WO2018077122A1

WO2018077122A1 - Positioning device and method for automatic medicine dispensing system

Info

Publication number: WO2018077122A1
Application number: PCT/CN2017/107125
Authority: WO
Inventors: 郑永强; 柏轲
Original assignee: 成都杰仕德科技有限公司
Priority date: 2016-10-31
Filing date: 2017-10-20
Publication date: 2018-05-03
Also published as: CN106491358A; CN106491358B

Abstract

Disclosed are a positioning device and a method for an automatic medicine dispensing system. The method comprises the steps of: acquiring a needle positioning image vertically taken from bottom to top; performing grey-scale treatment on the needle positioning image to acquire a binary image; acquiring coordinates of an end point (N) of a needle (62) according to the binary image; generating a displacement compensation instruction according to the coordinates of the end point (N) and a pre-set distance between a camera (S1) and a needle bayonet (69); a clamping component (2) and a liquid injection component (6), according to the displacement compensation instruction, moving relative to each other to realize displacement compensation. The device and the method allow the needle (62) to accurately align to a pre-set insertion position of a medicine container (101), so as to accurately and quickly insert the needle into the medicine container (101) from the pre-set position, thus improving the medicine dispensing success rate and medicine dispensing efficiency.

Description

Positioning device and method for automatic dispensing system

Technical field

The present invention relates to the field of electronic technology, and in particular, to a positioning apparatus and method for an automatic dispensing system.

Background technique

At present, most of the hospital's drug configuration is completed by the nurse in the dispensing room. The operation procedure is as follows: Before dispensing, the operator is ready to be equipped with drugs and medicines (ampoules, vials, infusion bags, syringes, etc.); Relevant medicines and medicines information; open medicine containers (ampoules, vials, infusion bags, syringes, etc.); disinfection of contact parts (mainly for ampoule, vials, infusion bags); manual use of syringes for drug suction; Inject the drug into the infusion bag or infusion bottle; fill in the record card and put the infusion bag into the infusion bag storage basket.

In the prior art, the automatic dispensing robot system disclosed in the invention patent application CN 103006436 A or other automatic dispensing system or method generally requires when the medicine in the medicine container needs to be input into the mother liquid or the mother liquid is input into the medicine container. Insert the syringe needle attached to the end of the catheter into the drug container. However, after the needle is mounted on the fixed bracket, it will have a certain curvature and/or inclination angle, which is not a completely vertical straight shape. Such misalignment of the needle and the drug container may cause the needle to deviate from the preset communication position in the medicine container or cannot Insertion of the drug container, there are technical problems such as low dispensing efficiency and high failure rate of dispensing.

Summary of the invention

At least one of the objects of the present invention is to provide a positioning apparatus and method for an automatic dispensing system that enables the needle to be accurately aligned with a predetermined insertion position of the medicine container, thereby improving the dispensing success. Rate and dispensing efficiency.

In order to achieve the above object, the technical solution adopted by the present invention is:

A positioning device for an automatic dispensing system, comprising a bracket, a liquid injection component, a clamping component, a camera and a control module; wherein the liquid injection component is movably disposed on the first screw, the clamping component is movable Placed on the second screw rod, the first screw rod and the second screw rod are arranged in parallel on the bracket;

The camera is fixedly disposed at a bottom of the bracket for acquiring a needle positioning image taken from a lower vertical direction;

The control module is configured to perform grayscale processing on the acquired needle positioning image to obtain a binary image; acquire coordinates of the end point of the needle according to the binary image; according to the coordinates of the end point of the needle and the preset camera and the needle mount a distance compensation command is generated between the distances;

The clamping component and the liquid injection component are configured to perform relative displacement according to the displacement compensation command to implement displacement compensation.

Preferably, the camera is fixedly disposed directly below the second pin station for being used after the liquid injecting component drives the needle to reach the first pinning station, and before the clamping component does not reach the second pinning station, The needle fixed to the needle holder is photographed from the bottom vertically upward to obtain a needle positioning image.

Preferably, the camera is fixedly disposed between the second pin station and the front surface of the bracket, and is used for shooting from the bottom vertical upward when the liquid injection component drives the needle over the camera and the clamping component is not in the same horizontal position. The needle on the needle mount acquires the needle positioning image and converts the coordinates of the obtained needle positioning image according to the horizontal distance between the camera and the second pin station.

Preferably, the control module is configured to perform binary conversion on the needle positioning image according to the gray value G0 of the center point of the needle positioning image, and obtain a binary image by using a threshold T=G0/K; wherein K is greater than 1 Integer.

Preferably, the above control module is configured to acquire an edge pattern according to the binary image, and determine coordinates of the end point of the needle according to the edge image.

Preferably, the above control module is configured to identify the needle representing the needle from the binary image by Hough transform A straight line that determines the coordinates of the endpoint of the needle through the endpoints of the line.

Preferably, the clamping member is configured to move in the first direction according to the shift compensation command; or the liquid injecting member is configured to move in a direction opposite to the first direction according to the shift compensation command.

Preferably, the clamping member is configured to move the medicine container in the second direction by the left and right jaws, the second direction being perpendicular to the first direction.

Preferably, the control module is configured to perform smoothing on the binary image by using a Gaussian filter, obtain a binarized edge pattern by using a second-order central moment operator, and determine a needle from the binarized edge pattern according to a preset gray value range. The image area determines the coordinates of the endpoint of the needle based on the area of the needle image.

A positioning method for an automatic dispensing system, which uses the above-mentioned positioning device to realize displacement compensation by: acquiring a needle positioning image taken from a lower vertical direction; performing grayscale processing on the needle positioning image to obtain a binary image; The binary image acquires the coordinates of the end point of the needle; the displacement compensation command is generated according to the coordinates of the end point and the distance between the preset camera and the needle mount; the clamping component and the liquid injection component are relatively moved according to the displacement compensation command to realize displacement compensation. .

In summary, due to the adoption of the above technical solutions, the present invention has at least the following beneficial effects:

The coordinates of the end point of the needle are obtained by the needle positioning image, and the displacement compensation is performed according to the coordinates of the end point of the needle, so that the needle can be accurately aligned with the preset insertion position of the medicine container, so that the medicine container can be accurately and quickly inserted from the preset position. Therefore, the success rate of dispensing and the efficiency of dispensing are improved.

DRAWINGS

1 is a schematic structural view of a positioning device for an automatic dispensing system according to an embodiment of the present invention;

2 is a schematic structural view of a liquid injection component in a positioning device for an automatic dispensing system according to an embodiment of the present invention;

3 is a schematic structural view of a clamping member in a positioning device for an automatic dispensing system according to an embodiment of the present invention;

4A is a schematic diagram of a needle positioning image in a positioning device for an automatic dispensing system according to an embodiment of the present invention;

4B is a schematic diagram of a binarized edge pattern according to an embodiment of the present invention;

FIG. 5 is a flow chart of a positioning method for an automatic dispensing system according to an embodiment of the present invention.

detailed description

The present invention will be further described in detail with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in FIG. 1, a positioning device for an automatic dispensing system according to an embodiment of the present invention includes a bracket 1, a clamping member 2, a liquid injection component 6, a camera S1, and a control module C1, wherein:

The liquid injection member 6 is movably disposed on the first screw rod 11, and the clamping member 2 is movably disposed on the second screw rod 12. The first screw rod 11 and the second screw rod 12 are disposed in parallel on the bracket 1. The control module C1 may be disposed on the bracket 1 as shown in FIG. 1, or may be disposed on a separate bracket other than the bracket 1. The control module C1 may include various image or arithmetic processors and realize wired connection with controlled devices such as respective motors, cameras S1, etc. through cables disposed along the groove of the bracket, or wirelessly with each controlled device through a wireless communication interface. connection.

As shown in FIGS. 1 to 4, in the automatic dispensing system, when it is necessary to input the medicine in the medicine container 101 (the ampoule which has broken the bottle head shown in the figure) through the needle 62 fixed to the liquid injecting member 6, the mother liquid is input into the mother liquid. When the medium (for example, the mother liquid container 102) or the mother liquid in the mother liquid container 102 is injected into the medicine container 101, the control module C1 can drive the liquid injection unit 6 from the holder 1 along the first screw rod 11 by controlling the first screw motor M1. The front side moves to the first pin station (for example, the liquid member 6 is located in the YZ plane, and the center axis of the needle bayonet 69 coincides with the Z axis), and the clamping member 2 is driven by the second screw motor M2 to drive the clamped portion. The medicine container 101 is moved along the second screw 12 from the front side of the holder 1 to the second pin station (for example, The central axis of the drug container 101 coincides with the Z axis), and the predetermined insertion position of the drug container 101 is located directly below the needle 62. The elevating mechanism 68 provided on the liquid filling member 6 drives the needle 62 to move downward through the needle mount 69 and is inserted into the medicine container 101 to effect injection or suction of the medicine. The camera S1 can be fixed at the bottom of the bracket 1 for acquiring a needle positioning image taken from the lower vertical direction, and the obtained needle positioning image can be generated to the control module C1 by wire or wirelessly.

As shown in FIG. 5, the method of positioning by a positioning device for an automatic dispensing system as shown in FIG. 1 includes the following steps:

Step 501: Acquire a needle positioning image taken from the bottom vertical direction

Specifically, as shown in FIG. 4A, the camera S1 can be fixedly disposed directly below the second pin station (for example, the position of the origin O), and when the liquid injecting member 6 drives the needle 62 to reach the first pin through the needle card slot 69. After the station, and before the gripping member 2 reaches the second pinning station, the needle 62 fixed to the needle mount 69 is photographed from the bottom vertically upward to obtain a needle positioning image. Alternatively, the camera S1 may also be fixedly disposed in the negative direction of the X-axis (for example, between the second pin station and the front surface of the bracket 1). When the liquid-injecting member 6 drives the needle 62 through the needle S through the camera S1, And when the clamping member 2 is not in the same horizontal position, the needle 62 fixed on the needle mount 69 is taken from the bottom vertically upward to obtain the needle positioning image, and according to the level of the camera S1 and the second pin station (or the origin O) The distance is converted into the coordinate of the obtained needle positioning image to the origin with the origin O as the origin.

Step 502: Perform grayscale processing on the needle positioning image to obtain a binary image.

Specifically, the graying process of the needle positioning image by the control module C1 may include: using a threshold value T= according to the gray value G0 of the center point of the image of the needle (for example, the center position of the needle 62 fixed to the needle mount 69). G0/K performs binarization conversion on the needle positioning image to obtain a binary image; wherein K is a positive integer greater than 1.

Step 503: Acquire coordinates of the endpoint N of the needle according to the binary image.

Wherein, the control module C1 can acquire the edge pattern according to the binary image, and determine the coordinates (Xn, Yn) of the end point N of the needle 62 in the needle positioning image according to the edge image.

Alternatively, the control module C1 may recognize the straight line ON indicating the needle 62 from the binary image by Hough Transform, and determine the coordinates (Xn, Yn) of the end point N of the needle 62 by the end point of the straight line ON.

Step 504: Generate a displacement compensation instruction according to the coordinates of the endpoint and the distance between the preset camera S1 and the needle mount 69.

When the needle 62 is offset from its central axis (for example, the needle is deformed by bending, deflection, etc. during installation or movement), that is, when any of the coordinate values Xn and Yn is not zero, the control module C1 is preset according to the preset. The distance between the camera S1 and the needle mount 69 determines the distance unit (for example, millimeters) of the coordinates, and generates a displacement compensation command based on the coordinates (Xn, Yn) of the end point N.

Specifically, when Xn is not zero, the displacement compensation command generated by the control module C1 is: the second screw motor M2 drives the clamping member 2 to drive the medicine container 101 along the second screw rod away from the bracket at a rotation speed of 400 rev/min. The direction of the front side (the positive direction of the X axis) moves, and the moving distance is Xn mm; or, the first screw motor M1 drives the liquid injection part 6 to drive the needle holder 69 along the first screw rod toward the bracket at a rotation speed of 400 rev/min. The front direction (X-axis negative direction) moves, and the moving distance is Xn mm.

When the Yn is not zero, the generated displacement compensation command is: the clamping motor M3 drives the left jaw 21 and the right jaw 22 in the clamping member 2 to drive the medicine container 101 along the clamping direction at a rotation speed of 400 rev/min. (Y-axis positive or negative direction) moves, the moving distance is Yn mm.

Step 505: The clamping member 2 and the liquid injection member 6 perform relative movement according to the displacement compensation command to realize displacement compensation.

According to the displacement compensation command, the clamping member 2 moves along the direction in which the second screw rod is away from the front surface of the bracket, or the liquid injection member 6 moves in the direction of the first screw rod toward the front surface of the bracket; and/or, in the clamping member 2 The left jaw 21 and the right jaw 22 move the drug container 101 in the clamping direction, ultimately accurately aligning the needle 62 with the predetermined insertion position above the drug container 101.

In a preferred embodiment, the pins corresponding to the mother liquor container 102 or other types of pharmaceutical containers (e.g., vials) are mounted after the corresponding needle mounts, and displacement compensation can also be performed using the positioning apparatus and method of the present invention.

In a preferred embodiment, the control module C1 determines that the coordinates (Xn, Yn) of the endpoint N of the needle in the needle positioning image according to the edge image may include: smoothing the binary image with a Gaussian filter having a standard deviation of 2, The second-order central moment operator is used to obtain the binarized edge graph. Wherein, the second-order central moment operator is the square mean of the gray values in the binary image.

FIG. 4B illustrates a binarized edge pattern according to an embodiment of the present invention, which includes three regions, and the bayonet image region A corresponding to the needle mount has a first gray value range (for example, 200 to 255), and The card end image area B corresponding to the needle card end 63 has a second gradation value range (for example, 100 to 200), and the needle image area C corresponding to the needle 62 has a third gradation value range (for example, 0 to 100). Further, the coordinates (Xn, Yn) of the end point N of the needle in the needle positioning image can be determined according to the coordinates of the point farthest from the origin O in the needle image region C.

In the above embodiment, the line segment or image representing the needle is acquired by the camera S1 from the needle positioning image taken from the lower vertical direction, thereby determining the coordinates of the end point of the needle, and the displacement compensation of the alignment position is performed according to the coordinates of the end point of the needle, so that the needle is accurate. Aligning the preset position of the medicine container, the needle can be accurately and quickly inserted into the medicine container from the preset position, thereby improving the medicine success rate and the dispensing efficiency.

The above embodiments are merely illustrative of preferred embodiments of the invention and are not intended to limit the invention. Various alternatives, modifications, and improvements made by those skilled in the art without departing from the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

A positioning device for an automatic dispensing system, characterized in that the positioning device comprises a bracket, a liquid injection component, a clamping component, a camera and a control module; wherein the liquid injection component is movably disposed on the first wire a clamping member is movably disposed on the second screw rod, and the first screw rod and the second screw rod are disposed in parallel on the bracket;

The camera is fixedly disposed at a bottom of the bracket for acquiring a needle positioning image taken from a lower vertical direction;

The control module is configured to perform grayscale processing on the acquired needle positioning image to obtain a binary image; acquire coordinates of the end point of the needle according to the binary image; according to the coordinates of the end point of the needle and the preset camera and the needle mount a distance compensation command is generated between the distances;

The clamping component and the liquid injection component are configured to perform relative displacement according to the displacement compensation command to implement displacement compensation.
The positioning device according to claim 1, wherein the camera is fixedly disposed directly below the second pin station for being used after the liquid injecting component drives the needle to reach the first pinning station, and the clip Before the holding component reaches the second pinning station, the needle fixed on the needle holder is photographed from the bottom vertically upward to obtain the needle positioning image.
The positioning device according to claim 1, wherein the camera is fixedly disposed between the second pin station and the front surface of the bracket for driving the needle through the camera and the clamping member When not in the same horizontal position, the needle fixed on the needle holder is photographed from the bottom vertically upward, the needle positioning image is acquired, and the coordinates of the obtained needle positioning image are converted according to the horizontal distance between the camera and the second pin station.
The positioning device according to claim 1, wherein the control module is configured to perform binarization conversion on the needle positioning image by using a threshold value T=G0/K according to the gray value G0 of the center point of the needle positioning image. A binary image; wherein K is a positive integer greater than one.
The positioning device according to claim 4, wherein the control module is configured to acquire an edge pattern according to the binary image, and determine coordinates of an end point of the needle according to the edge image.
The positioning device according to claim 4, wherein the control module is configured to recognize a line representing the needle from the binary image by Hough transform, and determine the coordinates of the end point of the needle by the end point of the line.
The positioning device according to any one of claims 1 to 6, wherein the gripping member is configured to move in a first direction according to a shift compensation command; or the liquid injecting member is configured to compensate according to a shift The command moves in a direction opposite to the first direction.
The positioning device according to claim 7, wherein the holding member is configured to move the medicine container in the second direction by the left and right jaws, the second direction being perpendicular to the first direction.
The positioning device according to claim 5, wherein the control module is configured to perform smoothing on the binary image by using a Gaussian filter, and obtain a binarized edge pattern by using a second-order central moment operator; The gray value range determines the needle image area from the binarized edge pattern and determines the coordinates of the end point of the needle based on the needle image area.
A positioning method for an automatic dispensing system, characterized in that the method uses a positioning device according to any one of claims 1 to 9 to achieve displacement compensation by acquiring a needle shot from the lower vertical direction Positioning the image; performing grayscale processing on the needle positioning image to obtain a binary image; acquiring coordinates of the end point of the needle according to the binary image; generating a displacement compensation instruction according to the coordinates of the endpoint and the distance between the preset camera and the needle mount; The clamping member and the liquid injection member are relatively moved according to the displacement compensation command to achieve displacement compensation.