混注装置Mixing device技术领域technical field
本发明涉及的是执行将药品容器中所收纳的抗癌剂等药品注入输液容器的混注处理的混注装置。The present invention relates to a co-injection apparatus for performing co-injection processing of injecting a drug such as an anticancer agent contained in a drug container into an infusion container.
背景技术Background technique
已知有一种执行以下混注处理的混注装置，即，利用注射器抽吸管药瓶等药品容器中所收纳的抗癌剂等药品，并将该药品注入收纳有输液的输液容器中的混注处理(例如参照专利文献1)。在此，在药品容器中所收纳的药品为面药时，在上述混注处理中，执行将输液等溶解液注入药品容器并对该药品容器内的药品进行搅拌的搅拌工序。另外，在药品为液体时，有时也执行上述搅拌工序。There is known a co-injection device that performs co-injection processing in which a drug such as an anticancer agent stored in a drug container such as a syringe vial is aspirated, and the drug is injected into an infusion container containing an infusion solution ( For example, refer to Patent Document 1). Here, when the medicine stored in the medicine container is a pasta medicine, in the above-mentioned mixing process, a stirring step of injecting a solution such as an infusion solution into the medicine container and stirring the medicine in the medicine container is performed. In addition, when a chemical|medical agent is a liquid, the said stirring process may be performed.
【现有技术文献】【Existing technical documents】
【专利文献】【Patent Literature】
专利文献1：日本专利公报、特开2012-250016号Patent Document 1: Japanese Patent Publication, Japanese Patent Application Laid-Open No. 2012-250016
然而，有时上述搅拌工序需要较长的时间，存在至上述搅拌工序结束为止的等待时间阻碍了上述混注处理的高效化这一情况。However, the above-mentioned stirring process may take a long time, and the waiting time until the above-mentioned stirring process is completed may hinder the efficiency improvement of the above-mentioned co-injection process.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种能够高效地执行包含对药品进行搅拌的搅拌工序的混注处理的混注装置。An object of the present invention is to provide a co-injection apparatus capable of efficiently performing co-injection processing including a stirring step for stirring a chemical.
本发明涉及的混注装置包括混注处理部、搅拌装置以及事先搅拌处理部，其中，上述混注处理部根据配制数据执行包含将第一容器内的药品注入第二容器的注入工序的混注处理，上述搅拌装置使用于对上述混注处理中所使用的上述第一容器内的药品进行搅拌的搅拌工序中，上述事先搅拌处理部能够在基于上述配制数据的上述混注处理的执行开始时刻之前执行上述搅拌工序。The coinjection device according to the present invention includes a coinjection processing part, a stirring device, and a pre-stirring processing part, wherein the coinjection processing part executes a coinjection process including an injection step of injecting the medicine in the first container into the second container according to the preparation data, and the stirring The apparatus is used in the stirring step of stirring the chemical in the first container used in the coinfusion process, and the pre-stirring processing unit can execute the agitation process before the execution start time of the coinfusion process based on the preparation data.
另外，本发明涉及的混注装置包括混注处理部和预约设定处理部，其中，上述混注处理部根据配制数据执行包含将第一容器内的药品注入第二容器的注入工序的混注处理；上述预约设定处理部能够选择性地受理有时间指定预约、无时间指定预约、以及临时预约作为预约条件，上述有时间指定预约是指：根据通过用户操作设定的执行开始时刻而使上述混注处理执行，上述无时间指定预约是指：未通过用户操作设定上述执行开始时刻而在未执行其他的上述混注处理的时刻使上述混注处理执行，上述临时预约是指：优先于通过上述有时间指定预约和上述无时间指定预约被预约的上述配制数据而使上述混注处理执行。In addition, the coinjection device according to the present invention includes a coinjection processing unit and a reservation setting processing unit, wherein the coinjection processing unit executes a coinjection process including an injection step of injecting the medicine in the first container into the second container based on the preparation data; the reservation The setting processing unit can selectively accept a reservation with time designation, a reservation without time designation, and a temporary reservation as reservation conditions. , the above-mentioned reservation without time designation means that the execution start time is not set by a user operation, and the above-mentioned juxtaposition process is executed at the time when the other above-mentioned commingling process is not executed, and the above-mentioned temporary reservation means that priority is given to the above-mentioned reservation with time designation. The above-mentioned mixing process is executed with the above-mentioned preparation data reserved for the above-mentioned non-time-designated reservation.
(发明效果)(invention effect)
根据本发明，提供了一种能够高效地执行包含对药品进行搅拌的搅拌工序的混注处理的混注装置。According to the present invention, there is provided a co-injection device capable of efficiently performing co-injection processing including a stirring step of stirring a chemical.
附图说明Description of drawings
图1是表示本发明实施方式涉及的混注装置的系统构成的框图。FIG. 1 is a block diagram showing a system configuration of a coinjection apparatus according to an embodiment of the present invention.
图2是表示本发明实施方式涉及的混注装置的外观构成的立体图。2 is a perspective view showing the external configuration of the coinjection device according to the embodiment of the present invention.
图3是表示本发明实施方式涉及的混注装置的省略了收纳单元的一部分的状态的立体图。3 is a perspective view showing a state in which a part of the storage unit of the coinjection device according to the embodiment of the present invention is omitted.
图4是表示本发明实施方式涉及的混注装置的卸下了主门和前壁的一部分后的状态的主视图。4 is a front view showing a state in which the main door and a part of the front wall of the coinjection device according to the embodiment of the present invention are removed.
图5是表示本发明实施方式涉及的混注装置中所使用的托盘的立体图。5 is a perspective view showing a tray used in the coinfusion apparatus according to the embodiment of the present invention.
图6是表示从下方观察本发明实施方式涉及的混注装置时的立体图。FIG. 6 is a perspective view showing the coinjection device according to the embodiment of the present invention when viewed from below.
图7是表示本发明实施方式涉及的混注装置的第一机械臂的保持部的立体图。7 is a perspective view showing a holding portion of a first arm of the coinjection device according to the embodiment of the present invention.
图8是表示本发明实施方式涉及的混注装置的第二机械臂的保持部的立体图。8 is a perspective view showing a holding portion of a second arm of the coinjection device according to the embodiment of the present invention.
图9是表示本发明实施方式涉及的混注装置的托盘输送部的俯视示意图。9 is a schematic plan view showing a tray conveying unit of the coinjection device according to the embodiment of the present invention.
图10是表示本发明实施方式涉及的混注装置的托盘输送部的机构的立体图。10 is a perspective view showing the mechanism of the tray conveying unit of the coinjection device according to the embodiment of the present invention.
图11是表示本发明实施方式涉及的混注装置的安瓿切削刀具的立体图。11 is a perspective view showing an ampoule cutting blade of the coinfusion device according to the embodiment of the present invention.
图12是表示本发明实施方式涉及的混注装置的搅拌装置的内部结构的立体图。12 is a perspective view showing the internal structure of the stirring device of the coinjection device according to the embodiment of the present invention.
图13是表示本发明实施方式涉及的混注装置的药品读取部的立体图。13 is a perspective view showing a medicine reading unit of the coinfusion device according to the embodiment of the present invention.
图14是表示本发明实施方式涉及的混注装置的针弯曲检测部的立体图。14 is a perspective view showing a needle bending detection unit of the coinfusion device according to the embodiment of the present invention.
图15是表示本发明实施方式涉及的混注装置的注射针装卸装置的内部结构的立体图。15 is a perspective view showing the internal structure of the injection needle attaching and detaching device of the coinfusion device according to the embodiment of the present invention.
图16是表示本发明实施方式涉及的混注装置的注射针装卸装置的内部结构的立体图。16 is a perspective view showing the internal structure of the injection needle attaching and detaching device of the coinfusion device according to the embodiment of the present invention.
图17是表示本发明实施方式涉及的混注装置的针插入确认照相机的拍摄图像的一例的图。17 is a diagram showing an example of an image captured by a needle insertion confirmation camera of the coinfusion device according to the embodiment of the present invention.
图18是表示本发明实施方式涉及的混注装置的收纳单元的构成的图。18 is a diagram showing a configuration of a storage unit of the coinjection device according to the embodiment of the present invention.
图19是表示本发明实施方式涉及的混注装置的收纳单元的构成的图。19 is a diagram showing a configuration of a storage unit of the coinjection device according to the embodiment of the present invention.
图20是表示本发明实施方式涉及的混注装置的收纳单元的构成的图。20 is a diagram showing a configuration of a storage unit of the coinjection device according to the embodiment of the present invention.
图21是表示本发明实施方式涉及的混注装置的收纳单元的构成的图。21 is a diagram showing a configuration of a storage unit of the coinjection device according to the embodiment of the present invention.
图22是表示利用本发明实施方式涉及的混注装置执行的装填准备处理的步骤的一例的流程图。22 is a flowchart showing an example of the procedure of the charging preparation process performed by the coinjection apparatus according to the embodiment of the present invention.
图23是表示利用本发明实施方式涉及的混注装置执行的混注控制处理的步骤的一例的流程图。23 is a flowchart showing an example of the procedure of the coinfusion control process executed by the coinfusion device according to the embodiment of the present invention.
图24是表示利用本发明实施方式涉及的混注装置执行的成批配制检查处理的步骤的一例的流程图。24 is a flowchart showing an example of the procedure of batch preparation inspection processing executed by the coinjection apparatus according to the embodiment of the present invention.
图25是表示利用本发明实施方式涉及的混注装置执行的成批搅拌检查处理的步骤的一例的流程图。25 is a flowchart showing an example of the procedure of batch stirring inspection processing executed by the coinjection apparatus according to the embodiment of the present invention.
图26是表示利用本发明实施方式涉及的混注装置执行的日程管理处理的步骤的一例的流程图。26 is a flowchart showing an example of the procedure of the schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图27是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。27 is a diagram showing an example of a display screen in a schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图28A是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。28A is a diagram showing an example of a display screen in a schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图28B是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。28B is a diagram showing an example of a display screen in the schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图28C是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。28C is a diagram showing an example of a display screen in the schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图29是表示利用本发明实施方式涉及的混注装置执行的成批全部提取检查处理的步骤的一例的流程图。29 is a flowchart showing an example of the procedure of the batch extraction inspection process performed by the coinfusion apparatus according to the embodiment of the present invention.
图30是表示本发明实施方式涉及的混注装置的外观构成的立体图。FIG. 30 is a perspective view showing the external configuration of the coinjection device according to the embodiment of the present invention.
图31是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。31 is a diagram showing an example of a display screen in a schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图32是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。32 is a diagram showing an example of a display screen in a schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图33是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。33 is a diagram showing an example of a display screen in a schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图34是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。34 is a diagram showing an example of a display screen in a schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图35是表示利用本发明实施方式涉及的混注装置执行的日程管理处理中的显示画面的一例的图。35 is a diagram showing an example of a display screen in a schedule management process executed by the coinfusion apparatus according to the embodiment of the present invention.
图36是表示利用本发明实施方式涉及的混注装置执行的装填准备处理的步骤的一例的流程图。36 is a flowchart showing an example of the procedure of the charging preparation process performed by the coinjection apparatus according to the embodiment of the present invention.
图37是表示本发明实施方式涉及的混注装置的收纳单元的构成的图。37 is a diagram showing a configuration of a storage unit of the coinjection device according to the embodiment of the present invention.
具体实施方式Detailed ways
【第一实施方式】[First Embodiment]
以下参照附图对本发明的实施方式进行说明，以供理解本发明。另外，以下的实施方式是将本发明具体化的一例，意不在对本发明的技术范围进行限定。Embodiments of the present invention will be described below with reference to the accompanying drawings for understanding of the present invention. In addition, the following embodiment is an example which embodies the present invention, and is not intended to limit the technical scope of the present invention.
【混注装置1】【Mixing device 1】
如图1和图2所示，本实施方式涉及的混注装置1具备：混注控制部100、药品装填部200、混注处理部300、收纳单元700、以及搅拌装置32。而且，在上述混注装置1中，利用上述混注控制部100根据配制数据对上述混注处理部300和上述收纳单元700的动作进行控制，由此，执行利用注射器将配制数据所示的抗癌剂等药品从收纳有既定量药品的一个或多个安瓿或管药瓶等第一容器注入输液袋等第二容器中的混注处理。另外，在上述混注处理中，也包括利用注射器从安瓿或管药瓶等第一容器抽吸药品并注入其他的安瓿或管药瓶等第二容器中的处理等。As shown in FIGS. 1 and 2 , thecoinjection device 1 according to the present embodiment includes acoinjection control unit 100 , adrug loading unit 200 , acoinjection processing unit 300 , astorage unit 700 , and astirring device 32 . Furthermore, in thecoinfusion apparatus 1, thecoinjection control unit 100 controls the operations of thecoinjection processing unit 300 and thestorage unit 700 based on the preparation data, whereby the anticancer agent and the like indicated by the preparation data are executed by the syringe. A mixed injection process in which a drug is injected from a first container such as ampoules or vials containing a predetermined amount of a drug into a second container such as an infusion bag. In addition, the above-mentioned co-injection process also includes a process in which a drug is sucked from a first container such as an ampoule or a vial with a syringe and injected into a second container such as another ampule or a vial.
【混注控制部100】【Mixing control unit 100】
首先，参照图1对上述混注控制部100的概略构成进行说明。上述混注控制部100具备以能够通信的方式连接的第一控制部400和第二控制部500。上述第一控制部400设置在上述药品装填部200侧，上述第二控制部500设置在上述混注处理部300侧。First, the schematic configuration of the above-describedcoinjection control unit 100 will be described with reference to FIG. 1 . Thecoinfusion control unit 100 described above includes afirst control unit 400 and asecond control unit 500 that are communicably connected. Thefirst control unit 400 is provided on the side of thedrug loading unit 200 , and thesecond control unit 500 is provided on the side of thecoinfusion processing unit 300 .
另外，本实施方式中说明的上述第一控制部400和上述第二控制部500各自分担的处理只不过是一例，上述混注处理等的各处理步骤由上述第一控制部400和上述第二控制部500的任意一者执行即可。另外，上述混注控制部100仅具有一个控制部或者具有三个以上的控制部也可以考虑作为其他的实施方式。进而，利用上述第一控制部400和上述第二控制部500执行的处理的一部分或全部也可以通过ASIC(专用集成电路)或DSP(数字信号处理器)等电子电路而被执行。It should be noted that the processes shared by thefirst control unit 400 and thesecond control unit 500 described in this embodiment are merely examples, and thefirst control unit 400 and thesecond control unit 400 and the second control each processing step such as the coinfusion process. Any one of theparts 500 may be executed. In addition, the above-mentionedcoinjection control unit 100 having only one control unit or having three or more control units may be considered as another embodiment. Furthermore, part or all of the processing performed by thefirst control unit 400 and thesecond control unit 500 may be performed by electronic circuits such as ASIC (Application Specific Integrated Circuit) or DSP (Digital Signal Processor).
另外，上述第一控制部400能够与向上述混注装置1输入配制数据的电子病历系统或配药管理系统等主系统(host system)600之间进行通信。上述配制数据是根据处方数据生成的配制用的数据或者上述处方数据本身。上述处方数据中包含例如：处方笺交付年月日、患者ID、患者姓名、患者出生年月日、药品信息(药品代码、药品名称、用量等)、剂型信息(内服、外用等)、用法信息(一日三次每餐后等)、诊疗类别(门诊、住院等)、诊疗科室、病区、以及病房等。另外，上述配制数据中包括例如：配制ID、患者信息(患者ID、患者姓名等)、医生信息、药品信息、药品的处方量、药品容器的种类(装入药液的安瓿、装入药液的管药瓶、或装入面药的管药瓶等)、配制内容信息(混注处理所使用的药品容器、注射器、注射针的种类和支数等)、配制步骤信息(作业内容、溶解药、溶剂、溶解药量、溶剂量、抽出量)、配制日期、处方笺分类、给药日期、诊疗科室、病区、配制结束指定时间(或者预订开始时间)、所需时间等。Moreover, the said1st control part 400 can communicate with the host system (host system) 600, such as an electronic medical record system and a prescription management system which input preparation data to the saidcoinfusion apparatus 1. The above-mentioned preparation data is data for preparation generated from the prescription data or the above-mentioned prescription data itself. The above prescription data includes, for example: the date of delivery of the prescription, patient ID, patient name, patient birth date, drug information (drug code, drug name, dosage, etc.), dosage form information (internal use, external use, etc.), usage information (three times a day after each meal, etc.), type of diagnosis and treatment (outpatient, inpatient, etc.), diagnosis and treatment departments, wards, and wards, etc. In addition, the above-mentioned preparation data includes, for example, preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescription amount of the drug, type of drug container (ampoules containing the drug solution, drug solution containing ampoules, etc.) information on the contents of preparation (the type and number of drug containers, syringes, and injection needles used in the mixed injection process), information on preparation steps (the contents of work, the dissolved medicines, etc.) , solvent, dissolved drug amount, solvent amount, extracted amount), preparation date, prescription classification, administration date, diagnosis and treatment department, ward, preparation end designated time (or reservation start time), required time, etc.
上述第一控制部400是具备CPU(中央处理器)401、ROM(只读存储器)402、RAM(随机存取存储器)403、数据存储部404、以及操作部405等的个人计算机。另外，上述第一控制部400上连接有上述药品装填部200中所设置的后述显示器203、条形码阅读器204、以及空气净化装置205等各种电气元件。Thefirst control unit 400 is a personal computer including a CPU (Central Processing Unit) 401, a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, adata storage unit 404, anoperation unit 405, and the like. In addition, various electrical components such as adisplay 203 , abarcode reader 204 , and anair purifier 205 provided in themedicine filling unit 200 to be described later are connected to thefirst control unit 400 .
上述CPU401是根据各种控制程序执行处理的处理器。上述ROM402是预先存储有由上述CPU401执行的BIOS(基本输入输出系统)等程序的非易失性存储器。上述RAM403是由上述CPU401执行的各种控制程序的展开和数据的暂时存储中所使用的易失性存储器或非易失性存储器。The above-describedCPU 401 is a processor that executes processing in accordance with various control programs. TheROM 402 is a nonvolatile memory in which programs such as BIOS (Basic Input Output System) executed by theCPU 401 are stored in advance. The above-mentionedRAM 403 is a volatile memory or a non-volatile memory used for the development of various control programs executed by the above-mentionedCPU 401 and the temporary storage of data.
上述数据存储部404是存储用于使上述CPU401执行各种处理的各种应用程序和各种数据的硬盘等非易失性存储装置。例如，上述数据存储部404中存储有从上述主系统600输入的上述配制数据。Thedata storage unit 404 is a nonvolatile storage device such as a hard disk that stores various application programs and various data for causing theCPU 401 to execute various processes. For example, the above-mentioned preparation data input from the above-mentionedhost system 600 is stored in the above-mentioneddata storage unit 404 .
另外，上述第一控制部400将每一上述配制数据所对应的后述托盘101的识别信息与被从上述主系统600输入的上述配制数据一同存储至上述数据存储部404。例如，上述配制数据与上述托盘101的识别信息之间的对应建立由上述第一控制部400进行。另外，也可考虑将表示上述配制数据与上述托盘101的识别信息之间的对应关系的信息与上述配制数据一同从上述主系统600输入至上述混注装置1。In addition, thefirst control unit 400 stores the identification information of thetray 101 described later corresponding to each of the preparation data in thedata storage unit 404 together with the preparation data input from thehost system 600 . For example, the association between the above-mentioned preparation data and the above-mentioned identification information of thetray 101 is performed by the above-mentionedfirst control unit 400 . In addition, it is also conceivable to input the information indicating the correspondence between the preparation data and the identification information of thetray 101 together with the preparation data from thehost system 600 to thecoinjection device 1 .
另外，上述数据存储部404中存储有例如注射针标准(master)、药品标准、患者标准、医生标准、处方笺分类标准、诊疗科室标准、以及病区标准等的各种数据库。在上述注射针标准中，按注射针的种类存储有注射针的针尖部的形状。上述注射针的针尖部的形状包括：上述注射针的针管的外径、尖端的角度、以及切面(倾斜面的长度)等。另外，上述药品标准中包含：药品代码、药品名称、JAN码(日本通用商品编码)(或者RSS条码)、药瓶代码、分类(剂型：散剂(面药)、片剂、水剂、外用药等)、比重、药品类别(普通药、抗癌剂、毒药、麻醉药、烈性药、抗精神病药、治疗用药等)、配伍变化、赋形药、注意事项、药品容器的类别(安瓿、管药瓶)、单位药品容器的药品的收纳量(既定量)、以及药品容器的重量等信息。另外，在上述药品标准中，作为收纳生理盐水或葡萄糖等输液的输液袋12的信息，也包含例如上述输液袋12的容器类别(软袋、硬型、AL型)、上述输液袋12中收纳的输液量、以及能够注入上述输液袋12的液体量等信息。In addition, thedata storage unit 404 stores various databases such as needle standards (master), drug standards, patient standards, doctor standards, prescription classification standards, medical department standards, and ward standards. In the above-mentioned injection needle standard, the shape of the needle tip portion of the injection needle is stored for each type of injection needle. The shape of the needle tip portion of the injection needle includes the outer diameter of the needle tube of the injection needle, the angle of the tip, the cut surface (length of the inclined surface), and the like. In addition, the above-mentioned drug standards include: drug code, drug name, JAN code (Japanese general commodity code) (or RSS barcode), medicine bottle code, classification (dosage form: powder (face medicine), tablet, liquid medicine, external medicine etc.), specific gravity, drug category (generic drugs, anticancer agents, poisons, narcotics, potent drugs, antipsychotics, therapeutic drugs, etc.), compatibility changes, excipients, precautions, categories of drug containers (ampoules, tubes, etc.) bottle), the storage amount (predetermined amount) of the medicine in the unit medicine container, and the weight of the medicine container. In addition, in the above-mentioned pharmaceutical standards, as information on theinfusion bag 12 that accommodates infusion solutions such as physiological saline or glucose, for example, the container type (soft bag, rigid type, AL type) of theinfusion bag 12 , the type of theinfusion bag 12 stored in theinfusion bag 12 is also included. information such as the amount of infusion that can be injected into theinfusion bag 12 described above.
进而，上述数据存储部404中预先存储有用于使上述CPU401执行各种处理的第一混注控制程序。另外，上述第一混注控制程序也可以利用上述第一控制部400所具备的未图示的读取装置从例如CD、DVD、BD(蓝光光碟)、闪存等记录媒介中读取并安装于上述数据存储部404中。Furthermore, thedata storage unit 404 stores in advance a first coinfusion control program for causing theCPU 401 to execute various processes. In addition, the above-mentioned first shuffling control program may be read from a recording medium such as CD, DVD, BD (Blu-ray Disc), and flash memory by using a reading device (not shown) included in the above-mentionedfirst control unit 400 and installed on the above-mentioned recording medium. in thedata storage unit 404 .
上述操作部405包括受理上述第一控制部400中的各种用户操作的键盘、鼠标、或触摸面板等各种操作部。Theoperation unit 405 includes various operation units such as a keyboard, a mouse, or a touch panel that accept various user operations in thefirst control unit 400 .
上述第二控制部500是具备CPU501、ROM502、RAM503、数据存储部504、操作部505等的个人计算机。上述第二控制部500上连接有上述混注处理部300中所设置的后述第一机械臂21、第二机械臂22、托盘输送部110、触摸面板监视器14、IC阅读器101c、IC阅读器15a、托盘确认照相机41、注射器确认照相机42等各种电气元件。Thesecond control unit 500 is a personal computer including aCPU 501 , aROM 502 , aRAM 503 , adata storage unit 504 , anoperation unit 505 , and the like. Thesecond control unit 500 is connected to thefirst robot arm 21 , thesecond robot arm 22 , thetray conveyance unit 110 , the touch panel monitor 14 , theIC reader 101 c , and the IC reader provided in thecoinfusion processing unit 300 to be described later. Various electrical components such as thedevice 15a, thetray checking camera 41, and thesyringe checking camera 42 are included.
上述CPU501是根据各种控制程序执行处理的处理器。上述ROM502是预先存储有由上述CPU501执行的BIOS等程序的非易失性存储器。上述RAM503是由上述CPU501执行的各种控制程序的展开和数据的暂时存储中所使用的易失性存储器或非易失性存储器。The above-describedCPU 501 is a processor that executes processing in accordance with various control programs. TheROM 502 is a non-volatile memory in which programs such as BIOS executed by theCPU 501 are stored in advance. The above-mentionedRAM 503 is a volatile memory or a non-volatile memory used for the development of various control programs executed by the above-mentionedCPU 501 and the temporary storage of data.
上述数据存储部504是存储用于使上述CPU501执行各种处理的各种应用程序和各种数据的硬盘等。具体而言，上述数据存储部504中预先存储有用于使上述CPU501执行后述的混注处理等的第二混注控制程序。另外，上述第二混注控制程序也可以利用上述第二控制部500所具备的未图示的读取装置从例如CD、DVD、BD、闪存等记录媒介中读取并安装于上述数据存储部504中。另外，上述数据存储部504中也存储有与上述数据存储部404相同的上述药品标准，上述第二控制部500能够参照上述药品标准。作为其他的实施方式，也可以为上述第二控制部500能够经由上述第一控制部400而取得上述药品标准的信息的构成。Thedata storage unit 504 is a hard disk or the like that stores various application programs and various data for causing theCPU 501 to execute various processes. Specifically, thedata storage unit 504 stores in advance a second coinjection control program for causing theCPU 501 to execute coinfusion processing, which will be described later, and the like. In addition, the second mixing control program may be read from a recording medium such as CD, DVD, BD, flash memory, etc. by using a reading device (not shown) included in thesecond control unit 500 and installed in thedata storage unit 504 middle. In addition, thedata storage unit 504 also stores the same drug standard as thedata storage unit 404, and thesecond control unit 500 can refer to the drug standard. As another embodiment, thesecond control unit 500 may be configured to acquire the information of the drug standard via thefirst control unit 400 .
另外，本发明也可以作为在上述混注控制部100中使上述CPU401和上述CPU501执行各种处理用的上述第一混注控制程序、上述第二混注控制程序、或者综合有上述第一混注控制程序和上述第二混注控制程序的混注控制程序的发明。另外，本发明也可以作为记录了上述第一混注控制程序、上述第二混注控制程序、或者综合有上述第一混注控制程序和上述第二混注控制程序的混注控制程序的、计算机可读的记录媒介的发明。进而，本发明也可以作为包含上述混注装置1中执行的一个或多个处理步骤的混注方法的发明。In addition, the present invention may be implemented as the first coinjection control program, the second coinjection control program, or a combination of the first coinjection control program and the Invention of the coinjection control program of the second coinjection control program described above. In addition, the present invention can also be used as a computer-readable record in which the first coinjection control program, the second coinjection control program, or a coinfusion control program combining the first coinjection control program and the second coinfusion control program is recorded. Invention of the medium. Furthermore, the present invention can also be regarded as an invention of a coinfusion method including one or more processing steps performed in thecoinfusion apparatus 1 described above.
上述操作部505包括受理上述第二控制部500中的各种用户操作的键盘、鼠标、或触摸面板等各种操作部。Theoperation unit 505 includes various operation units such as a keyboard, a mouse, or a touch panel that accept various user operations in thesecond control unit 500 .
【药品装填部200】【Drug Filling Section 200】
接着，参照图2和图3对上述药品装填部200的概略构成进行说明。另外，图3是表示上述药品装填部200的内部结构的主要部分的图。Next, the schematic configuration of the above-describeddrug loading unit 200 will be described with reference to FIGS. 2 and 3 . Moreover, FIG. 3 is a figure which shows the main part of the internal structure of the saidmedicine loading part 200. As shown in FIG.
如图2和图3所示，上述药品装填部200是具备门201、作业台202、显示器203、条形码阅读器204、以及空气净化装置205的净化台。另外，上述药品装填部200与上述混注处理部300通过形成于上述混注处理部300的侧面的托盘装填口114(参照图6)和托盘排出口701(参照图21)而连通。As shown in FIGS. 2 and 3 , the above-mentionedmedicine loading unit 200 is a clean bench including adoor 201 , aworkbench 202 , adisplay 203 , abarcode reader 204 , and anair cleaning device 205 . In addition, themedicine loading unit 200 and thecoinfusion processing section 300 communicate with each other through the tray loading port 114 (see FIG. 6 ) and the tray discharge port 701 (see FIG. 21 ) formed on the side surface of thecoinfusion processing section 300 .
上述作业台202是为了进行由上述混注装置1执行的混注处理的准备作业而使用的，在上述作业台202上载置上述条形码阅读器204和上述托盘101等。另外，在上述作业台202的前面，设有在将从上述收纳单元700排出的上述托盘101取出时被打开或关闭的托盘排出口206。另外，在上述作业台202内，设有能够从上述作业台202上所载置的上述托盘101的上述IC标签101b读取信息的IC阅读器207(参照图21)。另外，上述IC阅读器207的读取结果被输入上述第一控制部400。The above-mentioned work table 202 is used for the preparation work of the coinfusion process performed by the above-mentionedcoinfusion apparatus 1 , and the above-mentionedbarcode reader 204 , the above-mentionedtray 101 , and the like are placed on the above-mentioned work table 202 . In addition, atray discharge port 206 that is opened or closed when thetray 101 discharged from thestorage unit 700 is taken out is provided on the front surface of the work table 202 . Moreover, in the saidworkbench 202, the IC reader 207 (refer FIG. 21) which can read information from the saidIC tag 101b of the saidtray 101 mounted on the saidworkbench 202 is provided. In addition, the reading result of theIC reader 207 is input to thefirst control unit 400 .
上述显示器203是根据来自上述第一控制部400的控制指示使各种信息显示的液晶显示器或有机EL显示器等显示部。具体而言，上述显示器203上显示作为上述混注装置1中的混注对象的候补的配制数据等。另外，上述条形码阅读器204读取处方笺或配制指示书等上所记载的条形码，并将上述条形码的内容输入上述第一控制部400。上述空气净化装置205通过规定的过滤器向上述药品装填部200内供给空气。另外，上述显示器203例如也可以由上述收纳单元700所具备的前面面板700A(参照图18～图21)进行支撑。Thedisplay 203 is a display unit such as a liquid crystal display or an organic EL display that displays various information in accordance with a control instruction from thefirst control unit 400 . Specifically, the above-mentioneddisplay 203 displays the preparation data and the like which are candidates for the coinjection target in thecoinjection apparatus 1 described above. In addition, thebarcode reader 204 reads the barcode written on the prescription sheet, the preparation instruction sheet, or the like, and inputs the content of the barcode into thefirst control unit 400 . Theair purifier 205 supplies air into themedicine filling unit 200 through a predetermined filter. In addition, thedisplay 203 may be supported by, for example, afront panel 700A (see FIGS. 18 to 21 ) included in thestorage unit 700 .
上述门201设置在上述药品装填部200的前面，且是能够沿竖直上下方向打开或关闭的透明部件。如图2所示，用户在稍微打开上述门201将手伸入上述药品装填部200内的状态下，进行由上述混注装置1执行的混注处理的准备作业。具体而言，如图5所示，在被载置于上述作业台202上的托盘101中，收纳有通过上述混注装置1执行的混注处理中所使用的药品容器10(第一容器的一例)、注射器11、以及输液袋12(第二容器的一例)等。另外，上述输液袋12中收纳有与上述输液袋12的类别对应的规定量的生理盐水、葡萄糖、或者全胃肠外营养液(TPN)等的输液。另外，上述药品容器10中所收纳的药品例如为抗癌剂，但也可以为抗癌剂以外的药品。上述准备作业例如包括：使上述药品容器10、上述注射器11、以及上述输液袋12载置于上述托盘101的规定位置，并将上述托盘101装填至上述收纳单元700的装填作业。以下，在上述药品容器10为安瓿时，将上述药品容器10称为安瓿10A，在上述药品容器10为管药瓶时，将上述药品容器10称为管药瓶10B。Thedoor 201 is provided on the front face of themedicine filling part 200, and is a transparent member that can be opened or closed in the vertical up-down direction. As shown in FIG. 2 , the user performs the preparatory work for the coinjection process performed by thecoinjection apparatus 1 in a state where thedoor 201 is slightly opened and his hand is inserted into thedrug loading unit 200 . Specifically, as shown in FIG. 5 , in thetray 101 placed on the above-mentioned work table 202, the medicine container 10 (an example of the first container) used for the coinjection process performed by thecoinjection apparatus 1 described above is accommodated , asyringe 11, an infusion bag 12 (an example of a second container), and the like. In addition, theinfusion solution bag 12 accommodates infusion solutions such as physiological saline, glucose, or total parenteral nutrition (TPN) in a predetermined amount corresponding to the type of theinfusion solution bag 12 . In addition, although the medicine accommodated in the saidmedicine container 10 is an anticancer agent, for example, it may be a medicine other than an anticancer agent. The preparation operation includes, for example, a loading operation of placing themedicine container 10 , thesyringe 11 , and theinfusion bag 12 on predetermined positions of thetray 101 and loading thetray 101 into thestorage unit 700 . Hereinafter, when thedrug container 10 is an ampoule, thedrug container 10 is referred to as anampoule 10A, and when thedrug container 10 is a vial, thedrug container 10 is referred to as avial 10B.
如图5所示，上述托盘101具有：以文字显示患者姓名和施用等的电子纸101a、以及如能够读写各种信息的RFID(Radio Frequency Identification：射频识别)标签那样的IC标签101b(记录媒介的一例)。上述IC标签101b设置在上述托盘101的底面，在上述IC标签101b中存储有用于识别上述托盘101的识别信息。As shown in FIG. 5 , thetray 101 includes anelectronic paper 101a that displays a patient's name, administration, and the like in characters, and anIC tag 101b (recording data) such as an RFID (Radio Frequency Identification) tag capable of reading and writing various information. example of a medium). TheIC tag 101b is provided on the bottom surface of thetray 101, and identification information for identifying thetray 101 is stored in theIC tag 101b.
另外，上述托盘101具有：载置上述药品容器10和上述注射器11(注射筒11a、注射针11c、端帽11d)的器材载置部102(参照图9)、以及保持上述输液袋12的输液袋保持部103(参照图5)。上述器材载置部102和上述输液袋保持部103能够相对于上述托盘101分别地进行安装或拆卸。In addition, thetray 101 includes a device placement portion 102 (see FIG. 9 ) on which thedrug container 10 and the syringe 11 (thesyringe 11 a , theinjection needle 11 c , and theend cap 11 d ) are placed, and an infusion solution holding theinfusion solution bag 12 The bag holder 103 (see FIG. 5 ). Thedevice mounting portion 102 and the infusionbag holding portion 103 can be attached to and detached from thetray 101 , respectively.
如图5所示，在上述器材载置部102上，设有将上述安瓿10A以倾斜的状态加以支撑的支撑部102A。而且，上述安瓿10A通过上述支撑部102A以倾斜立起的状态被安置。由此，药品不会积留在上述安瓿10A的颈部。另外，除了上述安瓿10A之外，安装有上述端帽11d的注射针11c等也通过上述支撑部102A以倾斜立起的状态被安置。As shown in FIG. 5, the saidequipment mounting part 102 is provided with thesupport part 102A which supports the saidampule 10A in the inclined state. And the saidampoule 10A is set in the state which stood up obliquely by the saidsupport part 102A. Thereby, the medicine does not accumulate in the neck of the saidampoule 10A. In addition to the above-mentionedampoule 10A, theinjection needle 11c to which the above-mentionedend cap 11d is attached, and the like are also placed in a state in which the above-mentionedsupport portion 102A is inclined and erected.
上述注射针11c也包括带有针头式过滤器(Syringe Filter)的注射针。具体而言，在使用上述安瓿10A时，为了防止上述安瓿10A的颈部折断时的碎片从上述注射器11注入上述输液袋12、或者上述碎片流入上述注射器11中这些情况，而使用带有针头式过滤器的注射针。上述针头式过滤器为一般也被称为陀螺型过滤器的过滤器，并具有防止药品以外的异物通过的功能。例如，一般已知有日本Pall公司制造的针头式过滤器。The above-mentionedinjection needle 11c also includes an injection needle with a syringe filter (Syringe Filter). Specifically, when theampoule 10A is used, in order to prevent the fragments from thesyringe 11 from being injected into theinfusion bag 12 or the fragments from flowing into thesyringe 11 when the neck of theampoule 10A is broken, the needle type is used. Filter syringe needle. The above-mentioned syringe filter is a filter generally called a gyro-type filter, and has a function of preventing the passage of foreign substances other than medicines. For example, a syringe filter manufactured by Pall Corporation of Japan is generally known.
另外，如图5和图9所示，上述管药瓶10B和上述注射器11以放平于上述器材载置部102上的状态被安置。另外，此时，上述注射器11为注射筒11a与注射针11c分离的状态。当然，在此说明的上述器材载置部102内的配置形态为例示，并不限定于此。In addition, as shown in FIGS. 5 and 9 , thevial 10B and thesyringe 11 are placed in a state of being laid flat on thedevice placement portion 102 . In addition, at this time, thesyringe 11 is in a state in which thesyringe barrel 11a and theinjection needle 11c are separated from each other. Of course, the arrangement form in the above-mentioneddevice placement portion 102 described here is an example, and is not limited to this.
如图5所示，上述输液袋保持部103上设有用于固定上述输液袋12的混注口(颈部)的夹头部140。在上述准备作业中，用户将上述输液袋12在利用上述夹头部140保持的状态下安置于上述输液袋保持部103上。另外，在上述输液袋保持部103上，设有使上述输液袋保持部103升降时所使用的卡合孔部103a。As shown in FIG. 5 , the infusionbag holding portion 103 is provided with aclip portion 140 for fixing the coinfusion port (neck) of theinfusion bag 12 . In the above-mentioned preparatory work, the user sets theinfusion bag 12 on the infusionbag holding part 103 while being held by thechuck part 140 . In addition, the infusionbag holding portion 103 is provided with an engaginghole portion 103a used when the infusionbag holding portion 103 is raised and lowered.
而且，在由用户安置了上述药品容器10、上述注射器11及上述输液袋12后，上述托盘101被收纳于上述收纳单元700。另外，如后所述，上述收纳单元700中能够收纳多个上述托盘101。由此，如后所述，上述托盘101根据需要被从上述收纳单元700经由上述托盘排出口701和上述托盘装填口114而自动供给至上述混注处理部300。然后，上述托盘101在上述混注处理部300中的上述混注处理结束后，以收纳有上述输液袋12的状态而被从上述混注处理部300的托盘排出口15(参照图3)排出、或者经由上述收纳单元700而被从上述药品装填部200的托盘排出口206(参照图3)排出。另外，在上述混注处理部300中，也可以设置用户能够直接将上述托盘101从上述药品装填部200供给至上述混注处理部300的搬入口。Then, after thedrug container 10 , thesyringe 11 , and theinfusion bag 12 are set by the user, thetray 101 is housed in thestorage unit 700 . In addition, as will be described later, thestorage unit 700 can accommodate a plurality of thetrays 101 described above. Thereby, the saidtray 101 is automatically supplied to the saidcoinfusion processing part 300 from the saidstorage unit 700 via the saidtray discharge port 701 and the saidtray loading port 114 as needed, as mentioned later. Then, thetray 101 is discharged from the tray discharge port 15 (see FIG. 3 ) of thecoinfusion processing section 300 in a state where theinfusion bag 12 is accommodated after the coinfusion processing in thecoinfusion processing section 300 is completed, or via Thestorage unit 700 is discharged from the tray discharge port 206 (see FIG. 3 ) of themedicine loading unit 200 . In addition, in thecoinfusion processing unit 300 , a loading port through which the user can directly supply thetray 101 from thedrug loading unit 200 to thecoinfusion processing unit 300 may be provided.
【混注处理部300】【Mixing processing unit 300】
接下来，对上述混注处理部300的概略构成进行说明。Next, the schematic configuration of the above-mentionedcoinjection processing unit 300 will be described.
如图2～图4所示，在上述混注处理部300的前面，设有主门301、注射器取出门302、垃圾收纳室门13、触摸面板监视器14、以及托盘排出口15等。As shown in FIGS. 2 to 4 , on the front surface of thecoinjection processing unit 300 , amain door 301 , asyringe extraction door 302 , a wastestorage compartment door 13 , a touch panel monitor 14 , atray discharge port 15 , and the like are provided.
上述主门301例如在进行上述混注处理部300所设置的混注处理室104内的清扫等时，为了进出上述混注处理室104内而被打开或关闭。另外，在上述混注装置1中，除了配发注入有药品的上述输液袋12之外，也能够以填充有药品的状态配发上述注射器11。上述注射器取出门302在从上述混注处理室104中取出上述注射器11时被打开或关闭。Themain door 301 is opened or closed for entering and exiting thecoinjection processing chamber 104 during cleaning of thecoinfusion processing chamber 104 provided in thecoinfusion processing unit 300 , for example. In addition, in thecoinfusion device 1 described above, in addition to the above-mentionedinfusion bag 12 filled with medicine, thesyringe 11 can also be dispensed in a state filled with medicine. The above-mentionedsyringe extraction door 302 is opened or closed when the above-mentionedsyringe 11 is taken out from the above-mentionedcoinjection processing chamber 104 .
上述垃圾收纳室门13是为了从收纳在上述混注处理室104的混注处理中使用后的上述药品容器10和上述注射器11等废弃物的垃圾收纳室13a中除去上述废弃物而被打开或关闭。另外，上述托盘排出口15是为了将载置有通过上述混注处理室104中的混注处理而混注有药品后的上述输液袋12的上述托盘101取出而被打开或关闭。The garbagestorage chamber door 13 is opened or closed for removing the wastes from thegarbage storage chamber 13a containing the wastes such as thedrug containers 10 and thesyringes 11 used in the co-injection treatment in theco-injection processing chamber 104 . In addition, thetray discharge port 15 is opened or closed for taking out thetray 101 on which theinfusion bag 12 mixed with the drug by the co-injection process in theco-infusion processing chamber 104 is placed.
上述触摸面板监视器14是根据来自上述第二控制部500的控制指示而使各种信息显示的液晶显示器或有机EL显示器等显示部。另外，上述触摸面板监视器14具有受理由用户进行的触摸操作的触摸面板。上述触摸面板监视器14中能够显示例如由后述的各种照相机拍摄的图像或影像。The touch panel monitor 14 is a display unit such as a liquid crystal display or an organic EL display that displays various kinds of information in accordance with a control instruction from thesecond control unit 500 . In addition, the above-mentioned touch panel monitor 14 has a touch panel that receives a touch operation by a user. The touch panel monitor 14 described above can display, for example, images or videos captured by various cameras to be described later.
另外，如图4所示，上述垃圾收纳室13a中设有：用于废弃被收纳于上述输液袋12的输液等液体的废弃容器13b、和测量上述废弃容器的重量的称重计13c。另外，上述废弃容器13b能够在上述垃圾收纳室门13被打开的状态下相对于上述垃圾收纳室13a进行安装或拆卸。另外，在上述混注处理室104内的底面上，于上述废弃容器13b的上方形成有与上述废弃容器13b连通的连通口(未图示)。而且，后述的第二机械臂22能够操作上述注射器11而将上述注射器11内的液体从上述连通口废弃至上述废弃容器13b内。上述称重计13c例如具有将与上述废弃容器13b的重量对应的电信号输入至上述第二控制部500的负载传感器。Moreover, as shown in FIG. 4, thewaste container 13a is provided with awaste container 13b for discarding liquids such as infusion solutions stored in theinfusion bag 12, and a weighingscale 13c for measuring the weight of the waste container. In addition, the above-mentionedwaste container 13b can be attached to or detached from the above-mentionedgarbage storage chamber 13a in a state in which the above-mentioned garbagestorage chamber door 13 is opened. In addition, a communication port (not shown) that communicates with thewaste container 13b is formed above thewaste container 13b on the bottom surface of theco-injection processing chamber 104 . Then, thesecond robot arm 22 described later can operate thesyringe 11 to discard the liquid in thesyringe 11 from the communication port into thewaste container 13b. The said weighingscale 13c has, for example, a load cell which inputs an electric signal corresponding to the weight of the saidwaste container 13b to the said2nd control part 500.
由此，上述第二控制部500根据向上述废弃容器13b废弃液体前后的、上述称重计13c对上述废弃容器13b的称量结果，能够取得废弃液体时该液体的废弃量。例如，上述第二控制部500将从上述注射器11废弃的液体的量与根据上述配制数据等决定的废弃量进行对照，在对照结果为不一致时，在上述触摸面板监视器14等上显示错误并通知给用户。另外，上述第二控制部500将上述对照结果作为上述混注处理的历史信息而记录于上述数据存储部504。由此，能够正确地进行来自上述注射器11的废弃量的一致性检查和废液量的管理。Accordingly, thesecond control unit 500 can obtain the discarded amount of the liquid when the liquid is discarded, based on the result of weighing the discardedcontainer 13b by the weighingscale 13c before and after the liquid is discarded into the discardedtank 13b. For example, thesecond control unit 500 compares the amount of liquid discarded from thesyringe 11 with the discard amount determined based on the preparation data and the like, and when the result of the comparison is inconsistent, displays an error on the touch panel monitor 14 and the like and Notify users. In addition, thesecond control unit 500 records the comparison result in thedata storage unit 504 as the history information of the shuffling process. Thereby, the consistency check of the amount of waste from thesyringe 11 and the management of the amount of waste liquid can be accurately performed.
另外，作为进行使用上述注射器11的液体废弃的事例，例如考虑有下述情况：即，在上述混注处理中上述输液袋12内的液体量超过与上述输液袋12对应而被预先设定的最大容许量时，预先从上述输液袋12将输液抽出并废弃这一情况。另外，在这种情况下，上述第二控制部500也可以将利用上述注射器11从上述输液袋12中抽出的液体量使用上述混注处理室104中所设置的称重计35等进行称量，并与上述配制数据进行对照。进而，上述第二控制部500也可以将上述称重计35的称量结果与上述称重计13c的称量结果进行对照。In addition, as an example of performing liquid disposal using thesyringe 11, for example, a case in which the amount of the liquid in theinfusion bag 12 exceeds the maximum preset value corresponding to theinfusion bag 12 in the coinfusion process can be considered. In the case of an allowable amount, the infusion solution is drawn out from theinfusion solution bag 12 in advance and discarded. In this case, thesecond control unit 500 may measure the amount of liquid drawn from theinfusion bag 12 by thesyringe 11 using the weighingscale 35 or the like provided in thecoinfusion processing chamber 104, And compared with the above preparation data. Furthermore, the said2nd control part 500 may compare the weighing result of the said weighingscale 35 and the weighing result of the said weighingscale 13c.
【混注处理室104】【Mixing processing room 104】
如图3和图4所示，上述混注处理室104中设有：第一机械臂21、第二机械臂22、安瓿切削刀具31、上述搅拌装置32、载置架33、药品读取部34、称重计35、针弯曲检测部36、混注连通口37、针插入确认透明窗38、以及垃圾盖132a等。进而，如图6所示，在上述混注处理室104的顶棚侧设有：托盘确认照相机41、注射器确认照相机42、注射针装卸装置43、针插入确认照相机44、以及杀菌灯45等。As shown in FIGS. 3 and 4 , the mixingchamber 104 is provided with afirst robot arm 21 , asecond robot arm 22 , anampoule cutting tool 31 , the stirringdevice 32 , a mountingrack 33 , and amedicine reading unit 34 , a weighingscale 35, a needle bendingdetection unit 36, acoinjection communication port 37, a needle insertion confirmationtransparent window 38, agarbage cover 132a, and the like. Further, as shown in FIG. 6 , atray confirmation camera 41 , asyringe confirmation camera 42 , an injection needle attachment anddetachment device 43 , a needleinsertion confirmation camera 44 , and agermicidal lamp 45 are provided on the ceiling side of thecoinfusion processing chamber 104 .
【第一机械臂21、第二机械臂22】[Thefirst robot arm 21, the second robot arm 22]
上述第一机械臂21和上述第二机械臂22是具有多关节结构的驱动部，且将基端部固定在上述混注处理室104的顶棚侧而设置成垂下状。例如，上述第一机械臂21和上述第二机械臂22的关节分别为5轴～8轴。而且，在上述混注装置1中，利用双臂型的上述第一机械臂21和上述第二机械臂22执行混注处理中的各作业工序。Thefirst robot arm 21 and thesecond robot arm 22 are drive units having a multi-joint structure, and their base end portions are fixed to the ceiling side of thecoinfusion processing chamber 104 so as to hang down. For example, the joints of thefirst robot arm 21 and thesecond robot arm 22 are 5 to 8 axes, respectively. Furthermore, in thecoinjection apparatus 1 described above, thefirst robot arm 21 and thesecond robot arm 22 of the double-arm type are used to execute the respective work steps in the coinfusion process.
具体而言，上述第二控制部500使上述第一机械臂21和上述第二机械臂22的各关节所设置的驱动电动机分别驱动，并使上述第一机械臂21和上述第二机械臂22执行上述混注处理中的各作业。另外，上述混注处理部300只要是能够执行上述混注处理的构造，则也可以为例如具有一个机械臂的构成、包含三个以上机械臂的构成、或者不使用机械臂的构成。Specifically, thesecond control unit 500 drives the drive motors provided in the respective joints of thefirst robot arm 21 and thesecond robot arm 22 to drive thefirst robot arm 21 and thesecond robot arm 22 respectively. Execute each job in the above-mentioned shuffling process. In addition, thecoinfusion processing unit 300 may have a configuration including one robot arm, a configuration including three or more robot arms, or a configuration without using a robot arm, as long as the configuration can perform the coinfusion treatment.
如图6所示，上述第一机械臂21具有能够保持上述药品容器10和上述注射器11等器材的保持部25，并能够使上述保持部25在预先规定的可动范围内移动至任意位置。上述第二机械臂22具有保持部26，该保持部26能够保持上述药品容器10和上述注射器11等器材并使这些器材移动至任意位置，并且，能够执行利用上述注射器11进行的药品的抽吸和注入的操作。另外，上述第二机械臂22能够使上述药品容器10和上述注射器11等在预先规定的可动范围内移动至任意位置。As shown in FIG. 6 , thefirst robot arm 21 has a holdingportion 25 capable of holding themedicine container 10 and thesyringe 11 and other equipment, and can move the holdingportion 25 to an arbitrary position within a predetermined movable range. Thesecond robot arm 22 has a holdingportion 26 capable of holding and moving equipment such as themedicine container 10 and thesyringe 11 to any position, and capable of performing suction of medicine by thesyringe 11 . and injected operations. In addition, thesecond robot arm 22 can move themedicine container 10 , thesyringe 11 , and the like to an arbitrary position within a predetermined movable range.
如图7所示，上述第一机械臂21的上述保持部25具备：一对把持爪25a、电动机251、在上述电动机251的作用下旋转的两根螺旋轴(Screw Shaft)252、253、以及与上述螺旋轴252、253螺合的螺母座(Nut Block)254、255。上述一对把持爪25a分别固定于上述螺母座254、255。而且，通过上述螺旋轴252、253的旋转，从而上述螺母座254、255进行移动，上述一对把持爪25a相互接近或远离，因此上述保持部25进行保持或释放。As shown in FIG. 7 , the holdingportion 25 of thefirst robot arm 21 includes a pair ofgripping claws 25a, amotor 251, twoscrew shafts 252 and 253 rotated by themotor 251, and Nut blocks 254 and 255 screwed to thescrew shafts 252 and 253 are provided. The pair ofgrip claws 25a are fixed to thenut holders 254 and 255, respectively. Then, by the rotation of thescrew shafts 252 and 253, thenut holders 254 and 255 move, and the pair ofgrip claws 25a approach or separate from each other, so that the holdingportion 25 is held or released.
另外，上述一对把持爪25a是如下所述的把持部：即，该把持部具有适于保持上述管药瓶10B的凹部，并且前端侧具有适于保持上述安瓿10A的凹部。在图7中表示了保持有上述安瓿10A和上述管药瓶10B双方的状态，但实际上保持一个上述安瓿10A或上述管药瓶10B。The pair ofgrip claws 25a is a grip portion having a recessed portion suitable for holding thevial 10B and a recessed portion suitable for holding theampoule 10A on the distal end side. FIG. 7 shows a state in which both the above-mentionedampoule 10A and the above-mentionedvial 10B are held, but one of the above-mentionedampoule 10A or the above-mentionedvial 10B is actually held.
另外，上述保持部25也能够利用上述一对把持爪25a保持安装有端帽11d的注射针11c或上述注射器11。另外，上述第二控制部500能够根据利用上述保持部25的上述一对把持爪25a保持上述注射器11时的、上述电动机251的驱动量而对上述注射器11的直径进行测量。因此，上述第二控制部500能够对上述注射器11是否是上述配制数据的配制内容信息所指定的注射器这一情况进行判断。The holdingportion 25 can also hold theinjection needle 11c to which theend cap 11d is attached or thesyringe 11 by the pair ofgripping claws 25a. In addition, thesecond control unit 500 can measure the diameter of thesyringe 11 based on the driving amount of theelectric motor 251 when thesyringe 11 is held by the pair ofgrip claws 25 a of the holdingsection 25 . Therefore, thesecond control unit 500 can determine whether or not thesyringe 11 is the syringe specified by the preparation content information of the preparation data.
如图8所示，上述第二机械臂22的上述保持部26具备：注射器保持部261、柱塞保持部262、以及移动部263。上述注射器保持部261具备用于保持上述注射器11的注射筒11a的一对把持爪261a。上述一对把持爪261a是如下所述的把持部：即，在与上述保持部25中所使用的驱动机构相同的机构的作用下相互接近或远离，从而保持或释放上述注射器11的上述注射筒11a。另外，上述一对把持爪261a在彼此相对的对置面上，形成有从上述把持爪261a的上端面朝向上述对置面下降倾斜的倾斜部261b。As shown in FIG. 8 , the holdingportion 26 of thesecond robot arm 22 includes asyringe holding portion 261 , aplunger holding portion 262 , and a movingportion 263 . Thesyringe holding portion 261 includes a pair ofgripping claws 261 a for holding thesyringe barrel 11 a of thesyringe 11 . The pair ofgripping claws 261a are gripping portions that approach or separate from each other by the same mechanism as the driving mechanism used in the holdingportion 25 to hold or release the syringe barrel of thesyringe 11. 11a. In addition, the pair ofgripping claws 261a are formed withinclined portions 261b which are inclined downward from the upper end face of the grippingclaws 261a toward the opposing surface on the opposing surfaces facing each other.
上述柱塞保持部262具备用于保持上述注射器11的柱塞11b的凸缘部的一对把持爪262a。上述一对把持爪262a是如下所述的把持部：即，在与上述保持部25中所使用的驱动机构相同的机构的作用下相互接近或远离，从而保持或释放上述注射器11的上述柱塞11b的凸缘部。上述把持爪262a各自的顶面上固定有把持爪262b。各上述把持爪262b是如下所述的把持部：即，通过使上述一对把持爪262a接近或远离而接近或远离，从而不仅把持上述注射器11而且还把持上述药品容器10等其他器材。另外，在上述一对把持爪262a的相对侧的顶面上，形成有用于供上述柱塞11b的凸缘部进入的凹部。另外，上述一对把持爪262b的前端比上述一对把持爪262a更向前方突出，利用上述一对把持爪262b把持上述安瓿10A和上述管药瓶10B等器材是容易的。另外，上述把持爪262b也可以设置在上述把持爪261a上。Theplunger holding portion 262 includes a pair ofgrip claws 262 a for holding the flange portion of theplunger 11 b of thesyringe 11 . The pair ofgripping claws 262a are gripping portions that approach or move away from each other by the same driving mechanism used in the holdingportion 25 to hold or release the plunger of thesyringe 11. flange portion of 11b. Thegrip claws 262b are fixed to the top surfaces of thegrip claws 262a. Each of thegripping claws 262b is a gripping portion that can grip not only thesyringe 11 but also other equipment such as themedicine container 10 by approaching or separating the pair ofgripping claws 262a. Moreover, the recessed part into which the flange part of the saidplunger 11b enters is formed in the top surface of the opposing side of the said pair of holdingclaws 262a. Further, the front ends of the pair ofgripping claws 262b protrude further forward than the pair ofgripping claws 262a, and the pair ofgripping claws 262b makes it easy to grip theampoule 10A and thevial 10B. In addition, the above-mentionedholding claw 262b may be provided on the above-mentionedholding claw 261a.
上述移动部263能够使上述柱塞保持部262向上述注射器11的柱塞11b的移动方向移动。上述移动部263例如通过电动机、在上述电动机的作用下旋转的螺旋轴、与上述螺旋轴螺合的螺母座、导轨等驱动机构而使上述柱塞11b移动。上述柱塞保持部262被固定在上述螺母座上，并通过上述螺母座的移动而移动。The movingpart 263 can move theplunger holding part 262 in the moving direction of theplunger 11 b of thesyringe 11 . The movingpart 263 moves theplunger 11b by, for example, a motor, a screw shaft rotated by the motor, a nut holder screwed with the screw shaft, a guide rail, or other driving mechanisms. Theplunger holding portion 262 is fixed to the nut holder, and moves by the movement of the nut holder.
【托盘输送部110】[Pallet conveying unit 110]
另外，在上述混注处理部300中，设有能够在图6的右侧端部的上述托盘装填口114与左侧端部的托盘输送终端部110a之间往返输送上述托盘101的托盘输送部110。In addition, thecoinfusion processing unit 300 is provided with atray conveying unit 110 capable of reciprocally conveying thetray 101 between thetray loading port 114 at the right end in FIG. 6 and the tray conveying terminal 110a at the left end. .
在此，图9是表示上述托盘输送部110中的上述托盘101的输送路径的一例的俯视示意图。另外，上述托盘输送部110内部与上述混注处理室104内部相比设定为正压。如图9所示，上述托盘输送部110以如下方式设置：即，使上述托盘101通过上述混注处理室104的下方且上述垃圾收纳室13a的后方侧而进行输送这一方式，其中，该垃圾收纳室13a位于上述垃圾盖132a的下面。由此，能够从上述混注装置1的正面侧进入上述垃圾收纳室13a。在图9中，为了表示上述托盘输送部110的输送路径，以双点划线表示在上述托盘输送部110内移动的上述托盘101，上述托盘输送部110内并不会同时存在多个上述托盘101。另外，上述托盘输送部110也可以构成为：在上述托盘输送部110中上述托盘装填口114与上述托盘输送终端部110a之间，能够同时输送多个上述托盘101。Here, FIG. 9 is a schematic plan view showing an example of the conveyance path of thetray 101 in thetray conveyance unit 110 . In addition, the inside of the saidtray conveyance part 110 is set to a positive pressure compared with the inside of the saidcoinfusion processing chamber 104. As shown in FIG. 9, the saidtray conveyance part 110 is provided so that the saidtray 101 may be conveyed by passing below the saidcoinjection processing chamber 104 and the rear side of the saidwaste storage chamber 13a, in which the waste Thestorage chamber 13a is located under the above-mentionedwaste cover 132a. Thereby, the saidrefuse storage chamber 13a can be entered from the front side of the saidcoinjection apparatus 1. In FIG. 9 , in order to show the conveying path of thepallet conveying unit 110 , thepallets 101 moving in thepallet conveying unit 110 are indicated by a dashed double-dotted line. Thepallet conveying unit 110 does not have a plurality of the pallets at the same time. 101. In addition, the saidtray conveyance part 110 may be comprised so that a plurality of saidtrays 101 can be conveyed simultaneously between the saidtray loading port 114 and the said trayconveyance terminal part 110a in the saidtray conveyance part 110.
在上述托盘输送部110的上述托盘输送开始部110b上设有未图示的传送带，该传送带能够将从上述托盘装填口114插入的上述托盘101引进内部、或者从上述托盘装填口114排出上述托盘101。另外，设有能够从上述托盘101的上述输液袋保持部10上所设置的上述IC标签101b读取信息的IC阅读器101c和IC阅读器15a。例如，上述IC阅读器101c和上述IC阅读器15a是从RFID标签读取信息的RFID阅读器。上述IC阅读器101c设置于从上述托盘装填口114装填上述托盘101的托盘输送开始部110b，上述IC阅读器15a设置于上述托盘101被从上述托盘排出口15排出的上述托盘输送终端部110a。The trayconveyance start portion 110b of thetray conveyance unit 110 is provided with a conveyor belt (not shown) that can introduce thetray 101 inserted from thetray loading port 114 into the interior or discharge the tray from thetray loading port 114 101. Moreover, theIC reader 101c and theIC reader 15a which can read information from the saidIC tag 101b provided in the said infusion bag holding|maintenance part 10 of the saidtray 101 are provided. For example, the above-mentionedIC reader 101c and the above-mentionedIC reader 15a are RFID readers that read information from RFID tags. TheIC reader 101c is installed at the trayconveyance start portion 110b where thetrays 101 are loaded from thetray loading port 114, and theIC reader 15a is installed at the trayconveyance end portion 110a where thetrays 101 are discharged from thetray discharge port 15.
而且，上述第二控制部500当根据未图示的传感器输出对上述托盘101被从上述托盘装填口114插入了上述托盘输送开始部110b这一情况进行判断时，利用上述IC阅读器101c从上述IC标签101b读取信息。另外，上述第二控制部500当根据未图示的传感器输出对上述托盘101被插入了上述托盘输送终端部110a这一情况进行判断时，利用上述IC阅读器15a从上述IC标签101b读取信息。同样地，上述第二控制部500在上述托盘101被从上述托盘输送开始部110b经由上述托盘装填口114朝向上述收纳单元700输送时，也能够利用上述IC阅读器101c从上述IC标签101b读取信息。而且，上述第二控制部500执行根据上述IC阅读器101c和上述IC阅读器15a的读取结果而判断上述托盘101是否合适等的托盘对照处理等。Then, when thesecond control unit 500 judges that thetray 101 is inserted into the trayconveyance start section 110b from thetray loading port 114 based on the output of a sensor (not shown), theIC reader 101c is used to read the information from the tray TheIC tag 101b reads information. In addition, thesecond control unit 500 reads information from theIC tag 101b using theIC reader 15a when judging that thetray 101 is inserted into the trayconveyance terminal unit 110a based on the output of a sensor (not shown) . Similarly, thesecond control unit 500 can read theIC tag 101b using theIC reader 101c when thetray 101 is transported from the traytransport start section 110b to thestorage unit 700 through thetray loading port 114. information. Then, thesecond control unit 500 executes a pallet matching process or the like for determining whether thepallet 101 is suitable or not based on the reading results of theIC reader 101c and theIC reader 15a.
另外，上述第二控制部500当根据例如传感器(未图示)的输出对上述托盘101通过上述托盘装填口114而到达了上述托盘输送部110内的规定位置这一情况进行判断时，使将上述托盘输送部110和上述混注处理室104连通及遮蔽的活动遮板111沿水平方向滑动。当上述活动遮板111被打开时，上述器材载置部102露出于上述混注处理室104内。在图9中表示了上述器材载置部102露出于上述混注处理室104内的状态。In addition, when thesecond control unit 500 determines that thetray 101 has passed through thetray loading port 114 and has reached a predetermined position in thetray conveying unit 110 based on, for example, the output of a sensor (not shown), thesecond control unit 500 causes the Themovable shutter 111 that communicates with and shields the above-mentionedtray conveying part 110 and the above-mentioned mixed-injection processing chamber 104 slides in the horizontal direction. When themovable shutter 111 is opened, theequipment mounting portion 102 is exposed in the mixingchamber 104 . FIG. 9 shows a state in which the above-mentionedequipment mounting portion 102 is exposed in the above-mentionedcoinjection processing chamber 104 .
如图10所示，在上述托盘输送部110上设有托盘升降部112，该托盘升降部112使通过上述托盘装填口114而移动至上述托盘输送部110内的上述托盘101中的上述器材载置部102升降。上述托盘升降部112例如通过四根呈能够升降地设置的轴112a的上下方向的驱动，将上述器材载置部102从下方向上方抬起。As shown in FIG. 10 , thetray conveying unit 110 is provided with atray elevating unit 112 for loading the above-mentioned equipment in thetray 101 that is moved to thetray conveying unit 110 through thetray loading port 114 . The settingportion 102 is raised and lowered. The said tray raising/loweringpart 112 raises the saidequipment mounting part 102 from the lower side to the upper side, for example, by driving in the up-down direction of fourshafts 112a which can be installed up and down.
而且，上述第二控制部500在利用上述托盘升降部112使上述器材载置部102上升后，进行利用上述托盘确认照相机41的拍摄。上述托盘确认照相机41对被载置在预先确定的上述器材载置部102上的上述药品容器10和上述注射器11等从上方进行拍摄。上述第二控制部500使用上述托盘确认照相机41的拍摄图像执行图像识别处理，对上述配制数据所示的数量的上述药品容器10和上述注射器11(注射筒11a和注射针11c)等是否存在于上述器材载置部102上等进行判断。Then, thesecond control unit 500 uses thetray elevating unit 112 to elevate theequipment mounting unit 102, and then performs imaging by thetray confirmation camera 41. The saidtray confirmation camera 41 images the saidmedicine container 10, the saidsyringe 11, etc. which are mounted on the said predeterminedequipment mounting part 102 from above. Thesecond control unit 500 executes image recognition processing using the image captured by thetray confirmation camera 41 to determine whether the number of thedrug containers 10 and the syringes 11 (syringe 11a andinjection needle 11c) and the like are present in the number indicated by the preparation data. The above-mentionedequipment mounting part 102 makes a judgment such as that.
另外，如图10所示，在位于上述混注处理室104的左侧空间的上述托盘输送终端部110a上，设有使上述输液袋保持部103升降的袋升降部113。上述第二控制部500在将上述托盘101输送至上述袋升降部113的前面后，将上述袋升降部113的挂钩部113a从下方拉挂至上述卡合孔部103a。然后，上述第二控制部500利用电动机113c驱动形成有上述挂钩部113a的圆弧齿轮部113b旋转，由此使上述输液袋保持部103上升，并使上述输液袋12的混注口位于上述混注连通口37。另外，上述第二控制部500能够通过控制上述电动机113c，而驱动上述袋升降部113使上述输液袋保持部103倾斜，从而使上述输液袋12的混注口向上或向下。Further, as shown in FIG. 10 , abag lifter 113 for raising and lowering the infusionbag holding unit 103 is provided in the trayconveyance terminal portion 110a located in the left space of thecoinfusion processing chamber 104 . Thesecond control unit 500 hooks thehook portion 113a of thebag lifter 113 to theengagement hole 103a from below after conveying thetray 101 to the front of thebag lifter 113 . Then, thesecond control unit 500 rotates thearc gear portion 113b on which thehook portion 113a is formed by themotor 113c, thereby raising the infusionbag holding portion 103 and causing the coinfusion port of theinfusion bag 12 to be positioned in thecoinfusion communication mouth 37. In addition, thesecond control unit 500 can control themotor 113c to drive thebag lifter 113 to tilt the infusionbag holding unit 103 so that the coinfusion port of theinfusion bag 12 can be moved upward or downward.
尤其是，上述第二控制部500通过控制上述电动机113c调整上述袋升降部113的驱动量，从而能够将上述输液袋12的混注口的倾斜角度调整为预先设定的倾斜角度。In particular, thesecond control unit 500 controls themotor 113c to adjust the drive amount of thebag lifter 113, thereby adjusting the inclination angle of the coinfusion port of theinfusion bag 12 to a preset inclination angle.
具体而言，在上述药品标准中，与上述输液袋12的每一类别对应地存储有：上述输液袋12未去除空气的状态下能够注入的上限注入量、和超过上述上限注入量时所设定的上述输液袋12的混注口的倾斜角度、即例外倾斜角度。而且，上述第二控制部500在基于上述配制数据的上述混注处理中，当注入上述输液袋12的液体量超过上述上限注入量时，执行事先使用上述注射器11从上述输液袋12中抽出空气的除气工序。该情况下，上述输液袋12内的空气量变少。因此，当上述输液袋12的倾斜变大时，有时上述输液袋12内的液体会与上述输液袋12的混注口的橡胶塞接触，在将上述注射针11c从上述橡胶塞拔出时有可能发生液体漏出的情况。Specifically, in the above-mentioned drug standard, corresponding to each type of theinfusion bag 12, the upper limit injection amount that can be infused in the state where the air is not removed from theinfusion bag 12 and the upper limit injection amount set when the upper limit injection amount is exceeded are stored. The inclination angle of the coinfusion port of theinfusion bag 12 is determined, that is, the exceptional inclination angle. In addition, thesecond control unit 500 executes a process of extracting air from theinfusion bag 12 in advance using thesyringe 11 when the amount of liquid injected into theinfusion bag 12 exceeds the upper limit in the coinfusion process based on the preparation data. Degassing process. In this case, the amount of air in theinfusion bag 12 is reduced. Therefore, when the inclination of theinfusion bag 12 increases, the liquid in theinfusion bag 12 may come into contact with the rubber stopper of the coinfusion port of theinfusion bag 12, and there is a possibility that theinjection needle 11c is pulled out from the rubber stopper. Liquid leakage occurs.
对此，在上述混注装置1中，在注入上述输液袋12的液体量为上述上限注入量以下时，上述第二控制部500将上述输液袋12的混注口的倾斜角度设定为预先设定的规定角度。上述规定角度例如是作为多个种类的上述输液袋12共通的上述混注口的倾斜角度而设定的值。In contrast, in thecoinfusion device 1 described above, when the amount of liquid injected into theinfusion bag 12 is equal to or less than the upper limit infusion amount, thesecond control unit 500 sets the inclination angle of the coinfusion port of theinfusion bag 12 to a preset value the specified angle. The predetermined angle is, for example, a value set as the inclination angle of the coinfusion port common to theinfusion bags 12 of a plurality of types.
另外，在上述混注处理中当注入上述输液袋12的液体量超过上述上限注入量时，上述第二控制部500将上述输液袋12的混注口的倾斜角度设定为上述例外倾斜角度。上述例外倾斜角度是上述输液袋12的混注口相对于竖直方向的倾斜角度至少小于上述规定角度的角度。即，上述例外倾斜角度是与上述规定角度相比上述输液袋12呈接近竖直的状态的角度。由此，在上述输液袋12的混注口的倾斜角度被设定为上述例外倾斜角度时，上述输液袋12内的液体与上述混注口的橡胶塞接触的可能性降低，在将上述注射针11c从上述橡胶塞拔出时液体漏出的可能性降低。另外，也考虑到上述例外倾斜角度例如在上述输液袋12的类别为内部的空气量少的所谓AL型时使用的情况。In addition, when the amount of liquid injected into theinfusion bag 12 exceeds the upper limit injection amount during the co-injection process, thesecond control unit 500 sets the inclination angle of the co-injection port of theinfusion bag 12 to the exception inclination angle. The above-mentioned exceptional inclination angle is an angle at which the inclination angle of the coinfusion port of the above-mentionedinfusion bag 12 with respect to the vertical direction is at least smaller than the above-mentioned predetermined angle. That is, the above-mentioned exceptional inclination angle is an angle at which the above-mentionedinfusion bag 12 is in a state closer to the vertical than the above-mentioned predetermined angle. Therefore, when the inclination angle of the coinfusion port of theinfusion bag 12 is set to the above-mentioned exceptional inclination angle, the possibility of the liquid in theinfusion bag 12 coming into contact with the rubber stopper of the coinjection port is reduced. The possibility of liquid leakage when pulling out from the above rubber stopper is reduced. In addition, the above-mentioned exceptional inclination angle is also considered to be used when, for example, the type of theinfusion bag 12 is the so-called AL type in which the amount of air inside is small.
另外，如图6所示，在上述托盘输送终端部110a的上方，设有对被输送至上述托盘输送终端部110a的上述输液袋12进行照明的圆顶型灯120和输液用照相机121。上述输液用照相机121设置在上述圆顶型灯120内的中心部，且对附在上述输液袋12的表面的条形码进行读取。由此，在上述第二控制部500中，能够根据上述输液用照相机121所读取的上述条形码的信息判断上述输液袋12是否合适。Moreover, as shown in FIG. 6, above the said trayconveyance terminal part 110a, thedome lamp 120 and theinfusion camera 121 which illuminate the saidinfusion bag 12 conveyed to the said trayconveyance terminal part 110a are provided. Thecamera 121 for infusion is installed in the center of thedome lamp 120, and reads the barcode attached to the surface of theinfusion bag 12. In this way, thesecond control unit 500 can determine whether or not theinfusion bag 12 is suitable based on the information of the barcode read by theinfusion camera 121 .
【安瓿切削刀具31】【Ampoule cutting tool 31】
如图11所示，上述安瓿切削刀具31上设有锉刀部31a、废料托盘31b、头部插入部31c、驱动盒31f、废料盒31g、以及把持部31h。As shown in FIG. 11 , theampoule cutting tool 31 is provided with afile portion 31a, a waste tray 31b, ahead insertion portion 31c, adrive case 31f, awaste case 31g, and agrip portion 31h.
上述锉刀部31a是用于对上述安瓿10A的颈部进行开槽加工的部件，上述锉刀部31a的开槽加工中所产生的废料落下至上述废料托盘31b中。具体而言，在上述混注装置1中，通过上述第一机械臂21保持上述安瓿10A并使上述安瓿10A的颈部与上述锉刀部31a在抵接的状态下滑动，由此对上述安瓿10A的颈部实施开槽加工。The saidfile part 31a is a member for grooving the neck part of the saidampoule 10A, and the waste material which generate|occur|produces by the saidfile part 31a grooving process falls into the said waste tray 31b. Specifically, in thecoinfusion device 1 described above, theampoule 10A is held by thefirst arm 21 and the neck portion of theampoule 10A is slid in a state of contact with thefile portion 31a, whereby theampoule 10A is The neck is grooved.
上述头部插入部31c具有：供实施了上述开槽加工的上述安瓿10A的头部从下方插入的孔31d、和位于从上述孔31d向上方突出的上述安瓿10A的头部侧方的推杆31e。另外，上述驱动盒31f具有设置在内部的凸轮和驱动上述凸轮的驱动电动机，当上述凸轮被上述驱动电动机驱动时，在上述凸轮的作用下，上述推杆31e向接近和远离上述安瓿10A的头部的方向往返动作。Thehead insertion portion 31c includes ahole 31d into which the head of theampoule 10A subjected to the groove processing is inserted from below, and a push rod positioned on the side of the head of theampoule 10A protruding upward from thehole 31d. 31e. In addition, thedrive case 31f has a cam provided inside and a drive motor that drives the cam. When the cam is driven by the drive motor, thepush rod 31e moves toward and away from the head of theampoule 10A under the action of the cam. Reciprocating action in the direction of the department.
而且，在上述混注装置1中，上述第一机械臂21利用上述把持爪25a保持上述安瓿10A，将上述安瓿10A的头部从下方插入上述孔31d中，并使颈部之上的头部向上方突出。然后，当通过上述第二控制部500而上述驱动盒31f的上述驱动电动机被驱动且上述推杆31e被向按压上述安瓿10A的头部的方向移动时，在上述推杆31e的作用下上述头部被按压并折断。此时，被上述推杆31e折断的头部落入上述废料盒31g内。另外，上述把持部31h用于在使上述安瓿切削刀具31沿着导轨31i(参照图4)滑动时供用户把持，其中，导轨31i将上述安瓿切削刀具31以能够滑动的方式加以支撑。Further, in thecoinfusion apparatus 1, thefirst arm 21 holds theampoule 10A with thegripping claw 25a, inserts the head of theampoule 10A into thehole 31d from below, and moves the head above the neck upward. Square is prominent. Then, when the drive motor of thedrive box 31f is driven by thesecond control unit 500 and thepush rod 31e is moved in the direction of pressing the head of theampoule 10A, thepush rod 31e acts on the head. The part is pressed and broken. At this time, the head broken by thepush rod 31e falls into thewaste box 31g. In addition, thegrip portion 31h is for the user to hold theampoule cutting blade 31 when sliding theampoule cutting blade 31 along the guide rail 31i (see FIG. 4 ) which supports theampoule cutting blade 31 slidably.
【搅拌装置32】【Stirring device 32】
上述搅拌装置32在上述管药瓶10B中收纳有面药(散剂)等需要溶解的药品的情况下向上述管药瓶10B内注入输液或药品等使上述药品溶解、生成混合药品时进行使用。具体而言，上述搅拌装置32使用于对上述管药瓶10B内的药品进行搅拌的搅拌工序中。The stirringdevice 32 is used when thevial 10B contains a medicine to be dissolved, such as a powder (powder), into thevial 10B to inject an infusion solution, a medicine, or the like to dissolve the medicine and generate a mixed medicine. Specifically, the stirringdevice 32 is used in a stirring step of stirring the medicine in thevial 10B.
如图12所示，上述搅拌装置32中设有辊32a、按压部32b、转动支撑部32c、支撑台32d、水平摆动机构32e、支撑部32f、以及驱动电动机32g等。两个上述辊32a分离规定的间隔而相对配置。一个上述辊32a呈自如转动地被支撑，另一个上述辊32a连接在上述驱动电动机32g上。另外，各上述辊32a在轴向上呈长尺状，在上述搅拌装置32中，能够同时对被载置在上述辊32a的轴向两端的两个上述管药瓶10B进行搅拌。As shown in FIG. 12 , the stirringdevice 32 is provided with aroller 32a, apressing part 32b, arotation support part 32c, a support table 32d, ahorizontal swing mechanism 32e, asupport part 32f, adrive motor 32g, and the like. The two saidrollers 32a are spaced apart from predetermined space|interval, and are arrange|positioned to face each other. One of therollers 32a is rotatably supported, and theother roller 32a is connected to thedrive motor 32g. Each of therollers 32a is elongated in the axial direction, and the stirringdevice 32 can simultaneously agitate the twovials 10B placed on both ends of therollers 32a in the axial direction.
另外，上述按压部32b是为了从上方按压被载置于上述辊32a上的上述管药瓶10B而使用的，且是随着上述管药瓶10B的旋转而旋转的从动辊。上述转动支撑部32c在未图示的驱动电动机的作用下，使上述按压部32b朝向接触或远离上述管药瓶10B的方向转动。Thepressing portion 32b is used to press thevial 10B placed on theroller 32a from above, and is a driven roller that rotates with the rotation of thevial 10B. The saidrotation support part 32c rotates the saidpressing part 32b in the direction which contacts or moves away from the saidvial 10B by the action of the drive motor which is not shown in figure.
上述支撑台32d支撑上述辊32a、上述按压部32b、以及上述转动支撑部32c等。上述水平摆动机构32e例如具有曲柄机构，并能够使上述支撑台32d在上述辊32a的轴向上摆动。The saidsupport stand 32d supports the saidroller 32a, the saidpressing part 32b, the saidrotation support part 32c, etc.. The saidhorizontal rocking mechanism 32e has a crank mechanism, for example, and can rock|fluctuate the saidsupport stand 32d in the axial direction of the saidroller 32a.
上述支撑部32f在上述辊32a轴向的两端部具有上述管药瓶10B的颈部能够嵌入的U字形切口。在上述辊32a上载置有上述管药瓶10B时，上述管药瓶10B的颈部与上述切口卡合。由此，当上述支撑台32d通过上述水平摆动机构32e而在上述辊32a的轴向上摆动时，上述管药瓶10B随着上述辊32a的轴向的摆动而摆动，从而上述管药瓶10B内的药品被沿水平方向搅拌。Thesupport portion 32f has a U-shaped cutout into which the neck portion of thevial 10B can be fitted at both end portions in the axial direction of theroller 32a. When thevial 10B is placed on theroller 32a, the neck portion of thevial 10B is engaged with the cutout. Accordingly, when the support table 32d is swung in the axial direction of theroller 32a by thehorizontal swing mechanism 32e, thevial 10B is swung in accordance with the swing of theroller 32a in the axial direction, so that thevial 10B is swung. The medicine inside is stirred horizontally.
另外，在两个上述辊32a之间载置有上述管药瓶10B且上述驱动电动机32g被驱动时，通过与上述驱动电动机32g连接的上述另一个辊32a，上述管药瓶10B被旋转，上述管药瓶10B内的药品被搅拌。另外，此时上述一个辊32a在上述管药瓶10B的旋转的作用下，与上述另一个辊32a向相同的方向旋转。另外，只要上述辊32a的至少一个被偏心驱动，则也能够对被载置于上述辊32a上的上述管药瓶10B沿纵向(上下方向)进行搅拌。When thevial 10B is placed between the tworollers 32a and thedrive motor 32g is driven, thevial 10B is rotated by theother roller 32a connected to thedrive motor 32g, and thevial 10B is rotated. The medicine in thevial 10B is stirred. In addition, at this time, the above-mentioned oneroller 32a is rotated in the same direction as the above-mentionedother roller 32a by the rotation of the above-mentionedvial 10B. In addition, if at least one of therollers 32a is driven eccentrically, thevials 10B placed on therollers 32a can also be stirred in the vertical direction (vertical direction).
【载置架33】【Mounting rack 33】
如图4所示，上述载置架33是为了在上述混注装置1执行的混注处理中临时放置上述药品容器10和上述注射器11等而使用的。上述载置架33设置在上述第一机械臂21和上述第二机械臂22双方均能够进出的位置。在上述载置架33中，上述管药瓶10B以站立的状态载置在预先规定的位置。另外，在上述载置架33上设有用于将上述安瓿10A以倾斜的状态加以保持的倾斜保持部，上述安瓿10A以倾斜的状态载置在上述倾斜保持部。另外，在上述载置架33上，形成有供上述注射器11的颈部嵌入且具有预先规定的规定直径的颈保持孔，上述注射器11以未安装有注射针11c的状态使颈部朝下而临时放置。另外，上述载置架33的尺寸优选根据能够收纳于上述收纳单元700的上述托盘101的数量而预先确定。例如，上述载置架33的尺寸可考虑为：能够同时载置与能够收纳于上述收纳单元700的上述托盘101的数量对应的、上述混注处理中所使用的上述药品容器10和上述注射器11等器材的尺寸。As shown in FIG. 4 , therack 33 is used for temporarily placing themedicine container 10 , thesyringe 11 , and the like during the coinfusion process performed by thecoinjection apparatus 1 . The mountingframe 33 is provided at a position where both thefirst robot arm 21 and thesecond robot arm 22 can enter and exit. In the mountingrack 33, thevials 10B are mounted at predetermined positions in a standing state. Moreover, the said mountingframe 33 is provided with the inclined holding part for holding the saidampule 10A in the inclined state, and the saidampoule 10A is mounted on the said inclined holding part in the inclined state. In addition, the mountingframe 33 is formed with a neck holding hole having a predetermined predetermined diameter into which the neck of thesyringe 11 is fitted. Temporary placement. In addition, it is preferable that the dimension of the said mountingrack 33 is predetermined according to the number of the saidtray 101 which can be accommodated in the saidstorage unit 700. For example, the size of the mountingrack 33 can be considered such that thedrug containers 10 and thesyringes 11 and the like used in the mixing process can be simultaneously mounted corresponding to the number of thetrays 101 that can be accommodated in thestorage unit 700 . The size of the equipment.
【药品读取部34】【Medicine Reader 34】
上述药品读取部34对上述安瓿10A和上述管药瓶10B等上述药品容器10上贴有的标签所记载的、表示被收纳的药品的药品信息的条形码进行读取。具体而言，如图13所示，上述药品读取部34具有两个辊34a、以及条形码阅读器34b。上述辊34a分离规定的间隔而相对配置。一个上述辊34a呈自如转动地被支撑，另一个上述辊34a连接在未图示的驱动电动机上。两个上述辊34a被上述驱动电动机驱动，由此，使被载置在上述辊34a之间的上述药品容器10向圆周方向转动。由此，由于能够使上述药品容器10向上述圆周方向转动一周，因此能够使上述药品容器10上所贴有的标签的整个区域朝向上述条形码阅读器34b。然后，上述条形码阅读器34b从在上述辊34a的作用下旋转的上述药品容器10的标签读取条形码。Themedicine reading unit 34 reads a barcode indicating medicine information of the medicine to be accommodated, which is written on the label attached to themedicine container 10 such as theampoule 10A and thevial 10B. Specifically, as shown in FIG. 13, the saidmedicine reading part 34 has tworollers 34a, and thebarcode reader 34b. The saidroller 34a is spaced apart by predetermined space|interval, and is arrange|positioned so that it may face each other. One of the above-mentionedrollers 34a is rotatably supported, and the other of the above-mentionedrollers 34a is connected to a drive motor (not shown). The two above-mentionedrollers 34a are driven by the above-mentioned driving motor, whereby the above-mentionedmedicine container 10 placed between the above-mentionedrollers 34a is rotated in the circumferential direction. As a result, since themedicine container 10 can be rotated once in the circumferential direction, the entire area of the label attached to themedicine container 10 can be directed toward thebarcode reader 34b. Then, thebarcode reader 34b reads the barcode from the label of themedicine container 10 rotated by theroller 34a.
【称重计35】【Weighing scale 35】
上述称重计35是为了在上述混注装置1执行的混注处理中测定上述注射器11的重量而使用的，上述称重计35的测定结果被输入上述第二控制部500。另外，上述称重计35被配置在上述第二机械臂22的可动范围内，并对被上述第二机械臂22载置的上述注射器11的重量进行测定。另外，也可考虑与上述称重计35另外地，在上述载置架33上也设置有称量上述药品容器10或上述注射器11等的称重计。The weighingscale 35 is used to measure the weight of thesyringe 11 in the coinfusion process performed by thecoinjection apparatus 1 , and the measurement result of the weighingscale 35 is input to thesecond control unit 500 . In addition, the weighingscale 35 is disposed within the movable range of thesecond robot arm 22 , and measures the weight of thesyringe 11 placed on thesecond robot arm 22 . In addition to the above-mentioned weighingscale 35, it is also conceivable that a weighing scale for weighing the above-mentioneddrug container 10, the above-mentionedsyringe 11, and the like is also provided on the above-mentionedmounting rack 33.
【针弯曲检测部36】[Needle bending detection unit 36]
如图14所示，上述针弯曲检测部36上形成有能够插入上述注射器11的上述注射针11c并使其移动的长孔36a。另外，上述针弯曲检测部36具有第一光传感器361和第二光传感器362，该第一光传感器361和第二光传感器362配置成隔着上述长孔36a照射和接收检测光，且彼此的检测光呈非平行。即，上述第一光传感器361和上述第二光传感器362的检测光的照射方向不同。上述第一光传感器361和第二光传感器362的检测结果被输入上述第二控制部500。As shown in FIG. 14 , the needle bendingdetection portion 36 is formed with anelongated hole 36 a into which theinjection needle 11 c of thesyringe 11 can be inserted and moved. In addition, the needle bendingdetection unit 36 includes afirst photosensor 361 and asecond photosensor 362, which are arranged so as to irradiate and receive detection light through thelong hole 36a, and are arranged so as to be opposite to each other. The detection light is non-parallel. That is, the irradiation directions of the detection light of the firstoptical sensor 361 and the secondoptical sensor 362 are different from each other. The detection results of the firstoptical sensor 361 and the secondoptical sensor 362 are input to thesecond control unit 500 .
而且，通过上述第二机械臂22，安装在上述注射器11上的上述注射针11c被插入上述长孔36a并沿上下方向移动。此时，当上述第一光传感器361和上述第二光传感器362各自的检测光被上述注射针11c遮挡时，各上述第一光传感器361和上述第二光传感器362关闭。Then, by thesecond arm 22, theinjection needle 11c attached to thesyringe 11 is inserted into thelong hole 36a and moved in the up-down direction. At this time, when the detection light of the firstoptical sensor 361 and the secondoptical sensor 362 is blocked by theinjection needle 11c, the firstoptical sensor 361 and the secondoptical sensor 362 are turned off.
由此，在上述第二控制部500中，能够利用遮住上述检测光时的上述注射针11c的位置信息而检测上述注射针11c的弯曲等。另外，利用照相机拍摄上述注射针11c并通过针对该拍摄的图像进行的图像识别而检测针弯曲等，也可考虑作为其他的实施方式。而且，在上述注射针11c发生弯曲时，上述第二控制部500能够根据上述注射针11c的弯曲量，例如通过上述第二机械臂22对利用上述注射针11c穿刺上述输液袋12的混注口的橡胶塞时的针尖位置等进行调整。Accordingly, thesecond control unit 500 can detect the bending of theinjection needle 11c and the like using the position information of theinjection needle 11c when the detection light is blocked. In addition, other embodiments are also conceivable in that theinjection needle 11c described above is photographed with a camera, and needle bending is detected by image recognition of the photographed image. In addition, when theinjection needle 11c is bent, thesecond control unit 500 can, for example, use thesecond robot arm 22 to puncture the coinfusion port of theinfusion bag 12 with theinjection needle 11c according to the bending amount of theinjection needle 11c. Adjust the needle point position, etc. when the rubber stopper is used.
【混注连通口37】【Mixed injection port 37】
如图3所示，上述混注连通口37形成于上述混注处理室104的侧壁上的向外侧突出的圆顶状部位处，并且，在上述圆顶状部位处沿上下方向形成有供上述输液袋12的混注口通过的切口。因此，当上述输液袋保持部103上升时，上述输液袋12的混注口变为位于上述混注处理室104内。由此，上述第二机械臂22所保持的上述注射器11的注射针11c能够插通于上述输液袋12的混注口。As shown in FIG. 3 , thecoinfusion communication port 37 is formed on the side wall of thecoinfusion processing chamber 104 at a dome-shaped portion protruding outward, and the dome-shaped portion is formed along the vertical direction for the infusion solution. The incision through which the coinjection port of thebag 12 passes. Therefore, when the infusionbag holding part 103 is raised, the co-injection port of theinfusion bag 12 is positioned in theco-injection processing chamber 104 . As a result, theinjection needle 11 c of thesyringe 11 held by thesecond robot arm 22 can be inserted into the mixing port of theinfusion bag 12 .
【针插入确认透明窗38】【Needle insertion confirmation transparent window 38】
上述针插入确认透明窗38是能够从上述混注处理部300目视确认上述托盘输送终端部110a的上述输液袋12的窗口，并且在用于对上述注射器11的注射针11c被插入上述输液袋12的状态进行确认的图像拍摄时被使用。The needle insertion confirmationtransparent window 38 is a window through which theinfusion bag 12 of the tray conveyingterminal portion 110a can be visually confirmed from thecoinfusion processing unit 300, and theinjection needle 11c for thesyringe 11 is inserted into theinfusion bag 12. The status is used when the image is captured for confirmation.
【注射器确认照相机42】[Syringe confirmation camera 42]
另外，如图6所示，上述注射器确认照相机42被配置在上述混注处理部300的顶棚部。而且，上述注射器确认照相机42用于拍摄上述注射器11，以确认被上述注射器11抽吸后的药品的有无和药品量等。上述注射器确认照相机42也可以是对预先固定的拍摄范围内的图像进行拍摄的装置，还可以是能够通过上述第二控制部500的控制而任意变更上述拍摄范围的位置和尺寸的装置。另外，如后所述，在上述混注装置1中，通过上述注射器确认照相机42对上述注射器11和上述药品容器10进行一起拍摄，从而提供可靠性高的检查图像。上述第二控制部500将上述注射器确认照相机42所拍摄的上述拍摄图像记录于上述数据存储部404、上述数据存储部504、或者设置于上述混注装置1的外部的硬盘等存储部中，以用于例如通过图像对上述混注装置1所执行的混注处理的适当与否进行检查。而且，上述第二控制部500在由用户进行上述检查时，使上述注射器确认照相机42所拍摄的拍摄图像显示于上述触摸面板监视器14或上述显示器203等显示装置上。Moreover, as shown in FIG. 6, the saidsyringe confirmation camera 42 is arrange|positioned in the ceiling part of the saidcoinfusion processing part 300. In addition, thesyringe confirmation camera 42 is used for photographing thesyringe 11 to confirm the presence or absence of the medicine drawn by thesyringe 11, the amount of the medicine, and the like. Thesyringe confirmation camera 42 may be a device that captures images within a predetermined imaging range, or a device that can arbitrarily change the position and size of the imaging range under the control of thesecond control unit 500 . In addition, as described later, in thecoinfusion apparatus 1, thesyringe 11 and thedrug container 10 are photographed together by thesyringe verification camera 42, thereby providing a highly reliable inspection image. Thesecond control unit 500 records the captured image captured by thesyringe confirmation camera 42 in thedata storage unit 404, thedata storage unit 504, or a storage unit such as a hard disk provided outside thecoinfusion device 1, so as to be used. Whether the coinfusion process performed by thecoinfusion apparatus 1 described above is appropriate is checked, for example, by means of an image. Then, thesecond control unit 500 displays a captured image captured by thesyringe verification camera 42 on a display device such as the touch panel monitor 14 or thedisplay 203 when the user performs the inspection.
【注射针装卸装置43】【Injection needle loading and unloading device 43】
如图15和图16所示，上述注射针装卸装置43使安装有端帽11d的注射针11c的尖端朝上而插入于形成有切口部的夹头部43a的孔部43b中。当电动机43c被驱动时，在未图示的凸轮机构的作用下上述夹头部43a的孔部43b扩大，从而能够连同上述端帽11d插入上述注射针11c。当上述电动机43c的驱动停止时，利用弹簧43d维持上述端帽11d和上述注射针11c的保持状态。当摆针电动机43e被驱动时，齿轮43f和齿轮43g旋转，且上述夹头部43a进行旋转，从而上述端帽11d和上述注射针11c被旋转。As shown in FIGS. 15 and 16 , the injection needle attaching and detachingdevice 43 is inserted into the hole 43b of the collet 43a in which the notch is formed with the tip of theinjection needle 11c to which theend cap 11d is attached facing upward. When themotor 43c is driven, the hole 43b of the collet portion 43a is enlarged by a cam mechanism (not shown), and theinjection needle 11c can be inserted together with theend cap 11d. When the driving of themotor 43c is stopped, the holding state of theend cap 11d and theinjection needle 11c is maintained by thespring 43d. When theoscillating motor 43e is driven, thegear 43f and thegear 43g are rotated, and the chuck portion 43a is rotated, whereby theend cap 11d and theinjection needle 11c are rotated.
上述注射针11c和上述端帽11d各自上设有：在上述端帽11d被安装于上述注射针11c的状态下向圆周方向旋转时进行接触的肋部(rib)。因此，在通过上述夹头部43a而上述注射针11c的上述端帽11d被旋转时，上述注射针11c与上述端帽11d一同旋转，从而相对于上述注射筒11a进行安装和拆卸。另外，在上述注射针装卸装置43中，在上述端帽11d被上述夹头部43a保持的状态下，利用上述第二机械臂22使上述注射器11接近或远离上述夹头部43a，由此也能够自动地进行上述端帽11d相对于上述注射针11c的安装和拆卸。另外，在上述注射针装卸装置43中，由于上述注射针11c的尖端朝上，因此，上述注射针11c被取下后的上述注射筒11a的前端开口朝上，从而能够防止从上述注射筒11a的颈部开口滴液。Theinjection needle 11c and theend cap 11d are each provided with a rib which comes into contact when theend cap 11d is attached to theinjection needle 11c when rotated in the circumferential direction. Therefore, when theend cap 11d of theinjection needle 11c is rotated by the collet portion 43a, theinjection needle 11c rotates together with theend cap 11d to be attached to and detached from thesyringe 11a. In addition, in the injection needle attaching and detachingdevice 43, in a state where theend cap 11d is held by the collet part 43a, thesyringe 11 is moved closer to or away from the collet part 43a by thesecond arm 22, thereby also The attachment and detachment of the above-mentionedend cap 11d with respect to the above-mentionedinjection needle 11c can be performed automatically. In addition, in the injection needle attaching and detachingdevice 43, since the tip of theinjection needle 11c faces upward, the front end opening of thesyringe 11a after theinjection needle 11c has been removed faces upward, so that theinjection needle 11a can be prevented from entering thesyringe 11a. dripping from the neck opening.
【针插入确认照相机44】[Needle insertion confirmation camera 44]
另外，上述针插入确认照相机44以将位于上述混注处理室104外的上述输液袋12和位于上述混注处理室104内的上述注射器11收入一个图像内的方式进行拍摄。上述第二控制部500在以上述注射针11c穿刺了上述输液袋12的混注口的橡胶塞时，利用上述针插入确认照相机44对上述针插入确认透明窗38的方向进行拍摄。然后，利用上述针插入确认照相机44拍摄的拍摄图像例如被显示于上述触摸面板监视器14。在此，图17是利用上述针插入确认照相机44拍摄的拍摄图像的一例。由此，用户能够利用上述拍摄图像对上述注射针11c的尖端侧是否位于上述输液袋12内这一情况进行确认。另外，上述拍摄图像例如为了最终检查而被保存在上述混注装置1的内部或外部所设置的硬盘等存储部中。而且，当在显示有上述拍摄图像的上述触摸面板监视器14中由用户操作OK键而判断为恰当地完成了混注处理时，上述输液袋12被上述袋升降部113降下，并被返回至上述托盘101。Also, the needleinsertion confirmation camera 44 captures theinfusion bag 12 outside thecoinfusion processing chamber 104 and thesyringe 11 positioned inside thecoinfusion processing chamber 104 in one image. Thesecond control unit 500 uses the needleinsertion confirmation camera 44 to photograph the direction of the needle insertion confirmationtransparent window 38 when theinjection needle 11c has punctured the rubber stopper of the infusion port of theinfusion bag 12 . Then, a captured image captured by the needleinsertion confirmation camera 44 is displayed, for example, on the touch panel monitor 14 . Here, FIG. 17 is an example of a captured image captured by the needleinsertion confirmation camera 44 described above. Thereby, the user can confirm whether or not the tip side of theinjection needle 11c is located in theinfusion bag 12 using the captured image. In addition, the above-mentioned captured image is stored, for example, in a storage unit such as a hard disk provided inside or outside thecoinfusion apparatus 1 for final inspection. Then, when the user operates the OK key on the touch panel monitor 14 on which the captured image is displayed and it is determined that the coinfusion process is properly completed, theinfusion bag 12 is lowered by thebag lifter 113 and returned to the above-mentionedTray 101 .
【杀菌灯45】【Bactericidal Lamp 45】
上述杀菌灯45例如在上述混注处理开始前三小时被点亮。如图6所示，两个上述杀菌灯45中的一个被设置在上述第一机械臂21与上述第二机械臂22之间的位置。因此，被上述第一机械臂21和上述第二机械臂22遮蔽的杀菌光的量变少，能够对上述混注处理室14内部无遗漏地进行杀菌。另外，在上述混注处理部300中设置有排气系统，该排气系统从形成于上述混注处理室104的侧壁下部的狭缝104b(参照图3、图4)吸引上述混注处理室104内的空气，并将其从设置于上述混注处理室104的上方的未图示的排气扇排出。另外，也设置有供气系统，该供气系统从形成于上述混注处理室104的顶棚部的吸气口净化外部空气并导入上述混注处理室104等。Thegermicidal lamp 45 is turned on, for example, three hours before the start of the coinfusion process. As shown in FIG. 6 , one of the two above-mentionedgermicidal lamps 45 is provided at a position between the above-mentionedfirst robot arm 21 and the above-mentionedsecond robot arm 22 . Therefore, the amount of sterilizing light shielded by thefirst robot arm 21 and thesecond robot arm 22 is reduced, and the inside of thecoinjection processing chamber 14 can be sterilized without fail. In addition, thecoinjection processing unit 300 is provided with an exhaust system that sucks the inside of thecoinjection processing chamber 104 from aslit 104b (see FIGS. 3 and 4 ) formed in the lower part of the side wall of thecoinjection processing chamber 104 . air is discharged from the exhaust fan (not shown) provided above theco-injection processing chamber 104 . In addition, there is also provided an air supply system which purifies the outside air from an intake port formed in the ceiling portion of theco-injection processing chamber 104 and introduces it into theco-injection processing chamber 104 and the like.
接着，参照图18～图21对上述收纳单元700进行说明。另外，图18是上述药品装填部200和上述收纳单元700的主视图，图19是图18中的I-I剖面图，图20是图18中的II-II剖面图。另外，图21是表示上述收纳单元700的内部结构的示意图。另外，以下存在使用图18～图21所示的上下左右和前后方向进行说明的情况。Next, thestorage unit 700 described above will be described with reference to FIGS. 18 to 21 . 18 is a front view of themedicine loading unit 200 and thestorage unit 700 , FIG. 19 is a cross-sectional view taken along line I-I in FIG. 18 , and FIG. 20 is a cross-sectional view taken along line II-II in FIG. 18 . In addition, FIG. 21 is a schematic diagram showing the internal structure of thestorage unit 700 described above. In addition, the following description may be made using the vertical, horizontal, and front-rear directions shown in FIGS. 18 to 21 .
上述收纳单元700具备托盘搬入部710、升降单元800、以及托盘输送部900等，并被上述混注控制装置100所控制。上述托盘搬入部710和上述升降单元800被配置在上述作业台202的后方，上述托盘输送部900被配置在上述作业台202的下方。上述收纳单元700中能够收纳多个上述托盘101，上述混注控制装置100能够使任意的上述托盘101从上述收纳单元700搬出。另外，关于上述收纳单元700的具体构成，只要能够实现同样的功能，便不限定于在此说明的构成。Thestorage unit 700 includes atray carrying unit 710 , an elevatingunit 800 , atray conveying unit 900 , and the like, and is controlled by thecoinjection control device 100 . Thetray carrying part 710 and the elevatingunit 800 are arranged behind the work table 202 , and thetray conveying part 900 is arranged below the work table 202 . Thestorage unit 700 can accommodate a plurality of thetrays 101 , and thecoinfusion control device 100 can carry out anytray 101 from thestorage unit 700 . In addition, the specific structure of the saidstorage unit 700 is not limited to the structure demonstrated here, as long as it can implement|achieve the same function.
上述托盘搬入部710具备：开关托盘装填口711的活动遮板712、和使用于上述活动遮板712的开关的驱动部713，其中，托盘装填口711是为了向上述收纳单元700内搬入上述托盘101而使用的。上述驱动部713例如是包含电动机、齿轮、张紧辊、以及皮带的传送带，在通过上述电动机和上述齿轮而上述张紧辊被旋转时，与上述皮带连接的上述活动遮板712被打开或关闭。当上述活动遮板712被打开时，用户通过使上述托盘101在上述作业台202上向后方侧滑动移动，由此能够将上述托盘101装填至上述收纳单元700的升降单元800内。另外，上述托盘装填口711被配置在上下方向上远离上述托盘排出口206的位置，具体而言，上述托盘装填口711被配置在高于上述托盘排出口206的位置。Thetray loading unit 710 includes ashutter 712 for opening and closing atray loading port 711 for loading the tray into thestorage unit 700, and adrive section 713 for switching theshutter 712. 101 is used. Thedrive unit 713 is, for example, a conveyor including a motor, a gear, a tension roller, and a belt. When the tension roller is rotated by the motor and the gear, theshutter 712 connected to the belt is opened or closed. . When theshutter 712 is opened, the user can load thetray 101 into thelift unit 800 of thestorage unit 700 by sliding thetray 101 to the rear side on the work table 202 . In addition, thetray loading port 711 is disposed at a position away from thetray discharge port 206 in the vertical direction. Specifically, thetray loading port 711 is disposed at a position higher than thetray discharge port 206 .
上述升降单元800具备：以沿上下方向能够升降的方式被支撑的移动框体810、在上述移动框体810内被沿上下方向配置的多层托盘收纳部811、相对于上述托盘收纳部811搬入和搬出上述托盘101中所使用的驱动部812和813、以及使上述移动框体810沿上下方向升降的升降机构820。另外，上述移动框体810例如被上述收纳单元700的框体内表面上所形成的导轨部(未图示)以能够沿上下方向滑动的方式加以支撑。上述移动框体810至少能够在下述两状态之间进行升降，即，最上层的上述托盘收纳部811位于比上述托盘装填口711更靠上方的位置的状态、和最下层的上述托盘收纳部811位于比上述托盘装填口711更靠下方的位置的状态。尤其是，上述移动框体810在能够使各上述托盘收纳部811位于下述状态的范围内进行升降，该下述状态是指：上述托盘101能够在上述托盘收纳部811和上述托盘搬入部710之间移动的状态、以及上述托盘101能够在上述托盘收纳部811和上述托盘输送部900之间移动的状态。The elevatingunit 800 includes a movingframe 810 that is supported so as to be able to move up and down in the vertical direction, a multi-leveltray storage portion 811 arranged in the vertical direction in the movingframe 810 , and is loaded into thetray storage portion 811 . And thedrive parts 812 and 813 used for carrying out the saidtray 101, and the raising-loweringmechanism 820 which raises and lowers the said movingframe 810 in the up-down direction. In addition, the movingframe body 810 is supported so as to be slidable in the up-down direction, for example, by a rail part (not shown) formed on the inner surface of the frame of thestorage unit 700 . The movingframe 810 can be moved up and down at least between a state in which thetray housing portion 811 on the uppermost stage is positioned above thetray loading port 711 , and thetray housing portion 811 on the lowermost stage. A state located below thetray loading port 711 described above. In particular, the movingframe 810 is moved up and down within a range in which each of thetray accommodating parts 811 can be placed in a state in which thetray 101 can be moved between thetray accommodating part 811 and the tray carrying part 710 A state in which thetray 101 can move between thetray 101 and thetray accommodating part 811 and thetray conveying part 900 .
上述托盘收纳部811是包含下述部件的传送带：即，包含能够支撑上述托盘101的左右一对的皮带814、将各上述皮带814以能够行进的方式加以支撑的多个张紧辊815、以及与上述张紧辊815的任意一个连接的磁力轮816。上述驱动部812和上述驱动部813是能够使磁力轮812a、813a向正转方向和反转方向旋转的电动机。上述磁力轮812a、813a能够使配置在相对位置的上述磁力轮816在磁力的作用下同步旋转。即，上述驱动部812、813的驱动力从上述磁力轮812a、813a以非接触的方式被传递至上述托盘收纳部811的上述磁力轮816。然后，上述磁力轮816使上述张紧辊815和上述皮带814行进。The trayaccommodating portion 811 is a conveyor including a pair of left andright belts 814 capable of supporting thetray 101 , a plurality oftension rollers 815 for supporting thebelts 814 so as to be able to travel, and Amagnetic pulley 816 connected to any one of the above-mentionedtension rollers 815 . Thedrive unit 812 and thedrive unit 813 are motors that can rotate themagnet wheels 812a and 813a in the forward rotation direction and the reverse rotation direction. Themagnet wheels 812a and 813a can rotate themagnet wheels 816 arranged at opposite positions in synchronization with each other under the action of the magnetic force. That is, the driving force of the drivingportions 812 and 813 is transmitted from themagnetic pulleys 812a and 813a to themagnet pulley 816 of thetray housing portion 811 in a non-contact manner. Then, themagnet pulley 816 makes thetension roller 815 and thebelt 814 travel.
因此，在上述升降单元800中，即使在具备三层以上的上述托盘收纳部811的情况下，也能够使用两个上述驱动部812、813使各上述托盘收纳部811驱动。因此，在上述混注装置1中，与对每个上述托盘收纳部811设置电动机等驱动部的情况相比，能够抑制上述升降单元800的尘埃产生和成本，并且能够使沿上下方向移动的上述移动框体810轻型化。Therefore, even in the case where the elevatingunit 800 includes thetray housing parts 811 in three or more stages, the two drivingparts 812 and 813 can be used to drive each of thetray housing parts 811 . Therefore, in thecoinjection device 1 described above, compared to the case where a drive unit such as a motor is provided for each of thetray housing portions 811 , the generation of dust and the cost of thelift unit 800 can be suppressed, and the movement in the vertical direction can be performed. Thecasing 810 is lightweight.
在此，上述磁力轮812a和上述磁力轮813a被配置在上下方向上的不同位置。具体而言，上述磁力轮812a被配置在与上述托盘收纳部811的上述磁力轮816相对的位置，其中，该上述托盘收纳部811被配置在能够从上述作业台202经由上述托盘装填口711装填上述托盘101的位置。另外，上述磁力轮813a被配置在上述磁力轮812a的下方、且与上述托盘收纳部811的上述磁力轮816相对的位置，其中，该上述托盘收纳部811被配置在上述托盘101能够在上述托盘收纳部811与上述托盘输送部900之间移动的位置。Here, the above-mentionedmagnetic wheel 812a and the above-mentionedmagnetic wheel 813a are arranged at different positions in the vertical direction. Specifically, themagnetic pulley 812a is disposed at a position facing themagnet pulley 816 of thetray storage portion 811 that can be loaded from the work table 202 through thetray loading port 711 The position of the above-mentionedtray 101 . In addition, themagnetic pulley 813a is disposed below themagnetic pulley 812a and at a position facing themagnet pulley 816 of thetray storage portion 811 in which thetray 101 can be placed in the tray. The position where thestorage unit 811 and the above-describedtray conveyance unit 900 move.
由此，在上述收纳单元700中，能够有效地利用上述作业台202的下方区域，从而能够在例如上述托盘收纳部811与上述托盘输送部900之间输送上述托盘101。以下，有时将能够从上述作业台202向上述托盘收纳部811搬入上述托盘101的上述托盘收纳部811的位置称为“第一移动位置”，将上述托盘101能够在上述托盘收纳部811与上述托盘输送部900之间移动的上述托盘收纳部811的位置称为“第二移动位置”。Accordingly, in thestorage unit 700 , the lower region of the work table 202 can be effectively used, and thetray 101 can be conveyed, for example, between thetray storage unit 811 and thetray conveyance unit 900 . Hereinafter, the position of thetray storage section 811 where thetray 101 can be loaded from the work table 202 to thetray storage section 811 may be referred to as a "first moving position", and thetray 101 can be moved between thetray storage section 811 and thetray storage section 811. The position of the above-describedtray storage section 811 that is moved between thetray conveyance sections 900 is referred to as a "second moving position".
上述升降机构820是具备电动机821、左右一对的皮带822、以及多个张紧辊823的传送带。上述电动机821通过驱动上述张紧辊823，而使各上述皮带822沿上下方向行进。各上述皮带822与上述移动框体810连接。而且，上述升降机构820通过利用上述电动机821的正转或反转使各上述皮带822沿上下方向行进，由此使上述移动框体810沿上下方向移动。The elevatingmechanism 820 is a conveyor belt including amotor 821 , a pair of left andright belts 822 , and a plurality oftension rollers 823 . Themotor 821 drives each of thebelts 822 in the vertical direction by driving thetension roller 823 . Each of thebelts 822 is connected to the movingframe 810 . Further, the elevatingmechanism 820 moves the movingframe 810 in the up-down direction by moving therespective belts 822 in the up-down direction by the forward or reverse rotation of theelectric motor 821 .
上述托盘输送部900具备第一输送部910、第二输送部920、IC阅读器930、以及第三输送部940。上述第一输送部910能够沿前后方向输送上述托盘101，上述第二输送部920能够沿左右方向输送上述托盘101。例如，上述第一输送部910、上述第二输送部920以及上述第三输送部940分别是具有电动机、齿轮、张紧辊、皮带等的传送带，并通过上述皮带被上述电动机、上述齿轮以及上述张紧辊驱动，由此能够输送被保持在上述皮带上的上述托盘101。The above-mentionedtray conveyance unit 900 includes afirst conveyance unit 910 , asecond conveyance unit 920 , anIC reader 930 , and athird conveyance unit 940 . The said1st conveyance part 910 can convey the saidtray 101 in the front-back direction, and the said2nd conveyance part 920 can convey the saidtray 101 in the left-right direction. For example, the first conveyingpart 910, the second conveyingpart 920, and the third conveyingpart 940 are conveyor belts each having a motor, a gear, a tension roller, a belt, etc., and are connected by the motor, the gear, and the The above-mentionedtray 101 held by the above-mentioned belt can be conveyed by driving the tension roller.
更详细而言，上述第一输送部910能够将收纳于上述托盘收纳部811的上述托盘101向上述托盘排出口206输送。另外，上述第一输送部910能够将上述托盘101收纳于上述托盘收纳部811。上述第二输送部920构成为能够沿上下方向移动，且能够在可使用状态与退避状态之间移动，其中，可使用状态为能够将载置于上述第一输送部910上的上述托盘101沿左右方向输送的状态，退避状态(参照图21)为从上述可使用状态向下方退避的状态。在上述第二输送部920为上述可使用状态时，上述第三输送部940能够在上述第二输送部920与上述托盘排出口701之间输送上述托盘101。In more detail, the said1st conveyance part 910 can convey the saidtray 101 accommodated in the saidtray storage part 811 to the saidtray discharge port 206. Moreover, the said1st conveyance part 910 can accommodate the saidtray 101 in the saidtray storage part 811. The second conveyingpart 920 is configured to be movable in the up-down direction, and can be moved between a usable state and a retracted state, wherein the usable state is a state in which thetray 101 placed on the first conveyingpart 910 can be moved along the edge. In the state of transport in the left-right direction, the retracted state (see FIG. 21 ) is a state retracted downward from the above-described usable state. When thesecond conveyance unit 920 is in the usable state, thethird conveyance unit 940 can convey thetray 101 between thesecond conveyance unit 920 and thetray discharge port 701 .
例如，上述第二输送部920在从上述退避状态向上述可使用状态转移时，一边保持被载置在上述第一输送部910上的预先规定的位置的上述托盘101，一边将其向上方移动，由此变为能够在与上述第三输送部930之间输送上述托盘101的状态。另外，上述第二输送部920在从上述可使用状态向上述退避状态转移时，一边保持被载置在上述第二输送部920上的上述托盘101，一边将其向上述第一输送部910的下方移动，并将上述托盘101交接给上述第一输送部910。For example, when transitioning from the retracted state to the usable state, thesecond conveyance unit 920 moves thetray 101 upward while holding thetray 101 placed at a predetermined position on thefirst conveyance unit 910 Thus, thetray 101 can be transported between thethird transport unit 930 and thetray 101 . In addition, when thesecond conveyance unit 920 transitions from the usable state to the retracted state, thetray 101 placed on thesecond conveyance unit 920 is held and transferred to thefirst conveyance unit 910 . It moves downward, and transfers the saidtray 101 to the said1st conveyance part 910.
由此，上述第二输送部920在上述可使用状态下，能够将被从上述托盘收纳部811排出至上述第一输送部910上的上述托盘101输送至上述第三输送部940。另外，上述第二输送部920在上述可使用状态下，能够将从上述混注处理部300经由上述托盘排出口701被供给的上述托盘101经由上述第三输送部940进行接收，并输送至上述第一输送部910。As a result, thesecond conveyance unit 920 can convey thetray 101 discharged from thetray storage unit 811 onto thefirst conveyance unit 910 to thethird conveyance unit 940 in the usable state. In addition, in the usable state, the second conveyingunit 920 can receive thetray 101 supplied from thecoinjection processing unit 300 through thetray discharge port 701 via the third conveyingunit 940 and convey it to the third conveyingunit 940 . A conveyingpart 910 .
上述IC阅读器930能够从上述托盘输送部900的上述第一输送部910上所载置的上述托盘101的上述IC标签101b中读取信息。利用上述IC阅读器930从上述IC标签101b中读取的上述托盘101的识别信息被输入上述第二控制部500。TheIC reader 930 can read information from theIC tag 101 b of thetray 101 placed on thefirst conveyance unit 910 of thetray conveyance unit 900 . The identification information of the saidtray 101 read from the saidIC tag 101b by the saidIC reader 930 is input to the said2nd control part 500.
另外，作为其他的实施方式，上述混注装置1也可考虑为下述构成：即，还具备能够收纳多个上述托盘101的存放架，并且，上述收纳单元700能够任意地执行向上述存放架搬入上述托盘101和从上述存放架搬出上述托盘101。由此，能够将多量的上述托盘101暂时存放于上述存放架，并根据需要自动地排出。如上所述的构成例如适合于下述情况：即，上述混注装置1具有后述的成批配制检查功能，需要将未进行上述混注处理结束后的检查的多个上述托盘101暂时存放这一情况。In addition, as another embodiment, thecoinjection apparatus 1 may be configured to further include a storage rack capable of accommodating a plurality of thetrays 101, and thestorage unit 700 may be configured to arbitrarily carry out the loading into the storage rack. The above-mentionedtray 101 and the above-mentionedtray 101 are carried out from the above-mentioned storage rack. Thereby, a large number of the saidtrays 101 can be temporarily stored in the said storage rack, and can be discharged|emitted automatically as needed. The above configuration is suitable, for example, when thecoinjection device 1 has a batch preparation inspection function described later, and it is necessary to temporarily store a plurality of thetrays 101 that have not undergone the inspection after the coinfusion process is completed. .
另外，可考虑在上述存放架上设置带锁的门，该带锁的门是为了相对于个别收纳各上述托盘101的个别收纳部从与上述收纳单元700侧不同的位置取出上述托盘101而被打开或关闭。由此，例如用户能够根据需要从上述存放架上取出各上述托盘101而集中统一进行检查，并且，能够将可以取出上述托盘101的用户限定于持有上述门的钥匙的特定用户。In addition, it is conceivable to provide the storage rack with a door with a lock for taking out thetray 101 from a position different from thestorage unit 700 side with respect to an individual storage portion in which each of thetrays 101 is individually stored. On or off. Thereby, for example, the user can take out each of thetrays 101 from the storage rack as necessary to perform a centralized inspection, and the users who can take out thetrays 101 can be limited to a specific user who holds the key to the door.
【混注处理】【Mixed injection processing】
接着，对于在上述混注装置1中通过由上述混注控制部100控制上述混注处理部300而执行的混注处理的基本处理步骤的一例进行说明。在上述混注处理中，如以下所说明，上述第二控制部500控制上述第一机械臂21和上述第二机械臂22等，由此，根据上述配制数据利用上述注射器11从一个或多个上述药品容器10抽吸药品，并且将上述药品从上述注射器11注入上述输液袋12等其他的容器。Next, an example of a basic processing procedure of the coinfusion process performed by thecoinjection control unit 100 controlling thecoinjection processing unit 300 in thecoinfusion device 1 will be described. In the coinfusion process, as described below, thesecond control unit 500 controls thefirst robot arm 21, thesecond robot arm 22, and the like, whereby thesyringe 11 is used to control the injection from one or more of the above-mentioned preparation data according to the above-mentioned preparation data Themedicine container 10 sucks medicine and injects the medicine from thesyringe 11 into another container such as theinfusion bag 12 .
【使用安瓿10A的混注处理】【Mixedinjection using ampoules 10A】
首先，对将上述安瓿10A中所收纳的药品注入上述输液袋12时的混注处理的基本动作进行说明。First, the basic operation of the co-injection process when the medicine contained in the above-mentionedampoule 10A is injected into the above-mentionedinfusion bag 12 will be described.
当上述托盘101被供给上述托盘输送部110时，上述第二控制部500利用上述IC阅读器101c从上述托盘101的上述IC标签101b读取上述托盘101的识别信息。而且，在上述托盘101的识别信息与该混注处理的上述配制数据所预先建立了对应的识别信息一致时，上述第二控制部500将上述活动遮板111打开。然后，上述第二控制部500利用上述托盘输送部110的上述托盘升降部112使上述托盘101的上述器材载置部102上升，并露出于上述混注处理室104内。When thetray 101 is supplied to thetray conveying unit 110, thesecond control unit 500 reads the identification information of thetray 101 from theIC tag 101b of thetray 101 using theIC reader 101c. Then, when the identification information of thetray 101 matches the identification information correspondingly established in advance in the preparation data of the mixing process, thesecond control unit 500 opens themovable shutter 111 . Then, thesecond control unit 500 lifts thedevice mounting part 102 of thetray 101 by using thetray lifting part 112 of thetray conveying part 110 and exposes it to thecoinjection processing chamber 104 .
接着，上述第二控制部500利用上述托盘确认照相机41对上述器材载置部102进行拍摄。然后，上述第二控制部500通过基于上述托盘确认照相机41所拍摄的拍摄图像的图像识别处理，掌握上述器材载置部102上所载置的上述安瓿10A和上述注射器11等器材的位置和方向。尤其是，上述第二控制部500在每次从上述器材载置部102取出上述安瓿10A或上述注射器11时，利用上述托盘确认照相机41对上述器材载置部102进行拍摄，并根据该拍摄图像掌握最新的上述安瓿10A和上述注射器11的位置和方向。Next, thesecond control unit 500 uses thetray confirmation camera 41 to take an image of theequipment placement unit 102 . Then, thesecond control unit 500 grasps the positions and orientations of the devices such as theampoules 10A and thesyringes 11 placed on thedevice placement unit 102 through image recognition processing based on the captured image captured by thetray confirmation camera 41 . . In particular, each time theampoule 10A or thesyringe 11 is taken out from thedevice placement unit 102, thesecond control unit 500 photographs thedevice placement unit 102 with thetray confirmation camera 41, and uses the captured image. The latest position and orientation of the above-mentionedampoule 10A and the above-mentionedsyringe 11 are grasped.
接着，上述第二控制部500利用上述第一机械臂21，将被载置在露出于上述混注处理室104内的上述器材载置部102上的上述注射器11临时放置于上述载置架33上。另外，上述第二控制部500利用上述第一机械臂21，将被载置在上述器材载置部102上的上述安瓿10A安置于上述药品读取部34。然后，上述第二控制部500利用上述药品读取部34读取上述安瓿10A中所收纳的药品的种类等信息。Next, thesecond control unit 500 temporarily places thesyringe 11 placed on theequipment placement unit 102 exposed in thecoinfusion processing chamber 104 on theplacement rack 33 by using thefirst robot arm 21 . . In addition, thesecond control unit 500 uses thefirst robot arm 21 to set theampoule 10A placed on thedevice placement unit 102 on themedicine reading unit 34 . Then, thesecond control unit 500 uses themedicine reading unit 34 to read information such as the type of medicine stored in theampoule 10A.
另外，上述第二控制部500利用上述第一机械臂21将第一支上述注射针11c安置于上述注射针装卸装置43上，并将第二支上述注射针11c临时放置于上述载置架33上。在此，第一支上述注射针11c是未带有针头式过滤器的注射针，第二支上述注射针11c是带有针头式过滤器的注射针。另外，在上述器材载置部102所载置的上述注射针11c上安装有端帽11d，上述端帽11d通过上述注射针装卸装置43而被安装或拆卸。另外，也可考虑上述注射针11c在被安装于上述注射器11的注射筒11a上的状态下被安置于上述托盘101中。该情况下，省略了向上述注射器11安装上述注射针11c的工序。In addition, thesecond control unit 500 uses thefirst robot arm 21 to set thefirst injection needle 11 c on the injection needle attaching and detachingdevice 43 , and temporarily places thesecond injection needle 11 c on the mountingframe 33 superior. Here, thefirst injection needle 11c is an injection needle without a needle filter, and thesecond injection needle 11c is an injection needle with a needle filter. In addition, anend cap 11 d is attached to theinjection needle 11 c placed on thedevice placement portion 102 , and theend cap 11 d is attached or detached by the injection needle attaching and detachingdevice 43 . In addition, it is also conceivable that the above-mentionedinjection needle 11c is set in the above-mentionedtray 101 in a state of being attached to thesyringe 11a of the above-mentionedsyringe 11 . In this case, the step of attaching theinjection needle 11c to thesyringe 11 is omitted.
而且，上述第二控制部500当取出上述器材载置部102上的所有器材时，利用上述托盘输送部110的上述托盘升降部112使上述器材载置部102下降并返回至上述托盘101。另外，上述第二控制部500通过基于上述托盘确认照相机41所拍摄的拍摄图像的图像识别处理，对上述器材载置部102上的器材是否已全部被取出这一情况进行确认。Then, thesecond control unit 500 descends and returns to thetray 101 by using thetray elevating section 112 of thetray conveying unit 110 when taking out all the equipment on theequipment placing section 102 . In addition, thesecond control unit 500 confirms whether or not all the equipment on theequipment placement unit 102 has been taken out through image recognition processing based on the image captured by thetray confirmation camera 41 .
然后，上述第二控制部500将上述活动遮板111关闭，并利用上述托盘输送部110将上述托盘101输送至上述托盘输送终端部110a。接着，上述第二控制部500利用上述托盘输送部110的上述袋升降部113，使被上述托盘101的上述输液袋保持部103保持的上述输液袋12的混注口位于形成在上述混注处理室104中的混注连通口37处。Then, thesecond control unit 500 closes theshutter 111 , and uses thetray conveyance unit 110 to convey thetray 101 to the trayconveyance terminal unit 110a. Next, thesecond control unit 500 uses thebag lifter 113 of thetray conveying unit 110 to position the coinfusion port of theinfusion bag 12 held by the infusionbag holding unit 103 of thetray 101 in thecoinfusion processing chamber 104 . Thecoinjection communication port 37 in .
然后，上述第二控制部500利用上述第二机械臂22，使被安置在上述药品读取部34的上述安瓿10A移动至上述载置架33。接着，上述第二控制部500利用上述第一机械臂21从上述载置架33取出上述注射器11，并将其安置于上述第二机械臂22。接着，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述注射针装卸装置43，并将上述注射针11c安装到上述注射器11上。然后，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述针弯曲检测部36，检测上述注射针11c有无弯曲。另外，也可考虑上述注射针11c在被安装于上述注射器11上的状态下被安置于上述托盘101中。该情况下，省略了向上述注射器11安装上述注射针11c的工序。Then, thesecond control unit 500 uses thesecond robot arm 22 to move theampoule 10A set on themedicine reading unit 34 to the mountingrack 33 . Next, thesecond control unit 500 takes out thesyringe 11 from the mountingrack 33 by using thefirst robot arm 21 , and places it on thesecond robot arm 22 . Next, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the injection needle attaching and detachingdevice 43 , and attaches theinjection needle 11 c to thesyringe 11 . Then, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the needle bendingdetection unit 36 to detect whether or not theinjection needle 11c is bent. In addition, it is also conceivable that the above-mentionedinjection needle 11c is set in the above-mentionedtray 101 in a state of being attached to the above-mentionedsyringe 11 . In this case, the step of attaching theinjection needle 11c to thesyringe 11 is omitted.
接着，上述第二控制部500利用上述第一机械臂21从上述载置架33取出上述安瓿10A，并使用上述安瓿切削刀具31折断上述安瓿10A的头部。然后，上述第二控制部500利用上述第一机械臂21和上述第二机械臂22，使上述安瓿10A与上述注射器11接近，并将上述注射器11的上述注射针11c插入上述安瓿10A内。然后，上述第二控制部500利用上述第二机械臂22操作上述柱塞11b，从而使用上述注射器11从上述安瓿10A抽吸根据上述配制数据预先规定的量的药品。Next, thesecond control unit 500 takes out theampoule 10A from the mountingframe 33 using thefirst robot arm 21 , and breaks the head of theampoule 10A using theampoule cutting tool 31 . Then, thesecond control unit 500 uses thefirst robot arm 21 and thesecond robot arm 22 to bring theampoule 10A and thesyringe 11 close to each other, and insert theinjection needle 11c of thesyringe 11 into theampoule 10A. Then, thesecond control unit 500 operates theplunger 11b with thesecond robot arm 22, and uses thesyringe 11 to suck the medicine in a predetermined amount according to the preparation data from theampoule 10A.
此时，上述第一机械臂21和上述第二机械臂22使上述安瓿10A和上述注射器11的姿势慢慢倾斜。例如，以上述安瓿10A的口部朝向竖直向上方向、上述注射器11的上述注射针11c朝向竖直向下方向的状态，从上述安瓿10A抽吸一定程度的药品，然后，使上述安瓿10A以竖直方向为基准倾斜10度左右，形成使药品移动至上述口部侧(颈部)的状态。由此，能够在上述注射器11的上述注射针11c的尖端不碰触上述安瓿10A的底部的状态下将药品尽可能无剩余地吸出。At this time, thefirst arm 21 and thesecond arm 22 gradually incline the positions of theampoule 10A and thesyringe 11 . For example, in a state in which the mouth of theampoule 10A is directed vertically upward and theinjection needle 11c of thesyringe 11 is directed vertically downward, a certain amount of medicine is sucked from theampoule 10A, and then theampoule 10A is made to The vertical direction is inclined by about 10 degrees with reference to the vertical direction, and the medicine is brought into a state in which the medicine is moved to the mouth side (neck). Thereby, the medicine can be sucked out as much as possible without the tip of theinjection needle 11c of thesyringe 11 touching the bottom of theampoule 10A.
然后，上述第二控制部500控制上述第一机械臂21和上述第二机械臂22的任意一方或双方，使被抽吸了上述药品后的上述安瓿10A和处于抽吸了上述药品的状态的上述注射器11移动至上述注射器确认照相机42的拍摄范围内。然后，上述第二控制部500利用上述注射器确认照相机42对上述安瓿10A和上述注射器11进行一起拍摄，并将该拍摄图像作为检查图像记录于上述数据存储部504。例如，上述注射器确认照相机42是对预先确定的上述拍摄范围进行拍摄的装置。另外，也可考虑上述第二控制部500能够对上述注射器确认照相机42的上述拍摄范围进行变更，以便能够对被上述第一机械臂21和上述第二机械臂22移动后的上述安瓿10A和上述注射器11进行一起拍摄。Then, thesecond control unit 500 controls either one or both of thefirst robot arm 21 and thesecond robot arm 22 so that theampoule 10A after the drug has been aspirated and theampoule 10A in a state where the drug has been aspirated Thesyringe 11 is moved within the imaging range of thesyringe confirmation camera 42 . Then, thesecond control unit 500 photographs theampoule 10A and thesyringe 11 together with thesyringe verification camera 42 , and records the photographed image in thedata storage unit 504 as an inspection image. For example, thesyringe confirmation camera 42 is a device that captures an image of the predetermined imaging range. In addition, it may be considered that thesecond control unit 500 can change the imaging range of thesyringe confirmation camera 42 so that theampoule 10A and theThe syringes 11 are photographed together.
接着，上述第二控制部500利用上述第一机械臂21和上述第二机械臂22，更换上述注射器11的上述注射针11c。具体而言，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述针弯曲检测部36，检测上述注射针11c有无弯曲。然后，上述第二机械臂22使上述注射器11移动至上述注射针装卸装置43，对上述注射针11c安装上述端帽11d。然后，上述第二控制部500利用上述注射针装卸装置43使上述端帽11d旋转，而从上述注射器11上卸下上述注射针11c。另外，上述注射针11c的卸下也可以通过利用上述第一机械臂21和上述第二机械臂22使上述端帽11d转动的动作进行。Next, thesecond control unit 500 uses thefirst robot arm 21 and thesecond robot arm 22 to replace theinjection needle 11 c of thesyringe 11 . Specifically, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the needle bendingdetection unit 36 to detect whether or not theinjection needle 11c is bent. Then, thesecond robot arm 22 moves thesyringe 11 to the injection needle attaching and detachingdevice 43, and attaches theend cap 11d to theinjection needle 11c. Then, thesecond control unit 500 rotates theend cap 11 d by the injection needle attaching and detachingdevice 43 to detach theinjection needle 11 c from thesyringe 11 . In addition, the removal of theinjection needle 11c may be performed by the operation of rotating theend cap 11d by thefirst robot arm 21 and thesecond robot arm 22.
然后，上述第二控制部500打开上述垃圾盖132a，并且利用上述第一机械臂21使由上述注射针装卸装置43抓住的上述注射针11c与安装在上述注射针11c上的上述端帽11d一同下落至上述垃圾收纳室13a内并废弃。然后，上述第二控制部500利用上述第一机械臂21，使上述带针头式过滤器的上述注射针11c从上述载置架33安置于上述注射针装卸装置43。然后，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述注射针装卸装置43，并使上述注射针11c安装于上述注射器11。该情况下，上述第二控制部500也利用上述第二机械臂22使上述注射器11移动至上述针弯曲检测部36，检测上述注射针11c有无弯曲。如此，在上述混注装置1中，在从上述安瓿10A抽吸药品时和向上述输液袋12注入输液时，上述注射针11c被更换，防止了上述安瓿10A的碎片混入上述输液袋12。Then, thesecond control unit 500 opens thegarbage cover 132a, and uses thefirst robot arm 21 to move theinjection needle 11c held by the injection needle attaching and detachingdevice 43 and theend cap 11d attached to theinjection needle 11c. They are dropped together in the above-mentionedgarbage storage chamber 13a and discarded. Then, thesecond control unit 500 uses thefirst robot arm 21 to set theinjection needle 11 c with the needle filter from the mountingframe 33 to the injection needle attaching and detachingdevice 43 . Then, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the injection needle attaching and detachingdevice 43 , and attaches theinjection needle 11 c to thesyringe 11 . In this case, thesecond control unit 500 also uses thesecond robot arm 22 to move thesyringe 11 to the needle bendingdetection unit 36 to detect whether or not theinjection needle 11c is bent. In this way, in theinfusion device 1, theinjection needle 11c is replaced when a drug is aspirated from theampoule 10A and when the infusion solution is injected into theinfusion bag 12, so that the fragments of theampoule 10A are prevented from being mixed into theinfusion bag 12.
然后，上述第二控制部500利用上述第二机械臂22，将上述注射器11的上述注射针11c穿刺于被输送至上述托盘输送终端部110a的上述输液袋12的混注口的橡胶塞上，从而将上述注射器11内的混合药注入上述输液袋12。另外，上述第二控制部500打开上述垃圾盖132a，并利用上述第一机械臂21使上述安瓿10A下落至上述垃圾收纳室13a内并废弃。另外，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述注射针装卸装置43，并使上述端帽11d安装于上述注射器11的上述注射针11c上，然后使上述注射器11下落至上述垃圾收纳室13a内并废弃。Then, thesecond control unit 500 uses thesecond robot arm 22 to puncture theinjection needle 11c of thesyringe 11 into the rubber stopper of the coinfusion port of theinfusion bag 12 conveyed to the tray conveyingterminal unit 110a, thereby The mixed medicine in thesyringe 11 is injected into theinfusion bag 12 . Moreover, the said2nd control part 500 opens the saidgarbage cover 132a, and uses the said1st robot arm 21 to drop the saidampoules 10A into the saidgarbage storage chamber 13a, and it discards. In addition, thesecond control unit 500 moves thesyringe 11 to the injection needle attaching and detachingdevice 43 using thesecond robot arm 22, attaches theend cap 11d to theinjection needle 11c of thesyringe 11, and then causes thesyringe 11 is dropped into the above-mentionedgarbage storage chamber 13a and discarded.
然后，上述第二控制部500在上述混注处理结束后执行用于检查上述混注处理的结果的配制检查处理。在上述配制检查处理中，上述第二控制部500例如使上述混注处理中所拍摄的各种拍摄图像显示于上述触摸面板14，并受理针对上述混注处理的检查完成的操作。由此，用户能够一边观看上述触摸面板监视器14一边对上述混注处理的合适与否进行检查。而且，上述第二控制部500当受理了上述检查完成的操作时，将上述托盘101输送至上述托盘排出口15并呈能够取出上述托盘101的状态。Then, thesecond control unit 500 executes a preparation checking process for checking the result of the coinfusion process after the coinfusion process is completed. In the above-described preparation inspection process, thesecond control unit 500 displays, for example, various captured images captured in the above-described coinfusion process on thetouch panel 14, and accepts an operation for completion of the inspection of the coinjection process. Thereby, the user can check the suitability of the coinfusion process while viewing the touch panel monitor 14 . Then, when thesecond control unit 500 accepts the inspection completion operation, thetray 101 is transported to thetray discharge port 15 and thetray 101 can be taken out.
【使用管药瓶10B的混注处理】[Mixedinjection using vial 10B]
接着，对上述管药瓶10B中所收纳的药品是需要溶解的面药之类的药品的情况下将该药品与输液混合后注入上述输液袋12时的混注处理的基本动作进行说明。Next, the basic operation of the mixing process when the medicine stored in thevial 10B is a medicine to be dissolved, such as a pasta medicine, will be described.
当上述托盘101被供给上述托盘输送部110时，上述第二控制部500利用上述IC阅读器101c从上述托盘101的上述IC标签101b读取上述托盘101的识别信息。而且，在上述托盘101的识别信息与该混注处理的上述配制数据所预先建立了对应的识别信息一致时，上述第二控制部500将上述活动遮板111打开。然后，上述第二控制部500利用上述托盘输送部110的上述托盘升降部112使上述托盘101的上述器材载置部102上升，并露出于上述混注处理室104内。When thetray 101 is supplied to thetray conveying unit 110, thesecond control unit 500 reads the identification information of thetray 101 from theIC tag 101b of thetray 101 using theIC reader 101c. Then, when the identification information of thetray 101 matches the identification information correspondingly established in advance in the preparation data of the mixing process, thesecond control unit 500 opens themovable shutter 111 . Then, thesecond control unit 500 lifts thedevice mounting part 102 of thetray 101 by using thetray lifting part 112 of thetray conveying part 110 and exposes it to thecoinjection processing chamber 104 .
接着，上述第二控制部500利用上述托盘确认照相机41对上述器材载置部102进行拍摄。然后，上述第二控制部500通过基于上述托盘确认照相机41所拍摄的拍摄图像的图像识别处理，掌握上述器材载置部102上所载置的上述管药瓶10B和上述注射器11等器材的位置和方向。尤其是，上述第二控制部500在每次从上述器材载置部102取出上述管药瓶10B或上述注射器11时，利用上述托盘确认照相机41对上述器材载置部102进行拍摄，并根据该拍摄图像掌握最新的上述管药瓶10B和上述注射器11的位置和方向。Next, thesecond control unit 500 uses thetray confirmation camera 41 to take an image of theequipment placement unit 102 . Then, thesecond control unit 500 grasps the positions of the devices such as thevial 10B and thesyringe 11 placed on thedevice placement unit 102 through image recognition processing based on the captured image captured by thetray confirmation camera 41 . and direction. In particular, each time thevial 10B or thesyringe 11 is taken out from thedevice placement unit 102, thesecond control unit 500 photographs thedevice placement unit 102 with thetray confirmation camera 41, and based on this The latest position and orientation of thevial 10B and thesyringe 11 are grasped by taking the image.
接着，上述第二控制部500利用上述第一机械臂21，将被载置在露出于上述混注处理室104内的上述器材载置部102上的上述注射器11临时放置于上述载置架33上。另外，上述第二控制部500利用上述第一机械臂21，将被载置在上述器材载置部102上的上述管药瓶10B安置于上述药品读取部34。然后，上述第二控制部500利用上述药品读取部34读取上述管药瓶10B中所收纳的药品的种类等信息。Next, thesecond control unit 500 temporarily places thesyringe 11 placed on theequipment placement unit 102 exposed in thecoinfusion processing chamber 104 on theplacement rack 33 by using thefirst robot arm 21 . . In addition, thesecond control unit 500 uses thefirst robot arm 21 to set thevial 10B placed on thedevice placing unit 102 on themedicine reading unit 34 . Then, thesecond control unit 500 uses themedicine reading unit 34 to read information such as the type of medicine stored in thevial 10B.
接着，上述第二控制部500当取出上述器材载置部102上的所有器材时，利用上述托盘输送部110的上述托盘升降部112使上述器材载置部102下降并返回至上述托盘101。另外，上述第二控制部500通过基于上述托盘确认照相机41所拍摄的拍摄图像的图像识别处理，对上述器材载置部102上的器材是否已全部被取出这一情况进行确认。Next, when thesecond control unit 500 takes out all the equipments on theequipment mounting part 102 , theequipment mounting part 102 is lowered and returned to thetray 101 by thetray lifting part 112 of thetray conveying part 110 . In addition, thesecond control unit 500 confirms whether or not all the equipment on theequipment placement unit 102 has been taken out through image recognition processing based on the image captured by thetray confirmation camera 41 .
然后，上述第二控制部500将上述活动遮板111关闭，并利用上述托盘输送部110将上述托盘101输送至上述托盘输送终端部110a。接着，上述第二控制部500利用上述托盘输送部110的上述袋升降部113，使被上述托盘101的上述输液袋保持部103保持的上述输液袋12的混注口位于形成在上述混注处理室104中的混注连通口37处。Then, thesecond control unit 500 closes theshutter 111 , and uses thetray conveyance unit 110 to convey thetray 101 to the trayconveyance terminal unit 110a. Next, thesecond control unit 500 uses thebag lifter 113 of thetray conveying unit 110 to position the coinfusion port of theinfusion bag 12 held by the infusionbag holding unit 103 of thetray 101 in thecoinfusion processing chamber 104 . Thecoinjection communication port 37 in .
然后，上述第二控制部500利用上述第二机械臂22，使被安置在上述药品读取部34上的上述管药瓶10B移动至上述载置架33。另外，在该移动处理的同时，上述第二控制部500利用上述第一机械臂21，将被载置在上述器材载置部102上的上述注射器11的上述注射针11c以保持着安装有上述端帽11d的状态安置于上述注射针装卸装置43。Then, thesecond control unit 500 uses thesecond robot arm 22 to move thevial 10B set on themedicine reading unit 34 to the mountingrack 33 . In addition, at the same time as this moving process, thesecond control unit 500 uses thefirst robot arm 21 to hold theinjection needle 11c of thesyringe 11 placed on theequipment placement unit 102 while holding theinjection needle 11c attached thereto. The state of theend cap 11d is set to the above-described injection needle attaching and detachingdevice 43 .
接着，上述第二控制部500利用上述第一机械臂21从上述载置架33取出上述注射器11，并将其安置于上述第二机械臂22。接着，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述注射针装卸装置43，并将上述注射针11c安装到上述注射器11上。然后，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述针弯曲检测部36，检测上述注射针11c有无弯曲。另外，也可考虑上述注射针11c在被安装于上述注射器11的注射筒11a上的状态下被安置于上述托盘101中。该情况下，省略了向上述注射器11安装上述注射针11c的工序。Next, thesecond control unit 500 takes out thesyringe 11 from the mountingrack 33 by using thefirst robot arm 21 , and places it on thesecond robot arm 22 . Next, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the injection needle attaching and detachingdevice 43 , and attaches theinjection needle 11 c to thesyringe 11 . Then, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the needle bendingdetection unit 36 to detect whether or not theinjection needle 11c is bent. In addition, it is also conceivable that the above-mentionedinjection needle 11c is set in the above-mentionedtray 101 in a state of being attached to thesyringe 11a of the above-mentionedsyringe 11 . In this case, the step of attaching theinjection needle 11c to thesyringe 11 is omitted.
接着，上述第二控制部500利用上述第二机械臂22，将上述注射器11的上述注射针11c穿刺于被输送至上述托盘输送终端部110a的上述输液袋12的混注口的橡胶塞上，从而从上述输液袋12中抽吸上述配制数据所示的溶解量的输液。另外，上述第二控制部500利用上述第一机械臂21将被载置在上述载置架33上的上述管药瓶10B取出。Next, thesecond control unit 500 uses thesecond robot arm 22 to puncture theinjection needle 11c of thesyringe 11 into the rubber stopper of the coinfusion port of theinfusion bag 12 conveyed to the tray conveyingterminal unit 110a, thereby From theinfusion bag 12, the infusion solution of the dissolved amount shown in the above-mentioned preparation data is aspirated. In addition, thesecond control unit 500 uses thefirst robot arm 21 to take out thevial 10B placed on the mountingrack 33 .
然后，上述第二控制部500利用上述第一机械臂21和上述第二机械臂22，使上述管药瓶10B与上述注射器11相互接近，并将上述注射器11的上述注射针11c穿刺于上述管药瓶10B。然后，上述第二控制部500利用上述第二机械臂22操作上述柱塞11b，由此，将上述注射器11内的上述输液注入上述管药瓶10B内。如此，在上述药品为面药时，在上述混注处理中执行下述溶解工序，即，利用上述注射器11从上述输液袋12中抽出输液并且将上述输液从上述注射器11注入上述管药瓶10B这一溶解工序。由此，上述管药瓶10B内的药品被上述输液溶解。此时，上述注射器11和上述管药瓶10B的姿势为上述注射器11的上述注射针11c朝向竖直向下方向、上述管药瓶10B的口部朝向竖直向上方向这一状态。Then, thesecond control unit 500 uses thefirst robot arm 21 and thesecond robot arm 22 to bring thevial 10B and thesyringe 11 close to each other, and puncture theinjection needle 11c of thesyringe 11 into thetube Medicine bottle 10B. Then, thesecond control unit 500 operates theplunger 11b with thesecond robot arm 22, thereby injecting the infusion solution in thesyringe 11 into thevial 10B. In this way, when the medicine is a face medicine, in the mixing process, a dissolving step is performed in which the infusion solution is withdrawn from theinfusion bag 12 by thesyringe 11 and injected from thesyringe 11 into thevial 10B. A dissolving process. Thereby, the medicine in thevial 10B is dissolved by the infusion solution. At this time, the postures of thesyringe 11 and thevial 10B are such that theinjection needle 11c of thesyringe 11 faces the vertical downward direction, and the mouth of thevial 10B faces the vertical upward direction.
接着，上述第二控制部500利用上述第一机械臂21将注入有上述输液的上述管药瓶10B安置于上述搅拌装置32。由此，在上述搅拌装置32中，执行将上述管药瓶10B内的药品和输液进行搅拌的搅拌工序。上述搅拌工序中的搅拌时间例如根据上述药品的种类而预先确定。另外，上述搅拌时间也可以按上述药品和上述输液的组合而预先确定，还可以根据上述管药瓶10B内的药品量而变更。当由上述搅拌装置32实施的搅拌工序结束时，上述第二控制部500利用上述第一机械臂21将上述管药瓶10B从上述搅拌装置32中取出。Next, thesecond control unit 500 uses thefirst robot arm 21 to set thevial 10B into which the infusion solution is injected into the stirringdevice 32 . Thereby, in the saidstirring apparatus 32, the stirring process of stirring the medicine and the infusion solution in the saidvial 10B is performed. The stirring time in the above-mentioned stirring step is predetermined according to, for example, the type of the above-mentioned chemical. In addition, the above-mentioned stirring time may be predetermined according to the combination of the above-mentioned medicine and the above-mentioned infusion solution, and may be changed according to the amount of the medicine in the above-mentionedvial 10B. When the stirring process performed by the stirringdevice 32 is completed, thesecond control unit 500 uses thefirst robot arm 21 to take out thevial 10B from the stirringdevice 32 .
在此，上述第二控制部500在上述搅拌工序结束后，执行对上述搅拌工序的搅拌结果进行检查的搅拌检查处理。在上述搅拌检查处理中，上述第二控制部500控制上述第一机械臂21，使上述管药瓶10B移动至上述管药瓶10B的底部或侧面能够被用户目视确认的姿势和位置，并且，等待用户对上述触摸面板监视器15等实施的确认操作。另外，上述第二控制部500根据对上述触摸面板监视器15实施的规定操作而控制上述第一机械臂21，并执行使上述管药瓶10B移动至下述状态的摆动处理，即，用户能够从不同的角度目视确认上述管药瓶10B的底部或侧面的多个状态(姿势和位置)。由此，用户能够从不同的角度确认上述管药瓶10B内的药品的溶解程度。Here, thesecond control unit 500 executes a stirring inspection process for checking the stirring result of the stirring process after the stirring process is completed. In the above stirring inspection process, thesecond control unit 500 controls thefirst robot arm 21 to move thevial 10B to a posture and position where the bottom or side of thevial 10B can be visually recognized by the user, and , and waits for the confirmation operation performed by the user on the touch panel monitor 15 and the like. In addition, thesecond control unit 500 controls thefirst robot arm 21 according to a predetermined operation performed on the touch panel monitor 15, and executes a swing process for moving thevial 10B to a state where the user can A plurality of states (postures and positions) of the bottom or side surface of thevial 10B described above are visually confirmed from different angles. Thereby, the user can confirm the degree of dissolution of the drug in thevial 10B from different angles.
然后，上述第二控制部500当进行上述确认操作时，使上述混注处理的处理工序接着向下进行。另外，上述第二控制部500当进行预先设定的再搅拌操作时，不使上述混注处理的处理工序向下进行，而将上述管药瓶10B再次安置在上述搅拌装置32中，并再次执行上述搅拌工序。另外，上述第二控制部500在上述搅拌检查处理中，也可以将上述搅拌工序后拍摄的上述药品容器10的底部或侧面等的拍摄图像显示于上述触摸面板监视器15。Then, when thesecond control unit 500 performs the above-mentioned confirmation operation, the processing step of the above-mentioned coinjection processing is successively performed downward. In addition, when thesecond control unit 500 performs the pre-set re-stirring operation, the process step of the coinfusion process is not performed downward, but thevial 10B is set in the stirringdevice 32 again, and the process is performed again. The above stirring process. In addition, in the stirring inspection process, thesecond control unit 500 may display on the touch panel monitor 15 a captured image of the bottom or side surface of themedicine container 10 taken after the stirring process.
然后，上述第二控制部500利用上述第一机械臂21和上述第二机械臂22，使上述管药瓶10B与上述注射器11相互接近，并将上述注射器11的上述注射针11c穿刺于上述管药瓶10B。然后，上述第二控制部500利用上述第二机械臂22操作上述柱塞11b，由此，使用上述注射器11抽吸上述管药瓶10B内的混合药。此时，上述注射器11和上述管药瓶10B的姿势为上述管药瓶10B的口部朝向竖直向下方向、上述注射器11的上述注射针11c朝向竖直向上方向这一状态。Then, thesecond control unit 500 uses thefirst robot arm 21 and thesecond robot arm 22 to bring thevial 10B and thesyringe 11 close to each other, and puncture theinjection needle 11c of thesyringe 11 into thetube Medicine bottle 10B. Then, thesecond control unit 500 operates theplunger 11 b with thesecond robot arm 22 , thereby sucking the mixed medicine in thevial 10B using thesyringe 11 . At this time, the postures of thesyringe 11 and thevial 10B are such that the mouth of thevial 10B faces the vertical downward direction, and theinjection needle 11c of thesyringe 11 faces the vertical upward direction.
然后，上述第二控制部500控制上述第一机械臂21和上述第二机械臂22的任意一方或双方，使被抽吸了上述药品后的上述管药瓶10B和处于抽吸了上述药品的状态的上述注射器11移动至上述注射器确认照相机42的拍摄范围内。然后，上述第二控制部500利用上述注射器确认照相机42对上述管药瓶10B和上述注射器11进行一起拍摄，并将该拍摄图像作为检查图像记录至上述数据存储部504。例如，上述注射器确认照相机42是对预先确定的上述拍摄范围进行拍摄的装置。另外，也可考虑上述第二控制部500能够对上述注射器确认照相机42的上述拍摄范围进行变更，以便能够对被上述第一机械臂21和上述第二机械臂22移动后的上述管药瓶10B和上述注射器11进行一起拍摄。Then, thesecond control unit 500 controls either one or both of thefirst robot arm 21 and thesecond robot arm 22 so that thevial 10B after the medicine has been sucked and thevial 10B after the medicine have been sucked are in a position where the medicine is sucked. Thesyringe 11 in the state is moved to within the imaging range of thesyringe confirmation camera 42 . Then, thesecond control unit 500 photographs thevial 10B and thesyringe 11 together with thesyringe verification camera 42 , and records the photographed image in thedata storage unit 504 as an inspection image. For example, thesyringe confirmation camera 42 is a device that captures an image of the predetermined imaging range. In addition, it may be considered that thesecond control unit 500 can change the imaging range of thesyringe confirmation camera 42 so that thevial 10B that has been moved by thefirst robot arm 21 and thesecond robot arm 22 can be changed. Photographed together with the above-mentionedsyringe 11 .
然后，上述第二控制部500利用上述第二机械臂22，将上述注射器11的上述注射针11c穿刺于被输送至上述托盘输送终端部110a的上述输液袋12的混注口的橡胶塞上，从而将上述注射器11内的混合药注入上述输液袋12。如此，在上述混注处理中执行下述注入工序：即，利用上述注射器11从上述管药瓶10B中抽吸上述药品并且将上述药品从上述注射器11注入上述输液袋12这一注入工序。Then, thesecond control unit 500 uses thesecond robot arm 22 to puncture theinjection needle 11c of thesyringe 11 into the rubber stopper of the coinfusion port of theinfusion bag 12 conveyed to the tray conveyingterminal unit 110a, thereby The mixed medicine in thesyringe 11 is injected into theinfusion bag 12 . In this way, in the above-described mixed injection process, an injection step of sucking the drug from thevial 10B with thesyringe 11 and injecting the drug from thesyringe 11 into theinfusion bag 12 is performed.
另外，上述第二控制部500打开上述垃圾盖132a，并利用上述第一机械臂21使上述管药瓶10B下落至上述垃圾收纳室13a内并废弃。另外，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述注射针装卸装置43，并使上述端帽11d安装在上述注射器11的上述注射针11c上，然后使上述注射器11下落至上述垃圾收纳室13a内并废弃。In addition, thesecond control unit 500 opens thegarbage cover 132a, and uses thefirst robot arm 21 to drop thevial 10B into thegarbage storage chamber 13a and discard it. In addition, thesecond control unit 500 moves thesyringe 11 to the injection needle attaching and detachingdevice 43 using thesecond robot arm 22, attaches theend cap 11d to theinjection needle 11c of thesyringe 11, and then causes thesyringe 11 is dropped into the above-mentionedgarbage storage chamber 13a and discarded.
然后，上述第二控制部500在上述混注处理结束后执行用于检查上述混注处理的结果的配制检查处理。在上述配制检查处理中，上述第二控制部500例如使上述混注处理中所拍摄的各种拍摄图像显示于上述触摸面板14，并受理针对上述混注处理的检查完成的操作。由此，用户能够一边观看上述触摸面板监视器14一边对上述混注处理的合适与否进行检查。而且，上述第二控制部500当受理了上述检查完成的操作时，将上述托盘101输送至上述托盘排出口15并呈能够取出上述托盘101的状态。Then, thesecond control unit 500 executes a preparation checking process for checking the result of the coinfusion process after the coinfusion process is completed. In the above-described preparation inspection process, thesecond control unit 500 displays, for example, various captured images captured in the above-described coinfusion process on thetouch panel 14, and accepts an operation for completion of the inspection of the coinjection process. Thereby, the user can check the suitability of the coinfusion process while viewing the touch panel monitor 14 . Then, when thesecond control unit 500 accepts the inspection completion operation, thetray 101 is transported to thetray discharge port 15 and thetray 101 can be taken out.
另外，也考虑到上述管药瓶10B中所收纳的药品是不需要溶解的药液之类的药品的情况。该情况下的上述混注处理，除了不执行上述搅拌工序这一点之外，与上述管药瓶10B中所收纳的药品是需要溶解的面药之类的药品时的上述混注处理相同，因此省略说明。另外，即使在上述管药瓶10B中所收纳的药品是液体的情况下，也可以根据上述药品的种类而执行上述搅拌工序。In addition, the case where the medicine stored in the above-mentionedvial 10B is a medicine such as a chemical solution that does not need to be dissolved is also considered. The above-mentioned mixed injection processing in this case is the same as the above-mentioned mixed injection processing when the medicine stored in the above-mentionedvial 10B is a medicine to be dissolved, such as noodles, except that the above-mentioned stirring step is not performed, so the description is omitted. . In addition, even in the case where the medicine contained in thevial 10B is a liquid, the stirring step may be performed according to the type of the medicine.
【事先搅拌功能】【Pre-stirring function】
然而，有时上述混注处理中执行的上述搅拌工序存在需要较长时间的情况，至上述搅拌工序结束的等待时间会阻碍上述混注处理的高效化。对此，本实施方式涉及的上述混注装置1具有能够在上述混注处理的执行开始时刻之前预先执行上述混注处理中的上述搅拌工序这一事先搅拌功能。具体而言，上述混注控制部100使用上述第一控制部400或上述第二控制部500根据上述第一混注控制程序或上述第二混注控制程序，执行后述的装填准备处理和混注控制处理，由此实现上述事先搅拌功能。在此，执行上述装填准备处理和上述混注控制处理时的上述混注控制装置100是事先搅拌处理部的一例。另外，上述第一控制部400和上述第二控制部500在上述药品容器10为上述管药瓶10B时也可以将上述事先搅拌功能设定为有效。However, the above-mentioned mixing process performed in the above-mentioned co-injection process may require a long time, and the waiting time until the completion of the above-mentioned mixing process may hinder the efficiency of the above-mentioned co-injection process. On the other hand, thecoinjection device 1 according to the present embodiment has a pre-stirring function capable of executing the agitation step in the coinfusion process in advance before the execution start time of the coinjection process. Specifically, thecoinfusion control unit 100 uses thefirst control unit 400 or thesecond control unit 500 to execute the filling preparation process and the coinfusion control process described later in accordance with the first coinfusion control program or the second coinfusion control program, Thereby, the above-mentioned pre-stirring function is realized. Here, thecoinjection control device 100 that executes the above-described charging preparation process and the coinjection control process described above is an example of a pre-stirring processing unit. In addition, thefirst control unit 400 and thesecond control unit 500 may enable the pre-stirring function when themedicine container 10 is thevial 10B.
【装填准备处理】【Preparation for loading】
首先，参照图22对利用上述混注控制装置100执行的上述装填准备处理的一例进行说明。First, with reference to FIG. 22 , an example of the above-described charging preparation process executed by the above-describedcoinjection control device 100 will be described.
＜步骤S1＞<Step S1>
在步骤S1中，上述第一控制部400等待用户使用上述操作部405进行的装填准备开始操作(S1：否)。例如，上述第一控制部400在由用户执行了上述配制数据的选择操作时，判断为进行了上述装填准备开始操作。然后，当进行了上述装填准备开始操作时(S1：是)，处理移至步骤S2。In step S1 , thefirst control unit 400 waits for the loading preparation start operation by the user using the operation unit 405 ( S1 : NO). For example, when the user performs the selection operation of the preparation data, thefirst control unit 400 determines that the loading preparation start operation is performed. Then, when the above-described loading preparation start operation is performed ( S1 : YES), the process proceeds to step S2 .
另外，作为上述装填准备开始操作，上述第一控制部400除了接受立刻执行基于上述配制数据的上述混注处理的操作之外，还能够针对上述配制数据受理表示上述混注处理的结束时刻或结束时段等的结束预定时间的预约。另外，在预约上述结束时段的情况下，作为上述混注处理应该结束的时间范围，例如能够受理T1时～T2时的期间等之类的以一小时为单位的预约。例如，上述第一控制部400能够设定下述数量的上述配制数据的预约，即，与上述托盘收纳部811的数量相同且预先设定的最大预约数以下的上述配制数据的预约。另外，该预约的处理不限定于该装填准备处理的开始时执行，也可以在该装填准备处理结束时执行。Further, as the above-mentioned loading preparation start operation, thefirst control unit 400 can accept, for the above-mentioned preparation data, the end time or end time period of the above-mentioned commingling process, etc. to end the appointment at the scheduled time. In addition, in the case of reserving the above-mentioned end time period, as a time range in which the above-mentioned coinfusion process should end, for example, a reservation in units of one hour such as a period from time T1 to time T2 can be accepted. For example, thefirst control unit 400 can set reservations for the configuration data of the same number as thetray storage units 811 and less than or equal to a preset maximum reservation number. In addition, the reserved process is not limited to be executed at the start of the loading preparation process, and may be executed at the end of the loading preparation process.
上述第一控制部400在设定了上述结束预定时间时，根据上述配制数据自动地推算上述混注处理的所需时间，并将从上述结束预定时间减去上述所需时间后的时刻设定为上述混注处理的执行开始时刻。例如，上述所需时间根据被存储于上述数据存储部404的所需时间表信息而算出。在上述所需时间表中，按照上述混注处理的每一内容而预先设定有上述混注处理的各工序的所需时间等，作为用于根据上述混注处理的内容而算出上述所需时间的信息。When the predetermined end time is set, thefirst control unit 400 automatically estimates the time required for the mixed injection process based on the preparation data, and sets the time obtained by subtracting the required time from the predetermined end time as: The execution start time of the above-mentioned shuffling process. For example, the above-mentioned required time is calculated based on the required schedule information stored in the above-mentioneddata storage unit 404 . In the above-mentioned required timetable, the required time and the like of each step of the above-mentioned commingling process are preset for each content of the above-mentioned commingling process, as information for calculating the above-mentioned required time according to the content of the above-mentioned commingling process. .
另外，上述第一控制部400对于上述配制数据不限于受理上述结束预定时间的预约，也可以能够受理表示上述混注处理的开始时刻或开始时段等的开始预定时间的预约。另外，在预约上述开始时段的情况下，作为上述混注处理应该开始的时间范围，例如能够受理T1时～T2时的期间等之类的以一小时为单位的预约。例如，在针对上述配制数据设定了上述开始预定时间时，上述第一控制部400将上述开始预定时间设定为上述混注处理的执行开始时刻。进而，作为上述混注处理的开始至结束的时间范围，也可考虑例如能够受理T1时～T2时的期间等之类的以一小时为单位的执行时段的预约。在针对上述配制数据设定了上述执行时段时，上述第一控制部400设定上述混注处理的执行开始时刻，以使上述混注处理在上述执行时段内结束。另外，上述第一控制部400也可以能够仅预约针对一个上述配制数据的上述混注处理。另外，预约对象不限于上述混注处理的结束预定时间、开始预定时间、或执行时段，也可以能够预约上述混注处理中将从上述药品容器10提取的药液注入输液袋12的注入工序的结束预定时间、开始预定时间、执行时段。In addition, thefirst control unit 400 is not limited to accepting the reservation of the scheduled end time with respect to the preparation data, and may accept the reservation of the scheduled start time such as the start time or the start period of the coinjection process. In addition, in the case of reserving the above-mentioned start time period, as a time range in which the above-mentioned coinfusion process should be started, for example, a reservation in units of one hour such as a period from time T1 to time T2 can be accepted. For example, when the scheduled start time is set for the preparation data, thefirst control unit 400 sets the scheduled start time as the execution start time of the coinjection process. Furthermore, as the time range from the start to the end of the above-mentioned coinfusion process, it is conceivable to accept reservations for execution time periods in units of one hour, such as the period from time T1 to time T2, for example. When the execution time period is set for the preparation data, thefirst control unit 400 sets the execution start time of the coinfusion process so that the coinfusion process ends within the execution time period. Further, thefirst control unit 400 may be able to reserve the coinjection processing for only one piece of the preparation data. In addition, the reservation target is not limited to the scheduled end time, scheduled start time, or execution period of the coinfusion process, and it is possible to reserve the end schedule of the injection process in which the drug solution extracted from thedrug container 10 is injected into theinfusion bag 12 in the coinfusion process. time, start scheduled time, execution period.
＜步骤S2＞<Step S2>
在步骤S2中，上述第一控制部400执行将被选择作为处理对象的上述配制数据与上述托盘101的识别信息建立对应的处理。具体而言，上述第一控制部400利用上述作业台202上所设置的上述IC阅读器207，从被载置在上述作业台202上的上述托盘101的上述IC标签101b读取上述托盘101的识别信息。然后，上述第一控制部400将从上述IC标签101b读取的上述识别信息，作为与被选择为处理对象的上述配制数据对应的上述托盘101的识别信息而存储至上述数据存储部404。例如，上述配制数据与上述托盘101的识别信息之间的对应关系通过表信息而被管理。另外，上述第一控制部400将表示上述配制数据与上述托盘101的识别信息之间的对应关系的信息也发送给上述第二控制部500，并存储于上述数据存储部504。由此，上述第一控制部400和上述第二控制部500能够根据上述对应关系而识别上述配制数据与上述托盘101的识别信息之间的对应关系。In step S2 , thefirst control unit 400 executes a process of associating the preparation data selected as a processing target with the identification information of thetray 101 . Specifically, thefirst control unit 400 uses theIC reader 207 provided on the work table 202 to read theIC tag 101 b of thetray 101 placed on the work table 202 from theIC tag 101 b of thetray 101 . identifying information. Then, thefirst control unit 400 stores the identification information read from theIC tag 101b in thedata storage unit 404 as identification information of thetray 101 corresponding to the preparation data selected as the processing target. For example, the correspondence relationship between the above-mentioned preparation data and the above-mentioned identification information of thetray 101 is managed by table information. In addition, thefirst control unit 400 also transmits the information indicating the correspondence between the preparation data and the identification information of thetray 101 to thesecond control unit 500 and stores it in thedata storage unit 504 . Accordingly, thefirst control unit 400 and thesecond control unit 500 can recognize the correspondence relationship between the preparation data and the identification information of thetray 101 based on the correspondence relationship.
＜步骤S3＞<Step S3>
然后，在步骤S3～S8中，上述第一控制部400执行用于支援下述作业的处理，即，将基于上述配制数据的上述混注处理中所需的上述药品容器10、上述注射器11、上述输液袋12等安置于上述托盘101的作业。具体而言，首先，在步骤S3中，上述第一控制部400将用于对上述输液袋12上所贴附的GS1数据条码等识别信息的读取进行指示的消息和图像等，与包括上述配制数据中所含的上述输液袋12的种类等的信息一同显示于上述显示器203。然后，上述第一控制部400利用上述条形码阅读器204读取上述输液袋12的识别信息，当该识别信息与上述配制数据的对照结果一致时，使处理移至步骤S4。另外，在上述输液袋12的识别信息与上述配制数据的对照结果不一致时，上述第一控制部400例如使错误消息显示。Then, in steps S3 to S8, thefirst control unit 400 executes a process for supporting the operation of injecting themedicine container 10, thesyringe 11, the The operation of placing theinfusion bag 12 and the like on thetray 101 described above. Specifically, first, in step S3, thefirst control unit 400 transmits a message, an image, and the like for instructing the reading of identification information such as a GS1 data bar code attached to theinfusion bag 12 to include the above-mentioned Information such as the type of theinfusion bag 12 included in the preparation data is also displayed on thedisplay 203 . Then, thefirst control unit 400 reads the identification information of theinfusion bag 12 using thebarcode reader 204, and when the identification information matches the comparison result of the preparation data, the process proceeds to step S4. In addition, when the identification information of theinfusion bag 12 does not match the result of the comparison of the preparation data, thefirst control unit 400 displays an error message, for example.
＜步骤S4＞<Step S4>
在步骤S4中，上述第一控制部400将用于对上述托盘101中的上述输液袋12的配置进行引导的消息和图像等显示于上述显示器203。由此，用户能够容易地将上述输液袋12配置于上述托盘101内的规定位置。In step S4 , thefirst control unit 400 displays, on thedisplay 203 , a message, an image, and the like for guiding the arrangement of theinfusion bag 12 in thetray 101 . Thereby, the user can easily arrange theinfusion bag 12 at a predetermined position in thetray 101 .
＜步骤S5＞<Step S5>
在步骤S5中，上述第一控制部400将用于对上述药品容器10上所贴附的GS1数据条码等识别信息的读取进行指示的消息和图像等，与包括上述配制数据中所含的上述药品容器10的种类等的信息一同显示于上述显示器203。然后，上述第一控制部400利用上述条形码阅读器204读取上述药品容器10的识别信息，当该识别信息与上述配制数据的对照结果一致时，使处理移至步骤S6。另外，在上述药品容器10的识别信息与上述配制数据的对照结果不一致时，上述第一控制部400例如使错误消息显示。In step S5, thefirst control unit 400 includes a message, an image, and the like for instructing the reading of identification information such as a GS1 data bar code attached to thedrug container 10 with the information included in the preparation data. Information such as the type of themedicine container 10 is displayed on thedisplay 203 together. Then, thefirst control unit 400 reads the identification information of themedicine container 10 using thebarcode reader 204, and when the identification information matches the comparison result of the preparation data, the process proceeds to step S6. In addition, when the identification information of themedicine container 10 does not match the result of the comparison of the preparation data, thefirst control unit 400 displays an error message, for example.
＜步骤S6＞<Step S6>
在步骤S6中，上述第一控制部400将用于对上述托盘101中的上述药品容器10的配置进行引导的消息和图像等显示于上述显示器203。由此，用户能够容易地将上述药品容器10配置于上述托盘101内的规定位置。另外，在需要多个上述药品容器10时，重复执行上述步骤S5～S6。In step S6 , thefirst control unit 400 displays, on thedisplay 203 , a message, an image, and the like for guiding the arrangement of thedrug containers 10 in thetray 101 . Thereby, the user can easily arrange themedicine container 10 at a predetermined position in thetray 101 . In addition, when a plurality of the above-mentioneddrug containers 10 are required, the above-mentioned steps S5 to S6 are repeatedly executed.
＜步骤S7＞<Step S7>
在步骤S7中，上述第一控制部400将用于对上述托盘101中的上述注射器11的配置进行引导的消息和图像等显示于上述显示器203。由此，用户能够容易地将上述注射器11配置于上述托盘101内的规定位置。另外，在需要多个上述注射器11时，重复执行上述步骤S7。In step S7 , thefirst control unit 400 displays, on thedisplay 203 , a message, an image, and the like for guiding the arrangement of thesyringes 11 in thetray 101 . Thereby, the user can easily arrange thesyringe 11 at a predetermined position in thetray 101 . In addition, when a plurality of the above-mentionedsyringes 11 are required, the above-mentioned step S7 is repeatedly executed.
＜步骤S8＞<Step S8>
当基于上述配制数据的上述混注处理中所需的所有器材的引导结束时，在接下来的步骤S8中，上述第一控制部400显示针对上述配制数据的装填准备已完成这一内容，并且显示受理该内容的确认操作用的操作键等。When the guidance of all the equipment required for the above-mentioned mixing process based on the above-mentioned preparation data is completed, in the next step S8, the above-mentionedfirst control unit 400 displays that the preparation for the above-mentioned preparation data has been completed, and displays An operation key or the like for accepting the confirmation operation of the content is accepted.
＜步骤S9＞<Step S9>
在步骤S9中，上述第一控制部400对上述确认操作的有无进行判断，当进行了上述确认操作时(S9：是)，使处理移至步骤S10，在直至进行上述确认操作的期间(S9：否)，使处理在步骤S9待机。In step S9, thefirst control unit 400 judges the presence or absence of the above-mentioned confirmation operation, and when the above-mentioned confirmation operation is performed (S9: YES), the process proceeds to step S10 until the above-mentioned confirmation operation is performed ( S9: NO), the process is made to stand by in step S9.
＜步骤S10＞<Step S10>
在步骤S10中，上述第一控制部400使上述收纳单元700的上述活动遮板712打开。具体而言，上述第一控制部400对上述第二控制部500发送上述活动遮板712的打开指示。由此，上述第二控制部500控制上述收纳单元700而使上述活动遮板712打开。In step S10 , thefirst control unit 400 opens theshutter 712 of thestorage unit 700 . Specifically, thefirst control unit 400 transmits an instruction to open theshutter 712 to thesecond control unit 500 . Thereby, the said2nd control part 500 controls the saidstorage unit 700, and the saidshutter 712 is opened.
另外，上述第二控制部500在打开上述活动遮板712之前，控制上述移动框体810的位置，以使未使用的上述托盘收纳部811配置在上述第一移动位置。例如，可考虑上述第二控制部500在上述收纳单元700待机时(未动作时)控制上述收纳单元700，以使未使用的上述托盘收纳部811配置在上述第一移动位置。另外，上述第二控制部500也可以在上述步骤S10中接收到上述打开指示后，使上述移动框体810移动而使未使用的上述托盘收纳部811配置在上述第一移动位置。另外，可考虑：在存在多个未使用的上述托盘收纳部811时，上述第二控制部500选择该多个上述托盘收纳部811中向上述第一移动位置的移动所需的上述移动框体810的移动量最少的上述托盘收纳部811，并使其向上述第一移动位置移动。In addition, before opening theshutter 712, thesecond control unit 500 controls the position of the movingframe 810 so that the unusedtray storage unit 811 is arranged at the first moving position. For example, it is conceivable that thesecond control unit 500 controls thestorage unit 700 so that the unusedtray storage unit 811 is arranged at the first movement position when thestorage unit 700 is in standby (not operating). In addition, thesecond control unit 500 may move the movingframe 810 after receiving the opening instruction in the step S10 to arrange the unusedtray storage unit 811 at the first moving position. In addition, when there are a plurality of unusedtray storage units 811, thesecond control unit 500 may select the moving frame required for the movement to the first movement position among the plurality oftray storage units 811. Thetray housing portion 811 having the smallest amount of movement of the 810 is moved to the first movement position.
例如，上述数据存储部504中存储有表示各上述托盘收纳部811是否处于使用中的收纳表信息。在上述收纳表信息中，与各上述托盘收纳部811建立对应而存储有各上述托盘收纳部811中所收纳的上述托盘101的识别信息，未存储有对应的上述托盘101的识别信息的上述托盘101是未使用的。而且，上述第二控制部500在向上述托盘收纳部811装填上述托盘101时和从上述托盘收纳部811排出上述托盘101时，将上述收纳表信息进行更新。For example, thedata storage unit 504 stores storage table information indicating whether each of thetray storage units 811 is in use. In the storage table information, the identification information of thetrays 101 stored in thetray storage sections 811 is stored in association with thetray storage sections 811 , and the trays without identification information of thetrays 101 corresponding to thetray storage sections 811 are stored. 101 is unused. Then, thesecond control unit 500 updates the storage table information when thetrays 101 are loaded into thetray storage section 811 and when thetrays 101 are discharged from thetray storage section 811 .
＜步骤S11＞<Step S11>
然后，在步骤S11中，上述第二控制部500在上述收纳单元700的上述托盘收纳部811收纳上述托盘101时，执行将上述托盘101的识别信息与上述托盘收纳部811建立对应的处理。具体而言，上述第二控制部500根据上述托盘101的识别信息与上述托盘收纳部811的对应关系，将上述数据存储部504中所存储的上述收纳表信息进行更新。由此，上述第二控制部500能够根据上述收纳表信息而识别上述托盘101各自的收纳目的地的上述托盘收纳部811。另外，对于上述托盘101是否被收纳在上述托盘收纳部811中，通过上述托盘收纳部811中所设置的未图示的光学传感器等进行检测。Then, in step S11 , thesecond control unit 500 executes a process of associating the identification information of thetray 101 with thetray storage unit 811 when thetray storage unit 811 of thestorage unit 700 stores thetray 101 . Specifically, thesecond control unit 500 updates the storage table information stored in thedata storage unit 504 based on the correspondence between the identification information of thetray 101 and thetray storage unit 811 . Thereby, the said2nd control part 500 can identify the saidtray storage part 811 of the storage destination of each saidtray 101 based on the said storage table information. In addition, whether the saidtray 101 is accommodated in the saidtray accommodating part 811 is detected by the optical sensor etc. which are provided in the saidtray accommodating part 811 which are not shown in figure.
＜步骤S12＞<Step S12>
接着，在步骤S12中，上述第二控制部500对上述收纳单元700进行控制，执行确认上述托盘收纳部811所收纳的上述托盘101与上述配制数据的对应关系的确认动作。由此，防止了错误的上述托盘101被收纳于上述托盘收纳部811。Next, in step S12 , thesecond control unit 500 controls thestorage unit 700 to execute a confirmation operation for confirming the correspondence between thetrays 101 stored in thetray storage unit 811 and the preparation data. Thereby, theerroneous tray 101 is prevented from being accommodated in thetray accommodating portion 811 .
具体而言，上述第二控制部500向下方移动上述移动框体810，以使在上述步骤S11中被判断为收纳有上述托盘101的上述托盘收纳部811配置在上述第二移动位置。然后，上述第二控制部500将收纳在上述托盘收纳部811中的上述托盘101排出至上述托盘输送部900的上述第一输送部910，并利用上述第一输送部910上所设置的上述IC阅读器930从上述托盘101的标签101b读取上述托盘101的识别信息。然后，上述第二控制部500将利用上述IC阅读器930读取的上述托盘101的识别信息与从上述第一控制部400接收的上述配制数据所对应的上述托盘101的识别信息进行对照。在此，当对照结果为一致时，上述第二控制部500将上述托盘101返回至上述托盘收纳部811，结束一系列的该装填准备处理并使处理返回至上述步骤S1。另外，当对照结果为不一致时，上述第二控制部500经由上述第一控制部400使上述显示器203等通知错误，并将上述托盘101朝向上述托盘排出口206排出。由此，用户能够将上述托盘101从上述托盘排出口206取出。Specifically, thesecond control unit 500 moves the movingframe 810 downward so that thetray storage section 811 determined to accommodate thetray 101 in the step S11 is arranged at the second movement position. Then, thesecond control unit 500 discharges thetray 101 accommodated in thetray storage unit 811 to thefirst conveyance unit 910 of thetray conveyance unit 900 , and utilizes the IC provided on thefirst conveyance unit 910 Thereader 930 reads the identification information of thetray 101 from thelabel 101 b of thetray 101 . Then, thesecond control unit 500 compares the identification information of thetray 101 read by theIC reader 930 with the identification information of thetray 101 corresponding to the preparation data received from thefirst control unit 400 . Here, when the matching result is the same, thesecond control unit 500 returns thetray 101 to thetray storage unit 811, ends the series of the loading preparation processing, and returns the processing to the above-mentioned step S1. In addition, when the comparison result is inconsistent, thesecond control unit 500 causes thedisplay 203 and the like to notify an error via thefirst control unit 400 , and discharges thetray 101 toward thetray discharge port 206 . Thereby, the user can take out thetray 101 from thetray discharge port 206 .
【混注控制处理】【Mixed injection control processing】
接着，参照图23对上述混注控制处理的一例进行说明。Next, an example of the coinfusion control process described above will be described with reference to FIG. 23 .
＜步骤S21＞<Step S21>
在步骤S21中，上述第二控制部500对上述混注处理的执行开始时刻是否已到来进行判断。具体而言，上述第二控制部500在从上述第一控制部400接收到执行开始要求时判断为上述混注处理的执行开始时刻已到来。而且，当判断为上述执行开始时刻已到来时(S21：是)，处理移至步骤S211，当上述执行开始时刻未到来时(S21：否)，处理移至步骤S22。In step S21, thesecond control unit 500 judges whether or not the execution start time of the shuffling process has come. Specifically, when thesecond control unit 500 receives the execution start request from thefirst control unit 400, it is determined that the execution start time of the coinfusion process has come. Then, when it is determined that the execution start time has come ( S21 : YES), the process proceeds to step S211 , and when the execution start time has not yet arrived ( S21 : NO), the process proceeds to step S22 .
例如，上述第一控制部400在用户使用上述操作部405进行了上述配制数据的选择操作和基于上述配制数据的上述混注处理的即刻开始操作时，将针对上述配制数据的上述混注处理的执行开始要求发送至上述第二控制部500。另外，上述第一控制部400在预约了基于上述配制数据的上述混注处理的执行开始时刻的情况下，当上述执行开始时刻已到来时，将针对上述配制数据的上述混注处理的执行开始要求发送至上述第二控制部500。For example, thefirst control unit 400 starts the execution of the coinfusion process with respect to the configuration data when the user performs the selection operation of the configuration data and the immediate start operation of the coinjection process based on the configuration data using theoperation unit 405 . The request is sent to thesecond control unit 500 described above. Further, when thefirst control unit 400 has reserved the execution start time of the coinfusion process based on the preparation data, when the execution start time has come, thefirst control unit 400 transmits a request to start the execution of the coinfusion process with respect to the preparation data. to the above-mentionedsecond control unit 500 .
另外，上述执行开始要求例如包括基于上述配制数据的上述混注处理的执行步骤等。另外，也可考虑基于上述配制数据的上述混注处理的执行步骤预先被从上述第一控制部400发送至上述第二控制部500并被存储于上述数据存储部504中，上述执行开始要求包括上述配制数据的识别信息。In addition, the above-mentioned execution start request includes, for example, an execution procedure of the above-mentioned coinfusion process based on the above-mentioned preparation data, and the like. In addition, it is also considered that the execution procedure of the coinfusion process based on the preparation data is transmitted from thefirst control unit 400 to thesecond control unit 500 in advance and stored in thedata storage unit 504, and the execution start request includes the above The identification information of the configuration data.
＜步骤S22＞<Step S22>
在步骤S22中，上述第二控制部500对通过上述第一控制部400预约的上述配制数据中是否存在成为预先执行上述搅拌工序的事先搅拌处理的对象的配制数据这一情况进行判断。具体而言，在上述药品标准中，与每个上述药品建立对应而存储有表示是否是上述事先搅拌处理的对象的事先搅拌对象标志。而且，在通过上述事先搅拌对象标志而被设定作为上述事先搅拌处理的对象的药品包含于上述配制数据中时，上述第二控制部500判断为该配制数据是上述事先搅拌处理的对象。另外，上述第二控制部500也可以根据在上述搅拌工序中被搅拌的上述药品容器10内的药品与上述输液袋12内的输液的组合，判断是否是上述事先搅拌处理的对象。另外，也可考虑：在事先进行了用于将任意的上述配制数据选择作为上述事先搅拌处理的对象的用户操作时，上述第二控制部500判断为该被选择的上述配制数据是上述事先搅拌处理的对象。而且，当判断为存在上述事先搅拌处理的对象时(S22：是)，处理移至步骤S23，当判断为不存在上述事先搅拌处理的对象时(S22：否)，处理返回至上述步骤S21。In step S22 , thesecond control unit 500 judges whether or not there is any preparation data to be subjected to the pre-stirring processing of the stirring process in the preparation data reserved by thefirst control unit 400 . Specifically, in the above-mentioned drug standard, a pre-stirring target flag indicating whether or not the pre-stirring process is targeted is stored in association with each of the above-mentioned drugs. Then, when the medicine set as the object of the pre-stirring process by the pre-stirring object flag is included in the preparation data, thesecond control unit 500 determines that the preparation data is the object of the pre-stirring process. Further, thesecond control unit 500 may determine whether or not it is the subject of the pre-stirring process based on the combination of the drug in thedrug container 10 and the infusion solution in theinfusion bag 12 stirred in the stirring step. In addition, when a user operation for selecting any of the above-mentioned preparation data as the object of the above-mentioned pre-stirring process is performed in advance, thesecond control unit 500 may determine that the selected above-mentioned preparation data is the above-mentioned pre-stirring process. object to be processed. Then, when it is determined that there is an object of the above-mentioned pre-stirring process (S22: YES), the process proceeds to step S23, and when it is determined that there is no object of the above-mentioned pre-stirring process (S22: NO), the process returns to the above-mentioned step S21.
＜步骤S23＞<Step S23>
在步骤S23中，上述第二控制部500判断能否执行上述事先搅拌处理。例如可考虑：上述第二控制部500对上述混注处理是否处于执行中进行判断，在未执行上述混注处理时判断为能够执行上述事先搅拌处理。进而，也可考虑：上述第二控制部500在预先设定的夜间或深夜等特定的时段判断为能够执行上述事先搅拌处理。另外，上述事先搅拌处理能否执行的判断指标并不限于此处所说明的情况。而且，当判断为能够执行上述事先搅拌处理时(S23：是)，处理移至步骤S24，当判断为不能执行上述事先搅拌处理时(S23：否)，处理返回至上述步骤S21。另外，上述第二控制部500也可以在进行了用于选择上述配制数据并使上述事先搅拌处理开始的用户操作时，执行针对上述配制数据的上述事先搅拌处理。In step S23, the above-mentionedsecond control unit 500 determines whether or not the above-mentioned pre-stirring process can be executed. For example, it is considered that thesecond control unit 500 judges whether or not the coinfusion process is being executed, and when the coinfusion process is not executed, it is possible to judge that the pre-stirring process can be executed. Furthermore, it is also conceivable that thesecond control unit 500 determines that the above-mentioned pre-stirring process can be executed at a predetermined time period such as nighttime or late night. In addition, the judgment index of whether the above-mentioned pre-stirring process can be performed is not limited to the case described here. When it is determined that the above-mentioned pre-stirring process can be executed ( S23 : YES), the process proceeds to step S24 , and when it is determined that the above-described pre-stirring process cannot be executed ( S23 : NO), the process returns to the above-described step S21 . Thesecond control unit 500 may execute the pre-mixing process for the pre-mixing data when a user operation for selecting the pre-mixing data and starting the pre-mixing process is performed.
另外，也可考虑：在上述步骤S23中，上述第二控制部500以下述情况为条件判断为执行上述事先搅拌处理，即，上述药品标准中与上述药品容器10的药品建立了对应的上述搅拌工序的所需时间为预先规定的下限所需时间以上这一情况。即，在上述搅拌工序的所需时间小于上述下限所需时间时，被排除在上述事先搅拌处理的对象之外。由此，仅在上述搅拌工序需要长时间时执行上述事先搅拌处理，从而抑制了上述事先搅拌处理不必要地执行的情况。另外，对于上述下限所需时间，上述第二控制部500能够根据用户操作而任意地设定。另外，也可考虑上述第二控制部500以下述情况为条件判断为执行上述事先搅拌处理，即，上述药品标准中与上述药品容器10的药品建立了对应的上述搅拌工序的所需时间小于预先规定的上限所需时间这一情况。即，可考虑在上述搅拌工序的所需时间为上述上限所需时间以上时被排除在上述事先搅拌处理的对象之外。该情况下，仅在上述搅拌工序不需要长时间时执行上述事先搅拌处理，从而抑制了由于上述事先搅拌处理而基于其他的上述配制数据的上述混注处理等延迟的情况等。另外，对于上述上限所需时间，上述第二控制部500能够根据用户操作而任意地设定。In addition, in the above-mentioned step S23, thesecond control unit 500 may determine to execute the above-mentioned pre-stirring process on the condition that the above-mentioned stirring corresponding to the medicine in the above-mentionedmedicine container 10 is established in the above-mentioned medicine standard. The time required for the process is more than or equal to the predetermined minimum required time. That is, when the required time of the said stirring process is less than the said minimum required time, it is excluded from the object of the said pre-stirring process. Thereby, the above-mentioned pre-stirring process is performed only when the above-mentioned stirring process requires a long time, thereby preventing the above-mentioned pre-stirring process from being performed unnecessarily. In addition, the time required for the lower limit can be arbitrarily set by thesecond control unit 500 according to a user operation. In addition, it is also possible that thesecond control unit 500 determines to execute the above-mentioned pre-stirring process on the condition that the time required for the above-mentioned stirring process corresponding to the medicine in the above-mentionedmedicine container 10 in the above-mentioned medicine standard is shorter than that in advance. the time required for the specified upper limit. That is, when the required time of the said stirring process is more than the said upper limit required time, it can be considered that it is excluded from the object of the said pre-stirring process. In this case, the above-mentioned pre-stirring processing is performed only when the above-mentioned stirring process does not require a long time, thereby suppressing the delay of the above-mentioned mixing processing and the like based on the other above-mentioned preparation data due to the above-mentioned pre-stirring processing. In addition, the time required for the upper limit can be arbitrarily set by thesecond control unit 500 according to a user operation.
＜步骤S24＞<Step S24>
在步骤S24中，上述第二控制部500控制上述混注处理部300和上述收纳单元700而执行上述事先搅拌处理。另外，在预约有多个成为上述事先搅拌处理的对象的上述配制数据时，在上述步骤S21～S24中，依次选择成为处理对象的上述配制数据并执行上述事先搅拌处理。In step S24, the said2nd control part 500 controls the saidcoinfusion processing part 300 and the saidstorage unit 700, and performs the said pre-stirring process. In addition, when a plurality of the above-mentioned preparation data to be the object of the above-mentioned pre-stirring processing are reserved, in the above-mentioned steps S21 to S24, the above-mentioned preparation data to be the processing object are sequentially selected and the above-mentioned pre-stirring processing is executed.
另外，被选择作为上述事先搅拌处理的处理对象的上述配制数据的顺序，不限于基于与上述配制数据对应而预先设定的上述结束预定时间或上述执行开始时刻等时间要素的顺序。例如，上述配制数据按照来自上述主系统6的接收顺序而被选择、或者上述配制数据被随机选择，也可考虑作为其他的实施方式。另外，可考虑优先选择含有预先设定的上述搅拌工序的所需时间长的药品的上述配制数据、或者以使用相同的药品或输液的上述配制数据连续的方式决定上述配制数据的顺序。进而，也可考虑上述药品标准中存储有表示上述搅拌工序执行后的凝固难易度的指标值，根据上述指标值从难以凝固的药品开始依次选择上述配制数据。The order of the preparation data selected as the processing target of the pre-stirring process is not limited to the order based on time elements such as the scheduled end time or the execution start time preset in correspondence with the preparation data. For example, the above-mentioned preparation data is selected in the order of reception from the above-mentionedhost system 6, or the above-mentioned preparation data is randomly selected, and other embodiments are also conceivable. The order of the preparation data may be determined in such a way that the preparation data including the medicines that require a long time for the stirring step previously set are preferentially selected, or the preparation data using the same medicine or infusion solution are consecutively selected. Furthermore, it may be considered that an index value indicating the degree of coagulation difficulty after execution of the stirring step is stored in the drug standard, and the preparation data may be selected in order from the drug that is difficult to coagulate based on the index value.
在此，对上述事先搅拌处理的具体处理例进行说明。Here, a specific processing example of the above-mentioned pre-stirring processing will be described.
首先，上述第二控制部500控制上述收纳单元700，并将与被选择作为处理对象的上述配制数据建立了对应的上述托盘101从上述收纳单元700的上述托盘收纳部811自动地输送至上述混注处理部300的上述托盘输送部110。另外，上述第二控制部500根据上述收纳表信息，对收纳有与上述配制数据对应的上述托盘101的上述托盘收纳部811进行确定。First, thesecond control unit 500 controls thestorage unit 700, and automatically transfers thetray 101 associated with the preparation data selected as the processing target from thetray storage unit 811 of thestorage unit 700 to the coinjection The above-mentionedtray conveying unit 110 of theprocessing unit 300 . Moreover, the said2nd control part 500 specifies the saidtray storage part 811 which accommodates the saidtray 101 corresponding to the said preparation data based on the said storage table information.
然后，上述第二控制部500控制上述第一机械臂21，将上述托盘101上所载置的上述药品容器10安置于上述搅拌装置32，并执行利用上述搅拌装置32搅拌上述药品容器10内的药品的上述搅拌工序。Then, thesecond control unit 500 controls thefirst robot arm 21 to set themedicine container 10 placed on thetray 101 on the stirringdevice 32 and execute the stirringdevice 32 to stir themedicine container 10 inside. The above-mentioned stirring process of the medicine.
具体而言，当上述托盘101被供给上述托盘输送部110时，上述第二控制部500利用上述IC阅读器101c从上述托盘101的上述IC标签101b读取上述托盘101的识别信息。而且，在上述托盘101的识别信息与该混注处理的上述配制数据所预先建立了对应的识别信息一致时，上述第二控制部500将上述活动遮板111打开。然后，上述第二控制部500利用上述托盘输送部110的上述托盘升降部112使上述托盘101的上述器材载置部102上升，并露出于上述混注处理室104内。Specifically, when thetray 101 is supplied to thetray conveying unit 110, thesecond control unit 500 reads the identification information of thetray 101 from theIC tag 101b of thetray 101 using theIC reader 101c. Then, when the identification information of thetray 101 matches the identification information correspondingly established in advance in the preparation data of the mixing process, thesecond control unit 500 opens themovable shutter 111 . Then, thesecond control unit 500 lifts thedevice mounting part 102 of thetray 101 by using thetray lifting part 112 of thetray conveying part 110 and exposes it to thecoinjection processing chamber 104 .
接着，上述第二控制部500利用上述托盘确认照相机41对上述器材载置部102进行拍摄。然后，上述第二控制部500通过基于上述托盘确认照相机41所拍摄的拍摄图像的图像识别处理，掌握上述器材载置部102上所载置的上述药品容器10和上述注射器11等器材的位置和方向。尤其是，上述第二控制部500在每次从上述器材载置部102取出上述药品容器10或上述注射器11时，利用上述托盘确认照相机41对上述器材载置部102进行拍摄，并根据该拍摄图像掌握最新的上述药品容器10和上述注射器11的位置和方向。Next, thesecond control unit 500 uses thetray confirmation camera 41 to take an image of theequipment placement unit 102 . Then, thesecond control unit 500 grasps the position and the position of the equipment such as themedicine container 10 and thesyringe 11 placed on theequipment placing unit 102 through image recognition processing based on the image captured by thetray checking camera 41 . direction. In particular, thesecond control unit 500 captures an image of thedevice placement unit 102 with thetray confirmation camera 41 every time thedrug container 10 or thesyringe 11 is taken out from thedevice placement unit 102, and based on the image The image grasps the latest positions and orientations of the above-mentioneddrug container 10 and the above-mentionedsyringe 11 .
接着，上述第二控制部500利用上述第一机械臂21，将被载置在露出于上述混注处理室104内的上述器材载置部102上的上述注射器11临时放置于上述载置架33上。另外，上述第二控制部500利用上述第一机械臂21，将被载置在上述器材载置部102上的上述药品容器10安置于上述药品读取部34。然后，上述第二控制部500利用上述药品读取部34读取上述药品容器10中所收纳的药品的种类等信息。Next, thesecond control unit 500 temporarily places thesyringe 11 placed on theequipment placement unit 102 exposed in thecoinfusion processing chamber 104 on theplacement rack 33 by using thefirst robot arm 21 . . In addition, thesecond control unit 500 uses thefirst robot arm 21 to set themedicine container 10 placed on thedevice placing unit 102 on themedicine reading unit 34 . Then, thesecond control unit 500 uses themedicine reading unit 34 to read information such as the type of medicine stored in themedicine container 10 .
接着，上述第二控制部500当取出上述器材载置部102上的所有器材时，利用上述托盘输送部110的上述托盘升降部112使上述器材载置部102下降并返回至上述托盘101。另外，上述第二控制部500通过基于上述托盘确认照相机41所拍摄的拍摄图像的图像识别处理，对上述器材载置部102上的器材是否已全部被取出这一情况进行确认。Next, when thesecond control unit 500 takes out all the equipments on theequipment mounting part 102 , theequipment mounting part 102 is lowered and returned to thetray 101 by thetray lifting part 112 of thetray conveying part 110 . In addition, thesecond control unit 500 confirms whether or not all the equipment on theequipment placement unit 102 has been taken out through image recognition processing based on the image captured by thetray confirmation camera 41 .
然后，上述第二控制部500将上述活动遮板111关闭，并利用上述托盘输送部110将上述托盘101输送至上述托盘输送终端部110a。接着，上述第二控制部500利用上述托盘输送部110的上述袋升降部113，使被上述托盘101的上述输液袋保持部103保持的上述输液袋12的混注口位于形成在上述混注处理室104中的混注连通口37处。Then, thesecond control unit 500 closes theshutter 111 , and uses thetray conveyance unit 110 to convey thetray 101 to the trayconveyance terminal unit 110a. Next, thesecond control unit 500 uses thebag lifter 113 of thetray conveying unit 110 to position the coinfusion port of theinfusion bag 12 held by the infusionbag holding unit 103 of thetray 101 in thecoinfusion processing chamber 104 . Thecoinjection communication port 37 in .
然后，上述第二控制部500利用上述第二机械臂22，使被安置于上述药品读取部34的上述药品容器10移动至上述载置架33。另外，在该移动处理的同时，上述第二控制部500利用上述第一机械臂21，将被载置在上述器材载置部102上的上述注射器11的上述注射针11c安置于上述注射针装卸装置43。Then, thesecond control unit 500 uses thesecond robot arm 22 to move themedicine container 10 placed on themedicine reading unit 34 to the mountingrack 33 . In addition, at the same time as this moving process, thesecond control unit 500 uses thefirst robot arm 21 to set theinjection needle 11c of thesyringe 11 placed on theequipment placement unit 102 to the injection needle attachment anddetachment device 43.
接着，上述第二控制部500利用上述第一机械臂21从上述载置架33取出上述注射器11，并将其安置于上述第二机械臂22。接着，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述注射针装卸装置43，并将上述注射针11c安装到上述注射器11上。然后，上述第二控制部500利用上述第二机械臂22使上述注射器11移动至上述针弯曲检测部36，检测上述注射针11c有无弯曲。Next, thesecond control unit 500 takes out thesyringe 11 from the mountingrack 33 by using thefirst robot arm 21 , and places it on thesecond robot arm 22 . Next, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the injection needle attaching and detachingdevice 43 , and attaches theinjection needle 11 c to thesyringe 11 . Then, thesecond control unit 500 uses thesecond robot arm 22 to move thesyringe 11 to the needle bendingdetection unit 36 to detect whether or not theinjection needle 11c is bent.
接着，上述第二控制部500利用上述第二机械臂22，将上述注射器11的上述注射针11c穿刺于被输送至上述托盘输送终端部110a的上述输液袋12的混注口的橡胶塞上，从而从上述输液袋12中抽吸上述配制数据所示的溶解量的输液。另外，上述第二控制部500利用上述第一机械臂21将被载置在上述载置架33上的上述药品容器10取出。Next, thesecond control unit 500 uses thesecond robot arm 22 to puncture theinjection needle 11c of thesyringe 11 into the rubber stopper of the coinfusion port of theinfusion bag 12 conveyed to the tray conveyingterminal unit 110a, thereby From theinfusion bag 12, the infusion solution of the dissolved amount shown in the above-mentioned preparation data is aspirated. In addition, thesecond control unit 500 uses thefirst robot arm 21 to take out themedicine container 10 placed on the mountingrack 33 .
然后，上述第二控制部500利用上述第一机械臂21和上述第二机械臂22，使上述药品容器10与上述注射器11相互接近，并将上述注射器11的上述注射针11c穿刺于上述药品容器10。然后，上述第二控制部500利用上述第二机械臂22操作上述柱塞11b，由此，将上述注射器11内的上述输液注入上述药品容器10内。Then, thesecond control unit 500 uses thefirst robot arm 21 and thesecond robot arm 22 to bring themedicine container 10 and thesyringe 11 close to each other, and puncture theinjection needle 11c of thesyringe 11 into themedicine container 10. Then, thesecond control unit 500 operates theplunger 11 b with thesecond robot arm 22 , thereby injecting the infusion solution in thesyringe 11 into themedicine container 10 .
另外，也可以在上述混注处理室104内收纳有收纳了上述事先搅拌处理中所使用的输液的专用容器，并且，在上述事先搅拌处理中，上述专用容器内的输液被注入上述药品容器10。另外，也可考虑在上述托盘101上预先安置收纳有上述事先搅拌处理中所使用的输液等的塑料安瓿，在上述事先搅拌处理中使用上述塑料安瓿内的输液。In addition, a dedicated container for accommodating the infusion solution used in the pre-stirring process may be housed in thecoinfusion processing chamber 104 , and the infusion solution in the dedicated container may be injected into thedrug container 10 in the pre-stirring process. In addition, it is also conceivable to preliminarily place plastic ampoules in which the infusion solution or the like used in the above-mentioned pre-stirring process is placed on thetray 101, and the infusion solution in the plastic ampule may be used in the above-mentioned pre-stirring process.
接着，上述第二控制部500利用上述第一机械臂21将注入有上述输液的上述药品容器10安置于上述搅拌装置32。由此，在上述搅拌装置32中，执行将上述药品容器10内的药品和输液进行搅拌的搅拌工序。当由上述搅拌装置32实施的搅拌工序结束时，上述第二控制部500利用上述第一机械臂21将上述药品容器10从上述搅拌装置32中取出。Next, thesecond control unit 500 uses thefirst robot arm 21 to set themedicine container 10 into which the infusion solution is injected into the stirringdevice 32 . Thereby, in the saidstirring apparatus 32, the stirring process of stirring the medicine and the infusion solution in the saidmedicine container 10 is performed. When the stirring process performed by the stirringdevice 32 is completed, thesecond control unit 500 takes out themedicine container 10 from the stirringdevice 32 using thefirst robot arm 21 .
然后，上述第二控制部500控制上述第一机械臂21，使上述药品容器10移动至上述混注处理部300内的上述载置架33并载置于其上，并且，将上述药品容器10在上述载置架33上的位置与上述配制数据的识别信息建立对应而存储至上述数据存储部504。另外，上述载置架33是能够载置多个上述药品容器10的第一载置部的一例，执行用于使执行了上述搅拌工序后的上述药品容器10载置于上述载置架33的处理时的上述第二控制部500，是第一载置处理部的一例。另外，上述第二控制部500控制上述第一机械臂21和上述第二机械臂22，使上述注射器11移动至上述混注处理部300内的上述载置架33并载置于其上，并且，将上述注射器11在上述载置架33上的位置与上述配制数据的识别信息建立对应而存储至上述数据存储部504。由此，上述第二控制部500能够对基于上述配制数据的上述混注处理中所使用的上述药品容器10和上述注射器11的位置进行确定。另外，上述事先搅拌处理中所使用的上述注射器11，也可以是作为上述事先搅拌处理中使用的专用注射器而按照上述输液的类别预先设置在上述载置架33上。Then, thesecond control unit 500 controls thefirst robot arm 21 to move themedicine container 10 to the mountingrack 33 in thecoinfusion processing unit 300 and place it thereon, and place themedicine container 10 on therack 33 . The position on therack 33 is stored in thedata storage unit 504 in association with the identification information of the preparation data. The above-mentionedmounting rack 33 is an example of a first mounting portion capable of mounting a plurality of the above-mentioneddrug containers 10, and executes a process for placing the above-mentioneddrug containers 10 after the above-mentioned stirring process on the above-mentionedmounting rack 33. The above-describedsecond control unit 500 during processing is an example of a first placement processing unit. In addition, thesecond control unit 500 controls thefirst robot arm 21 and thesecond robot arm 22 to move thesyringe 11 to the mountingrack 33 in thecoinfusion processing unit 300 and mount it thereon, and, The position of thesyringe 11 on the mountingrack 33 is associated with the identification information of the preparation data and stored in thedata storage unit 504 . Accordingly, thesecond control unit 500 can specify the positions of thedrug container 10 and thesyringe 11 used in the coinfusion process based on the preparation data. In addition, thesyringe 11 used in the above-mentioned pre-stirring process may be set in advance on the above-mentionedrack 33 according to the type of the infusion solution as a dedicated syringe used in the above-mentioned pre-stirring process.
另外，上述第二控制部500控制上述托盘输送部110，使上述输液袋12返回至上述托盘101，并使上述托盘101从上述托盘输送终端部110a移动至上述托盘输送开始部110b。然后，上述第二控制部500对上述托盘输送部110的上述托盘输送开始部110b上所设置的上述传送带(未图示)进行控制，并经由上述托盘装填口114向上述收纳单元700侧供给上述托盘101。然后，上述第二控制部500控制上述收纳单元700，使上述托盘101收纳于上述托盘收纳部811。此时使用的上述托盘收纳部811是上述收纳表信息中与上述托盘101的识别信息建立了对应的托盘收纳部。另外，该情况下，上述第二控制部500也使用上述IC阅读器101c和上述IC阅读器930对上述托盘101的识别信息与上述配制数据的对应关系进行对照。如此，在上述事先搅拌处理中，上述托盘101从上述收纳单元700向上述混注处理部300侧移动，上述托盘101没有被搬入上述混注处理室104内而是被返回上述收纳单元700。因此，防止了上述事先搅拌处理中上述托盘101的污染，并防止了载置从上述混注处理部300返回的上述托盘101的上述托盘收纳部811的污染。In addition, thesecond control unit 500 controls thetray conveyance unit 110 to return theinfusion bag 12 to thetray 101 and move thetray 101 from the trayconveyance terminal unit 110a to the trayconveyance start unit 110b. Then, thesecond control unit 500 controls the conveyor (not shown) provided on the tray conveyance startpart 110b of thetray conveyance unit 110, and supplies the above-mentioned conveyance to thestorage unit 700 via thetray loading port 114.Tray 101 . Then, thesecond control unit 500 controls thestorage unit 700 to store thetray 101 in thetray storage unit 811 . Thetray storage portion 811 used at this time is a tray storage portion associated with the identification information of thetray 101 in the storage table information. Also in this case, thesecond control unit 500 uses theIC reader 101c and theIC reader 930 to compare the correspondence between the identification information of thetray 101 and the preparation data. In this way, in the above-mentioned pre-stirring process, thetray 101 is moved from thestorage unit 700 to thecoinjection processing unit 300 side, and thetray 101 is not carried into thecoinfusion processing chamber 104 but returned to thestorage unit 700 . Therefore, contamination of thetray 101 in the above-mentioned pre-stirring process is prevented, and contamination of thetray housing portion 811 on which thetray 101 returned from thecoinfusion processing unit 300 is placed is prevented.
在上述混注装置1中，上述事先搅拌处理中所使用的专用的上述注射器11和上述塑料安瓿等能够载置在上述载置架33上，也可以使用该专用的上述注射器11和上述塑料安瓿等执行上述事先搅拌处理。例如，在上述混注装置1中，在进行了上述事先搅拌处理中所使用的专用的上述注射器11或上述塑料安瓿等的补充要求操作、并且向上述混注处理部300装填了载置有上述事先搅拌处理中所使用的专用的上述注射器11或上述塑料安瓿等的托盘时，上述第二控制部500控制上述第二机械臂22，将上述注射器11或上述塑料安瓿安置于上述载置架33。另外，上述事先搅拌处理中所使用的专用的上述注射器11或上述塑料安瓿，也可以由用户载置于上述载置架33的预先规定的位置。In themixing device 1, thededicated syringe 11, the plastic ampoules, and the like used in the pre-stirring process can be placed on the mountingrack 33, and thededicated syringe 11, the plastic ampoules, and the like may also be used. The above-mentioned pre-stirring process is performed. For example, in thecoinjection device 1 described above, a supplementary request operation such as thededicated syringe 11 or the plastic ampule used in the aforementioned pre-stirring process is performed, and thecoinjection processing unit 300 is loaded with the aforementioned pre-stirring process. When handling a tray such as thededicated syringe 11 or the plastic ampule used for processing, thesecond control unit 500 controls thesecond robot arm 22 to set thesyringe 11 or the plastic ampule on the mountingrack 33 . In addition, thededicated syringe 11 or the plastic ampule used in the above-mentioned pre-stirring process may be placed on a predetermined position of the above-mentionedmounting rack 33 by a user.
另外，可考虑在目前预约中的上述配制数据中存在多个如下的上述配制数据、即上述事先搅拌处理中被搅拌的药品与溶解液的组合及浓度等共通的上述配制数据时，仅对比该配制数据的合计数少的数量的上述配制数据执行上述事先搅拌处理。由此，对于与多个上述配制数据的任意一个对应的上述混注处理，能够使用上述事先搅拌处理后的上述药品容器10。具体而言，可考虑上述第二控制部500将与一个上述配制数据对应的上述药品容器10作为其他的上述配制数据中使用的药品容器10而执行再分配。由此，基于上述配制数据的任意一个的上述混注处理被取消时的上述药品容器10的浪费，相较于对所有的上述配制数据执行上述事先搅拌处理的情况得到了抑制。另外，可考虑上述第二控制部500在上述药品容器10与上述配制数据的再分配时需要预先设定的由用户实施的确认操作。例如，上述第二控制部500在基于上述配制数据的上述混注处理开始时，在上述配制数据所含的药品与输液的组合及浓度共通的上述药品容器10已被载置于上述载置部33的情况下，显示用于选择在基于上述配制数据的上述混注处理中是否使用上述药品容器10的操作画面。然后，在对上述操作画面进行了表示使用上述药品容器10这一内容的操作时，上述第二控制部500在上述混注处理中使用上述药品容器10。In addition, it can be considered that when there are a plurality of the above-mentioned preparation data in the above-mentioned preparation data currently reserved, that is, the above-mentioned preparation data that are common to the combination and concentration of the drug and the solution stirred in the above-mentioned pre-stirring process, only the comparison of the above-mentioned preparation data The above-mentioned pre-stirring processing is executed for the above-mentioned preparation data of which the total number of preparation data is small. As a result, the above-mentionedchemical container 10 after the above-mentioned pre-stirring process can be used for the above-mentioned mixed injection process corresponding to any one of the plurality of the above-mentioned preparation data. Specifically, it is conceivable that thesecond control unit 500 redistributes themedicine container 10 corresponding to one of the preparation data as themedicine container 10 used in the other preparation data. Thereby, waste of themedicine container 10 when the above-mentioned mixing process based on any one of the above-mentioned preparation data is canceled is suppressed compared to the case where the above-mentioned pre-stirring process is performed for all the above-mentioned preparation data. In addition, it is conceivable that thesecond control unit 500 needs a preset confirmation operation performed by the user when redistributing thedrug container 10 and the preparation data. For example, when thesecond control unit 500 starts the coinfusion process based on the preparation data, themedicine container 10 having the same combination and concentration of the medicine and the infusion solution contained in the preparation data is already placed on theplacing section 33 In the case of , an operation screen for selecting whether or not to use themedicine container 10 in the coinfusion process based on the preparation data is displayed. Then, when an operation indicating that themedicine container 10 is to be used is performed on the operation screen, thesecond control unit 500 uses themedicine container 10 in the mixing process.
＜步骤S211＞<Step S211>
另外，在上述混注处理的执行开始时刻已到来时(S21：是)，上述第二控制部500接着通过步骤S211～S212执行上述混注处理。如前所述，上述第二控制部500例如在由上述用户进行了上述即刻开始操作时、或者预约的上述执行开始时刻已到来时执行上述混注处理。即，上述混注处理的执行开始时刻包括：预约的上述执行开始时刻已到来时、或由用户进行了上述即刻开始操作时。具体而言，在步骤S211中，上述第二控制部500控制上述收纳单元700，并将与上述执行开始时刻已到来的上述配制数据建立了对应的上述托盘101从上述收纳单元700的上述托盘收纳部811自动地供给至上述混注处理部300。In addition, when the execution start time of the coinfusion process has come ( S21 : YES), thesecond control unit 500 executes the coinfusion process in steps S211 to S212 next. As described above, thesecond control unit 500 executes the mixing process when, for example, the user performs the immediate start operation or when the scheduled execution start time arrives. That is, the execution start time of the above-mentioned shuffling process includes when the reserved execution start time has come, or when the user performs the above-mentioned immediate start operation. Specifically, in step S211 , thesecond control unit 500 controls thestorage unit 700 to store thetray 101 associated with the preparation data whose execution start time has come, from the tray of thestorage unit 700 Thepart 811 is automatically supplied to thecoinjection processing part 300 described above.
此时，可考虑上述第二控制部500将从以下的上述托盘101的IC标签101b读取的上述托盘101的识别信息与上述配制数据所建立了对应的上述托盘101的识别信息进行对照，其中，该以下的上述托盘101是指被从上述托盘收纳部811搬出并被载置在上述第一输送部910上的托盘。而且，在上述对照结果为一致时，上述第二控制部500将上述托盘101供给至上述混注处理部300，在上述对照结果为不一致时，上述第二控制部500通知错误并将上述托盘101向上述托盘排出口206排出。由此，确保了上述托盘101与上述配制数据的对应关系的正确性。In this case, thesecond control unit 500 may compare the identification information of thetray 101 read from theIC tag 101b of thetray 101 below with the identification information of thetray 101 associated with the preparation data, wherein Hereinafter, the above-mentionedtray 101 refers to a tray carried out from the above-mentioned trayaccommodating part 811 and placed on the above-mentioned first conveyingpart 910 . Then, when the matching result is consistent, thesecond control unit 500 supplies thetray 101 to thecoinjection processing unit 300, and when the matching result is inconsistent, thesecond control unit 500 notifies an error and sends thetray 101 to thecoinjection processing unit 300. The above-mentionedtray discharge port 206 is discharged. Accordingly, the correctness of the correspondence relationship between thetray 101 and the preparation data is ensured.
＜步骤S212＞<Step S212>
在步骤S212中，上述第二控制部500执行基于上述配制数据的上述混注处理。但是，在上述配制数据为已通过上述事先搅拌处理执行了上述搅拌工序的配制数据时，使用通过上述事先搅拌处理搅拌后的上述药品容器10执行上述混注处理，并省略上述搅拌工序。In step S212, thesecond control unit 500 executes the coinfusion process based on the preparation data. However, when the above-mentioned preparation data is the preparation data for which the above-mentioned stirring process has been performed by the above-mentioned pre-stirring process, the above-mentioned mixing process is performed using the above-mentionedpharmaceutical container 10 stirred by the above-mentioned pre-stirring process, and the above-mentioned stirring process is omitted.
具体而言，在上述混注处理中，对于已成为上述事先搅拌处理的对象的上述药品容器10，不执行从上述托盘101取出的处理，而使用在上述事先搅拌处理时被载置在上述载置架33上的搅拌工序后的上述药品容器10。同样地，在上述混注处理中，对于已在上述事先搅拌处理中使用的上述注射器11，不执行从上述托盘101取出的处理，而使用在上述事先搅拌处理时被载置在上述载置架33上的上述注射器11。Specifically, in the above-mentioned mixing process, themedicine container 10 that has been the subject of the above-mentioned pre-stirring process is not taken out from the above-mentionedtray 101, but is placed on the above-mentioned placing device during the above-mentioned pre-stirring process. The above-mentionedmedicine container 10 after the stirring process on therack 33 is shown. Similarly, in the above-mentioned mixing process, thesyringe 11 that has been used in the above-mentioned pre-stirring process is not taken out from the above-mentionedtray 101, but is placed on the above-mentionedmounting rack 33 during the above-mentioned pre-stirring process.Syringe 11 above.
而且，上述第二控制部500在使用在上述事先搅拌处理中执行了上述搅拌工序而已经被搅拌的上述药品容器10的上述混注处理中，省略对上述药品容器10的上述搅拌工序。由此，缩短了上述混注处理的执行开始时刻到来后的所需时间。另外，也可考虑：对于在上述事先搅拌处理中已被搅拌的上述药品容器10，相较于未执行上述事先搅拌处理的情况，上述第二控制部500将上述混注处理中的上述搅拌工序的执行时间缩短而对其执行。Further, thesecond control unit 500 omits the above-mentioned stirring process for the above-mentionedchemical container 10 in the above-mentioned mixing process using the above-mentionedchemical container 10 that has been stirred after the above-mentioned stirring process is performed in the above-mentioned pre-stirring process. Thereby, the time required after the execution start time of the above-mentioned coinjection processing arrives is shortened. In addition, it is also conceivable that thesecond control unit 500 may, for themedicine container 10 that has been stirred in the above-mentioned pre-stirring process, change the amount of the above-mentioned stirring process in the above-mentioned mixing process, compared to the case where the above-mentioned pre-stirring process is not performed. The execution time is shortened and executed.
如以上所说明，在上述混注装置1中，对于基于上述配制数据的上述混注处理，能够利用上述混注装置1不使用时等的时间而执行上述事先搅拌处理。因此，在之后执行基于已执行了上述事先搅拌处理的上述配制数据的上述混注处理时，上述混注处理的所需时间被缩短，从而能够高效地执行上述混注处理。As described above, in thecoinjection device 1, the above-mentioned pre-stirring process can be performed using the time when thecoinfusion device 1 is not in use, for the coinjection process based on the preparation data. Therefore, when the above-mentioned coinjection processing based on the above-mentioned preparation data for which the above-mentioned pre-stirring processing has been performed is performed later, the time required for the above-mentioned coinfusion processing is shortened, so that the above-mentioned coinfusion processing can be performed efficiently.
另外，在上述混注装置1中，在针对某一配制数据执行了上述事先搅拌处理后，针对该配制数据的上述混注处理未连续执行时，在直到针对该配制数据的上述混注处理的执行开始时刻到来之前，有时会执行基于其他的配制数据的上述混注处理或上述事先搅拌处理。即，在上述混注装置1中，在针对一个上述配制数据利用上述事先搅拌处理部执行的上述搅拌工序与针对该配制数据利用上述混注处理部执行的上述注入工序之间，有时会执行针对其他的上述配制数据的上述搅拌工序和上述注入工序的至少一者。因此，作为其他的实施方式，上述执行开始时刻也可以是下述时刻：即，一个上述配制数据所对应的上述搅拌工序执行后，且其他上述配制数据所对应的上述搅拌工序和上述注入工序的至少一者被执行后的时刻。例如，可考虑在夜间等针对多个上述配制数据依次执行了上述事先搅拌处理后，在次日早晨等执行针对该多个上述配制数据的上述混注处理。Further, in thecoinjection apparatus 1 described above, after the pre-stirring process has been executed for a certain preparation data, when the coinfusion process for the preparation data is not continuously executed, the coinfusion process for the preparation data is not executed continuously until the execution start time of the coinfusion process for the preparation data. Before arrival, the above-described mixing process or the above-described pre-stirring process based on other preparation data may be performed. That is, in thecoinjection apparatus 1 described above, between the agitation process performed by the pre-stirring processing unit with respect to one of the preparation data, and the injection process performed by the coinjection processing unit with respect to the preparation data, there may be cases where other processes are executed for the other. At least one of the above-mentioned stirring process and the above-mentioned injection process of the above-mentioned preparation data. Therefore, as another embodiment, the execution start time may be the following time: that is, after the above-mentioned stirring process corresponding to one of the above-mentioned preparation data is executed, and the above-mentioned stirring process and the above-mentioned injection process corresponding to the other above-mentioned preparation data are executed. The moment after at least one is executed. For example, it is conceivable to execute the above-mentioned mixing process with respect to the plurality of the above-mentioned preparation data in the next morning or the like after sequentially executing the above-mentioned pre-stirring process for the plurality of above-mentioned preparation data at night or the like.
【成批配制检查功能】【Batch preparation check function】
另外，如前所述，在上述混注装置1中，在上述混注处理结束后，为了检查上述混注处理的结果而执行上述配制检查处理。但是，该情况下，上述混注处理每次结束后执行上述配制检查处理，用户需要每次确认上述检查结果。In addition, as described above, in thecoinjection apparatus 1 described above, after the coinfusion process is completed, the preparation inspection process described above is executed in order to check the result of the coinfusion process. However, in this case, the above-mentioned preparation inspection process is executed every time the above-mentioned mixed injection process is completed, and the user needs to check the above-mentioned inspection result every time.
对此，上述混注装置1如前所述具备能够收纳多个上述托盘101的上述收纳单元700。因此，可考虑上述混注装置1具有下述的成批配制检查功能，即，预先将上述混注处理执行后的多个上述托盘101存放在上述收纳单元700中，并对于与各上述托盘101对应的上述配制数据集中统一执行上述配制检查处理这一成批配制检查功能。具体而言，上述混注控制部100使用上述第一控制部400或上述第二控制部500根据上述第一混注控制程序或上述第二混注控制程序，执行后述的成批配制检查处理，由此实现上述成批配制检查功能。另外，上述第二控制部500能够根据用户操作将上述成批配制检查功能的有效和无效进行切换，对于上述混注装置1所具备的其他功能也一样。在此，执行上述成批配制检查处理时的上述混注控制部100是收纳处理部和配制检查处理部的一例。In contrast, thecoinjection apparatus 1 includes thestorage unit 700 capable of storing the plurality oftrays 101 as described above. Therefore, it can be considered that the above-mentionedcoinjection apparatus 1 has a batch preparation inspection function in which a plurality of the above-mentionedtrays 101 after execution of the above-mentioned juxtaposition process are stored in the above-mentionedstorage unit 700 in advance, and a plurality of the above-mentionedtrays 101 corresponding to each of the above-mentionedtrays 101 are stored in advance. The batch preparation inspection function, which is the preparation inspection process described above, is collectively executed in the preparation data set. Specifically, thecoinfusion control unit 100 uses thefirst control unit 400 or thesecond control unit 500 to execute the batch preparation inspection process described later in accordance with the first coinfusion control program or the second coinjection control program. The above batch preparation inspection function is realized. In addition, thesecond control unit 500 can switch between valid and invalid of the batch preparation inspection function according to a user operation, and the same applies to other functions included in thecoinjection device 1 described above. Here, thecoinjection control unit 100 when executing the batch preparation inspection process described above is an example of a storage processing unit and a preparation inspection processing unit.
【成批配制检查处理】【Batch preparation inspection processing】
以下，参照图24，对在上述成批配制检查功能为有效时利用上述混注装置1执行的上述成批配制检查处理的一例进行说明。Hereinafter, with reference to FIG. 24, an example of the batch preparation inspection process performed by the above-mentionedcoinjection apparatus 1 when the above-mentioned batch preparation inspection function is enabled will be described.
＜步骤S31＞<Step S31>
首先，在步骤S31中，上述第二控制部500判断上述混注处理是否已结束，当判断为上述混注处理已结束时(S31：是)，使处理移至步骤S32，当判断为上述混注处理未结束时(S31：否)，使处理移至步骤S33。First, in step S31, thesecond control unit 500 determines whether or not the shuffling process has been completed, and when it is determined that the shuffling process has ended (S31: YES), the process proceeds to step S32, and when it is determined that the shuffling process has not been completed When finished ( S31 : NO), the process proceeds to step S33 .
＜步骤S32＞<Step S32>
在步骤S32中，上述第二控制部500执行用于将收纳有上述混注处理后的上述输液袋12的上述托盘101存放至上述收纳单元700的处理。具体而言，上述第二控制部500控制上述托盘输送部110，使上述输液袋12返回至上述托盘101，并使上述托盘101从上述托盘输送终端部110a移动至上述托盘输送开始部110b。接着，上述第二控制部500对上述托盘输送部110进行控制，经由上述托盘装填口114向上述收纳单元700侧供给上述托盘101。In step S32 , thesecond control unit 500 executes a process for storing thetray 101 containing theinfusion bag 12 after the coinfusion process in thestorage unit 700 . Specifically, thesecond control unit 500 controls thetray conveyance unit 110, returns theinfusion bag 12 to thetray 101, and moves thetray 101 from the trayconveyance terminal unit 110a to the trayconveyance start unit 110b. Next, thesecond control unit 500 controls thetray conveyance unit 110 to supply thetrays 101 to thestorage unit 700 via thetray loading port 114 .
然后，上述第二控制部500控制上述收纳单元700，使上述托盘101收纳于上述升降单元800的上述托盘收纳部811。此时，上述第二控制部500将表示上述托盘101的识别信息与上述托盘收纳部811的对应关系的上述收纳表信息进行更新。另外，上述第二控制部500在上述托盘101被收纳至上述收纳单元700的上述托盘收纳部811之前，利用上述IC阅读器930读取上述托盘101的识别信息，并将该识别信息与上述配制数据所建立对应的上述托盘101的识别信息进行对照。Then, thesecond control unit 500 controls thestorage unit 700 to store thetray 101 in thetray storage unit 811 of the elevatingunit 800 . At this time, thesecond control unit 500 updates the storage table information indicating the correspondence between the identification information of thetray 101 and thetray storage unit 811 . In addition, before thetray 101 is stored in thetray storage section 811 of thestorage unit 700, thesecond control unit 500 reads the identification information of thetray 101 using theIC reader 930, and mixes the identification information with the above The identification information of the above-mentionedtray 101 corresponding to the established data is compared.
＜步骤S33＞<Step S33>
在步骤S33中，上述第二控制部500判断是否对上述触摸面板监视器14等进行了预先设定的配制检查开始操作。例如，上述第二控制部500根据用户操作使上述触摸面板监视器14显示已执行上述混注处理的上述配制数据的一览，在选择了一个或多个上述配制数据时，判断为对一个或多个该配制数据进行了上述配制检查开始操作。在此，当判断为进行了上述配制检查开始操作时(S33：是)，处理移至步骤S34，当未进行上述配制检查开始操作时(S33：否)，处理返回至上述步骤S31。In step S33 , thesecond control unit 500 determines whether or not a pre-set preparation inspection start operation has been performed on the touch panel monitor 14 or the like. For example, thesecond control unit 500 causes the touch panel monitor 14 to display a list of the preparation data for which the mixing process has been performed in response to a user operation, and when one or more pieces of the preparation data are selected, determines that one or more pieces of the preparation data are selected. This preparation data is subjected to the above-mentioned preparation check start operation. Here, when it is determined that the above-described preparation inspection start operation is performed ( S33 : YES), the process proceeds to step S34 , and when the above-described preparation inspection start operation is not performed ( S33 : NO), the process returns to the above-described step S31 .
＜步骤S34＞<Step S34>
在步骤S34中，上述第二控制部500以一个或多个上述配制数据为对象执行上述配制检查处理。具体而言，上述第二控制部500对在进行上述配制检查开始操作时被选择的一个或多个上述配制数据依次执行上述配制检查处理。In step S34 , thesecond control unit 500 executes the above-described configuration checking process for one or more of the above-described configuration data. Specifically, thesecond control unit 500 sequentially executes the above-mentioned preparation inspection process on one or a plurality of the above-mentioned preparation data selected when the above-mentioned preparation inspection start operation is performed.
上述第二控制部500每次在上述配制数据对应的上述配制检查处理中进行表示上述混注处理的结果是恰当的这一内容的上述检查完成的操作时，将该配制数据对应的上述托盘101依次从上述收纳单元700朝向上述托盘排出口206排出。由此，用户能够将上述托盘101从上述托盘排出口206取出。另外，在进行上述检查完成的操作之前的期间，上述托盘101不会被排出。即，上述第二控制部500在上述配制检查处理中判断为上述混注处理的结果是恰当的之前，对该混注处理执行后的上述托盘101的取出进行限制。Each time thesecond control unit 500 performs an operation indicating that the result of the coinjection process is correct in the preparation inspection process corresponding to the preparation data, the inspection is completed, thetrays 101 corresponding to the preparation data are sequentially executed. It is discharged from the above-mentionedstorage unit 700 toward the above-mentionedtray discharge port 206 . Thereby, the user can take out thetray 101 from thetray discharge port 206 . In addition, the above-mentionedtray 101 is not ejected until the above-mentioned inspection completion operation is performed. That is, thesecond control unit 500 restricts the removal of thetray 101 after the coinfusion process has been performed until the result of the coinfusion process is determined to be appropriate in the preparation inspection process.
如此，在上述混注装置1中，能够利用上述成批配制检查功能对各上述配制数据集中依次执行上述配制检查处理。因此，用户无需在每次上述混注处理结束时进行确认操作，从而减轻了用户操作的负担。In this way, in thecoinjection apparatus 1 described above, the above-mentioned preparation inspection process can be sequentially executed for each of the above-mentioned preparation data sets using the above-mentioned batch preparation inspection function. Therefore, the user does not need to perform a confirmation operation every time the above-mentioned shuffling process ends, thereby reducing the burden of the user's operation.
【成批搅拌检查功能】【Batch stirring check function】
另外，在上述混注装置1中，如前所述，在上述搅拌工序结束后为了检查上述搅拌工序的搅拌结果而执行上述搅拌检查处理。另外，上述混注装置1如前所述具备能够收纳多个上述托盘101的上述收纳单元700，并有时会对多个上述药品容器10执行上述事先搅拌处理。在此，在上述事先搅拌处理中，当每次上述搅拌工序结束而执行上述搅拌检查处理时，用户也需要每次确认上述搅拌结果。Further, in the above-mentionedcoinjection device 1, as described above, the above-mentioned stirring inspection process is executed in order to check the stirring result of the above-mentioned stirring process after the completion of the above-mentioned stirring process. Moreover, the saidcoinfusion apparatus 1 is provided with the saidstorage unit 700 which can accommodate the saidseveral tray 101 as mentioned above, and the said pre-stirring process may be performed with respect to the several saidmedicine container 10 in some cases. Here, in the above-mentioned pre-stirring process, when the above-mentioned stirring inspection process is executed every time the above-mentioned stirring process is completed, the user needs to confirm the above-mentioned stirring result every time.
因此，可考虑上述混注装置1具有下述的成批搅拌检查功能，即，预先将通过多个上述事先搅拌处理而执行的上述搅拌工序中搅拌后的多个上述药品容器10存放在上述载置架33上，并对多个上述药品容器10能够集中统一执行上述搅拌检查处理的成批搅拌检查功能。具体而言，上述混注控制部100使用上述第一控制部400或上述第二控制部500根据上述第一混注控制程序或上述第二混注控制程序，执行后述的成批搅拌检查处理，由此实现上述成批搅拌检查功能。Therefore, the above-mentionedcoinjection apparatus 1 may be considered to have a batch stirring inspection function in which a plurality of the above-mentioneddrug containers 10 after being stirred in the above-mentioned stirring process performed by a plurality of the above-mentioned pre-stirring processes are stored in the above-mentioned mounting in advance. On therack 33 , the batch stirring inspection function that can collectively execute the above stirring inspection process for a plurality of the above-mentioneddrug containers 10 is performed. Specifically, thecoinfusion control unit 100 uses thefirst control unit 400 or thesecond control unit 500 to execute the batch stirring inspection process described later in accordance with the first coinjection control program or the second coinjection control program. The above batch stirring inspection function is realized.
【成批搅拌检查处理】【Batch stirring inspection processing】
以下，参照图25，对在上述成批搅拌检查功能为有效时利用上述混注装置1执行的上述成批搅拌检查处理的一例进行说明。Hereinafter, with reference to FIG. 25, an example of the said batch stirring inspection process performed by the saidcoinfusion apparatus 1 when the said batch stirring inspection function is effective will be described.
＜步骤S41＞<Step S41>
首先，在步骤S41中，上述第二控制部500判断上述搅拌工序是否已结束，当判断为上述搅拌工序已结束时(S41：是)，使处理移至步骤S42，当判断为上述搅拌工序未结束时(S41：否)，使处理移至步骤S43。First, in step S41, thesecond control unit 500 determines whether or not the stirring process has ended, and when it is determined that the stirring process has ended (S41: YES), the process proceeds to step S42, and when it is determined that the stirring process has not been completed When finished ( S41 : NO), the process proceeds to step S43 .
＜步骤S42＞<Step S42>
在步骤S42中，上述第二控制部500执行用于将上述搅拌工序后的上述药品容器10存放至上述载置架33的处理。在此，执行该处理时的上述第二控制部500是载置处理部的一例。具体而言，上述第二控制部500控制上述第一机械臂21，使上述药品容器10移动至上述载置架33。另外，在上述数据存储部504中，存储有表示上述药品容器10的识别信息与上述载置架33上的配置之间的对应关系的配置表信息，上述第二控制部500在该步骤S42中将上述配置表进行更新。In step S42, the said2nd control part 500 performs the process for storing the saidmedicine container 10 after the said stirring process in the said mountingrack 33. Here, the above-describedsecond control unit 500 at the time of executing this process is an example of a placement processing unit. Specifically, thesecond control unit 500 controls thefirst robot arm 21 to move themedicine container 10 to the mountingrack 33 . In addition, in thedata storage unit 504, arrangement table information indicating the correspondence relationship between the identification information of themedicine container 10 and the arrangement on therack 33 is stored, and thesecond control unit 500 in this step S42 Update the above configuration table.
＜步骤S43＞<Step S43>
在步骤S43中，上述第二控制部500判断是否对上述触摸面板监视器14等进行了预先设定的搅拌检查开始操作。例如，上述第二控制部500根据用户操作使上述触摸面板监视器14显示已执行上述搅拌工序的上述药品容器10的一览，在选择了一个或多个上述药品容器10时，判断为对一个或多个该药品容器10进行了上述搅拌检查开始操作。在此，当判断为进行了上述搅拌检查开始操作时(S43：是)，处理移至步骤S44，当未进行上述搅拌检查开始操作时(S43：否)，处理返回至上述步骤S41。In step S43, the said2nd control part 500 judges whether the stirring inspection start operation preset to the said touch panel monitor 14 etc. is performed. For example, thesecond control unit 500 causes the touch panel monitor 14 to display a list of themedicine containers 10 in which the stirring process has been performed according to a user operation, and when one or more of themedicine containers 10 is selected, determines that one or more of themedicine containers 10 are selected. A plurality of themedicine containers 10 are subjected to the above-described stirring inspection start operation. Here, when it is determined that the above-mentioned stirring inspection starting operation has been performed ( S43 : YES), the process proceeds to step S44 , and when the above-mentioned stirring inspection starting operation has not been performed ( S43 : NO), the processing returns to the above-mentioned step S41 .
＜步骤S44＞<Step S44>
在步骤S44中，上述第二控制部500以被载置在上述载置架33上的、上述搅拌工序后的一个或多个上述药品容器10为对象而执行上述搅拌检查处理。在此，执行该处理时的上述第二控制部500是搅拌检查处理部的一例。具体而言，上述第二控制部500对在进行上述搅拌检查开始操作时被选择的一个或多个上述药品容器10依次执行上述搅拌检查处理。In step S44 , thesecond control unit 500 executes the stirring inspection process on the one ormore drug containers 10 placed on the mountingrack 33 after the stirring process. Here, the above-mentionedsecond control unit 500 when this process is executed is an example of a stirring inspection processing unit. Specifically, thesecond control unit 500 sequentially executes the agitation inspection process on one or a plurality of thedrug containers 10 selected when the agitation inspection start operation is performed.
而且，上述第二控制部500每次在上述药品容器10对应的上述搅拌检查处理中进行上述检查完成的操作时，允许该药品容器10的使用。即，上述第二控制部500在上述搅拌检查处理被执行之前的期间，对通过上述事先搅拌处理被搅拌后的上述药品容器10的使用进行限制。Furthermore, thesecond control unit 500 permits the use of themedicine container 10 every time the operation for completing the inspection is performed in the stirring inspection process corresponding to themedicine container 10 . That is, thesecond control unit 500 restricts the use of themedicine container 10 that has been stirred by the pre-stirring process until the stirring inspection process is performed.
如此，在上述混注装置1中，能够利用上述成批搅拌检查功能对已成为上述事先搅拌处理的对象的各上述药品容器10集中依次执行上述搅拌检查处理。因此，用户无需在每次上述搅拌工序结束时进行确认操作，从而减轻了用户操作的负担。In this way, in thecoinfusion apparatus 1 described above, the batch stirring inspection function can be used to collectively and sequentially execute the stirring inspection process on each of thedrug containers 10 that have been the target of the pre-stirring process. Therefore, the user does not need to perform a confirmation operation every time the above-mentioned stirring process is completed, thereby reducing the burden of the user's operation.
【日程管理功能】【Schedule management function】
如前所述，上述混注装置1具有能够预约针对一个或多个上述配制数据的上述混注处理的日程管理功能。具体而言，上述混注控制部100使用上述第一控制部400或上述第二控制部500根据上述第一混注控制程序或上述第二混注控制程序，执行后述的日程管理处理，由此实现上述日程管理功能。As described above, the above-mentionedcoinjection apparatus 1 has a schedule management function capable of reserving the above-mentioned coinjection processing with respect to one or a plurality of the above-mentioned preparation data. Specifically, thecoinfusion control unit 100 uses thefirst control unit 400 or thesecond control unit 500 to execute the schedule management process described later in accordance with the first coinfusion control program or the second coinfusion control program, thereby realizing the above-mentioned Schedule management function.
【日程管理处理】【Schedule Management Processing】
以下，参照图26对上述日程管理处理的一例进行说明。Hereinafter, an example of the above schedule management process will be described with reference to FIG. 26 .
＜步骤S51＞<Step S51>
首先，在步骤S51中，上述第一控制部400判断用户是否对上述操作部405进行了预约设定操作。而且，上述第一控制部400当判断为进行了上述预约设定操作时(S51：是)，使处理移至步骤S52。另外，上述第一控制部400当判断为未进行上述预约设定操作时(S51：否)，使处理移至步骤S54。First, in step S51 , thefirst control unit 400 determines whether or not the user has performed a reservation setting operation on theoperation unit 405 . Then, when it is determined that the above-mentioned reservation setting operation has been performed ( S51 : YES), thefirst control unit 400 moves the process to step S52 . In addition, when the said1st control part 400 determines that the said reservation setting operation is not performed (S51: NO), it transfers a process to step S54.
具体而言，上述第一控制部400在使用上述操作部405进行了用于显示处方选择画面P0的预先规定操作时，使上述处方选择画面P0显示，并且，根据上述处方选择画面P0显示中的上述操作部405的操作，受理基于上述配制数据的上述混注处理的预约设定操作。在上述预约设定操作中，选择预约对象的上述配制数据，并且指定上述配制数据的上述混注处理的结束预定时间。Specifically, when a predetermined operation for displaying the prescription selection screen P0 is performed using theoperation section 405, thefirst control unit 400 displays the prescription selection screen P0, and also displays the prescription selection screen P0 according to the operation of the prescription selection screen P0 being displayed. The operation of theoperation unit 405 accepts the reservation setting operation of the coinjection process based on the preparation data. In the above-mentioned reservation setting operation, the above-mentioned preparation data of the reservation object is selected, and the end scheduled time of the above-mentioned mixing injection processing of the above-mentioned preparation data is designated.
在此，图27是表示上述处方选择画面P0的一例的图。如图27所示，在上述处方选择画面P0中显示有：显示被输入上述混注装置1的一个或多个上述配制数据的一览的区域A1、以及能够设定对上述区域A1中所显示的上述配制数据进行提取的条件的区域A2。而且，在上述区域A1中包含：能够从各上述配制数据中任意地选择预约对象的配制数据的选择操作部A3、以及能够输入各上述配制数据的结束预定时间的输入区域A4。Here, FIG. 27 is a diagram showing an example of the above-mentioned prescription selection screen P0. As shown in FIG. 27 , on the prescription selection screen P0, an area A1 displaying a list of one or a plurality of the above-mentioned preparation data input to the above-mentionedcoinjection apparatus 1, and a setting for the above-mentioned displayed in the above-mentioned area A1 are displayed. Area A2 where conditions for data extraction are prepared. Further, the area A1 includes a selection operation unit A3 that can arbitrarily select the preparation data to be reserved from the preparation data, and an input area A4 that can input the scheduled end time of the preparation data.
上述第一控制部400在下述情况下判断为进行了上述预约设定操作：即，在上述处方选择画面P0中，以被上述选择操作部A3选择作为预约对象且上述输入区域A4中输入了上述结束预定时间的状态操作了预约设定键A5这一情况。另外，也可以以被上述选择操作部A3选择作为预约对象为条件，判断为进行了上述预约设定操作。Thefirst control unit 400 determines that the above-mentioned reservation setting operation has been performed when the above-mentioned prescription selection screen P0 is selected as the reservation object by the above-mentioned selection operation unit A3 and the above-mentioned reservation is input in the above-mentioned input area A4. It is a case where the reservation setting key A5 is operated in the state where the predetermined time has ended. In addition, it may be determined that the above-mentioned reservation setting operation is performed on the condition that it is selected as the reservation object by the above-mentioned selection operation unit A3.
另外，在上述预约设定操作中，也可以取代上述配制数据的上述混注处理的结束预定时间而指定上述混注处理的开始预定时间。例如，上述结束预定时间或上述开始预定时间的指定通过输入日期和时刻而进行。另外，上述结束预定时间或上述开始预定时间的指定也可以通过输入自目前时刻起的经过时间而进行。In addition, in the above-mentioned reservation setting operation, the scheduled start time of the coinfusion process may be designated instead of the scheduled end time of the coinjection process in the preparation data. For example, the designation of the above-mentioned scheduled end time or the above-mentioned scheduled start time is performed by inputting the date and time. In addition, the designation of the above-mentioned scheduled end time or the above-mentioned scheduled start time may be performed by inputting the elapsed time from the current time.
＜步骤S52＞<Step S52>
在步骤S52中，上述第一控制部400对已经预约的上述配制数据的数量与本次预约的合计是否在预先规定的最大预约数以内这一情况进行判断。上述最大预约数是根据上述混注装置1的规格而预先规定的数量，与上述混注装置1内能够装填的上述托盘101的数量对应。例如，在本实施方式涉及的上述混注装置1中，由于上述收纳单元700能够装填的上述托盘101为六个，因此考虑上述最大预约数是“6”。在此，上述第一控制部400当判断为预约数的合计在上述最大预约数以内时(S52：是)，使处理移至步骤S53。另外，上述第一控制部400当判断为预约数的合计超过上述最大预约数时(S52：否)，例如在显示了预先设定的错误消息等后，使处理返回上述步骤S51。In step S52, thefirst control unit 400 determines whether or not the total of the number of the preparation data already reserved and the current reservation is within a predetermined maximum number of reservations. The said maximum reserved number is the number predetermined|prescribed according to the specification of the saidcoinfusion apparatus 1, and corresponds to the number of the saidtray 101 which can be loaded in the saidcoinfusion apparatus 1. For example, in thecoinfusion apparatus 1 according to the present embodiment, since the number oftrays 101 that can be loaded in thestorage unit 700 is six, it is considered that the maximum number of reservations is "6". Here, when thefirst control unit 400 determines that the total number of reservations is within the maximum number of reservations ( S52 : YES), the process proceeds to step S53 . Further, when thefirst control unit 400 determines that the total number of reservations exceeds the maximum number of reservations ( S52 : NO), for example, after displaying a preset error message or the like, the process returns to step S51 .
＜步骤S53＞<Step S53>
在步骤S53中，上述第一控制部400根据上述预约设定操作，执行用于预约基于一个或多个上述配制数据的上述混注处理的预约设定处理。在此，执行上述预约设定处理时的上述第一控制部400是预约设定处理部的一例。具体而言，上述第一控制部400根据上述配制数据和通过上述预约设定操作而指定的上述结束预定时间设定上述混注处理的执行开始时刻，以使基于上述配制数据的上述混注处理在上述结束预定时间结束。另外，基于各上述配制数据的上述混注处理的执行开始时刻的信息作为日程信息而被存储在上述数据存储部404中，并通过上述第一控制部400在上述步骤S53或后述的步骤S57中被更新。In step S53, thefirst control unit 400 executes a reservation setting process for reserving the coinfusion process based on one or more of the preparation data according to the reservation setting operation. Here, the above-mentionedfirst control unit 400 when executing the above-mentioned reservation setting processing is an example of a reservation setting processing unit. Specifically, thefirst control unit 400 sets the execution start time of the coinfusion process based on the preparation data and the end scheduled time specified by the reservation setting operation, so that the coinfusion process based on the preparation data is executed in the The end of the scheduled time is over. In addition, the information on the execution start time of the coinfusion process based on the respective preparation data is stored in thedata storage unit 404 as schedule information, and thefirst control unit 400 performs the step S53 or the step S57 described later by thefirst control unit 400. Updated.
例如，在上述数据存储部404中存储有上述配制数据所指示的每一配制内容的所需时间，或者存储有用于算出上述所需时间的信息，上述第一控制部400根据上述所需时间而算出上述混注处理的所需时间。然后，上述第一控制部400根据上述结束预定时间和上述混注处理的所需时间，设定上述执行开始时刻。另外，在通过上述预约设定操作而指定了上述混注处理的开始预定时间时，根据上述开始预定时间设定上述执行开始时刻，例如上述开始预定时间被设定作为上述执行开始时刻。另外，上述混注处理的所需时间的算出和上述执行开始时刻的设定，也可以考虑有无执行上述事先搅拌处理而进行。For example, thedata storage unit 404 stores the required time for each preparation content indicated by the preparation data, or stores information for calculating the required time, and thefirst control unit 400 determines the required time based on the required time. Calculate the time required for the above-mentioned coinfusion process. Then, thefirst control unit 400 sets the execution start time based on the scheduled end time and the required time for the coinfusion process. In addition, when the scheduled start time of the shuffling process is designated by the schedule setting operation, the execution start time is set according to the scheduled start time, for example, the scheduled start time is set as the execution start time. In addition, the calculation of the time required for the coinfusion process and the setting of the execution start time may be performed in consideration of whether or not the pre-stirring process is executed.
而且，上述第一控制部400将针对上述配制数据设定的上述执行开始时刻等预约信息与上述配制数据一同发送给上述第二控制部500。例如，上述预约信息中除了包含上述执行开始时刻之外，还包含表示用于识别预约对象的上述配制数据的信息与上述配制数据所对应的上述托盘101的上述识别信息之间的对应关系的信息等。Then, thefirst control unit 400 transmits reservation information such as the execution start time and the like set for the configuration data to thesecond control unit 500 together with the configuration data. For example, the reservation information includes, in addition to the execution start time, information indicating the correspondence between the information for identifying the preparation data to be reserved and the identification information of thetray 101 corresponding to the preparation data. Wait.
具体而言，如图27所示，在上述处方选择画面P0中，在五个上述输入区域A4中分别输入了上述结束预定时间且五个上述选择操作部A3被操作而上述配制数据被选择作为预约对象时，上述第一控制部400设定各上述配制数据的执行开始时刻，以使基于各上述配制数据的上述混注处理分别在各上述结束预定时间之前结束。另外，图28A是表示图27所示的五个上述配制数据的执行开始时刻的设定结果的图。另外，上述第一控制部400在无法设定上述执行开始时刻以使基于五个上述配制数据的上述混注处理在上述结束预定时间之前结束时，通过将错误显示于上述显示器203而通知用户。Specifically, as shown in FIG. 27 , in the above-mentioned prescription selection screen P0, the above-mentioned scheduled end time is input in each of the five above-mentioned input areas A4, the five above-mentioned selection operation parts A3 are operated, and the above-mentioned preparation data is selected as In the case of a reservation object, thefirst control unit 400 sets the execution start time of each of the preparation data so that the coinjection processing based on each of the preparation data ends before each of the predetermined end times. In addition, FIG. 28A is a diagram showing the result of setting the execution start time of the five above-mentioned configuration data shown in FIG. 27 . In addition, thefirst control unit 400 notifies the user by displaying an error on thedisplay 203 when the execution start time cannot be set so that the mixing process based on the five preparation data ends before the end predetermined time.
＜步骤S54＞<Step S54>
另外，在步骤S54中，上述第一控制部400判断是否对上述操作部405进行了用于开始上述日程信息的变更的预约变更开始操作，在进行了上述预约变更开始操作时(S54：是)，使处理移至步骤S55。例如，上述第一控制部400在上述处方选择画面P0中显示的预约一览键A6被操作了时，判断为进行了上述预约变更开始操作。另外，在未进行上述预约变更开始操作时(S54：否)，处理返回至上述步骤S51。In addition, in step S54, thefirst control unit 400 determines whether or not a reservation change start operation for starting the change of the schedule information has been performed on theoperation unit 405, and when the reservation change start operation is performed (S54: YES) , the process proceeds to step S55. For example, when the reservation list key A6 displayed on the prescription selection screen P0 is operated, thefirst control unit 400 determines that the reservation change start operation has been performed. In addition, when the above-mentioned reservation change start operation has not been performed ( S54 : NO), the process returns to the above-mentioned step S51 .
＜步骤S55＞<Step S55>
在步骤S55中，上述第一控制部400根据上述日程信息使日程设定画面P1显示于上述显示器203。另外，图28A～图28C是表示上述日程设定画面P1的显示例的图。In step S55 , thefirst control unit 400 causes thedisplay 203 to display the schedule setting screen P1 based on the schedule information. 28A to 28C are diagrams showing display examples of the above-mentioned schedule setting screen P1.
如图28A～图28C所示，上述第一控制部400在上述日程设定画面P1中，使各上述配制数据的执行开始时刻根据上述日程信息而沿时间轴显示。在此，执行该处理时的上述第一控制部400是显示处理部的一例。由此，用户通过观看上述日程设定画面P1，能够容易地掌握各上述配制数据所对应的上述混注处理的执行开始时刻等。另外，在上述日程设定画面P1中，不限于写明各上述配制数据所对应的上述混注处理的执行开始时刻，也可以写明例如上述结束预定时间或上述开始预定时间等其他的信息。As shown in FIGS. 28A to 28C , on the schedule setting screen P1 , thefirst control unit 400 causes the execution start time of each of the configuration data to be displayed along the time axis based on the schedule information. Here, the above-mentionedfirst control unit 400 when this process is executed is an example of a display processing unit. As a result, the user can easily grasp the execution start time and the like of the coinfusion process corresponding to each of the above-mentioned preparation data by viewing the above-mentioned schedule setting screen P1. In addition, on the schedule setting screen P1, not only the execution start time of the shuffling process corresponding to each of the preparation data is written, but other information such as the scheduled end time or the scheduled start time may be written.
＜步骤S56～S57＞<Steps S56 to S57>
上述第一控制部400在步骤S56～S57中，执行用于变更各上述配制数据所对应的上述执行开始时刻的变更处理。在此，执行该变更处理时的上述第一控制部400是变更处理部的一例。In steps S56 to S57, thefirst control unit 400 executes a change process for changing the execution start time corresponding to each of the preparation data. Here, the above-mentionedfirst control unit 400 at the time of executing the change processing is an example of a change processing unit.
首先，在上述步骤S56中，上述第一控制部400判断是否对上述操作部403进行了上述配制数据的执行开始时刻、开始预定时间、结束预定时间等的变更操作。在此，当判断为进行了上述变更操作时(S56：是)，处理移至步骤S57，当判断为未进行上述变更操作时(S56：否)，处理移至上述步骤S55。First, in step S56, thefirst control unit 400 determines whether or not theoperation unit 403 has performed an operation to change the execution start time, scheduled start time, and scheduled end time of the preparation data. Here, when it is determined that the above-mentioned change operation has been performed ( S56 : YES), the process proceeds to step S57 , and when it is determined that the above-mentioned change operation has not been performed ( S56 : NO), the process moves to the above-mentioned step S55 .
而且，在步骤S57中，上述第一控制部400执行根据上述变更操作变更上述日程信息的处理。具体而言，根据通过上述变更操作而被变更后的上述配制数据的执行开始时刻、开始预定时间、结束预定时间等，对各上述配制数据的执行开始时刻的顺序等进行变更。And in step S57, the said1st control part 400 performs the process of changing the said schedule information based on the said change operation. Specifically, the order and the like of the execution start times of the respective configuration data are changed according to the execution start time, the scheduled start time, the scheduled end time, and the like of the configuration data changed by the change operation.
具体而言，上述第一控制部400能够根据上述日程设定画面P1的显示中的针对上述操作部405的用户操作，对各上述配制数据的执行开始时刻进行变更。例如，在图28A中显示了在上述日程设定画面P1中预约有患者ID为“0007”、“0004”、“0008”、“0002”以及“0006”的五个上述配制数据时的例子。另外，在图28A～图28C中分别表示了：在各上述配制数据的显示区域中，始端为上述混注处理的执行开始时刻、终端为上述混注处理的执行结束时刻、始端与终端之间为上述混注处理执行中这一内容。另外，在上述日程设定画面P1中，不限于显示上述患者ID，也可以显示预约号(Order No.)等。Specifically, thefirst control unit 400 can change the execution start time of each of the above-mentioned preparation data in accordance with the user's operation on the above-mentionedoperation unit 405 in the display of the above-mentioned schedule setting screen P1. For example, FIG. 28A shows an example when five of the above-described preparation data with patient IDs “0007”, “0004”, “0008”, “0002” and “0006” are reserved on the schedule setting screen P1. 28A to 28C respectively show that in the display area of each of the above-mentioned preparation data, the start end is the execution start time of the above-mentioned shuffling processing, the terminal is the execution end time of the above-mentioned shuffling processing, and the distance between the start end and the terminal is the above-mentioned Mashup processing executes this content. In addition, in the said schedule setting screen P1, not only the said patient ID but the reservation number (Order No.) etc. may be displayed.
而且，如图28A所示，在上述日程设定画面P1中，存在通过用户操作将下述操作作为上述变更操作而进行的情况，该下述操作是指：上述识别信息为“0008”的上述配制数据所对应的区域通过拖放(drag and drop)而向后移动用的操作。该情况下，上述第一控制部400如图28B所示使上述识别信息为“0008”的上述配制数据的执行开始时刻向后挪动并显示。接着，如图28B所示，存在通过用户操作将下述操作作为上述变更操作而进行的情况，该下述操作是指：上述识别信息为“0002”的上述配制数据所对应的区域通过拖放操作而向前移动用的操作。该情况下，上述第一控制部400如图28C所示使上述识别信息为“0002”的上述配制数据的执行开始时刻向前挪动并显示。Furthermore, as shown in FIG. 28A , in the schedule setting screen P1, the following operation may be performed as the above-mentioned change operation by user operation, and the following operation refers to the above-mentioned identification information of “0008”. An operation for moving the area corresponding to the configuration data backward by drag and drop. In this case, as shown in FIG. 28B , thefirst control unit 400 shifts and displays the execution start time of the preparation data whose identification information is “0008”. Next, as shown in FIG. 28B , there is a case in which the following operation is performed as the above-mentioned change operation by a user operation, and the following operation is performed by dragging and dropping the area corresponding to the above-mentioned preparation data whose identification information is “0002”. Operation to move forward. In this case, as shown in FIG. 28C , thefirst control unit 400 moves forward and displays the execution start time of the preparation data whose identification information is “0002”.
然后，上述第一控制部400在进行了预先设定的确定操作时，确定上述配制数据的执行开始时刻的变更并将上述日程信息进行更新。如此，在上述混注装置1中，用户能够通过在上述日程设定画面P1中直观地使上述配制数据的执行开始时刻移动的操作，而容易地变更上述配制数据的执行开始时刻。另外，上述第一控制部400在进行了上述变更操作时、或进行了上述确定操作时，在基于多个上述配制数据的上述混注处理的执行时间重复的情况下，使提醒注意该情况的警告消息等显示于上述日程设定画面P1上，由此通知用户。Then, when a predetermined determination operation is performed, thefirst control unit 400 determines a change in the execution start time of the preparation data and updates the schedule information. In this way, in thecoinjection apparatus 1, the user can easily change the execution start time of the preparation data by intuitively shifting the execution start time of the preparation data on the schedule setting screen P1. In addition, thefirst control unit 400 may issue a warning to call attention to this situation when the execution time of the mixed injection process based on the plurality of preparation data overlaps when the change operation is performed or the determination operation is performed. A message or the like is displayed on the above-mentioned schedule setting screen P1 to notify the user.
＜步骤S58＞<Step S58>
另外，在步骤S58中，上述第一控制部400判断是否对上述操作部405进行了用于结束上述日程信息的变更的预约变更结束操作。而且，在进行了上述预约变更结束操作时(S58：是)，上述日程设定画面P1被关闭，处理被返回至上述步骤S51。另外，在未进行上述预约变更结束操作时(S58：否)，处理返回至上述步骤S55。Moreover, in step S58, the said1st control part 400 judges whether the reservation change completion operation for terminating the change of the said schedule information is performed to the saidoperation part 405 or not. Then, when the above-mentioned reservation change termination operation is performed ( S58 : YES), the above-mentioned schedule setting screen P1 is closed, and the process returns to the above-mentioned step S51 . In addition, when the above-mentioned reservation change termination operation has not been performed ( S58 : NO), the process returns to the above-mentioned step S55 .
而且，在上述混注装置1中，如前所述，上述第一控制部400在上述混注控制处理(图23)中，当判断为预约的上述配制数据的执行开始时刻已到来时(S21：是)，将该情况通知给上述第二控制部500，从而基于该配制数据的上述混注处理被执行。在此，执行该处理时的上述第一控制部500和上述第二控制部500是预约执行处理部的一例。Further, in thecoinfusion apparatus 1 described above, thefirst control unit 400 determines that the execution start time of the reserved preparation data has come in the coinfusion control process ( FIG. 23 ) ( S21 : Yes ), the above-mentionedsecond control unit 500 is notified of the fact, and the above-mentioned shuffling process based on the preparation data is executed. Here, the above-describedfirst control unit 500 and the above-describedsecond control unit 500 when executing this process are examples of reservation execution processing units.
【成批全部提取检查功能】[Batch all extraction check function]
另外，在上述混注处理中，在上述药品容器10内的药品被全部提取时，存在进行通过用户确认上述药品容器10内未残留有药品的全部提取检查这一情况。例如，在每次上述全部提取结束时向用户通知了上述全部提取的结束之后，在该用户进行确认操作之前，上述混注处理的进行被限制。该情况下，在基于上述配制数据的上述混注处理中对多个上述药品容器10进行药品的全部提取时，在每次对各上述药品容器10执行全部提取时执行上述全部提取检查。因此，用户需要在每次各上述药品容器10的全部提取结束时进行针对上述混注装置1的操作。In addition, in the above-mentioned coinfusion process, when all the medicines in themedicine container 10 are extracted, there is a case where a user checks that no medicine remains in themedicine container 10 and is checked for all extraction. For example, after the user is notified of the completion of all the extractions each time the above-mentioned all extractions are completed, the execution of the above-mentioned shuffling processing is restricted until the user performs a confirmation operation. In this case, when all the medicines are extracted from the plurality ofmedicine containers 10 in the above-mentioned mixed injection process based on the above-mentioned preparation data, the above-mentioned all-extraction inspection is performed every time the whole extraction is performed for each of the above-mentionedmedicine containers 10 . Therefore, the user needs to operate thecoinfusion apparatus 1 every time the extraction of all themedicine containers 10 is completed.
对此，可考虑上述混注装置1具有将针对多个上述药品容器10的全部提取检查集中统一执行的成批全部提取检查功能。具体而言，上述混注控制部100使用上述第一控制部400或上述第二控制部500根据上述第一混注控制程序或上述第二混注控制程序，执行后述的成批全部提取检查处理，由此实现上述成批全部提取检查功能。In this regard, it is conceivable that thecoinjection device 1 has a batch-to-all extraction inspection function that collectively executes all extraction inspections for a plurality of the above-mentioneddrug containers 10 . Specifically, thecoinfusion control unit 100 uses thefirst control unit 400 or thesecond control unit 500 to execute the batch extraction check process described later in accordance with the first coinjection control program or the second coinfusion control program. This implements the batch-all extraction check function described above.
【成批全部提取检查处理】[All batch extraction and inspection processing]
以下，参照图29，对在上述成批全部提取检查功能为有效时利用上述混注装置1执行的上述成批全部提取检查处理的一例进行说明。另外，上述成批全部提取检查处理与上述混注处理一起执行。Hereinafter, with reference to FIG. 29 , an example of the above-mentioned all-in-batch extraction inspection process performed by the above-mentionedcoinjection apparatus 1 when the above-mentioned all-in-batch extraction inspection function is enabled will be described. In addition, the above-mentioned batch all extraction check processing is executed together with the above-mentioned shuffling processing.
＜步骤S61＞<Step S61>
在步骤S61中，上述第二控制部500判断在基于上述配制数据的上述混注处理中是否存在多个成为全部提取的对象的上述药品容器10。在此，当判断为存在多个成为全部提取的对象的上述药品容器10时(S61：是)，处理移至步骤S62，当判断为不存在多个成为全部提取的对象的上述药品容器10时(S61：否)，该成批全部提取处理结束。In step S61 , thesecond control unit 500 determines whether or not there are a plurality of thedrug containers 10 to be all extracted in the coinfusion process based on the preparation data. Here, when it is determined that there are a plurality of the above-mentioneddrug containers 10 to be all extracted ( S61 : YES), the process proceeds to step S62 , and when it is determined that there are not a plurality of the above-mentioneddrug containers 10 to be all extracted (S61: NO), the batch extraction process ends.
＜步骤S62＞<Step S62>
在步骤S62中，上述第二控制部500判断针对作为全部提取的对象的多个上述药品10的任意一个的全部提取是否已结束。在此，当判断为全部提取已结束时(S62：是)，处理移至步骤S63，在全部提取未结束时(S62：否)，处理在该步骤S62待机。In step S62 , thesecond control unit 500 determines whether or not all extractions have been completed for any one of the plurality ofmedicines 10 targeted for all extractions. Here, when it is determined that all extraction has been completed ( S62 : YES), the process proceeds to step S63 , and when all extraction is not completed ( S62 : NO), the process waits at this step S62 .
＜步骤S63＞<Step S63>
在步骤S63中，上述第二控制部500控制上述第一机械臂21，将在上述步骤S62中判断为结束了的作为全部提取的对象的上述药品容器10载置于上述载置架33上。此时，上述第二控制部500将上述药品容器10与其在上述载置架33上的配置建立对应而存储至上述数据存储部504中。另外，上述载置架33是第二载置部的一例，执行用于使上述全部提取执行后的上述药品容器10载置于上述载置架33的处理时的上述第二控制部500，是第二载置处理部的一例。另外，在本实施方式中，上述载置架33是上述第一载置部和上述第二载置部的一例，上述第一载置部和上述第二载置部也可以分别设置。In step S63 , thesecond control unit 500 controls thefirst robot arm 21 to place thedrug containers 10 , which are the objects of all extractions determined to be completed in step S62 , on therack 33 . At this time, thesecond control unit 500 stores thedrug container 10 in thedata storage unit 504 in association with the arrangement of thedrug container 10 and theplacement rack 33 . In addition, therack 33 is an example of a second mounting unit, and thesecond control unit 500 when performing the process for placing thedrug containers 10 after all extractions has been performed on therack 33 is a An example of the second placement processing unit. In addition, in this embodiment, the said mountingframe 33 is an example of the said 1st mounting part and the said 2nd mounting part, The said 1st mounting part and the said 2nd mounting part may be provided separately.
＜步骤S64＞<Step S64>
在步骤S64中，上述第二控制部500判断对上述配制数据中作为全部提取的对象的多个上述药品容器10是否全都结束了全部提取。在此，当判断为所有的全部提取均已结束时(S64：是)，处理移至步骤S65，当判断为未结束所有的全部提取时(S64：否)，处理移至上述步骤S62。In step S64 , thesecond control unit 500 determines whether or not all of the plurality ofdrug containers 10 to be extracted in the preparation data have all been extracted. Here, when it is determined that all extractions have been completed ( S64 : YES), the process proceeds to step S65 , and when it is determined that all extractions have not been completed ( S64 : NO), the process proceeds to the above-described step S62 .
＜步骤S65＞<Step S65>
在步骤S65中，上述第二控制部500通知对上述配制数据中作为全部提取的对象的多个上述药品容器10全都结束了全部提取这一情况。例如，上述第二控制部500使上述触摸面板监视器14显示全部提取的结束。另外，上述第二控制部500也可以经由上述第一控制部400使上述显示器203显示全部提取的结束。In step S65 , thesecond control unit 500 notifies that all of the plurality ofdrug containers 10 to be extracted in the preparation data has been completely extracted. For example, thesecond control unit 500 causes the touch panel monitor 14 to display the completion of all extractions. In addition, thesecond control unit 500 may cause thedisplay 203 to display the completion of all extractions via thefirst control unit 400 .
＜步骤S66＞<Step S66>
在步骤S66中，上述第二控制部500判断是否对上述触摸面板监视器14进行了全部提取检查的开始操作。在此，当判断为进行了全部提取检查的开始操作时(S66：是)，处理移至步骤S67，在进行全部提取检查的开始操作之前(S66：否)，处理在步骤S66待机。In step S66 , thesecond control unit 500 determines whether or not the start operation of all extraction checks has been performed on the touch panel monitor 14 . Here, when it is determined that the start operation of all extraction checks has been performed ( S66 : YES), the process proceeds to step S67 , and the process waits at step S66 until the start operations of all extraction checks are performed ( S66 : NO).
＜步骤S67＞<Step S67>
在步骤S67中，上述第二控制部500对全部提取后的各上述药品容器10依次执行用于检查上述全部提取的结果的全部提取检查处理。在此，执行该处理时的上述第二控制部500是全部提取检查处理部的一例。具体而言，在上述全部提取检查处理中，上述第二控制部500控制上述第一机械臂21，使上述药品容器10移动至上述药品容器10的底部或侧面能够被用户目视确认的位置和姿势。然后，上述第二控制部500当受理由用户实施的上述药品容器10的检查确认操作时，开始针对下一个上述药品容器10的全部提取检查处理。然后，当针对所有的上述药品容器10的全部提取检查处理结束时，将其检查结果存储至上述数据存储部504。In step S67 , thesecond control unit 500 sequentially executes all extraction inspection processing for inspecting the results of all extractions on each of thedrug containers 10 after all extractions. Here, the above-describedsecond control unit 500 at the time of executing this process is an example of an all extraction inspection processing unit. Specifically, in all the extraction and inspection processes described above, thesecond control unit 500 controls thefirst robot arm 21 to move thedrug container 10 to a position where the bottom or side of thedrug container 10 can be visually recognized by the user and posture. Then, when thesecond control unit 500 receives the inspection and confirmation operation of thedrug container 10 performed by the user, it starts the extraction and inspection process for all thedrug containers 10 next. Then, when all the extraction and inspection processing for all the above-mentioneddrug containers 10 is completed, the inspection results are stored in the above-mentioneddata storage unit 504 .
另外，可考虑上述第二控制部500根据来自用户的操作控制上述第一机械臂21，使上述药品容器10变化为能够从多个角度确认上述药品容器10的底部或侧面的多个姿势。由此，用户能够从不同的角度对上述药品容器10进行观察确认，从而能够恰当地判断是否正常地进行了针对上述药品容器1的全部提取。另外，也可考虑上述第二控制部500不使上述药品容器10变化为能够目视确认的位置和姿势，而使预先拍摄有上述药品容器10的底部或侧面的一个或多个图像按顺序显示。In addition, thesecond control unit 500 may control thefirst robot arm 21 according to the operation from the user to change themedicine container 10 into a plurality of postures in which the bottom or side surface of themedicine container 10 can be checked from various angles. As a result, the user can observe and confirm the above-mentioneddrug container 10 from different angles, and can appropriately determine whether or not all the above-mentioneddrug containers 1 have been extracted normally. In addition, thesecond control unit 500 may display one or more images in which the bottom or side surface of thedrug container 10 is photographed in order, without changing the position and posture of thedrug container 10 to be visually recognized. .
另外，在此对在上述混注处理所包含的所有的上述全部提取结束之后执行全部提取检查处理的情况进行了说明，但作为其他的实施方式，也可考虑上述第二控制部500在上述成批配制检查处理时执行全部提取检查处理。Here, the case where all the extraction check processing is executed after all the above-mentioned all extractions included in the above-mentioned shuffling processing is completed has been described. All extraction inspection processing is executed when preparing inspection processing.
【事先空气注入功能】【Pre-air injection function】
可考虑在上述混注装置1中上述第二控制部500控制上述第二机械臂22，使用上述注射器11在上述输液袋12内抽吸了输液之后，从上述输液袋12上拔下上述注射针11c之前，将上述输液袋12内的空气抽吸出规定量。由此，抑制了在上述注射器11的注射针11c被从上述输液袋12拔下之后上述注射器11移动时输液从上述注射针11c滴下的可能性。It is conceivable that thesecond control unit 500 controls thesecond robot arm 22 in thecoinfusion device 1, uses thesyringe 11 to aspirate the infusion solution in theinfusion bag 12, and then removes theinjection needle 11c from theinfusion bag 12. Previously, the air in theinfusion bag 12 was sucked out by a predetermined amount. This suppresses the possibility that the infusion solution drips from theinjection needle 11c when thesyringe 11 moves after theinjection needle 11c of thesyringe 11 is removed from theinfusion bag 12.
对此，近年来，作为上述混注处理中所使用的上述输液袋12，已知有内部收纳的空气量极少的也被称为AL型的特殊容器。如此，在上述输液袋12为上述特殊容器时，存在无法执行如前所述的从上述输液袋12抽吸规定量的空气的处理这一情况。这是因为：例如在使用上述注射器11抽吸上述输液袋12内的空气时，存在上述注射器11的注射针11c与上述输液袋12内的输液接触而不必要地抽吸输液的可能性。因此，可考虑上述混注装置1具有下述的事先空气注入功能，即，在上述混注处理中所使用的上述输液袋12是预先设定的上述特殊容器时能够预先向上述输液袋12内注入空气这一功能。In contrast, in recent years, as theinfusion bag 12 used in the coinfusion process, a special container called an AL type is known, which has an extremely small amount of air contained therein. In this way, when theinfusion bag 12 is the special container, the process of sucking a predetermined amount of air from theinfusion bag 12 as described above may not be performed in some cases. This is because, for example, when thesyringe 11 is used to suck the air in theinfusion bag 12, theinjection needle 11c of thesyringe 11 may come into contact with the infusion solution in theinfusion bag 12 and the infusion solution may be sucked unnecessarily. Therefore, it is considered that thecoinfusion device 1 has a pre-air injection function that allows air to be injected into theinfusion bag 12 in advance when theinfusion bag 12 used in the coinfusion process is the special container set in advance. this function.
具体而言，在上述数据存储部404所存储的上述药品标准中，按照各上述输液袋12而存储有容器的类别。例如，在上述药品标准中，存储有表示上述输液袋12是否为上述AL型那样的上述特殊容器的特殊标志。而且，上述第一控制部400根据上述配制数据和上述药品标准，在上述混注处理中所使用的上述输液袋12为上述特殊容器时，将该情况通知给上述第二控制部500。由此，例如在该混注处理开始时，上述第二控制部500执行将对上述输液袋12预先设定的规定量的空气注入上述输液袋的事先空气注入工序。Specifically, in the above-mentioned drug standards stored in the above-mentioneddata storage unit 404 , the types of containers are stored for each of the above-mentionedinfusion bags 12 . For example, in the above-mentioned pharmaceutical standard, a special flag indicating whether or not theinfusion bag 12 is the above-mentioned special container such as the above-mentioned AL type is stored. Further, thefirst control unit 400 notifies thesecond control unit 500 of the fact that theinfusion bag 12 used in the coinfusion process is the special container based on the preparation data and the drug standard. Thus, for example, when the coinfusion process is started, thesecond control unit 500 executes a pre-air injection step of injecting a predetermined amount of air set in advance into theinfusion bag 12 into the infusion bag.
另外，上述事先空气注入工序只要在上述混注处理中执行从上述输液袋12抽吸输液的抽吸工序、或者向上述输液袋12注入液体的注入工序等之前执行，则其执行开始时刻便不限于上述混注处理的开始时。另外，在上述输液袋12非上述特殊容器时，不执行上述事先空气注入工序。另外，也可以取代上述第一控制部400，而由上述第二控制部500根据上述配制数据和上述药品标准对是否需要上述事先空气注入工序进行判断。In addition, the above-mentioned pre-air injection process is not limited to the start time of execution as long as it is performed before the suction process of suctioning the infusion solution from theinfusion bag 12 or the injection process of injecting the liquid into theinfusion bag 12 in the above-mentioned co-injection process. At the beginning of the coinfusion process described above. In addition, when the saidinfusion bag 12 is not the said special container, the said pre-air injection process is not performed. In addition, instead of thefirst control unit 400, thesecond control unit 500 may determine whether or not the pre-air injection step is necessary based on the preparation data and the drug standard.
如以上所说明，在上述混注装置1具备上述事先空气注入功能时，能够在上述抽吸工序或上述注入工序之前使上述输液袋12内的空气量增加。因此，在上述抽吸工序或上述注入工序中，在将上述注射器11的注射针11c从上述输液袋12拔下之前，能够将上述输液袋12内的空气抽吸出规定量，从而抑制输液从上述注射针11c滴下。As described above, when thecoinfusion device 1 includes the pre-air injection function, the amount of air in theinfusion bag 12 can be increased before the suction step or the injection step. Therefore, in the suction step or the injection step, before theinjection needle 11c of thesyringe 11 is removed from theinfusion bag 12, the air in theinfusion bag 12 can be sucked out by a predetermined amount, thereby preventing the infusion fluid from flowing from theinfusion bag 12. The above-mentionedinjection needle 11c is dropped.
【插入处理功能】【Insert processing function】
在上述混注装置1中，能够将上述托盘101暂时收纳于上述收纳单元700。因此，可考虑上述混注装置1具有下述的插入处理功能：即，在上述混注处理执行过程中，在该执行中的上述混注处理的中途执行基于其他的上述配制数据的上述混注处理这一插入处理功能。由此，上述混注装置1的用户在发生了紧急程度高的上述配制数据时能够优先执行基于该配制数据的上述混注处理。In thecoinfusion apparatus 1 described above, thetray 101 can be temporarily housed in thestorage unit 700 . Therefore, thecoinjection apparatus 1 can be considered to have an insert processing function of executing the coinfusion process based on the other preparation data in the middle of the coinfusion process being executed during the execution of the coinfusion process. processing function. Thereby, the user of thecoinjection apparatus 1 can preferentially execute the coinfusion process based on the coinjection data when the juxtaposition data with a high degree of urgency occurs.
具体而言，上述第一控制部400在选择了作为插入对象的上述配制数据且对上述操作部405进行了预先设定的插入要求操作时，对上述第二控制部500发送上述配制数据的插入要求。然后，上述第二控制部500在上述混注处理的执行过程中接收到上述插入要求时，将目前正在执行的上述混注处理暂时中断，而执行基于与上述插入要求对应的上述配制数据的上述混注处理，然后重新开始进行上述被中断的上述混注处理。Specifically, thefirst control unit 400 transmits the insertion of the configuration data to thesecond control unit 500 when the configuration data to be inserted is selected and a preset insertion request operation is performed on theoperation unit 405 . Require. Then, when thesecond control unit 500 receives the insertion request during the execution of the shuffling process, it temporarily suspends the shuffling process currently being executed, and executes the shuffling process based on the preparation data corresponding to the insertion request. , and then restart the above-mentioned interrupted mixed-injection process.
例如，上述第二控制部500在中断上述混注处理时，控制上述第一机械臂21和上述第二机械臂22，使目前正在执行的上述混注处理中所使用的上述药品容器10和上述注射器11载置于上述载置部33上。另外，上述第二控制部500控制上述托盘输送部110，将上述输液袋12载置于上述托盘101上，并使上述托盘101返回至上述收纳单元700并收纳于其中。然后，上述第二控制部500控制上述收纳单元700，将与上述插入要求对应的上述配制数据所对应的上述托盘101供给至上述混注处理部300，执行基于与上述插入要求对应的上述配制数据的上述混注处理。然后，当上述混注处理结束时，上述第二控制部500将与上述被中断的上述混注处理对应的上述托盘101从上述收纳单元700再次供给至上述混注处理部300，并重新开始上述混注处理。For example, when the coinfusion process is interrupted, thesecond control unit 500 controls thefirst robot arm 21 and thesecond robot arm 22 so that thedrug container 10 and thesyringe 11 used in the coinfusion process currently being executed It is placed on the above-mentionedplacement portion 33 . In addition, thesecond control unit 500 controls thetray conveying unit 110 to place theinfusion bag 12 on thetray 101 , and returns thetray 101 to thestorage unit 700 to be stored therein. Then, thesecond control unit 500 controls thestorage unit 700 to supply thetray 101 corresponding to the preparation data corresponding to the insertion request to thecoinjection processing unit 300, and executes the process based on the preparation data corresponding to the insertion request. The above mixed injection treatment. Then, when the coinfusion process ends, thesecond control unit 500 resupplies thetray 101 corresponding to the interrupted coinfusion process from thestorage unit 700 to thecoinjection process unit 300, and restarts the coinfusion process.
【并行配制功能】【Parallel configuration function】
以上对于下述情况进行了说明，即，在上述混注装置1中，上述输液袋保持部103、上述袋升降部113、上述混注连通口37、以及上述托盘输送部110分别仅设有一个，依次个别地执行使用了上述托盘101的上述混注处理。另外，上述混注装置1具备多组上述输液袋保持部103、上述袋升降部113、上述混注连通口37、以及托盘输送部110的构成也可以考虑作为其他的实施方式。可考虑在如此构成的上述混注装置1中具备下述的并行配制功能：即，上述第二控制部500能够在上述混注装置1内输送多个上述托盘101，并能够将基于多个上述配制数据的上述混注处理大致同时地执行。The above description has been made on the case where, in thecoinfusion apparatus 1, only one of the infusionbag holding portion 103, thebag lifter 113, thecoinjection communication port 37, and thetray conveyance portion 110 are provided in this order, and the The above-described coinfusion process using the above-describedtray 101 is individually performed. In addition, the configuration in which thecoinfusion device 1 includes a plurality of sets of the infusionbag holding portion 103 , thebag lifter 113 , thecoinjection communication port 37 , and thetray conveyance portion 110 may be considered as another embodiment. It is conceivable that the above-mentionedcoinjection device 1 configured as described above has a parallel preparation function such that thesecond control unit 500 can transport a plurality of the above-mentionedtrays 101 in the above-mentionedcoinjection device 1, and can make a calculation based on the plurality of the above-mentioned preparation data. The above-mentioned coinfusion processing is performed approximately simultaneously.
具体而言，对于上述第二控制部500将基于第一配制数据的第一混注处理和基于第二配制数据的第二混注处理大致同时地执行的情况进行考虑。该情况下，可考虑上述第二控制部500在基于上述第一配制数据的上述第一混注处理中执行上述搅拌工序的期间，执行基于上述第二配制数据的上述第二混注处理中的从上述托盘101向上述混注处理部300输入上述药品容器10、上述注射器11、上述输液袋12等器材的输入处理。Specifically, consider the case where thesecond control unit 500 executes the first mixing process based on the first mix data and the second mix process based on the second mix data at substantially the same time. In this case, it may be considered that thesecond control unit 500 executes the second mixing process based on the second mixing data while executing the stirring step in the first mixing processing based on the first mixing data. Thetray 101 is used for input processing of equipment such as thedrug container 10 , thesyringe 11 , and theinfusion bag 12 to thecoinfusion processing unit 300 .
另外，也可考虑上述第二控制部500在基于上述第二配制数据的上述第二混注处理中执行上述搅拌工序的期间，执行基于上述第一配制数据的上述第一混注处理中的从上述输液袋12向上述药品容器10注入药品、或者从上述药品容器10向上述输液袋12注入药品等处理。In addition, it may be considered that thesecond control unit 500 executes the infusion solution from the infusion in the first coinfusion process based on the first formulation data while the stirring step is performed in the second coinfusion process based on the second formulation data. Thebag 12 is a process such as injecting a medicine into the above-mentionedmedicine container 10 , or injecting a medicine from the above-mentionedmedicine container 10 into the above-mentionedinfusion bag 12 .
如此，在具备上述并行配制功能的上述混注装置1中，由于基于多个上述配制数据的上述混注处理能够同时执行，因此，能够有效地利用各上述混注处理中的空闲时间，高效地执行基于多个上述配制数据的上述混注处理。In this way, in thecoinjection apparatus 1 having the above-described parallel preparation function, since the coinjection processes based on the plurality of pieces of the coinjection data can be executed simultaneously, the idle time in each of the coinfusion processes can be effectively used to efficiently execute the coinfusion processes based on the plurality of coinfusion processes. The above-mentioned mixed injection processing of the above-mentioned preparation data.
【第二实施方式】[Second Embodiment]
以下，对本发明的其他实施方式进行说明。具体而言，在本实施方式中，对上述日程管理功能的其他例子进行说明。另外，对于与上述第一实施方式相同的构成和处理步骤等标注相同的符号并省略其说明。Hereinafter, other embodiments of the present invention will be described. Specifically, in this embodiment, another example of the above-mentioned schedule management function will be described. In addition, the same code|symbol is attached|subjected to the same structure, process procedure, etc. as the said 1st Embodiment, and the description is abbreviate|omitted.
如图30所示，本实施方式涉及的混注装置1具备触摸面板监视器208，该触摸面板监视器208被配置在其他的作业者能够在与使用上述操作部405和上述显示器203等进行作业的作业者不同的位置进行操作的位置。另外，本实施方式中所说明的使用上述触摸面板监视器208的显示和操作，也可以使用上述操作部405和上述显示器203进行。As shown in FIG. 30 , thecoinfusion apparatus 1 according to the present embodiment includes atouch panel monitor 208, and the touch panel monitor 208 is arranged in a place where other operators can perform work using theoperation unit 405, thedisplay 203, and the like. The position where the operator operates from different positions. In addition, the display and operation using the touch panel monitor 208 described in the present embodiment may be performed using theoperation unit 405 and thedisplay 203 described above.
上述触摸面板监视器208具备：根据来自上述第一控制部400的控制指示而使各种信息显示的液晶显示器或有机EL显示器等显示部、以及受理对上述显示部的触摸操作的触摸面板等操作部。由此，例如能够同时执行载置作业和预约作业，其中，上述载置作业是使用上述操作部405、上述显示器203、以及上述条形码阅读器204等的对上述托盘101载置器材的作业，上述预约作业是使用上述触摸面板监视器208的上述配制数据的预约作业。The touch panel monitor 208 includes a display unit such as a liquid crystal display or an organic EL display that displays various information in accordance with a control instruction from thefirst control unit 400 , and a touch panel that accepts touch operations on the display unit. department. This makes it possible to perform, for example, a placing operation, which is an operation of placing a device on thetray 101 using theoperation unit 405, thedisplay 203, thebarcode reader 204, and the like, and a reservation operation at the same time. The reserved job is a reserved job using the above-mentioned preparation data of the above-mentionedtouch panel monitor 208 .
在本实施方式涉及的上述混注装置1中，上述第一控制部400能够使上述触摸面板监视器208也显示上述处方选择画面P0。另外，在上述处方选择画面P0中，不能向上述输入区域A3输入上述配制数据的结束预定时间，上述输入区域A4被用作预约后的上述配制数据的结束预定时间的显示区域。而且，上述第一控制部400在上述处方选择画面P0中，以通过上述选择操作部A3选择了上述配制数据作为预约对象的状态、或在上述区域A1中选择了任意的上述配制数据的状态操作了上述操作键A5时，对于每一该配制数据，使预约基于该配制数据的混注处理用的预约登录画面P10显示于上述触摸面板监视器208。在此，图31是表示上述预约登录画面P10的一例的图。In thecoinfusion apparatus 1 according to the present embodiment, thefirst control unit 400 can cause the touch panel monitor 208 to also display the prescription selection screen P0. In addition, on the prescription selection screen P0, the scheduled end time of the preparation data cannot be input into the input area A3, and the input area A4 is used as a display area for the scheduled end time of the preparation data after reservation. Then, on the prescription selection screen P0, thefirst control unit 400 operates in a state in which the preparation data is selected as a reservation target by the selection operation section A3, or in a state in which any of the preparation data is selected in the area A1. When the above-mentioned operation key A5 is pressed, the touch-panel monitor 208 displays the reservation registration screen P10 for reserving the mixing process based on the preparation data for each preparation data. Here, FIG. 31 is a diagram showing an example of the above-mentioned reservation registration screen P10.
如图31所示，在上述预约登录画面P10中，作为预约对象的上述配制数据相关的信息，例如显示有用于识别患者的患者码(患者CD)及患者姓名、用于识别配制数据的识别码、以及基于该配制数据的混注处理的所需时间。另外，上述混注处理的所需时间按照上述配制数据所指示的每一配制内容而被存储在上述数据存储部404中。另外，在上述数据存储部404中存储有用于算出上述所需时间的运算信息，上述第一控制部400也可以根据该运算信息而算出上述混注处理的所需时间。As shown in FIG. 31 , on the reservation registration screen P10 , information related to the preparation data to be reserved, for example, a patient code (patient CD) for identifying a patient, a patient name, and an identification code for identifying the preparation data are displayed. , and the time required for the coinfusion process based on the formulation data. In addition, the time required for the coinfusion process is stored in thedata storage unit 404 for each preparation content indicated by the preparation data. In addition, calculation information for calculating the required time is stored in thedata storage unit 404, and thefirst control unit 400 may calculate the required time for the shuffling process based on the calculation information.
另外，在上述预约登录画面P10中显示有：用于受理上述配制数据的预约条件的选择操作的操作键K11～K13、以及用于受理上述配制数据的预约的执行的操作键K14。上述操作键K11是用于选择无时间指定预约作为预约条件的操作键，该无时间指定预约是指：使基于预约对象的上述配制数据的混注处理在上述混注装置1未执行其他的混注处理的空闲时间执行。上述操作键K12是用于选择临时预约作为预约条件的操作键，该临时预约是指：使基于预约对象的上述配制数据的混注处理优先于通过上述无时间指定预约和后述的有时间指定预约而被预约的其他配制数据而执行。另外，在选择了上述操作键K12时，在存在已经通过上述临时预约而被预约的上述配制数据的情况下，也能够选择预约对象的上述配制数据的执行顺序。In addition, on the reservation registration screen P10 are displayed operation keys K11 to K13 for accepting the selection operation of the reservation condition of the configuration data, and operation key K14 for accepting execution of the reservation of the configuration data. The operation key K11 is an operation key for selecting a reservation without time designation as a reservation condition. The reservation without time designation means that the mixing process based on the preparation data of the reservation object is not executed in themixing device 1 without other mixing process. Execute in idle time. The above-mentioned operation key K12 is an operation key for selecting a temporary reservation as a reservation condition. The temporary reservation means that the mixing process based on the above-mentioned preparation data of the reservation target is given priority over the above-mentioned non-time designation reservation and the time designation reservation described later. And it is executed for other preparation data reserved. Moreover, when the said operation key K12 is selected, when there exists the said preparation data already reserved by the said temporary reservation, the execution order of the said preparation data which is a reservation object can also be selected.
上述操作键K13是用于选择有时间指定预约作为预约条件的操作键，该有时间指定预约是指：使基于预约对象的上述配制数据的混注处理根据通过用户操作而被预先设定的执行开始时刻而执行。另外，上述执行开始时刻的设定如前所述，是通过上述混注处理的结束预定时间(对应于图31的“配制结束时刻”)的输入或上述混注处理的开始预定时间等的输入而进行。进一步具体而言，在选择了上述操作键K13时，在上述预约登录画面P10中，能够设定执行基于该配制数据的混注处理的日期和时刻。例如，图31所示的上述预约登录画面P10，是进行了意为在8月22日19时02分之前执行上述混注处理的有时间指定预约的设定这一状态。The above-mentioned operation key K13 is an operation key for selecting a time-specified reservation as a reservation condition, and the time-specified reservation means that the mixing process based on the above-mentioned preparation data to be reserved is started according to the execution preset by the user operation. time to execute. In addition, the setting of the above-mentioned execution start time is performed by the input of the above-mentioned commingling process end time (corresponding to the “preparation end time” in FIG. 31 ), the above-mentioned commingling process start time, etc., as described above. . More specifically, when the above-mentioned operation key K13 is selected, on the above-mentioned reservation registration screen P10, the date and time to execute the mixing process based on the preparation data can be set. For example, the above-mentioned reservation registration screen P10 shown in FIG. 31 is in a state in which a time-specified reservation is set so as to execute the above-mentioned mixed betting process before 19:02 on August 22nd.
另外，在上述预约登录画面P10中，在进行有时间指定预约时，也能够对上述混注处理的结束预定时间设定富裕时间。上述富裕时间表示在上述结束预定时间设定后将上述混注处理的执行时刻提前时的可变更范围，例如为上述药品标准中对每一药品设定的时间、或者上述预约登录画面P10中根据用户操作而被输入的时间。例如，在上述结束预定时间为19时02分、上述富裕时间为30分钟的情况下，上述混注处理的执行时刻能够在下述范围内变更，即，上述混注处理在上述结束预定时间的30分钟前的18时32分以后且19时02分之前结束这一范围。另外，在上述结束预定时间为19时02分、上述富裕时间为30分钟的情况下，上述混注处理的执行时刻也可以在下述范围内变更，即，在上述结束预定时间的30分钟前的18时32分以后上述混注处理被开始这一范围。In addition, in the above-mentioned reservation registration screen P10 , when a reservation with time designation is made, a margin time can be set for the scheduled completion time of the above-mentioned juxtaposition process. The above-mentioned margin time indicates a changeable range when advancing the execution time of the above-mentioned mixed injection process after the above-mentioned end scheduled time setting, for example, the time set for each medicine in the above-mentioned medicine standard, or the user-defined time in the above-mentioned reservation registration screen P10. The time entered for the operation. For example, when the scheduled end time is 19:02 and the margin time is 30 minutes, the execution time of the coinfusion process can be changed within the range that the coinfusion process is performed 30 minutes before the scheduled end time The range ends after 18:32 and before 19:02. In addition, when the above-mentioned scheduled end time is 19:02 and the above-mentioned allowance time is 30 minutes, the execution time of the above-mentioned mixed injection process may be changed within the following range, that is, 18 minutes before the above-mentioned scheduled end time. The range in which the above-mentioned mixing process is started after 32:00.
而且，当在上述预约登录画面P10中设定了针对预约对象的上述配制数据的预约方法及其预约内容等，且操作了上述操作键K14时，上述第一控制部400判断为进行了上述预约设定操作(图26的S51：是)，若预约数的合计在上述最大预约数以内(S52：是)，则根据上述预约设定操作对各上述配制数据执行预约设定处理(S53)。另外，执行上述预约设定处理时的上述第一控制部400是预约设定处理部的一例。Then, thefirst control unit 400 determines that the reservation has been made when the reservation method and reservation content of the preparation data to be reserved are set on the reservation registration screen P10, and the operation key K14 is operated. In the setting operation (S51: YES in FIG. 26), if the total number of reservations is within the maximum reservation number (S52: YES), the reservation setting process is executed for each of the above-mentioned preparation data according to the reservation setting operation (S53). In addition, the said1st control part 400 at the time of executing the said reservation setting process is an example of a reservation setting process part.
在此，在上述步骤S53的预约设定处理中，上述第一控制部400相对于上述预约登录画面P10的预约内容更新上述日程信息。具体而言，上述第一控制部400能够根据用户操作选择性地受理上述有时间指定预约、上述无时间指定预约、以及上述临时预约作为上述预约条件，并根据该预约条件更新上述日程信息。Here, in the reservation setting process of the above-mentioned step S53, the above-mentionedfirst control unit 400 updates the above-mentioned schedule information with respect to the reservation content on the above-mentioned reservation registration screen P10. Specifically, thefirst control unit 400 can selectively accept the time-specified reservation, the non-time-specified reservation, and the temporary reservation as the reservation condition according to a user operation, and update the schedule information according to the reservation condition.
而且，在针对上述配制数据进行了上述临时预约时，相较于其他的配制数据，上述第一控制部400使上述第二控制部500优先执行基于该配制数据的混注处理。进一步具体而言，上述第一控制部400在上述混注装置1中目前未执行基于其他的配制数据的混注处理时，使上述第二控制部500立即执行基于进行了上述临时预约的上述配制数据的混注处理。另外，该情况下，在存在基于已经预约的上述配制数据的混注处理时，将上述混注处理的执行开始时刻至少重新设定为基于上述临时预约涉及的上述配制数据的混注处理执行后的时刻。Furthermore, when the temporary reservation is made for the preparation data, thefirst control unit 400 causes thesecond control unit 500 to execute the mixing process based on the preparation data in priority over other preparation data. More specifically, thefirst control unit 400 causes thesecond control unit 500 to immediately execute the coinjection process based on the temporarily reserved formulation data when thecoinjection device 1 has not performed coinfusion processing based on other formulation data. Mixed injection processing. In this case, when there is a coinfusion process based on the previously reserved preparation data, the execution start time of the coinjection process is reset to at least the time after the execution of the coinfusion process based on the preparation data related to the temporary reservation.
另外，上述第一控制部400在上述混注装置1中目前正在执行基于其他的配制数据的混注处理时，使上述第二控制部500在该混注处理结束后执行基于进行了上述临时预约的上述配制数据的混注处理。进而，上述第一控制部400在目前正在执行基于其他的配制数据的混注处理时，也可以使该混注处理暂时中断，而使上述第二控制部500执行基于进行了上述临时预约的上述配制数据的混注处理。具体而言，上述第二控制部500使执行中的上述混注处理涉及的上述药品容器10和上述注射器11等器材载置于上述载置架33上，并且，使上述输液袋12返回至上述托盘101并使该托盘101返回至上述收纳单元700的托盘收纳部811。然后，上述第二控制部500执行基于上述临时预约所涉及的上述配制数据的混注处理，并在该混注处理结束后重新开始被中断的混注处理。In addition, thefirst control unit 400 causes thesecond control unit 500 to execute the preparation based on the temporary reservation after completion of the mixing process when the mixing process based on other preparation data is currently being executed in themixing device 1 Mixing of data. Furthermore, when thefirst control unit 400 is currently executing the mixing process based on other preparation data, the mixing process may be temporarily suspended, and thesecond control unit 500 may execute the mixing process based on the temporarily reserved preparation data. mixed injection treatment. Specifically, thesecond control unit 500 places themedicine container 10 and thesyringe 11 and other equipment involved in the coinfusion process in execution on the mountingrack 33, and returns theinfusion bag 12 to the tray. 101 and return thetray 101 to thetray storage portion 811 of thestorage unit 700 described above. Then, thesecond control unit 500 executes the mixing process based on the preparation data related to the temporary reservation, and restarts the interrupted mixing process after the mixing process ends.
另外，在对上述配制数据进行了上述无时间指定预约时，上述第一控制部400在未执行基于进行了上述临时预约的配制数据的混注处理、和基于进行了上述有时间指定预约的配制数据的混注处理时，使上述第二控制部500以进行了上述无时间指定预约的顺序，执行基于进行了该无时间指定预约的上述配制数据的混注处理。In addition, when the above-mentioned non-time designation reservation is made to the above-mentioned preparation data, thefirst control unit 400 does not execute the mixing process based on the preparation data for which the temporary reservation is made and the preparation data based on the time designation reservation. At the time of the coinjection processing, thesecond control unit 500 is caused to execute the coinjection process based on the preparation data for which the timeless designation reservation is made in the order in which the timeless designation reservation is made.
另外，在对上述配制数据进行了上述有时间指定预约时，上述第一控制部400设定上述日程信息中的上述执行开始时刻，以使基于该配制数据的混注处理在通过上述有时间指定预约而被设定的上述结束预定时间结束。例如，从上述结束预定时间减去上述混注处理的所需时间后的时间被设定为上述执行开始时刻，在多个上述混注处理的执行时间重复的情况下，以通过将一个或多个上述混注处理的执行开始时刻提前而使多个上述混注处理的执行时间不重复这一方式，设定上述执行开始时刻。另外，上述第一控制部400在设定上述日程信息时，无需考虑上述无时间指定预约涉及的上述配制数据的上述执行开始时刻，而考虑上述有时间指定预约和上述临时预约涉及的各上述配制数据的上述执行开始时刻，对上述有时间指定预约和上述临时预约涉及的各上述配制数据的上述执行开始时刻进行设定。In addition, when the time-specified reservation is made for the preparation data, thefirst control unit 400 sets the execution start time in the schedule information so that the coinjection process based on the preparation data can be scheduled by the time-specified reservation. On the other hand, the set predetermined end time ends. For example, the time obtained by subtracting the required time for the shuffling process from the above-described end scheduled time is set as the execution start time. The execution start time of the shuffling process is set in such a manner that the execution times of the plurality of shuffling processes are not repeated. In addition, when setting the schedule information, thefirst control unit 400 does not need to consider the execution start time of the configuration data related to the non-time specified reservation, but considers each of the configurations related to the time specified reservation and the temporary reservation. The execution start time of the data is set to the execution start time of each of the preparation data related to the time-specified reservation and the temporary reservation.
另外，在上述步骤S55中，取代上述日程设定画面P1，上述第一控制部400使上述触摸面板监视器208显示图32所示的日程设定画面P11。在上述日程设定画面P11中，也与上述日程设定画面P1相同地，使各上述配制数据的执行开始时刻根据上述日程信息而沿时间轴显示。Moreover, in the said step S55, the said1st control part 400 makes the said touch-panel monitor 208 display the schedule setting screen P11 shown in FIG. 32 instead of the said schedule setting screen P1. In the above-mentioned schedule setting screen P11, similarly to the above-mentioned schedule setting screen P1, the execution start time of each of the above-mentioned configuration data is displayed along the time axis based on the above-mentioned schedule information.
进而，在上述日程设定画面P11中显示有：表示目前时刻的标识部P111、表示与各上述配制数据对应的混注处理的执行时间的标识部P112、以及表示与各上述配制数据对应的混注处理的执行时间的可变更范围的标识部P113。尤其是，在上述日程设定画面P11中，对于每一上述配制数据，也通过文字列和上述标识部P112显示基于该配制数据的混注处理的结束预定时间。另外，上述标识部P113是根据上述结束预定时间和上述富裕时间而显示的，并使用将与上述结束预定时间对应的时刻和从该结束预定时间仅追溯富裕时间的时刻连接的线段进行显示。由此，用户一看各上述混注处理的执行时间和可变更范围，便能够容易地进行判断。Further, on the schedule setting screen P11, a marker P111 indicating the current time, a marker P112 indicating the execution time of the coinjection processing corresponding to each of the above-mentioned preparation data, and a coinjection process corresponding to each of the above-mentioned preparation data are displayed. The identification part P113 of the changeable range of the execution time. In particular, on the above-mentioned schedule setting screen P11, for each of the above-mentioned preparation data, the scheduled completion time of the mixed injection process based on the above-mentioned preparation data is also displayed by the character string and the above-mentioned indicator part P112. The indicator P113 is displayed based on the planned end time and the margin time, and is displayed using a line segment connecting the time corresponding to the planned end time and the time traced back only by the margin time from the planned end time. As a result, the user can easily judge the execution time and the changeable range of each of the above-mentioned shuffling processes.
而且，如前所述，在上述日程设定画面P11中，上述第一控制部400通过与上述配制数据对应的上述标识部P112的拖放，能够对基于该配制数据的混注处理的执行时间进行变更。此时，可考虑上述第一控制部400将上述标识部P112的拖放的可移动范围限定在上述标识部P113所示的上述富裕时间的范围内。由此，防止了上述混注处理的执行时间超出上述富裕时间而变更的情况。Furthermore, as described above, on the schedule setting screen P11, thefirst control unit 400 can adjust the execution time of the mixing process based on the preparation data by dragging and dropping the marker P112 corresponding to the preparation data. change. In this case, it is considered that thefirst control unit 400 limits the movable range of the drag and drop of the marker P112 to the range of the margin time indicated by the marker P113. This prevents the execution time of the coinfusion process from being changed beyond the margin time.
另外，当在上述日程设定画面P11中选择了任意的配制数据，且操作了用于开始针对该配制数据的预约内容的变更的预约编辑键K21时，也在上述步骤S56中判断为进行了上述变更操作(S56：是)。该情况下，如图33所示，上述第一控制部400在上述日程设定画面P11上弹出显示与上述预约登录画面P10相同的预约变更画面P12。另外，在上述预约变更画面P12中，显示有与上述预约登录画面P10相同的信息，上述第一控制部400根据该预约变更画面P12中的操作对上述配制数据的预约内容进行变更。In addition, when any configuration data is selected on the schedule setting screen P11, and the reservation edit key K21 for starting the change of the reservation content for the configuration data is operated, it is also determined in the above step S56 that it has been performed. The above-mentioned change operation (S56: YES). In this case, as shown in FIG. 33 , thefirst control unit 400 pops up and displays a reservation change screen P12 similar to the reservation registration screen P10 on the schedule setting screen P11 . In addition, on the reservation change screen P12, the same information as the reservation registration screen P10 is displayed, and thefirst control unit 400 changes the reservation content of the configuration data according to the operation on the reservation change screen P12.
进而，当在上述日程设定画面P11中操作了监控键K22时，如图34所示，上述第一控制部400使上述日程设定画面P11显示表示关于各上述配制数据的目前状况的信息。具体而言，在上述日程设定画面P11中对各上述配制数据显示有：待配发、待检查、配制中、配制错误中、待机中等状态，以及表示基于上述配制数据的混注处理的所需时间的配制时间。另外，作为上述配制数据的状态，还包含“已备齐”和“已装填”等，其中，“已备齐”表示基于上述配制数据的混注处理中所使用的上述药品容器10等器材被载置在上述托盘101上时的确认处理(S2～S8)已完成，“已装填”表示载置有上述药品容器10等器材的上述托盘101已被装填于上述收纳单元700中。Furthermore, when the monitor key K22 is operated on the schedule setting screen P11, as shown in FIG. 34, thefirst control unit 400 causes the schedule setting screen P11 to display information indicating the current status of each of the preparation data. Specifically, on the schedule setting screen P11, for each of the above-mentioned preparation data, the states to be dispensed, to be inspected, in preparation, in preparation error, waiting, etc., are displayed, and a requirement indicating the mixing process based on the above-mentioned preparation data is displayed. time of preparation. In addition, as the state of the above-mentioned preparation data, "prepared" and "filled" are also included, and "prepared" means that the equipment such as thedrug container 10 used in the mixing process based on the above-mentioned preparation data is loaded. The confirmation process ( S2 - S8 ) of setting on thetray 101 has been completed, and "loaded" means that thetray 101 on which themedicine container 10 and other equipment are placed has been loaded in thestorage unit 700 .
另外，在上述日程设定画面P11中显示有：受理针对基于各上述配制数据的混注处理的操作的操作部P114、以及受理针对与各上述配制数据对应的上述托盘101的操作的操作部P115。例如，在上述操作部P114中显示有：受理用于使基于上述配制数据的混注处理的检查开始的操作的检查键、受理用于变更上述混注处理的预约内容的操作的变更键等各种操作键。另外，在上述操作部P115中，显示有用于将上述托盘101从上述托盘排出口206取出的取出键等。另外，上述配制数据中未进行上述混注处理的检查的配制数据，上述操作部P115中不显示上述取出键，上述取出键以进行了上述混注处理的检查为条件而显示于上述操作部P115。In addition, on the schedule setting screen P11, an operation unit P114 for accepting operations for the coinjection processing based on the respective preparation data, and an operation unit P115 for accepting operations for thetrays 101 corresponding to the respective preparation data are displayed. For example, the operation unit P114 displays various operations such as a check key for accepting an operation for starting a check of the mashup process based on the preparation data, and a change key for accepting an operation for changing the reservation content of the mashup process. key. Moreover, in the said operation part P115, the extraction key etc. for taking out the saidtray 101 from the saidtray discharge port 206 are displayed. In addition, in the preparation data for which the inspection of the coinfusion process is not performed, the extract key is not displayed on the operation part P115, and the extract key is displayed on the operation part P115 under the condition that the inspection of the coinfusion process is performed.
进而，在上述日程设定画面P11中显示有：用于表示在上述日程设定画面P11中选择出的上述配制数据的详细内容的Tab键P31、以及用于表示上述混注装置1的状态的Tab键P32。而且，上述第一控制部400在选择了上述Tab键P31时，如图32所示使上述配制数据的详细内容显示，在选择了上述Tab键P32时，如图35所示使上述混注装置1的状态显示。例如，作为上述混注装置1的状态，显示有上述收纳单元700内的上述托盘收纳部811之中未使用的上述托盘收纳部811的数量。Further, on the schedule setting screen P11, a Tab key P31 for indicating the details of the preparation data selected on the schedule setting screen P11 and a Tab for indicating the state of thecoinjection device 1 are displayed. key P32. Then, when the above-mentioned Tab key P31 is selected, thefirst control unit 400 causes the detailed contents of the preparation data to be displayed as shown in FIG. 32 , and when the above-mentioned Tab key P32 is selected, the above-mentionedcoinjection apparatus 1 is displayed as shown in FIG. 35 . status display. For example, as the state of thecoinjection apparatus 1, the number of unusedtray storage parts 811 among thetray storage parts 811 in thestorage unit 700 is displayed.
另外，作为其他的实施方式，也可考虑下述情况：省略上述触摸面板监视器208，将上述日程管理功能涉及的上述处方选择画面P0、上述预约登录画面P10、以及上述日程设定画面P11等显示于上述显示器203，通过上述操作部405受理用户操作。In addition, as another embodiment, a case where the above-mentioned touch panel monitor 208 is omitted, and the above-mentioned prescription selection screen P0, the above-mentioned reservation registration screen P10, the above-mentioned schedule setting screen P11, etc. related to the above-mentioned schedule management function can be considered. It is displayed on thedisplay 203 , and theoperation unit 405 accepts user operations.
另外，上述收纳单元700不限于用于保存载置有基于上述配制数据的上述混注处理中所使用的上述药品容器10等器材的上述托盘101，可考虑上述收纳单元700也用于保存空的上述托盘101。具体而言，上述第一控制部400根据用户操作，执行用于对上述收纳单元700收纳空的上述托盘101的处理、以及用于从上述收纳单元700排出空的上述托盘101的处理。由此，能够将上述收纳单元700中未使用的上述托盘收纳部811用于上述托盘101的保管，例如，作业中的用户无需离开上述药品装填部200便能够从上述收纳单元700中取得上述托盘101。In addition, thestorage unit 700 is not limited to thetray 101 for storing the equipment such as thedrug container 10 used in the coinfusion process based on the preparation data. It is conceivable that thestorage unit 700 also stores theempty Tray 101 . Specifically, thefirst control unit 400 executes a process for storing theempty tray 101 in thestorage unit 700 and a process for discharging theempty tray 101 from thestorage unit 700 according to a user operation. As a result, thetray storage portion 811 that is not used in thestorage unit 700 can be used for storage of thetray 101 . For example, a user during work can acquire the tray from thestorage unit 700 without leaving thedrug loading portion 200 . 101.
【第三实施方式】[Third Embodiment]
在本实施方式中，对上述装填准备处理的其他例子进行说明。在此，图36为表示上述装填准备处理的其他例子的流程图。在上述第一实施方式和上述第二实施方式中，对于在执行了上述配制数据的预约作业后(S1)接着执行向与该配制数据对应的上述托盘101载置各种器材时的确认处理(S2～S8)的情况进行了说明。即，在上述第一实施方式和上述第二实施方式中，作为一系列作业而依次执行与上述托盘101对应的上述配制数据的预约作业、和对上述托盘101载置器材的载置作业。In this embodiment, another example of the above-mentioned loading preparation process will be described. Here, FIG. 36 is a flowchart showing another example of the above-described loading preparation process. In the above-mentioned first embodiment and the above-mentioned second embodiment, after the reservation operation of the preparation data is executed ( S1 ), the confirmation process ( S1 ) when various equipments are placed on thetray 101 corresponding to the preparation data is executed ( S1 ). S2 to S8) have been described. That is, in the above-mentioned first embodiment and the above-mentioned second embodiment, the reservation operation of the preparation data corresponding to thetray 101 and the placing operation of placing the equipment on thetray 101 are sequentially performed as a series of operations.
另外，如图36所示，在本实施方式涉及的上述装填准备处理中，在上述步骤S8和上述步骤S9之间，执行步骤S81～S82的处理。而且，在本实施方式中，上述第一控制部400不受理上述步骤S1中的上述预约操作，而在步骤S81～S82中受理上述预约操作。In addition, as shown in FIG. 36 , in the above-described loading preparation process according to the present embodiment, the processes of steps S81 to S82 are executed between the above-described step S8 and the above-described step S9. Furthermore, in the present embodiment, thefirst control unit 400 does not accept the reservation operation in step S1, but accepts the reservation operation in steps S81 to S82.
＜步骤S81＞<Step S81>
首先，在步骤S2～S8中，当执行了向与上述配制数据对应的上述托盘101载置上述药品容器10、上述注射器11、以及上述输液袋12等器材时的确认处理后，接着在步骤S81中，上述第一控制部400使上述显示器203显示是否针对基于上述配制数据的混注处理进行时间指定的预约的选择画面，并通过用户操作受理上述时间指定的预约的有无。而且，在上述步骤S81中，当判断为选择了有时间指定时(S81：是)，处理移至步骤S82，当判断为选择了无时间指定时(S81：否)，处理移至步骤S83。First, in steps S2 to S8, after the confirmation process for placing themedicine container 10, thesyringe 11, and theinfusion bag 12 on thetray 101 corresponding to the preparation data is performed, then step S81 is performed. Among them, thefirst control unit 400 causes thedisplay 203 to display a selection screen for whether to make a time-specified reservation for the mixing process based on the preparation data, and accepts the presence or absence of the time-specified reservation through a user operation. Then, in the above-described step S81, when it is determined that time designation is selected (S81: YES), the process proceeds to step S82, and when it is determined that no time designation is selected (S81: NO), the process proceeds to step S83.
＜步骤S82＞<Step S82>
在步骤S82中，上述第一控制部400使上述预约登录画面P10(参照图31)等操作画面显示，受理基于上述配制数据的上述混注处理的预约。另外，关于上述混注处理的预约的受理方法，只要与上述第一实施方式或上述第二实施方式相同即可，故在此省略说明。In step S82 , thefirst control unit 400 displays an operation screen such as the reservation registration screen P10 (see FIG. 31 ), and accepts a reservation for the mixing process based on the preparation data. In addition, the method of accepting the reservation of the above-mentioned mixed injection process may be the same as that of the above-mentioned first embodiment or the above-mentioned second embodiment, so the description is omitted here.
即，在本实施方式涉及的上述混注装置1中，上述第一控制部400以向与上述配制数据对应的上述托盘101载置各种器材时的确认处理完成为条件，而能够进行针对基于该配制数据的混注处理的时间指定的预约。因此，向上述托盘101载置器材的载置作业和与上述托盘101对应的上述配制数据的预约作业作为一系列的作业而被执行。由此，以正确地进行了对上述托盘101载置器材为条件而进行上述配制数据的预约作业，从而防止了在正确进行对上述托盘101载置器材之前而进行上述配制数据的预约作业这一情况。That is, in thecoinjection apparatus 1 according to the present embodiment, thefirst control unit 400 can perform a process based on the condition that the confirmation process when various equipments are placed on thetray 101 corresponding to the preparation data is completed. Reservation designated by the time of coinfusion processing of preparation data. Therefore, the placing operation of placing equipment on thetray 101 and the reservation operation of the preparation data corresponding to thetray 101 are executed as a series of operations. As a result, the preparation operation of the preparation data is performed on the condition that the equipment is placed on thetray 101 correctly, and the preparation of the preparation data is prevented from being performed before the equipment is placed on thetray 101 correctly. Happening.
【第四实施方式】[Fourth Embodiment]
在此，图37是表示上述收纳单元700的其他形态的图。如图37所示，本实施方式涉及的上述收纳单元700具备用于使上述托盘收纳部811所收纳的上述托盘101暂时退避的第四输送部950和第五输送部960。上述第四输送部950能够沿前后方向输送上述托盘101，上述第五输送部960能够在上述第一输送部910与上述第四输送部950之间沿左右方向输送上述托盘101。上述第四输送部950和上述第五输送部960是具有电动机、齿轮、张紧辊、皮带等的传送带，并通过上述电动机、上述齿轮以及上述张紧辊而驱动上述皮带，由此能够输送被保持在上述皮带上的上述托盘101。Here, FIG. 37 is a diagram showing another aspect of thestorage unit 700 described above. As shown in FIG. 37 , thestorage unit 700 according to the present embodiment includes afourth conveyance unit 950 and afifth conveyance unit 960 for temporarily retracting thetray 101 accommodated in thetray storage unit 811 . The fourth conveyingpart 950 can convey thetray 101 in the front-rear direction, and the fifth conveyingpart 960 can convey thetray 101 in the left-right direction between the first conveyingpart 910 and the fourth conveyingpart 950 . The fourth conveyingpart 950 and the fifth conveyingpart 960 are conveyor belts having a motor, gears, tension rollers, belts, etc., and the belts are driven by the motor, the gears, and the tension rollers, so that the conveyed object can be conveyed. The above-mentionedtray 101 held on the above-mentioned belt.
另外，在本实施方式涉及的上述收纳单元700中，上述托盘排出口206被配置在上述第四输送部950的前方，以此取代配置在上述第一输送部910的前方。而且，上述第四输送部950构成为能够沿上下方向移动，且能够在可使用状态与退避状态之间移动，其中，可使用状态是能够将上述第五输送部960上所载置的上述托盘101沿前后方向输送的状态，退避状态是从上述可使用状态向下方退避的状态。进一步具体而言，上述第四输送部950能够将上述第五输送部960上所载置的上述托盘101朝向上述托盘排出口206输送。即，在上述收纳单元700中，收纳在上述收纳单元700中的上述托盘101依次通过上述第一输送部910、上述第二输送部920、上述第五输送部960、以及上述第四输送部950输送至上述托盘排出口206。Moreover, in the saidstorage unit 700 which concerns on this embodiment, the saidtray discharge port 206 is arrange|positioned in front of the said4th conveyance part 950, instead of arrange|positioned in front of the said1st conveyance part 910. Further, the fourth conveyingportion 950 is configured to be movable in the up-down direction, and can be moved between a usable state and a retracted state, wherein the usable state is capable of carrying the tray placed on the fifth conveyingportion 960 . 101 is a state of being transported in the front-rear direction, and the retracted state is a state of retracting downward from the above-mentioned usable state. More specifically, thefourth conveyance unit 950 can convey thetray 101 placed on thefifth conveyance unit 960 toward thetray discharge port 206 . That is, in thestorage unit 700 , thetrays 101 stored in thestorage unit 700 pass through thefirst conveyance unit 910 , thesecond conveyance unit 920 , thefifth conveyance unit 960 , and thefourth conveyance unit 950 in this order. It is conveyed to the above-mentionedtray discharge port 206 .
而且，上述第四输送部950和上述第五输送部960也能够用于使收纳在上述收纳单元700内的上述托盘101暂时退避。具体而言，在通过上述即刻开始操作执行基于上述配制数据的混注处理时，在上述收纳单元700内的所有上述托盘收纳部811均处于使用中的情况下，无法将根据上述即刻开始操作而开始的混注处理中所使用的上述托盘101经由上述托盘排出口701和上述托盘装填口114而装填至上述混注处理部300。对此，上述第二控制部500在通过上述即刻开始操作执行基于上述配制数据的混注处理时，在上述收纳单元700内的所有上述托盘收纳部811均处于使用中的情况下，使上述收纳单元700内的任意一个上述托盘收纳部811所收纳的上述托盘101退避至上述第四输送部950或上述第五输送部960。然后，上述第二控制部500控制上述收纳单元700，将载置有通过上述即刻开始操作而执行的上述混注处理中所使用的药品等的上述托盘101装填至上述托盘装填口114，并执行该混注处理。另外，退避至上述第四输送部950或上述第五输送部960的上述托盘101在这之后被返回至上述托盘收纳部811。Further, thefourth conveyance unit 950 and thefifth conveyance unit 960 can also be used to temporarily retract thetray 101 accommodated in thestorage unit 700 . Specifically, when the mixing process based on the above-mentioned preparation data is executed by the above-mentioned immediate start operation, when all of the above-mentionedtray storage units 811 in the above-mentionedstorage unit 700 are in use, the above-mentioned immediate start operation cannot be started. The above-mentionedtray 101 used in the coinfusion process of the above-mentionedcoinjection processing unit 300 is loaded through the above-mentionedtray discharge port 701 and the above-mentionedtray loading port 114 . On the other hand, when thesecond control unit 500 executes the mixing process based on the preparation data by the immediate start operation, when all thetray storage units 811 in thestorage unit 700 are in use, the storage unit Thetray 101 accommodated in any one of thetray storage portions 811 in the 700 is retracted to thefourth conveyance portion 950 or thefifth conveyance portion 960 . Then, thesecond control unit 500 controls thestorage unit 700 to load thetray 101 on which the medicines and the like used in the coinfusion process performed by the immediate start operation are loaded into thetray loading port 114, and executes the Mixed injection processing. In addition, the saidtray 101 retracted to the said4th conveyance part 950 or the said5th conveyance part 960 is returned to the saidtray storage part 811 after that.
尤其是，上述第二控制部500在通过上述即刻开始操作执行基于上述配制数据的混注处理时，在上述收纳单元700内的所有上述托盘收纳部811均处于使用中的情况下，使上述收纳单元700内的上述托盘收纳部811所收纳的上述托盘101中的、与接下来执行的基于上述配制数据的混注处理对应的上述托盘101退避至上述第四输送部950或上述第五输送部960。然后，上述第二控制部500控制上述收纳单元700，将载置有通过上述即刻开始操作而执行的上述混注处理中所使用的药品等的上述托盘101装填至上述托盘装填口114，并执行该混注处理。然后，退避至上述第四输送部950或上述第五输送部960的上述托盘101，通过利用上述第五输送部960、上述第二输送部920、上述第三输送部940而被从上述托盘排出口701供给至上述混注处理部300。In particular, when thesecond control unit 500 executes the mixing process based on the preparation data through the immediate start operation, when all thetray storage units 811 in thestorage unit 700 are in use, the storage unit Among thetrays 101 accommodated in thetray storage unit 811 in the 700 , thetray 101 corresponding to the coinjection process based on the preparation data to be executed next is retracted to thefourth conveyance unit 950 or thefifth conveyance unit 960 . Then, thesecond control unit 500 controls thestorage unit 700 to load thetray 101 on which the medicines and the like used in the coinfusion process performed by the immediate start operation are loaded into thetray loading port 114, and executes the Mixed injection processing. Then, thetray 101 evacuated to thefourth conveyance unit 950 or thefifth conveyance unit 960 is discharged from the tray by thefifth conveyance unit 960 , thesecond conveyance unit 920 , and thethird conveyance unit 940 . Theoutlet 701 is supplied to thecoinjection processing unit 300 described above.
