WO2017056304A1 - Procédé de préparation d'un médicament liquide et système de préparation d'un médicament liquide - Google Patents

Procédé de préparation d'un médicament liquide et système de préparation d'un médicament liquide Download PDF

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Publication number
WO2017056304A1
WO2017056304A1 PCT/JP2015/077998 JP2015077998W WO2017056304A1 WO 2017056304 A1 WO2017056304 A1 WO 2017056304A1 JP 2015077998 W JP2015077998 W JP 2015077998W WO 2017056304 A1 WO2017056304 A1 WO 2017056304A1
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WO
WIPO (PCT)
Prior art keywords
container
syringe
robot
infusion
plunger
Prior art date
Application number
PCT/JP2015/077998
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English (en)
Japanese (ja)
Inventor
茂二 田坂
輝浩 栗原
Original Assignee
株式会社安川電機
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 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2015/077998 priority Critical patent/WO2017056304A1/fr
Priority to JP2017542650A priority patent/JPWO2017056304A1/ja
Publication of WO2017056304A1 publication Critical patent/WO2017056304A1/fr

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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
    • A61J3/00—Devices or methods specially adapted for bringing pharmaceutical products into particular physical or administering forms

Definitions

  • the present disclosure relates to a chemical solution preparation method and a chemical solution preparation system.
  • Patent Document 1 a chemical preparation system that mixes and prepares a medicine contained in a sealed container and an infusion contained in an infusion bag is known (see, for example, Patent Document 1).
  • the conventional chemical solution preparation system has a problem that it has not been considered how to treat the exposed air in the syringe.
  • An object of the present invention is to provide a chemical solution preparation method and a chemical solution preparation system.
  • a first feature of the present disclosure is a chemical solution preparation method for mixing and preparing an infusion solution contained in a first container and a medicine contained in a second container that is sealed, from the first container to a syringe.
  • the syringe by controlling the robot to transfer the infusion, and performing an injection operation to push the plunger of the syringe multiple times while the second container and the syringe are held.
  • the step B for controlling at least one of the syringe driving device and the robot configured to drive the plunger so as to inject the infusion into the second container from the second container, and the injection operation are performed.
  • And C for controlling the robot to inject the exposed air moved from the second container to the syringe into a sealable third container.
  • a second feature of the present disclosure is a chemical solution preparation system for mixing and preparing an infusion solution contained in a first container and a medicine contained in a second container that is sealed, and a hand is provided at a tip.
  • a robot having an arm; a syringe drive configured to drive a plunger of a syringe; and a controller configured to control the robot; the controller from the first container A first control unit that controls the robot to transfer the infusion to the syringe, and the injection operation that is performed after pulling the plunger is performed a plurality of times while the second container and the syringe are held.
  • At least one of the syringe driving device and the robot is controlled so that the infusion is injected from the syringe into the second container.
  • a second control unit that controls the robot to inject the exposed air that has moved from the second container to the syringe when the injection operation is performed into a third container that can be sealed; And having a part.
  • a chemical solution preparation method and a chemical solution preparation system capable of preventing exposure by appropriately treating the exposed air generated when a drug such as an anticancer drug and an infusion solution are mixed are provided. Can do.
  • the chemical solution preparation system 1 includes a robot 2, a syringe drive device 3, a controller 4, a tray 100, a work table 200, and the like as shown in FIG.
  • the robot 2, the syringe drive device 3, and the work table 200 are provided in the preparation chamber 300
  • the controller 4 may be provided outside the preparation chamber 300 or in the preparation chamber 300. It may be done.
  • the tray 100 is carried into the preparation chamber 300 or carried out of the preparation chamber 300.
  • the chemical solution preparation system 1 is configured to mix and prepare the infusion solution 10A and the medicine 10B in the preparation chamber 300.
  • the infusion solution 10A is sealed in the sealed first container 7, and is configured by, for example, physiological saline, glucose solution, or the like.
  • the medicine 10B is housed in the sealed second container 6 and may be a liquid medicine or a powder medicine.
  • the first container 7 for example, an infusion bag, an infusion bottle, or another container may be used.
  • a vial and another container may be used, for example.
  • the syringe 5 includes a needle 5A and a plunger 5B, and is configured to be used for transferring the infusion solution 10A.
  • the syringe 5 is provided with a plurality of types having different diameters and lengths, and may be configured to be used properly according to the type, the transfer amount, etc. of the infusion 10A to be transferred. Good.
  • FIG. 1 for convenience of explanation, as shown in FIG. 1, a case where one type of syringe 5 is used will be described as an example, but two or more types of syringes 5 may be used.
  • the second container 6 is configured to be able to seal a liquid drug or a powder drug.
  • a glass vial or the like is used as the second container 6, but the second container 6 is not limited thereto, and a resin container or the like may be used.
  • a case where one type of second container 6 is used will be described as an example, but two or more types of second containers 6 are used. May be.
  • the first container 7 includes a bag body 71 and a port member 72.
  • the bag main body 71 is, for example, a bag-like product in which two transparent resin sheets having the same dimensions are overlapped and the peripheral edges thereof are joined by heat welding or the like.
  • the port member 72 is made of plastic, for example, and is attached to the end of the bag body 71 in a state of being sandwiched between the two resin sheets described above.
  • a rubber stopper (not shown) is attached to the opening (not shown) of the port member 72, and the needle 5A of the syringe 5 is inserted into and removed from the rubber stopper.
  • the robot 2 has an arm 2A provided with a hand 2B capable of gripping the syringe 5, the second container 6 and the first container 7 at the tip, as shown in FIGS. 1, 3 to 5, and 8.
  • the robot 2 is a double-armed robot having two articulated arms as the arm 2A.
  • the syringe drive device 3 is configured to hold the syringe 5 and the second container 6, and is configured to drive the plunger 5 ⁇ / b> B of the syringe 5.
  • the syringe drive device 3 may be configured to be able to grip only one of the syringe 5 and the second container 6. In such a case, the syringe drive device 3 is configured to drive the plunger 5 ⁇ / b> B of the syringe 5 in cooperation with the robot 2.
  • the tray 100 is configured to accommodate the syringe 5, the second container 6, and the first container 7.
  • the tray 100 in a state in which the syringe 5, the second container 6, and the first container 7 are accommodated in the preparation chamber 300 before mixing and preparing the infusion solution 10 ⁇ / b> A and the chemical 10 ⁇ / b> B.
  • the tray 100 in a state in which only the first container 7 is accommodated after being mixed and prepared with the infusion solution 10 ⁇ / b> A and the medicine 10 ⁇ / b> B is configured to be carried out of the preparation chamber 300.
  • a plurality of trays 100 are provided, and each of the trays 100 can accommodate each of the syringe 5, the second container 6, and the first container 7. It may be configured as follows.
  • one or a plurality of trays 100 in a state in which the syringe 5, the second container 6, and the first container 7 are accommodated before the mixed preparation of the infusion solution 10 ⁇ / b> A and the chemical 10 ⁇ / b> B are performed.
  • the tray 100 in a state in which only the syringe 5 is accommodated may be configured to be carried out of the preparation chamber 300 after being brought into the preparation chamber 300 and mixed and prepared with the infusion solution 10A and the medicine 10B.
  • the work table 200 is provided with a mounting table 210 and a holding device (syringe table) 220 as shown in FIG. 1, FIG. 3 to FIG. 5, and FIG.
  • the first container 7 is configured to be placed on the mounting table 200 in a laid state.
  • the “laid state” means a state in which the first container 7 is not self-supporting, and the positional relationship between the bag body 71 and the port member 72 is not the vertical direction, but the mounting surface of the mounting table 200.
  • the mounting table 200 may have a function of a mass meter that measures the mass of the mounted first container 7.
  • the holding device 220 fixes the position of the outer cylinder of the syringe 5 and the needle 5A, and the needle 5A of the syringe 5 faces the mounting table 210 so that the plunger 5B of the syringe 5 can be pushed and pulled. Hold on. As shown in FIG. 3 and the like, the syringe 5 is held so that the needle 5A faces substantially in the horizontal direction at substantially the same height as the port member 72 of the first container 7 mounted on the mounting table 210. Moreover, in order to hold
  • the controller 4 is configured to control the robot 2 and the syringe drive device 3 as shown in FIG.
  • the controller 4 may be configured to control the mounting table 210 and the holding device 220 provided on the work table 200.
  • the controller 4 includes a processor 41, a memory 42, an input / output unit (I / O) 43, a storage 44, and a bus 45 that interconnects them. is doing.
  • the processor 41 executes a program in cooperation with at least one of the memory 42 and the storage 44, and inputs / outputs data via the input / output unit 43 according to the execution result.
  • FIG. 2B shows those functions expressed as virtual blocks (hereinafter, functional blocks).
  • the controller 4 includes a first control unit 4A, a second control unit 4B, a third control unit 4C, and an air release unit 4D as functional blocks.
  • the first control unit 4A is configured to control the robot 2 so as to transfer the infusion 10A from the first container 7 to the syringe 5.
  • the first control unit 4 ⁇ / b> A performs the mounting table in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the holding device 220.
  • the holding device 220 may be controlled so that the holding device 220 approaches the 210 and the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the first control unit 4 ⁇ / b> A is mounted on the holding device 220 in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the holding device 220.
  • the mounting table 210 may be controlled so that the mounting table 210 is brought closer and the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the first control unit 4A moves the hand 2B holding the syringe 5 toward the mounting table 210 in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the hand 2B.
  • the robot 2 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the first control unit 4A is placed on the mounting table 210 toward the hand 2B holding the syringe 5.
  • the mounting table 210 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the first control unit 4A brings the hand 2B holding the first container 7 and the hand 2B holding the syringe 5 closer together in a state where both the first container 7 and the syringe 5 are held by the hand 2B. Then, the robot 2 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the first control unit 4 ⁇ / b> A brings the mounting table 210 closer to the syringe driving device 3 in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the syringe driving device 3.
  • the mounting table 210 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the first control unit 4A brings the syringe driving device 3 closer to the mounting table 210 in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the syringe driving device 3.
  • the mounting table 210 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the first control unit 4A transfers the infusion 10A from the first container 7 to the syringe 5 by pulling the plunger 5B after the needle 5A of the syringe 5 is inserted into the port member 72 of the first container 7. You may control the robot 2 or the syringe drive device 3 so that it may do.
  • the first control unit 4A as the infusion 10A corresponding to the amount to be injected into the plurality of second containers 6, the same amount of infusion 10A as the amount to be injected into the plurality of second containers 6.
  • You may be comprised so that it may be made to transfer, and it may be comprised so that the amount of infusion 10A of a predetermined amount larger than the quantity which should be inject
  • the second control unit 4B performs infusion from the syringe 5 to the second container 6 by performing an injection operation that is pushed after pulling the plunger 5B while the second container 6 and the syringe 5 are held. It is configured to control at least one of the syringe drive device 3 and the robot 2 so as to inject 10A.
  • the second control unit 4B performs an injection operation to push after pulling the plunger 5B of the syringe 5 in a state where the second container 6 is held by the hand 2B and the syringe 5 is held by the syringe drive device 3.
  • the robot 2 and the syringe drive device 3 may be controlled so that the infusion solution 10A is injected into each of the second containers 6.
  • the second control unit 4B performs the injection operation of pushing the plunger 5B after pulling the plunger 5B of the syringe 5 in a state where both the second container 6 and the syringe 5 are held by the hand 2B.
  • the robot 2 may be controlled so that the infusion solution 10A is injected into each of the above.
  • the second control unit 4B performs the injection operation of pushing the plunger 5B after pulling the plunger 5B of the syringe 5 in a state where both the second container 6 and the syringe 5 are held by the syringe driving device 3, thereby
  • the syringe drive device 3 may be controlled so that the infusion 10A is injected into each of the containers 6.
  • the second control unit 4B performs an injection operation of pushing the plunger 5B after pulling the plunger 5B of the syringe 5 in a state where the second container 6 is held by the syringe drive device 3 and the syringe 5 is held by the hand 2B.
  • the robot 2 and the syringe drive device 3 may be controlled so that the infusion solution 10A is injected into each of the second containers 6.
  • the second control unit 4 ⁇ / b> B is pushed after pulling the plunger 5 ⁇ / b> B of the syringe 5 in a state where both the second container 6 and the syringe 5 are gripped by the hand 2 ⁇ / b> B and the syringe driving device 3.
  • the syringe driving device 3 may be controlled so that the infusion solution 10A is injected into each of the second containers 6 by performing the injection operation.
  • the 3rd control part 4C inject
  • the robot 2 is configured to be controlled.
  • the exposure air 10D is generated when the infusion solution 10A and the medicine 10B are mixed and prepared in the second container 6, and moves from the second container 6 to the syringe 5 by the above-described injection operation. is there.
  • leakage of the exposure air 10D into the adjustment chamber 300 can be minimized, and contamination in the adjustment chamber 300 that an operator may enter during maintenance of the robot 2 or the like is minimized.
  • the effect that it can be made can be produced.
  • the above-described first container 7 may be used as the above-described sealable third container.
  • the third control unit 4C causes the holding device 220 to hold the syringe 5 including the exposure air 10D, and brings the holding device 220 and the mounting table 210 close to each other to bring the needle 5A of the syringe 5 into the first state.
  • the robot 2, the mounting table 210, the holding device 220, etc. are controlled so that the exposure air 10 ⁇ / b> D is transferred from the syringe 5 to the first container 7 by being inserted into the port member 72 of the container 7 and pushing the plunger 5 ⁇ / b> B. Also good.
  • the third control unit 4C brings the syringe 5 and the first container 7 close to each other while holding the syringe 5 and the first container 7 including the exposure air 10D in the hand 2B, and moves the needle 5A of the syringe 5 to the first container 7.
  • the robot 2 may be controlled so that the exposure air 10D is transferred from the syringe 5 to the first container 7 by being inserted into the port member 72 and pushing the plunger 5B.
  • the third control unit 4C moves the syringe 5 close to the first container 7 placed on the placement table 210 while holding the syringe 5 containing the exposure air 10D in the hand 2B, and moves the needle 5A of the syringe 5 on.
  • the robot 2 may be controlled so that the exposure air 10D is transferred from the syringe 5 to the first container 7 by being inserted into the port member 72 of the first container 7 and pushing the plunger 5B.
  • waste of resources can be avoided by utilizing the first container 7 without preparing a new third container for injecting the exposure air 10D.
  • a container such as another infusion bag or an infusion bottle different from the above-described first container 7 and the above-described second container 6 May be configured to use different containers or the like.
  • the third control unit 4C transfers the exposure air 10D from the syringe 5 to the first container 7, and then transfers the mixture 10C of the infusion solution 10A and the medicine 10B from the second container 6 as shown in FIGS.
  • the robot 2 and the syringe driving device 3 are controlled so as to be transferred to the syringe 5.
  • the third control unit 4C pulls the plunger 5B as shown in FIG. 7 after inserting the needle 5A of the syringe 5 into the stopper of the second container 6 as shown in FIG.
  • the robot 2 and the syringe driving device 3 are controlled so that the mixture 10C is transferred from the second container 6 to the syringe 5.
  • the third control unit 4C is configured to control the robot 2 so as to transfer the mixture 10C from the syringe 5 to the first container 7.
  • the third control unit 4 ⁇ / b> C is configured so that the first container 7 is placed on the placement table 210 and the syringe 5 is held by the holding device 220.
  • the holding device 220 may be controlled so that the holding device 220 approaches the 210 and the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the third control unit 4 ⁇ / b> C is mounted on the holding device 220 in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the holding device 220.
  • the mounting table 210 may be controlled so that the mounting table 210 is brought closer and the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the third control unit 4C moves the hand 2B holding the syringe 5 toward the mounting table 210 in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the hand 2B.
  • the robot 2 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the third control unit 4C is placed on the mounting table 210 toward the hand 2B holding the syringe 5.
  • the mounting table 210 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the third control unit 4C brings the hand 2B holding the first container 7 and the hand 2B holding the syringe 5 closer together in a state where both the first container 7 and the syringe 5 are held by the hand 2B. Then, the robot 2 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the third control unit 4C brings the mounting table 210 closer to the syringe driving device 3 in a state where the first container 7 is mounted on the mounting table 210 and the syringe 5 is held by the syringe driving device 3.
  • the mounting table 210 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the third control unit 4C brings the syringe drive device 3 closer to the placement table 210.
  • the mounting table 210 may be controlled so that the needle 5 ⁇ / b> A of the syringe 5 is inserted into the port member 72 of the first container 7.
  • the third control unit 4C transfers the mixture 10C from the syringe 5 to the first container 7 by pushing the plunger 5B after the needle 5A of the syringe 5 is inserted into the port member 72 of the first container 7. You may control the robot 2 or the syringe drive device 3 so that it may do.
  • the tray 100 that houses the second container 6, the syringe 5, and the first container 7 is placed in the preparation chamber 300 before the above-described mixing preparation process is started.
  • the tray 100 which accommodates only the 1st container 7 is carried out from the preparation chamber 300 when it carries in and the above-mentioned mixing preparation process is completed. According to this feature, not only the contamination outside the preparation chamber 300 but also the contamination inside the preparation chamber 300 can be prevented by using the existing unloading process and loading process of the tray 100.
  • the tray 100 that accommodates only the syringe 5 instead of the first container 7 is carried out from the preparation chamber 300. It is configured.
  • the third control unit 4 ⁇ / b> C is configured not to control the robot 2 so as to transfer the mixture 10 ⁇ / b> C from the syringe 5 to the first container 7.
  • the air release unit 4D is configured to remove the air in the first container 7 by the syringe 5 before the transfer process of the infusion 10A from the first container 7 to the syringe 5 is performed by the first control unit 4A.
  • the syringe drive device 3 is configured to be controlled. Specifically, after the needle 5A of the syringe 5 is inserted into the port member 72 of the first container 7, the air release unit 4D removes the air in the first container 7 by pulling the plunger 5B.
  • the robot 2 or the syringe drive device 3 may be controlled so as to release air into the adjustment chamber 300. According to this feature, a space for injecting the above-described exposure air 10 ⁇ / b> D can be secured in the first container 7.
  • the second container 6 and the syringe 5 may be sealed using a sealed pack system (not shown) such as Sumilon's Ecom Shu.
  • a sealed pack system such as Sumilon's Ecom Shu.
  • the chemical solution preparation method according to the present embodiment is a method of mixing and preparing the drug 10B and the infusion solution 10A. More specifically, the chemical solution preparation method according to the present embodiment is a method in which mixing adjustment is performed by injecting the infusion solution 10A into the plurality of second containers 6 sealing the medicine 10B.
  • step S ⁇ b> 101 the controller 4 controls the robot 2, the syringe drive device 3, and the like to remove air from the first container 7 with the syringe 5.
  • step S102 the controller 4 controls the robot 2, the syringe drive device 3, and the like to transfer the infusion 10A from the first container 7 to the syringe 5.
  • step S103 the controller 4 controls the robot 2, the syringe drive device 3 and the like to perform an injection operation to push the plunger 5B of the syringe 5 and then push the plunger 5B. Inject.
  • step S104 the controller 4 controls the robot 2, the syringe drive device 3, and the like, and thereby a third container (for example, the exposure air 10D moved from the second container 6 to the syringe 5 by the injection operation in step S103) can be sealed. Inject into the first container 7).
  • a third container for example, the exposure air 10D moved from the second container 6 to the syringe 5 by the injection operation in step S103
  • step S105 the controller 4 controls the robot 2, the syringe drive device 3 and the like to transfer the mixture 10C of the infusion solution 10A and the medicine 10B from the second container 6 to the syringe 5.
  • step S106 the controller 4 controls the robot 2, the syringe drive device 3 and the like to transfer the mixture 10C from the syringe 5 to the first container 7.
  • step S107 the controller 4 controls the robot 2, the sealed pack system, and the like to seal and discard the second container 6 and the first container 7.
  • step S108 the controller 4 carries out the tray 100 containing only the first container 7 from the preparation chamber 300 by controlling the robot 2 and the carry-out mechanism (not shown).
  • exposure can be prevented by appropriately treating the exposure air 10D generated when the medicine 10B such as an anticancer agent and the infusion solution 10A are mixed. it can.

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  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • General Health & Medical Sciences (AREA)
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Abstract

La présente invention concerne un procédé de préparation d'un médicament liquide, qui comprend : une étape A de commande d'un robot (2) de façon à transférer une solution de perfusion (10A) à une seringue (5) à partir d'un premier récipient (7) ; une étape B de commande d'au moins l'un d'un dispositif d'entraînement de seringue (3) et du robot (2) de façon à injecter la solution de perfusion (10A) dans un second récipient (6) depuis la seringue (5) en effectuant une opération d'injection une pluralité de fois, un piston (5B) étant tiré et ensuite poussé, le second récipient (6) et la seringue (5) étant maintenus ; et une étape C de commande du robot (2) de manière à injecter l'air exposé déplacé dans la seringue (5) depuis le second récipient (6) pendant l'opération d'injection dans un troisième récipient capable de sceller l'air exposé.
PCT/JP2015/077998 2015-10-01 2015-10-01 Procédé de préparation d'un médicament liquide et système de préparation d'un médicament liquide WO2017056304A1 (fr)

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PCT/JP2015/077998 WO2017056304A1 (fr) 2015-10-01 2015-10-01 Procédé de préparation d'un médicament liquide et système de préparation d'un médicament liquide
JP2017542650A JPWO2017056304A1 (ja) 2015-10-01 2015-10-01 薬液調製方法及び薬液調製システム

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PCT/JP2015/077998 WO2017056304A1 (fr) 2015-10-01 2015-10-01 Procédé de préparation d'un médicament liquide et système de préparation d'un médicament liquide

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Cited By (1)

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JP2019033790A (ja) * 2017-08-10 2019-03-07 株式会社湯山製作所 混注制御装置、混注装置、混注制御プログラム

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JP5716879B1 (ja) * 2013-09-19 2015-05-13 株式会社湯山製作所 混注装置、混注方法
JP2015167646A (ja) * 2014-03-05 2015-09-28 株式会社安川電機 ロボットシステム、液体移送制御装置、液体移送制御方法、及び薬剤製造方法

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JP2009504199A (ja) * 2005-05-16 2009-02-05 インテリジェント ホスピタル システムズ リミテッド 自動薬局混合システム（ａｐａｓ）
JP2007021016A (ja) * 2005-07-20 2007-02-01 Terumo Corp 薬剤自動調剤システム
JP2015012906A (ja) * 2013-07-03 2015-01-22 医療法人徳洲会福岡徳洲会病院 薬品の使用量管理装置及び薬品の使用量管理方法
JP5716879B1 (ja) * 2013-09-19 2015-05-13 株式会社湯山製作所 混注装置、混注方法
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Publication number Priority date Publication date Assignee Title
JP2019033790A (ja) * 2017-08-10 2019-03-07 株式会社湯山製作所 混注制御装置、混注装置、混注制御プログラム

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