361 and the second optical sensor 362 are different. Detection results from the first optical sensor 361 and the second optical sensor 362 are input to the second controller 500.
  • the injection needle 11c attached to the syringe 11 is inserted into the elongated hole 36a and moved up and down.
  • the detection light of each of the first optical sensor 361 and the second optical sensor 362 is blocked by the injection needle 11c, the first optical sensor 361 and the second optical sensor 362 are turned off.
  • the second control unit 500 can detect the bending of the injection needle 11c using the position information of the injection needle 11c when the detection light is blocked.
  • the injection needle 11c is photographed with a camera and needle bending or the like is detected by image recognition on the photographed image. Then, when the injection needle 11c is bent, the second control unit 500, for example, based on the bending amount of the injection needle 11c, the infusion bag 12 with the injection needle 11c by the second robot arm 22, for example. It is possible to adjust the position of the needle tip at the time of puncturing the rubber stopper of the mixed injection port.
  • the mixed injection communication port 37 is formed in a dome-shaped portion protruding outward on the side wall of the mixed injection processing chamber 104, and the dome-shaped portion of the infusion bag 12 extends vertically. A notch for passing the mixed injection port is formed. Therefore, when the infusion bag holding part 103 is raised, the mixed injection port of the infusion bag 12 is located in the mixed injection processing chamber 104.
  • the needle insertion confirmation transparent window 38 is a window through which the infusion bag 12 of the tray transfer terminal portion 110a can be seen from the mixed injection processing unit 300, and the injection needle 11c of the syringe 11 is inserted into the infusion bag 12. Used when taking an image to check the status.
  • the syringe confirmation camera 42 is disposed on the ceiling portion of the mixed injection processing unit 300.
  • the syringe confirmation camera 42 is used to photograph the syringe 11 in order to confirm the presence and amount of the medicine sucked into the syringe 11.
  • the syringe confirmation camera 42 may capture an image within a fixed imaging range, but can be arbitrarily changed in position and size of the imaging range by being controlled by the second control unit 500. It may be possible. Further, as will be described later, in the mixed injection device 1, the syringe 11 and the medicine container 10 are photographed at a time by the syringe confirmation camera 42, and a highly reliable inspection image is provided.
  • the second control unit 500 uses the data storage unit 404, the data storage unit, and the data storage unit 404, the data storage unit, in order to check the appropriateness of the mixed injection processing executed by the mixed injection device 1, for example, with the image taken by the syringe confirmation camera 42. 504 or a storage unit such as a hard disk provided outside the mixed injection device 1. Then, the second control unit 500 causes the touch panel monitor 14 or a display device such as the display 203 to display an image captured by the syringe confirmation camera 42 during the inspection by the user.
  • the injection needle attaching / detaching device 43 As shown in FIGS. 15 and 16, the injection needle attaching / detaching device 43 is inserted with the tip of the injection needle 11 c having the cap 11 d fitted upward into the hole 43 b of the chuck portion 43 a in which the cut portion is formed.
  • the motor 43c When the motor 43c is driven, the hole 43b of the chuck portion 43a is expanded by a cam mechanism (not shown), and the injection needle 11c can be inserted together with the cap 11d.
  • the driving of the motor 43c is stopped, the holding state of the cap 11d and the injection needle 11c is maintained by the spring 43d.
  • the needle turning motor 43e When the needle turning motor 43e is driven, the gear 43f and the gear 43g are rotated, the chuck portion 43a is rotated, and the cap 11d and the injection needle 11c are rotated.
  • Each of the injection needle 11c and the cap 11d is provided with a rib that comes into contact with the cap 11d when the cap 11d rotates in the circumferential direction with the injection needle 11c attached. Therefore, the injection needle 11c rotates with the cap 11d when the cap 11d of the injection needle 11c is rotated by the chuck portion 43a, and is attached to and detached from the syringe 11a.
  • the syringe needle 11 is moved closer to or away from the chuck portion 43a by the second robot arm 22 while the cap 11d is held by the chuck portion 43a. It is also possible to automatically attach and detach the cap 11d to and from 11c.
  • the tip of the injection needle 11c faces upward, the tip opening of the syringe 11a from which the injection needle 11c is removed faces upward, and dripping from the neck opening of the syringe 11a. Can be prevented.
  • the needle insertion confirmation camera 44 photographs the infusion bag 12 located outside the mixed injection processing chamber 104 and the syringe 11 in the mixed injection processing chamber 104 so as to fit in one image.
  • the second controller 500 photographs the direction of the needle insertion confirmation transparent window 38 with the needle insertion confirmation camera 44 when the rubber stopper of the mixed injection port of the infusion bag 12 is punctured with the injection needle 11c.
  • an image captured by the needle insertion confirmation camera 44 is displayed on the touch panel monitor 14, for example.
  • FIG. 17 is an example of an image taken by the needle insertion confirmation camera 44. Thereby, the user can confirm whether or not the distal end side of the injection needle 11c is located in the infusion bag 12 by the captured image.
  • the photographed image is stored in a storage unit such as a hard disk provided inside or outside the mixed injection device 1 for final inspection, for example.
  • a storage unit such as a hard disk provided inside or outside the mixed injection device 1 for final inspection, for example.
  • the germicidal lamp 45 is turned on, for example, 3 hours before the start of the mixed injection process. As shown in FIG. 6, one of the two germicidal lamps 45 is provided at a position between the first robot arm 21 and the second robot arm 22. Therefore, the amount of sterilization light blocked by the first robot arm 21 and the second robot arm 22 is reduced, and the inside of the mixed injection processing chamber 14 can be sterilized uniformly. Further, the mixed injection processing unit 300 sucks air in the mixed injection processing chamber 104 from a slit 104b (see FIGS. 3 and 4) formed in a lower portion of the side wall of the mixed injection processing chamber 104, and the mixed injection processing chamber 300.
  • a slit 104b see FIGS. 3 and 4
  • An exhaust system for exhausting air from an exhaust fan (not shown) provided above 104 is provided.
  • an air supply system is also provided that cleans the outside air from an air inlet formed in the ceiling portion of the mixed injection processing chamber 104 and guides it to the mixed injection processing chamber 104 and the like.
  • the second control unit 500 When the tray 101 is supplied to the tray transport unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. Then, the second control unit 500 opens the shutter 111 when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process. Thereafter, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray lifting / lowering unit 112 of the tray transport unit 110 and exposes it to the mixed injection processing chamber 104.
  • the second control unit 500 photographs the equipment placing unit 102 with the tray confirmation camera 41. Then, the second control unit 500 performs the position and orientation of the equipment such as the ampule 10A and the syringe 11 placed on the equipment placement section 102 by image recognition processing based on the image captured by the tray confirmation camera 41. To figure out. In particular, every time the ampule 10A or the syringe 11 is taken out from the device mounting unit 102, the second control unit 500 captures the device mounting unit 102 with the tray confirmation camera 41, and the latest from the captured image. The position and direction of the ampule 10A and the syringe 11 are grasped.
  • the second controller 500 uses the first robot arm 21 to place the syringe 11 placed on the equipment placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Temporary placement. Further, the second control unit 500 sets the ampoule 10 ⁇ / b> A placed on the equipment placing unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine stored in the ampoule 10 ⁇ / b> A by the medicine reading unit 34.
  • the second control unit 500 sets the first injection needle 11c to the injection needle attaching / detaching device 43 and the second injection needle 11c to the placement shelf 33 by the first robot arm 21.
  • the first injection needle 11c is an injection needle without a syringe filter
  • the second injection needle 11c is an injection needle with a syringe filter.
  • a cap 11 d is attached to the injection needle 11 c placed on the device placement section 102, and the cap 11 d is attached / detached by the injection needle attaching / detaching device 43.
  • the injection needle 11c is set on the tray 101 in a state where it is mounted on the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.
  • the tray placing unit 102 is lowered by the tray lifting / lowering unit 112 of the tray transporting unit 110, thereby the tray 101.
  • the second control unit 500 confirms whether or not all the devices on the device mounting unit 102 have been taken out by an image recognition process based on a photographed image by the tray confirmation camera 41.
  • the second control unit 500 closes the shutter 111 and causes the tray conveyance unit 110 to convey the tray 101 to the tray conveyance termination unit 110a.
  • the second control unit 500 sets the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 by the bag elevating unit 113 of the tray transport unit 110 to the mixed injection processing chamber. It is located in the mixed injection communication port 37 formed in 104.
  • the second control unit 500 moves the ampoule 10 ⁇ / b> A set in the medicine reading unit 34 to the mounting shelf 33 by the second robot arm 22.
  • the second control unit 500 takes out the syringe 11 from the placement shelf 33 by the first robot arm 21 and sets it on the second robot arm 22.
  • the second controller 500 causes the second robot arm 22 to move the syringe 11 to the syringe needle attaching / detaching device 43 to set the syringe needle 11c in the syringe 11.
  • the second controller 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detector 36 to detect whether the injection needle 11c is bent.
  • the injection needle 11c is set on the tray 101 while being mounted on the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.
  • the second control unit 500 takes out the ampoule 10A from the placing shelf 33 by the first robot arm 21 and folds the head of the ampoule 10A using the ampoule cutter 31. Then, the second control unit 500 causes the ampule 10A and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 to the ampule 10A. Insert inside. Thereafter, the second control unit 500 operates the plunger 11b with the second robot arm 22 and sucks the amount of medicine predetermined by the preparation data from the ampoule 10A with the syringe 11.
  • the first robot arm 21 and the second robot arm 22 gradually tilt the posture of the ampoule 10A and the syringe 11.
  • the ampoule 10A is A state in which the medicine is moved to the side of the mouth (neck) by tilting about 10 degrees with respect to the direction is formed. This makes it possible to suck up the medicine without leaving as much as possible without putting the tip of the injection needle 11c of the syringe 11 on the bottom of the ampoule 10A.
  • the second controller 500 controls one or both of the first robot arm 21 and the second robot arm 22 to suck the ampule 10A and the medicine after the medicine is sucked.
  • the syringe 11 is moved within the imaging range of the syringe confirmation camera 42.
  • the second control unit 500 captures the ampule 10A and the syringe 11 at a time using the syringe confirmation camera 42, and records the captured image in the data storage unit 504 as an inspection image.
  • the syringe confirmation camera 42 captures the predetermined photographing range.
  • the syringe control camera 42 so that the ampule 10A and the syringe 11 after the second controller 500 is moved by the first robot arm 21 and the second robot arm 22 can be photographed at a time. It is also conceivable that the shooting range can be changed.
  • the second control unit 500 replaces the injection needle 11 c of the syringe 11 by the first robot arm 21 and the second robot arm 22.
  • the second controller 500 uses the second robot arm 22 to move the syringe 11 to the needle bend detector 36 and detects whether the injection needle 11c is bent.
  • the second robot arm 22 moves the syringe 11 to the injection needle attaching / detaching device 43 to attach the cap 11d to the injection needle 11c.
  • the second control unit 500 rotates the cap 11 d by the injection needle attaching / detaching device 43 to remove the injection needle 11 c from the syringe 11.
  • the removal of the injection needle 11c may be performed by rotating the cap 11d by the first robot arm 21 and the second robot arm 22.
  • the second controller 500 opens the dust cover 132a, drops the injection needle 11c held by the injection needle attaching / detaching device 43 by the first robot arm 21 into the dust storage chamber 13a, and discards it. To do. Thereafter, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter from the placement shelf 33 to the injection needle attaching / detaching device 43. Then, the second control unit 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the injection needle 11 c to the syringe 11.
  • the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22 and detects the presence or absence of the bending of the injection needle 11c.
  • the injection needle 11c is replaced when the drug is sucked from the ampule 10A and when the infusion is injected into the infusion bag 12, and the fragments of the ampule 10A are replaced with the infusion bag. 12 is prevented.
  • the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12.
  • the second control unit 500 opens the dust lid 132a and drops the ampoule 10A into the dust storage chamber 13a by the first robot arm 21 and discards it.
  • the second controller 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the syringe 11.
  • the syringe 11 is dropped into the garbage storage chamber 13a and discarded.
  • the second control unit 500 reads various images taken by the syringe confirmation camera 42 and the like from the data storage unit 504 and displays them on the touch panel monitor 14. As a result, the user can check whether or not the mixed injection process is appropriate while looking at the touch panel monitor 14.
  • the second control unit 500 When the tray 101 is supplied to the tray transport unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. Then, the second control unit 500 opens the shutter 111 when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process. Thereafter, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray lifting / lowering unit 112 of the tray transport unit 110 and exposes it to the mixed injection processing chamber 104.
  • the second control unit 500 photographs the equipment placing unit 102 with the tray confirmation camera 41. Then, the second controller 500 determines the position of the equipment such as the vial 10B and the syringe 11 placed on the equipment placing section 102 by the image recognition process based on the image taken by the tray confirmation camera 41. Know the direction. In particular, each time the second control unit 500 takes out the vial 10B or the syringe 11 from the instrument mounting unit 102, the second control unit 500 captures the instrument mounting unit 102 with the tray confirmation camera 41, and from the captured image. The latest position and orientation of the vial 10B and the syringe 11 are grasped.
  • the second controller 500 uses the first robot arm 21 to place the syringe 11 placed on the equipment placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Temporary placement.
  • the second control unit 500 sets the vial 10 ⁇ / b> B placed on the device placement unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine stored in the vial bottle 10 ⁇ / b> B by the medicine reading unit 34.
  • the tray placing unit 102 is lowered by the tray lifting and lowering unit 112 of the tray transporting unit 110, and the tray. Return to 101.
  • the second control unit 500 confirms whether or not all the devices on the device mounting unit 102 have been taken out by an image recognition process based on a photographed image by the tray confirmation camera 41.
  • the second control unit 500 closes the shutter 111 and causes the tray conveyance unit 110 to convey the tray 101 to the tray conveyance termination unit 110a.
  • the second control unit 500 sets the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 by the bag elevating unit 113 of the tray transport unit 110 to the mixed injection processing chamber. It is located in the mixed injection communication port 37 formed in 104.
  • the second control unit 500 moves the vial 10B set in the medicine reading unit 34 to the placement shelf 33 by the second robot arm 22.
  • the second control unit 500 uses the first robot arm 21 to attach and detach the injection needle 11c of the syringe 11 placed on the device placement unit 102. Set in the device 43.
  • the second controller 500 takes out the syringe 11 from the placement shelf 33 by the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the syringe needle attaching / detaching device 43 to set the syringe needle 11c in the syringe 11. Thereafter, the second controller 500 causes the second robot arm 22 to move the syringe 11 to the needle bend detector 36 to detect whether the injection needle 11c is bent. It is also conceivable that the injection needle 11c is set on the tray 101 in a state where the injection needle 11c is attached to the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c in the syringe 11 is omitted.
  • the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the infusion solution of the dissolution amount indicated by the preparation data is aspirated from the infusion bag 12. On the other hand, the second control unit 500 takes out the vial 10 ⁇ / b> B placed on the placement shelf 33 by the first robot arm 21.
  • the second controller 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and moves the injection needle 11c of the syringe 11 to the The vial bottle 10B is punctured. Thereafter, the second controller 500 operates the plunger 11b with the second robot arm 22 to inject the infusion solution in the syringe 11 into the vial bottle 10B.
  • the medicine is a powder medicine
  • a dissolving step is performed in which the infusion is extracted from the infusion bag 12 by the syringe 11 and the infusion is injected from the syringe 11 into the vial bottle 10B. Is done.
  • the medicine in the vial bottle 10B is dissolved by the infusion solution.
  • the posture of the syringe 11 and the vial bottle 10B is such that the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the vial bottle 10B is directed vertically upward.
  • the second controller 500 uses the first robot arm 21 to set the vial bottle 10B into which the infusion solution has been injected into the stirring device 32. Thereby, in the said stirring apparatus 32, the chemical
  • the second control unit 500 takes out the vial 10B from the stirring device 32 by the first robot arm 21.
  • the second control unit 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the robot arm 22 so that the injection needle 11c of the syringe 11 is moved to the vial. Puncture 10B. Thereafter, the second controller 500 operates the plunger 11b with the second robot arm 22 to suck the mixed drug in the vial bottle 10B with the syringe 11. At this time, the posture of the syringe 11 and the vial bottle 10B is such that the mouth of the vial bottle 10B is directed vertically downward and the injection needle 11c of the syringe 11 is directed vertically upward.
  • the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 to remove the vial 10B and the medicine after the medicine is sucked.
  • the syringe 11 in the sucked state is moved within the photographing range of the syringe confirmation camera 42.
  • the second control unit 500 captures the vial 10B and the syringe 11 at a time using the syringe confirmation camera 42, and records the captured images in the data storage unit 504 as inspection images.
  • the syringe confirmation camera 42 captures the predetermined photographing range.
  • the syringe confirmation camera is configured so that the vial 10B and the syringe 11 can be photographed at a time after the second controller 500 is moved by the first robot arm 21 and the second robot arm 22. It is also conceivable that the 42 shooting ranges can be changed.
  • the second control unit 500 punctures the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 conveyed to the tray conveyance termination unit 110a by the second robot arm 22. Then, the mixed medicine in the syringe 11 is injected into the infusion bag 12.
  • an injection process is performed in which the medicine is sucked from the vial bottle 10B by the syringe 11 and the medicine is injected from the syringe 11 into the infusion bag 12.
  • the second controller 500 opens the dust lid 132a, and drops the vial 10B into the dust storage chamber 13a by the first robot arm 21 and discards it.
  • the second controller 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22 and attaches the cap 11d to the injection needle 11c of the syringe 11.
  • the syringe 11 is dropped into the garbage storage chamber 13a and discarded.
  • the second control unit 500 reads various images taken by the syringe confirmation camera 42 and the like from the data storage unit 504 and displays them on the touch panel monitor 14. As a result, the user can check whether or not the mixed injection process is appropriate while looking at the touch panel monitor 14.
  • the chemical contained in the vial bottle 10B may be a chemical such as a chemical solution that does not need to be dissolved.
  • the mixed injection process in this case is performed by dissolving the chemical contained in the vial bottle 10B except that the step of sucking the infusion liquid from the infusion bag 12 and injecting the infusion liquid into the vial bottle 10B is not performed. Since it is the same as the mixed injection process in the case of a necessary medicine such as a powder medicine, the description is omitted.
  • FIG. 18 is a flowchart showing an example of the loading preparation process.
  • step S ⁇ b> the first control unit 400 performs a loading preparation start operation for starting a preparatory work for loading chemicals and equipment necessary for the mixed injection processing based on the preparation data to the operation unit 405. It is judged whether it was done.
  • the loading preparation start operation includes an operation of selecting the preparation data to be subjected to the current preparation work from one or more unprocessed preparation data. If it is determined that the loading preparation start operation has been performed (S1: Yes), the process proceeds to step S2. Further, until the loading preparation start operation is performed (S1: No), the process waits at the step S1.
  • step S ⁇ b> 2 the first control unit 400 determines whether or not prior work is necessary separately from the mixed injection process based on the preparation data selected in the loading preparation start operation.
  • the first control unit 400 determines that the preliminary work is necessary when the amount of liquid in the infusion bag 12 changes as a result of the mixed injection process based on the preparation data.
  • the first control unit 400 is based on the difference (decreasing amount) between the amount of the infusion extracted from the infusion bag 12 in the dissolution step and the amount of the liquid injected into the infusion bag 12 in the injection step.
  • the first control unit 400 determines that the amount of liquid in the infusion bag 12 decreases as a result of the mixed injection process when the difference is equal to or greater than a predetermined threshold, and the replenishment operation Is determined to be necessary.
  • the first control unit 400 determines that a sampling operation for extracting a predetermined amount of infusion from the infusion bag 12 is necessary as the preliminary operation before the mixed injection process is performed. More specifically, the first control unit 400 determines that the liquid amount in the infusion bag 12 increases as a result of the mixed injection process when the liquid amount of the medicine is equal to or greater than a predetermined threshold value, It is determined that the extraction work is necessary.
  • the first control unit 400 determines in the preparation data that it is necessary to inject another medicine different from the medicine injected into the infusion bag 12 by the mixed injection device into the infusion bag 12. If it is determined that the injection operation is necessary, it is determined that the injection operation is necessary as the preliminary operation. In the present embodiment, the case where the necessity of the replenishment work, the sampling work, and the injection work is determined as the preliminary work in the step S2 will be described. The necessity of at least one of the extraction operation and the injection operation may be determined.
  • step S3 the first controller 400 determines whether or not the preliminary work is determined to be necessary in step S2. That is, it is determined whether it is determined that at least one of the replenishment operation, the sampling operation, and the injection operation is necessary.
  • the process proceeds to step S4.
  • the preliminary work is not necessary (S3: No)
  • the process proceeds to step S301.
  • step S301 the first control unit 400 causes the display 203 to display a display screen D11 including a message for instructing reading of identification information such as the GS1 data bar of the infusion bag 12, and the process proceeds to step S8. Transition.
  • FIG. 19 is a diagram showing an example of the display screen D11. On the display screen D11 shown in FIG. 19, a message M11 such as “Please read the GS1 data bar of physiological saline (500 mL)” is displayed together with the contents of the preparation data.
  • the first control unit 400 shifts the processing to step S8.
  • the said 1st control part 400 displays an error message, for example, when the collation result with the identification information of the said infusion bag 12 and the said preparation data does not correspond.
  • Step S4> On the other hand, when it is determined that the preliminary work is necessary, in the subsequent step S4, the first control unit 400 needs the preliminary work before executing the mixed injection process separately from the mixed injection process. A predetermined message indicating the effect is notified. Note that the content of the message is not limited to the content described here, as long as it relates to the preliminary work.
  • the said 1st control part 400 when performing the process which concerns here is an example of an alerting
  • the notification is not limited to the display of the message, but may be performed by reproducing a predetermined message voice.
  • FIG. 20 is a diagram illustrating an example of the display screen D12 displayed when the content of the preliminary work is the sampling work.
  • the pre-sampling operation is set in advance corresponding to the case where the pre-sampling work is necessary, and “pre-sampling work is present” indicating that the sampling work is required.
  • a message M12 such as “Do you want to start loading?” Is displayed.
  • the preliminary work includes the replenishing work and the pouring work in addition to the sampling work. If it is determined in step S2 that the difference is equal to or greater than the threshold value and the replenishment operation is necessary, in step S4, there is a “pre-replenishment operation” indicating that the replenishment operation is required. A message such as "Do you want to start loading?" Further, when it is determined in step S2 that the injection operation is necessary as the preliminary operation, in step S4, “there is a preliminary injection operation indicating that the injection operation is required. "Are you sure?" It should be noted that a common message such as “There is a pre-work. Do you want to start loading?” May be displayed regardless of the content of the pre-work.
  • step S5 As in step S301, the first control unit 400 displays the display screen D11 including the message M11 for instructing reading of identification information such as the GS1 data bar of the infusion bag 12. 203 is displayed.
  • the first control unit 400 shifts the process to step S6.
  • the said 1st control part 400 displays an error message, for example, when the collation result with the identification information of the said infusion bag 12 and the said preparation data does not correspond.
  • step S6 the first control unit 400 notifies the details of the preliminary work. Specifically, the first control unit 400 causes the display 203 to display a display screen D13 including a predetermined message corresponding to the content of the preliminary work, thereby displaying the content of the preliminary work. Inform. This allows the user to recognize the contents of the preliminary work when executing the mixed injection process for the preparation data. The notification may be performed by playing a predetermined message voice.
  • FIG. 21 is a diagram showing an example of the display screen D13 displayed when the content of the preliminary work is the sampling work.
  • a preset “extract a specified amount from the infusion solution” corresponding to the case where the sampling operation is necessary as the preliminary operation.
  • a message M131 such as “Please” is displayed.
  • a message M132 such as “please remove 10.0 mL from the infusion” indicating the extraction amount in the extraction operation is also displayed. Thereby, the user can easily grasp the contents of the preliminary work.
  • the display screen D13 displays an image P131 and a message M133 for guiding the needle stick position of the syringe when the drug solution is extracted from the infusion bag 12 in the extraction operation. Specifically, in the example shown on the display screen D13, along with the message M133 such as “Put the extraction needle into the place indicated by the red circle at the needle insertion position” and the like on the upper surface of the rubber stopper of the infusion bag 12.
  • the image P131 in which the needle stick position is indicated by a red circle mark P132 is displayed.
  • the mark P132 is not directly described on the upper surface of the rubber stopper of the infusion bag 12, but the image of the needle stick position on the upper surface of the rubber stopper of the infusion bag 12 displayed on the display screen D13.
  • the upper surface of the rubber stopper of the infusion bag 12 includes an output puncture region and an input puncture region as predetermined specific puncture regions.
  • the characters “OUT” indicating that the infusion solution in the infusion bag 12 is used when administering the infusion solution to a patient
  • the characters “IN” indicating that the region is used when injecting a medicine are described.
  • the characters “OUT” and “IN” are also displayed.
  • the input puncture area excluding the output puncture area in the specific puncture area is guided by the image P131 as the needle puncture position.
  • the user can grasp
  • Such guidance of the needle stick position in the preliminary work is performed in the same manner when the replenishment work and the injection work are necessary.
  • the display of the mark P132 is omitted, and the message M133 indicates that the input puncture area is used, for example, “Put the extraction needle into the place of IN”. A message may be displayed.
  • the injection needle 11c of the syringe 11 is punctured in an area other than the needle puncture position guided on the display screen D13 and the output puncture area.
  • the position and range of the other region are determined in advance for each type of the infusion bag 12, and the data recording unit 404 of the first control unit 400 and the data recording unit 504 of the second control unit 500. It may be stored in In addition, the second control unit 500 notifies the second control unit 500 of the needle puncture position or the other region guided on the display screen D13 or the like, so that the second control unit 500 can perform the other control. It is also conceivable to determine the position and range of the region.
  • the specific puncture area includes a plurality of the input puncture areas, and only a part of the input puncture area is guided as the needle puncture position in the step S6. It is done. In this case, it is also conceivable that other input puncture areas that are not guided as the needle puncture positions are included in the other areas.
  • the second control unit 500 captures the rubber plug of the infusion bag 12 with the needle insertion confirmation camera 44 or the like when the injection needle 11c punctures the rubber plug of the infusion bag 12 in the mixed injection process. Based on the above, the other area excluding the needle stick position is detected. Then, the second controller 500 controls the second robot arm 22 to puncture the injection needle 11c in the other area.
  • the second control unit 500 detects the other region excluding the needle stick position based on the mounting posture. Is also possible.
  • a history that the preliminary work has been properly performed by the first control unit 400 is recorded in the data recording unit 404. May be recorded.
  • a weighing meter connected to the first control unit 400 is provided on the work table 202, and the first control unit 400 displays a result of weighing by the weighing meter while the display screen D13 is displayed. It is conceivable to record as the history. Thereby, for example, the weighing result of the infusion bag 12 after the infusion solution is extracted by the extraction operation or the weighing result of the infusion bag 12 after the infusion solution is replenished by the replenishment operation is left as the history. It becomes possible.
  • the medicine loading unit 200 is provided with an imaging unit such as a digital video camera for photographing the state of the preliminary work, and the state of the preliminary work is recorded in the data recording unit 404 as a history. It is done.
  • step S7 the first control unit 400 waits for a confirmation operation for the preliminary work (S7: No). Specifically, an operation key K131 for accepting the confirmation operation is displayed on the display screen D13, and the first control unit 400 performs the confirmation by operating the operation key K131 using the operation unit 405. Accept the operation.
  • step S7 the process proceeds to step S7. That is, in the co-infusion apparatus 1, the co-infusion control unit 100 starts the co-infusion processing based on the preparation data until the confirmation operation is performed when the preliminary work is necessary for the preparation data. I won't let you. Therefore, the omission of the preliminary work is more effectively suppressed.
  • steps S6 to S7 are repeatedly executed corresponding to the preliminary works.
  • step S8 the first controller 400 causes the display 203 to display a display screen D14 for guiding the placement of the infusion bag 12 on the tray 101.
  • FIG. 22 is a diagram showing an example of the display screen D14.
  • a message M14 indicating the arrangement method of the infusion bag 12 is displayed together with the contents of the preparation data.
  • the said 1st control part 400 will transfer a process to step S9.
  • step S9 the first controller 400 causes the display 203 to display a display screen D15 including a message for instructing reading of identification information such as the GS1 data bar of the medicine container 10.
  • FIG. 23 is a diagram showing an example of the display screen D15. On the display screen D15 shown in FIG. 23, a message M15 such as “Please read FU1 1000 mg GS1 data bar” is displayed together with the contents of the preparation data.
  • the first control unit 400 shifts the process to step S10.
  • the first control unit 400 displays an error message when the collation result between the identification information of the medicine container 10 and the preparation data does not match.
  • step S ⁇ b> 10 the first control unit 400 causes the display 203 to display a display screen D ⁇ b> 16 for guiding the placement of the medicine container 10 on the tray 101.
  • FIG. 24 shows an example of the display screen D16.
  • a message M16 indicating the arrangement method of the medicine container 10 is displayed together with the contents of the preparation data.
  • the said 1st control part 400 will transfer a process to step S11.
  • step S ⁇ b> 11 the first controller 400 causes the display 203 to display a display screen D ⁇ b> 17 for guiding the placement of the syringe 11 on the tray 101.
  • FIG. 25 is a diagram showing an example of the display screen D17. On the display screen D17 shown in FIG. 25, a message M17 indicating the arrangement method of the syringe 11 is displayed together with the contents of the preparation data. And if the operation input to the effect that the arrangement
  • step S ⁇ b> 12 the first control unit 400 causes the display 203 to display a display screen D ⁇ b> 18 including a message prompting registration of completion of loading related to the preparation data.
  • FIG. 26 shows an example of the display screen D18.
  • a message M18 for prompting registration of the completion of the loading related to the preparation data to be prepared this time is displayed together with the contents of the preparation data.
  • the first control unit 400 shifts the processing to step S13.
  • step S13 the first control unit 400 records a part of the preparation data on the electronic paper 101a of the tray 101 and includes a display screen D19 including a message indicating that the preparation data has been registered for completion. Is displayed on the display 203.
  • the co-infusion process is started when it is detected by a sensor (not shown) that the tray 101 is loaded from the tray insertion port 114.
  • FIG. 27 shows an example of the display screen D19.
  • a message M19 indicating that the preparation of the preparation data, which is the preparation object at this time, has been completed is displayed together with the contents of the preparation data. If an operation input for interrupting loading is performed during the display of the display screen D11 to the display screen D19, the preparation for loading based on the preparation data is stopped.
  • the amount of liquid in the infusion bag 12 may change as a result of the co-infusion process. And in the said 1st Embodiment, the case where the preliminary work for adjusting the liquid quantity in the said infusion bag 12 in advance was performed by the pharmacist etc. was demonstrated.
  • the second control unit 500 automatically adjusts the infusion amount in the infusion bag 12 so that the amount of liquid in the infusion bag 12 does not change in the mixed injection process or sampling.
  • the structure which can perform the infusion volume control process including a process is demonstrated. In the following embodiment, the description of the same configuration as that of the first embodiment is omitted.
  • FIG. 28 is a flowchart showing an example of the procedure of the infusion volume control process. For example, the infusion volume control process is executed before the mixed injection process is started. The infusion volume control process may be executed during the mixed injection process or after the mixed injection process.
  • step S21 the second control unit 500 determines whether or not the medicine in the medicine container 10 used in the mixed injection process based on the preparation data is a powder medicine.
  • the said 2nd control part 500 judges that the said chemical
  • it will transfer a process to step S22.
  • the second control unit 500 determines that the medicine is not a powder medicine, that is, the medicine is a chemical liquid (S21: Yes)
  • the process proceeds to step S211.
  • step S ⁇ b> 22 the second control unit 500 calculates a difference between the amount of infusion extracted from the infusion bag 12 and the amount of liquid injected into the infusion bag 12 in the mixed injection process. For example, when the amount of liquid to be injected from the drug container 10 into the infusion bag 12 is smaller than the amount of infusion necessary to dissolve the powder medicine in the drug container 10, the inside of the infusion bag 12 Is less than the prescribed amount of liquid contained in the infusion bag 12.
  • the second controller 500 determines the difference between the infusion volume extracted from the infusion bag 12 in the dissolution process and the liquid volume injected into the infusion bag 12 in the infusion process (liquid The presence or absence of a change in the amount of liquid is determined based on the amount of change in amount).
  • step S23 the second controller 500 determines whether or not the difference calculated in step S22 is greater than or equal to a preset threshold value.
  • a preset threshold value is set at a predetermined ratio with respect to the volume of the infusion bag 12 such as N% of the volume of the infusion bag 12.
  • the predetermined range is set to a specific value regardless of the volume of the infusion bag 12.
  • step S23 If it is determined that the difference is greater than or equal to the threshold (S23: Yes), the process proceeds to step S24. If it is determined that the difference is not greater than or equal to the threshold (S23: No), the process is performed. The infusion volume control process ends. That is, when the difference is less than the threshold value, the replenishment step (S24) for replenishing the infusion of the infusion bag 12 is not performed. Note that the step S23 may be omitted.
  • step S24 the second controller 500 executes a replenishment step of replenishing the infusion bag 12 with an amount of infusion corresponding to the difference calculated in step S22.
  • the second control unit 500 controls the first robot arm 21 and the second robot arm 22 in the replenishment step, and is accommodated in a replenishment container previously disposed on the tray 101.
  • the infusion solution is extracted by the syringe 11 and injected into the infusion bag 12. Thereby, even after the mixed injection process is executed, the infusion bag 12 is in a state where a predetermined amount of liquid that is predetermined as the amount of liquid in the infusion bag 12 is stored.
  • the time required for the infusion coincides with the time required from the prescribed amount of the infusion bag 12.
  • the second control unit 500 controls the first robot arm 21 and the second robot arm 22, and the replenishment container placed in advance on the placement shelf 33 or the like of the mixed injection processing chamber 104. It is also conceivable to inject the stored infusion solution with the syringe 11 and inject it into the infusion bag 12.
  • the replenishing container is a resin infusion container that is opened by twisting a stopper formed on the upper part of the body part.
  • the first robot arm 21 is held in a state where the body portion is gripped by one of the first robot arm 21 and the second robot arm 22 and the plug portion is gripped by the other.
  • the refill container is opened by the relative rotation of the second robot arm 22.
  • the replenishing container may be the vial 10B in which an infusion solution is accommodated, or the other infusion bag 12 disposed in the mixed injection processing chamber 104 as the replenishment container.
  • step S211 the second controller 500 determines whether or not the liquid amount of the medicine injected into the infusion bag 12 is equal to or greater than the threshold value. Thereby, when the amount of liquid of the medicine is small, an operation that does not require the prior work is possible.
  • the threshold value in step S23 may be different from the threshold value in step S211. It is also conceivable that Step S212 described later is executed on the condition that the medicine is a liquid, that is, Step S211 is omitted.
  • the process proceeds to step S212, and when it is determined that the liquid amount of the medicine is not equal to or greater than the threshold (S211). : No), the process ends the infusion volume control process. That is, when the liquid amount of the medicine is less than the threshold value, the extraction step (S212) for extracting the infusion solution from the infusion bag 12 is not executed.
  • step S ⁇ b> 212 the second control unit 500 executes an extraction process for extracting from the infusion bag 12 an amount of infusion corresponding to the amount of liquid of the medicine.
  • the infusion bag 12 is in a state where a predetermined amount of liquid that is predetermined as the amount of liquid in the infusion bag 12 is stored. Therefore, when the infusion in the infusion bag 12 is administered to a patient by infusion, the time required for the infusion coincides with the time required from the prescribed amount of the infusion bag 12.
  • the second control unit 500 controls the first robot arm 21 and the second robot arm 22 in the extraction step, and extracts the infusion solution in the infusion bag 12 with the syringe 11 and the tray 101.
  • the waste container is poured into a waste container 13a in the waste lid 132a.
  • the sampling container is empty or the vial bottle 10B after use.
  • the second control unit 500 controls the first robot arm 21 and the second robot arm 22, and the infusion solution extracted from the infusion bag 12 by the syringe 11 is placed in the pre-installation shelf of the mixed injection processing chamber 104. It is also conceivable to inject into a sampling container previously placed on 33 or the like. Furthermore, after the infusion solution is stored in the extraction container, the second control unit 500 may place the extraction container on the placement shelf 33 as the replenishment container. It is also conceivable that the extraction container is the other infusion bag 12 disposed in the mixed injection processing chamber 104.
  • the first control unit 400 uses the sampling container or the replenishing container as the contents of the preliminary work in step S6 in the loading preparation process (see FIG. 18). It is conceivable to notify that the tray 101 is placed. For example, when the amount of liquid in the infusion bag 12 increases, a message indicating that the extraction container is placed on the tray 101 is displayed, and when the amount of liquid in the infusion bag 12 decreases, It is conceivable that a message indicating that the replenishment container is placed on the tray 101 is displayed.
  • the second control unit 500 can execute the step of injecting the other medicine to be injected in the injection operation into the infusion bag 12 together with the mixed injection process.
  • a message indicating that the medicine container 10 corresponding to the other medicine is placed on the tray 101 is displayed in the step S6 in the loading preparation process.
  • the first control unit 400 displays an operation key for allowing the user to select whether to perform the preliminary work manually or automatically as the content of the preliminary work. Can be considered.
  • the first control unit 400 records the selection result by the user in the data storage unit 404 as the preparation history of the preparation data. Then, when it is selected that the preliminary work is to be performed manually, the first control unit 400 allows the user to perform the preliminary work as in the display screen D13 shown in FIG. It is conceivable to perform notification for prompting execution.
  • the first control unit 400 is configured to prompt the user to place the extraction container or the replenishment container on the tray 101 when it is selected that the preliminary operation is automatically performed. It is conceivable to perform notification.
  • FIG. 29 is a flowchart showing another example of the infusion volume control process.
  • step S201 is executed before the step S21, and the steps S23 and S211 are omitted.
  • step S ⁇ b> 201 the second control unit 500 determines whether the extraction container or the replenishment container is placed on the tray 101. Specifically, the second control unit 500 controls the first robot arm 21 in the mixed injection process, and together with the medicine container 10 and the syringe 11 from the tray 101, the extraction container or the replenishment container. In order. Then, the second controller 500 reads the barcode for identifying the extraction container or the replenishment container from the extraction container or the replenishment container using the medicine reading unit 34. Thereafter, the second control unit 500 places the sampling container or the replenishing container on the placement shelf 33.
  • the second control unit 500 causes the tray 101 to store the extraction container or the replenishment container. It is possible to determine that it has been placed.
  • the process proceeds to step S21.
  • the infusion volume control process ends.
  • the said 2nd control part 500 may judge whether the said extraction data contain the said extraction container or the said replenishment container as a required equipment.
  • the mixed injection process is started when it is detected by a sensor (not shown) that the tray 101 is loaded from the tray insertion port 114 after the loading preparation process is completed.
  • the first control unit 400 and the second control unit 500 can automatically start the mixed injection process based on the preparation data at a reserved execution time. explain.
  • step S31 the first control unit 400 waits for a user's reservation setting operation on the operation unit 405 (S31: No).
  • the first control unit 400 determines that the reservation setting operation has been performed (S31: Yes)
  • the first control unit 400 shifts the processing to step S32.
  • the first control unit 400 displays the reservation screen when a predetermined operation for displaying the reservation screen using the operation unit 405 is performed, and displays the reservation screen.
  • the reservation setting operation of the mixed injection process based on the preparation data is accepted in accordance with the operation of the operation unit 405 during the display.
  • the preparation data to be reserved is selected, and the completion time of the mixed injection process of the preparation data is designated.
  • the start time of the mixed injection process may be designated instead of the completion time of the mixed injection process of the preparation data.
  • the completion time or the start time is designated by inputting a date and time.
  • the completion time or the start time may be specified by inputting an elapsed time from the current date and time.
  • step S32 the first control unit 400 determines whether the total number of the preparation data already reserved and the current reservation is within a predetermined maximum number of reservations.
  • the maximum number of reservations is a number determined in advance by the specifications of the co-infusion apparatus 1 and corresponds to the number of trays 101 that can be loaded into the co-infusion apparatus 1.
  • step S33 the first control unit 400 executes a process for arbitrarily reserving the mixed injection process based on the preparation data in accordance with the reservation setting operation.
  • the first control unit 400 when executing the process for enabling reservation of the mixed injection process is an example of a reservation setting processing unit.
  • the first control unit 400 executes a time when the mixed injection process based on the preparation data is completed at the completion time based on the preparation data and the completion time designated by the reservation setting operation. Specify as a time. Therefore, for example, the data storage unit 404 stores a required time for each preparation content specified by the preparation data, or stores information for calculating the required time, and the first control unit 400 Specifies the execution time based on the required time.
  • the first control unit 400 transmits reservation information such as the execution time set for the preparation data together with the preparation data to the second control unit 500.
  • the reservation information includes, in addition to the execution time, information indicating a correspondence relationship between information for identifying the preparation data to be reserved and the identification information of the tray 101 corresponding to the preparation data. included.
  • the first control unit 400 can cancel or change the reservation of the mixed injection process based on the preparation data set in the reservation setting process.
  • step S41 the second control unit 500 determines whether or not the tray 101 is loaded in the mixed injection processing unit 300 (S41: No). Specifically, the second control unit 500 loads the tray 101 when identification information is read by the IC reader 101c from the IC tag 101b of the tray 101 loaded from the tray insertion port 114. Judge that If the second controller 500 determines that the tray 101 is loaded (S41: Yes), the process proceeds to step S42. The second control unit 500 waits for the process in step S41 until it is determined that the tray 101 is loaded (S41: No).
  • the second control unit 500 executes the mixed injection processing with the equipment in the tray 101 taken into the mixed injection processing unit 300. It is possible to hold it. Specifically, the medicine container 10 and the syringe 11 placed on the tray 101 are taken into the mixed injection processing chamber 104. As described above, the medicine container 10 and the syringe 11 are accommodated in the mixed injection processing chamber 104 provided with the exhaust system (not shown), whereby dust on the medicine container 10 and the syringe 11 and the like is collected. Is suppressed, and the user's hand and the like are prevented from touching the drug container 10 and the syringe 11.
  • the infusion bag 12 placed on the tray 101 is transported to the tray transport terminal portion 110a after the equipment is taken out from the tray 101. Thereby, adhesion of dust is suppressed also about the infusion bag 12, and a user's hand etc. are prevented from touching.
  • step S42 the second controller 500 determines whether or not the tray 101 loaded in the tray insertion port 114 corresponds to the preparation data that has reached the execution time. Specifically, the second control unit 500 determines whether the preparation data to be reserved is associated with the identification information read from the IC tag 101b of the tray 101 by the IC reader 101c. .
  • the reservation information received from the first control unit 400 includes information indicating a correspondence relationship between the preparation data to be reserved in the reservation information and the identification information of the tray 101. It is conceivable that the control unit 500 determines whether or not the tray 101 corresponds to the preparation data that has reached the execution time based on the reservation information.
  • step S42 determines that the tray 101 corresponds to the preparation data that has reached the execution time (S42: Yes).
  • the process proceeds to step S43.
  • the second control unit 500 determines that the tray 101 does not correspond to the preparation data for which the execution time has come (S42: No)
  • the process proceeds to step S44.
  • the process of step S42 may be omitted. That is, the second control unit 500 uses the tray 101 loaded in the tray insertion port 114 without determining whether or not the tray 101 is appropriate when the execution time has arrived. It is conceivable to start execution.
  • the reservation information may not include information indicating a correspondence relationship between the preparation data to be reserved in the reservation information and the identification information of the tray 101.
  • step S43 the second control unit 500 waits for the execution time received from the first control unit 400 to arrive (S43: No). And if the said 2nd control part 500 judges that the said execution time has come (S43: Yes), it will transfer a process to step S44.
  • step S ⁇ b> 44 the second control unit 500 starts the mixed injection process based on the preparation data corresponding to the tray 101 loaded in the tray insertion port 114. That is, when the tray 101 is the preparation data to be reserved, the mixed injection process is started at the timing when the execution time has come.
  • the second control unit 500 when executing the processing is an example of the reservation execution processing unit.
  • the mixed injection process is started at the timing when the tray 101 is loaded in the tray insertion port 114.
  • the mixed injection device 1 can execute the mixed injection process at a predetermined execution time such as midnight or a holiday by reserving execution of the mixed injection process of the preparation data.
  • the first control unit 400 determines whether or not the execution time of the mixed injection process set in the reservation setting process has come. In this case, when the execution time comes, the first control unit 400 transmits the preparation data to the second control unit 500 to start the mixed injection process. That is, the first control unit 400 may be an example of the reservation execution processing unit.
  • the mixed injection device 1 includes a tray storage unit that stores the plurality of trays 101, and a tray insertion unit that takes out the arbitrary tray 101 from the tray storage unit and inserts the tray 101 into the tray insertion port 114.
  • the reservation setting process it is possible to accept reservations for the mixed injection process of a plurality of the preparation data, and in the mixed injection control process, the mixed injection process for each of the reserved preparation data It can be started at the time of execution.
  • the mixed injection device 1 has a preparation list output function capable of outputting a preparation schedule list sheet S100 indicating a schedule for executing the mixed injection processing based on the preparation data received from the host system 600. Thereby, the user can confirm in advance the execution schedule of the mixed injection process based on the preparation data with reference to the preparation schedule list sheet S100.
  • the first control unit 400 inputs a condition for creating the preparation schedule list sheet S100 in response to a preset list output request operation for the operation unit 405 (not shown). Is displayed.
  • the creation conditions as the conditions for narrowing down the preparation data to be output to the preparation schedule list sheet S100, for example, the contents of items such as the preparation date, prescription classification, medical department, and ward included in the preparation data are specified.
  • the first control unit 400 reads the preparation data that matches the creation condition from the data recording unit 404 and outputs the preparation schedule list sheet S100. Data is created and displayed on the display 203.
  • FIG. 32 shows an example of the preparation schedule list sheet S100.
  • the preparation data that matches the creation conditions are displayed in a list, and an area A32 indicating the necessity and content of the preliminary work for each of the preparation data, etc. Information is displayed.
  • the first control unit 400 displays a blank in the area A32 for the preparation data that does not require the prior work among the preparation data.
  • the first control unit 400 displays “manually extracted” characters in the area A32 for the preparation data that requires the sampling operation as the preliminary operation in the preparation data.
  • the first control unit 400 displays “hand injection” in the area A32 for the preparation data that requires the replenishment operation or the injection operation as the preliminary operation in the preparation data.
  • the replenishment operation and the injection operation may be displayed so as to be identifiable with different characters.
  • the first control unit 400 is connected to the co-infusion apparatus 1 so as to be communicable with the co-infusion apparatus 1 in accordance with a user operation on the operation unit 405, or a printer (not illustrated) provided in the co-infusion apparatus 1.
  • the user can grasp in advance the execution schedule of the mixed injection processing based on the preparation data.
  • the preparation schedule list sheet S100 whether or not the preliminary work is necessary is displayed, so that it is possible to grasp in advance the amount of work of the user accompanying the execution of the mixed injection process for each of the preparation data. .

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  • Health & Medical Sciences (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)
PCT/JP2015/083329 2014-12-05 2015-11-27 混注装置 WO2016088660A1 (ja)

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JP2017104736A (ja) * 2014-12-05 2017-06-15 株式会社湯山製作所 制御装置、制御方法、制御プログラム
JP6368841B1 (ja) * 2017-11-02 2018-08-01 株式会社永輝商事 注射液自動吸引装置
CN108969359A (zh) * 2018-09-30 2018-12-11 上海擅韬信息技术有限公司 一种全自动配药机器人及其工作方法
CN108992348A (zh) * 2018-09-30 2018-12-14 上海擅韬信息技术有限公司 一种全自动配药设备

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WO2014065196A1 (ja) * 2012-10-25 2014-05-01 株式会社湯山製作所 混注装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017104736A (ja) * 2014-12-05 2017-06-15 株式会社湯山製作所 制御装置、制御方法、制御プログラム
JP6368841B1 (ja) * 2017-11-02 2018-08-01 株式会社永輝商事 注射液自動吸引装置
CN108969359A (zh) * 2018-09-30 2018-12-11 上海擅韬信息技术有限公司 一种全自动配药机器人及其工作方法
CN108992348A (zh) * 2018-09-30 2018-12-14 上海擅韬信息技术有限公司 一种全自动配药设备
CN108969359B (zh) * 2018-09-30 2023-11-14 上海擅韬信息技术有限公司 一种全自动配药机器人及其工作方法
CN108992348B (zh) * 2018-09-30 2024-02-20 上海擅韬信息技术有限公司 一种全自动配药设备

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JP6119905B2 (ja) 2017-04-26
JP2020179284A (ja) 2020-11-05
JP2022040295A (ja) 2022-03-10
JP7235145B2 (ja) 2023-03-08
JP5939371B1 (ja) 2016-06-22
JP2017104736A (ja) 2017-06-15
JPWO2016088660A1 (ja) 2017-04-27
JP2016144711A (ja) 2016-08-12
JP6750544B2 (ja) 2020-09-02

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