CN108366907B - Mixed injection device - Google Patents

Abstract

The invention provides a mixing and injecting device which can efficiently execute mixing and injecting treatment including a stirring process for stirring medicines; the mixing and injecting device comprises: the mixing/filling device may further include a mixing/filling processing unit configured to execute a mixing/filling process of filling a medicine in a first container into a second container based on the preparation data, and a stirring device configured to stir the medicine in the first container used in the mixing/filling process, and the stirring step included in the mixing/filling process based on the preparation data may be executed before an execution start time of the mixing/filling process based on the preparation data.

Description

Mixed injection device

Technical Field

The present invention relates to a mixing and filling apparatus for performing mixing and filling processing for filling an infusion container with a medicine such as an anticancer agent contained in a medicine container.

Background

A mixing and injection device is known which performs a mixing and injection process of using a medicine such as an anticancer agent contained in a medicine container such as a syringe vial and injecting the medicine into an infusion container containing an infusion solution (see, for example, patent document 1). Here, when the medicine contained in the medicine container is a facial medicine, in the mixing and filling process, a stirring step of filling a dissolving liquid such as an infusion liquid into the medicine container and stirring the medicine in the medicine container is performed. In addition, when the medicine is a liquid, the stirring step may be performed.

[ Prior art documents ]

[ patent document ]

Patent document 1: japanese patent publication No. 2012-250016

However, the stirring step may take a long time, and the waiting time until the stirring step is completed may hinder the efficiency of the mixing process.

Disclosure of Invention

The invention aims to provide a mixing and injecting device which can efficiently execute mixing and injecting treatment including a stirring process for stirring medicines.

The mixing and filling device according to the present invention includes a mixing and filling processing unit that executes a mixing and filling process including an injection step of injecting a medicine in a first container into a second container based on preparation data, a stirring device used in a stirring step of stirring the medicine in the first container used in the mixing and filling process, and a preliminary stirring processing unit that can execute the stirring step before an execution start time of the mixing and filling process based on the preparation data.

The mixing and filling device according to the present invention includes a mixing and filling processing unit that performs mixing and filling processing including an injection step of injecting a medicine in a first container into a second container based on preparation data; the reservation setting processing unit can selectively accept a time-designated reservation, a no-time-designated reservation, and a temporary reservation as reservation conditions, the time-designated reservation being: the mixing process is executed according to an execution start time set by a user operation, and the non-time-designated reservation is: the execution start time is not set by a user operation, and the mixing process is executed at a time when the other mixing process is not executed, wherein the provisional reservation is: the mixing process is executed prior to the preparation data reserved by the time-designated reservation and the non-time-designated reservation.

(effect of the invention)

According to the present invention, there is provided a mixing and injecting apparatus capable of efficiently performing mixing and injecting processing including a stirring step of stirring a medicine.

Drawings

Fig. 1 is a block diagram showing a system configuration of a mixing and injecting apparatus according to an embodiment of the present invention.

Fig. 2 is a perspective view showing an external configuration of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 3 is a perspective view showing a state in which a part of the storage unit is omitted in the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 4 is a front view showing a state in which the main door and a part of the front wall of the mixing and filling device according to the embodiment of the present invention are removed.

Fig. 5 is a perspective view showing a tray used in the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 6 is a perspective view showing the mixing and injecting apparatus according to the embodiment of the present invention when viewed from below.

Fig. 7 is a perspective view showing a holding portion of a first robot arm of the mixing and injection device according to the embodiment of the present invention.

Fig. 8 is a perspective view showing a holding portion of a second robot arm of the mixing and injection device according to the embodiment of the present invention.

Fig. 9 is a schematic plan view showing a tray conveying section of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 10 is a perspective view showing a mechanism of a tray conveying unit of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 11 is a perspective view showing an ampoule cutter of the mixing and filling apparatus according to the embodiment of the present invention.

Fig. 12 is a perspective view showing an internal structure of a stirring device of the mixing and injecting device according to the embodiment of the present invention.

Fig. 13 is a perspective view showing a medicine reading unit of the mixing and filling device according to the embodiment of the present invention.

Fig. 14 is a perspective view showing a needle bending detection unit of the mixing and injection device according to the embodiment of the present invention.

Fig. 15 is a perspective view showing an internal structure of an injection needle attachment/detachment device of the mixing and injection device according to the embodiment of the present invention.

Fig. 16 is a perspective view showing an internal structure of an injection needle attachment/detachment device of the mixing and injection device according to the embodiment of the present invention.

Fig. 17 is a diagram showing an example of an image captured by a needle insertion confirmation camera of the mixed injection device according to the embodiment of the present invention.

Fig. 18 is a diagram showing a configuration of a housing unit of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 19 is a diagram showing a configuration of a housing unit of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 20 is a diagram showing a configuration of a housing unit of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 21 is a diagram showing a configuration of a housing unit of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 22 is a flowchart showing an example of a procedure of the filling preparation process executed by the mixing and filling apparatus according to the embodiment of the present invention.

Fig. 23 is a flowchart illustrating an example of the procedure of the mixed injection control process executed by the mixed injection device according to the embodiment of the present invention.

Fig. 24 is a flowchart showing an example of the procedure of the batch preparation inspection process executed by the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 25 is a flowchart showing an example of the procedure of the batch agitation inspection process executed by the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 26 is a flowchart showing an example of a procedure of schedule management processing executed by the mixing device according to the embodiment of the present invention.

Fig. 27 is a diagram showing an example of a display screen in the schedule management process executed by the mixing device according to the embodiment of the present invention.

Fig. 28A is a diagram showing an example of a display screen in the schedule management processing executed by the mixing device according to the embodiment of the present invention.

Fig. 28B is a diagram showing an example of a display screen in the schedule management processing executed by the mixing device according to the embodiment of the present invention.

Fig. 28C is a diagram showing an example of a display screen in the schedule management processing executed by the mixing device according to the embodiment of the present invention.

Fig. 29 is a flowchart showing an example of a procedure of batch all-extraction inspection processing executed by the mixed injection device according to the embodiment of the present invention.

Fig. 30 is a perspective view showing an external configuration of the mixing and injecting apparatus according to the embodiment of the present invention.

Fig. 31 is a diagram showing an example of a display screen in the schedule management process executed by the mixing device according to the embodiment of the present invention.

Fig. 32 is a diagram showing an example of a display screen in the schedule management process executed by the mixing device according to the embodiment of the present invention.

Fig. 33 is a diagram showing an example of a display screen in the schedule management process executed by the mixing device according to the embodiment of the present invention.

Fig. 34 is a diagram showing an example of a display screen in the schedule management process executed by the mixing device according to the embodiment of the present invention.

Fig. 35 is a diagram showing an example of a display screen in the schedule management process executed by the mixing device according to the embodiment of the present invention.

Fig. 36 is a flowchart showing an example of a procedure of the filling preparation process executed by the mixing and filling apparatus according to the embodiment of the present invention.

Fig. 37 is a diagram showing a configuration of a housing unit of the mixing and injecting apparatus according to the embodiment of the present invention.

Detailed Description

[ first embodiment ] to provide a liquid crystal display device

Embodiments of the present invention will be described below with reference to the accompanying drawings for understanding the present invention. The following embodiments are merely examples embodying the present invention, and are not intended to limit the technical scope of the present invention.

[ MIXING DEVICE 1 ]

As shown in fig. 1 and 2, the mixing and injecting device 1 according to the present embodiment includes: a mixing and filling control unit 100, a medicine loading unit 200, a mixing and filling processing unit 300, a storage unit 700, and a stirring device 32. In the mixing and injecting apparatus 1, the mixing and injecting control unit 100 controls the operations of the mixing and injecting section 300 and the storage unit 700 based on the preparation data, thereby performing a mixing and injecting process of injecting a medicine such as an anticancer agent indicated by the preparation data from a first container such as one or more ampoules or vials containing a predetermined amount of the medicine into a second container such as an infusion bag by a syringe. The mix-filling process also includes a process in which a medicine is sucked from a first container such as an ampoule or vial by a syringe and is injected into a second container such as another ampoule or vial.

[ MIXING CONTROL SECTION (100) ]

First, a schematic configuration of the mixture control unit 100 will be described with reference to fig. 1. The mixture control unit 100 includes a first control unit 400 and a second control unit 500 that are communicably connected. The first controller 400 is provided on the medicine loading unit 200 side, and the second controller 500 is provided on the mixing/filling unit 300 side.

Note that the processing shared by the first control unit 400 and the second control unit 500 described in the present embodiment is merely an example, and each processing step such as the mix-and-shoot processing may be executed by either one of the first control unit 400 and the second control unit 500. The mixture control unit 100 may have only one control unit or three or more control units, which may be considered as another embodiment. Further, a part or all of the processing executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC (application specific integrated circuit) or a DSP (digital signal processor).

The first control unit 400 can communicate with a host system (host system)600 such as an electronic medical record system or a medication administration system that inputs preparation data to the mixing and injection apparatus 1. The formulation data is data for formulation generated from prescription data or the prescription data itself. The prescription data includes, for example: the date of delivery of the prescription, patient ID, patient name, date of birth of the patient, drug information (drug code, drug name, dosage, etc.), dosage form information (internal, external, etc.), usage information (three times a day after each meal, etc.), medical treatment category (outpatient service, hospitalization, etc.), medical treatment department, ward, and ward, etc. In addition, the formulation data includes, for example: preparation ID, patient information (patient ID, patient name, etc.), doctor information, medicine prescription amount, type of medicine container (ampoule filled with medicine liquid, vial filled with face medicine, etc.), preparation content information (type and count of medicine container, syringe, injection needle, etc. used for mix-and-fill processing), preparation step information (operation content, dissolved medicine, solvent, dissolved medicine amount, withdrawal amount), preparation date, classification of prescription, administration date, department of care, ward, specified preparation completion time (or scheduled start time), required time, etc.

The first 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, a data storage unit 404, an operation unit 405, and the like. The first control unit 400 is connected to various electric components such as a display 203, a barcode reader 204, and an air cleaning device 205, which will be described later, provided in the medicine loading unit 200.

The CPU401 described above is a processor that executes processing according to various control programs. The ROM402 is a nonvolatile memory in which programs such as a BIOS (basic input output system) executed by the CPU401 are stored in advance. The RAM403 is a volatile memory or a nonvolatile memory used for development of various control programs executed by the CPU401 and temporary storage of data.

The data storage unit 404 is a nonvolatile storage device such as a hard disk that stores various application programs and various data for causing the CPU401 to execute various processes. For example, the data storage unit 404 stores the preparation data input from the host system 600.

The first control unit 400 also stores identification information of the tray 101, which will be described later, corresponding to each of the preparation data, in the data storage unit 404 together with the preparation data input from the host system 600. For example, the first control unit 400 associates the arrangement data with the identification information of the tray 101. It is also conceivable that information indicating the correspondence between the dispensing data and the identification information of the tray 101 is input to the mixing and filling apparatus 1 from the main system 600 together with the dispensing data.

The data storage unit 404 stores various databases such as injection needle standard (master), drug standard, patient standard, doctor standard, prescription classification standard, department standard, and ward standard. In the above-described needle standard, the shape of the needle tip of the needle is stored for each type of needle. The shape of the needle tip portion of the injection needle includes: the outer diameter of the needle tube, the angle of the tip, and the cut surface (the length of the inclined surface) of the injection needle. In addition, the drug standards include: information such as a drug code, a drug name, a JAN code (japanese general purpose product code) (or RSS bar code), a vial code, classification (formulation type: powder (face medicine), tablet, liquid, external medicine, etc.), specific gravity, drug type (general drug, anticancer agent, poison, anesthetic, potent drug, antipsychotic drug, therapeutic drug, etc.), compatibility change, excipient, caution item, type of drug container (ampoule, vial), amount of drug contained in a unit drug container (predetermined amount), and weight of drug container. In the drug standard, information on the infusion bag 12 that contains an infusion solution such as physiological saline or glucose includes, for example, information on the type of container (soft bag, hard bag, AL type) of the infusion bag 12, the amount of infusion solution contained in the infusion bag 12, and the amount of liquid that can be injected into the infusion bag 12.

Further, the data storage unit 404 stores a first mixture control program for causing the CPU401 to execute various processes in advance. The first mixing control program may be read from a recording medium such as a CD, DVD, BD (blu-ray disc), flash memory, or the like by a reading device (not shown) included in the first control unit 400 and installed in the data storage unit 404.

The operation unit 405 includes various operation units such as a keyboard, a mouse, and a touch panel that receive various user operations in the first control unit 400.

The second control unit 500 is a personal computer including a CPU501, a ROM502, a RAM503, a data storage unit 504, an operation unit 505, and the like. The second control unit 500 is connected to various electric components such as a first robot arm 21, a second robot arm 22, a tray conveying unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, a tray confirmation camera 41, a syringe confirmation camera 42, and the like, which will be described later, provided in the mixing/filling processing unit 300.

The CPU501 is a processor that executes processing according to various control programs. The ROM502 is a nonvolatile memory in which programs such as a BIOS executed by the CPU501 are stored in advance. The RAM503 is a volatile memory or a nonvolatile memory used for development of various control programs executed by the CPU501 and temporary storage of data.

The data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU501 to execute various processes. Specifically, the data storage unit 504 stores a second mixing control program for causing the CPU501 to execute mixing processing and the like described later in advance. The second mixing control program may be read from a recording medium such as a CD, DVD, BD, or flash memory by a reading device, not shown, provided in the second control unit 500 and installed in the data storage unit 504. The data storage unit 504 also stores the same medicine standard as the data storage unit 404, and the second control unit 500 can refer to the medicine standard. In another embodiment, the second control unit 500 may be configured to be able to acquire information of the drug standard via the first control unit 400.

The present invention may be an invention in which the mixture control unit 100 causes the CPU401 and the CPU501 to execute the first mixture control program, the second mixture control program, or a mixture control program in which the first mixture control program and the second mixture control program are integrated, for various processes. The present invention may be an invention of a computer-readable recording medium on which the first mixture control program, the second mixture control program, or a mixture control program that integrates the first mixture control program and the second mixture control program is recorded. Further, the present invention may be an invention of a mixed injection method including one or more processing steps executed in the mixed injection apparatus 1.

The operation unit 505 includes various operation units such as a keyboard, a mouse, and a touch panel that receive various user operations in the second control unit 500.

[ drug filling section 200 ]

Next, a schematic configuration of the medicine loading unit 200 will be described with reference to fig. 2 and 3. Fig. 3 is a diagram showing a main part of the internal structure of the medicine loading unit 200.

As shown in fig. 2 and 3, the medicine loading unit 200 is a clean bench provided with a door 201, a work bench 202, a display 203, a barcode reader 204, and an air cleaning device 205. The medicine loading unit 200 and the mixed injection processing unit 300 communicate with each other through a tray loading port 114 (see fig. 6) and a tray discharge port 701 (see fig. 21) formed in a side surface of the mixed injection processing unit 300.

The work table 202 is used for preparation of the mixing process performed by the mixing device 1, and the barcode reader 204, the tray 101, and the like are placed on the work table 202. Further, a tray discharge port 206 that is opened or closed when the tray 101 discharged from the storage unit 700 is taken out is provided in front of the work table 202. Further, an IC reader 207 (see fig. 21) capable of reading information from the IC tag 101b of the tray 101 placed on the table 202 is provided in the table 202. The read result of the IC reader 207 is input to the first control unit 400.

The display 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 the first control unit 400. Specifically, the display 203 displays the preparation data and the like as candidates of the mixing target in the mixing device 1. The barcode reader 204 reads a barcode described in a prescription, a preparation instruction, or the like, and inputs the content of the barcode to the first control unit 400. The air cleaning device 205 supplies air into the medicine filling unit 200 through a predetermined filter. The display 203 may be supported by a front panel 700A (see fig. 18 to 21) provided in the storage unit 700, for example.

The door 201 is a transparent member that is provided in front of the medicine filling unit 200 and can be opened and closed in the vertical direction. As shown in fig. 2, the user performs a preparation operation of the mixing and filling process by the mixing and filling apparatus 1 in a state where the door 201 is slightly opened and the hand is inserted into the medicine loading unit 200. Specifically, as shown in fig. 5, the tray 101 placed on the work table 202 houses the medicine container 10 (an example of a first container), the syringe 11, the infusion bag 12 (an example of a second container), and the like used in the mixing process performed by the mixing and filling apparatus 1. The infusion bag 12 contains a predetermined amount of infusion solution such as physiological saline, glucose, Total Parenteral Nutrition (TPN), or the like corresponding to the type of the infusion bag 12. The medicine contained in the medicine container 10 is, for example, an anticancer agent, but may be a medicine other than an anticancer agent. The preparation work includes, for example: a loading operation of placing the medicine container 10, the syringe 11, and the infusion bag 12 at predetermined positions on the tray 101 and loading the tray 101 into the storage unit 700. Hereinafter, when the medicine container 10 is an ampoule, the medicine container 10 will be referred to as an ampoule 10A, and when the medicine container 10 is a vial, the medicine container 10 will be referred to as a vial 10B.

As shown in fig. 5, the tray 101 includes: an electronic paper 101a for displaying a name, application, and the like of a patient in characters, and an IC tag 101b (an example of a recording medium) such as an RFID (Radio Frequency Identification) tag capable of reading and writing various information. The IC tag 101b is provided on the bottom surface of the tray 101, and identification information for identifying the tray 101 is stored in the IC tag 101 b.

Further, the tray 101 includes: a device mounting portion 102 (see fig. 9) on which the medicine container 10 and the syringe 11 (syringe 11a, injection needle 11c, and end cap 11d) are mounted, and an infusion bag holding portion 103 (see fig. 5) that holds the infusion bag 12. The device placement unit 102 and the infusion bag holding unit 103 can be attached to and detached from the tray 101, respectively.

As shown in fig. 5, the device placement section 102 is provided with a support section 102A that supports the ampoule 10A in an inclined state. The ampoule 10A is set in an obliquely standing state by the support portion 102A. Thus, the medicine is not accumulated in the neck of the ampoule 10A. In addition to the ampoule 10A, an injection needle 11c to which the end cap 11d is attached is placed in an obliquely standing state by the support portion 102A.

The injection needle 11c also includes an injection needle having a Syringe Filter (Syringe Filter). Specifically, when the ampoule 10A is used, an injection needle with a needle filter is used to prevent a fragment from being injected from the syringe 11 into the infusion bag 12 when the neck of the ampoule 10A is broken or to prevent the fragment from flowing into the syringe 11. The pin filter is a filter generally called a gyro filter, and has a function of preventing passage of foreign substances other than medicines. For example, a needle filter manufactured by Pall corporation of japan is generally known.

As shown in fig. 5 and 9, the vial 10B and the syringe 11 are placed in a state of being placed on the device placement unit 102. In this case, the syringe 11 is in a state where the syringe barrel 11a and the injection needle 11c are separated from each other. Of course, the arrangement of the device placement unit 102 described herein is illustrative and not restrictive.

As shown in fig. 5, the infusion bag holding portion 103 is provided with a clamp portion 140 for fixing the mixing port (neck portion) of the infusion bag 12. In the preparation operation, the user places the infusion bag 12 on the infusion bag holding portion 103 while being held by the clamp portion 140. The infusion bag holding portion 103 is provided with an engagement hole portion 103a used when the infusion bag holding portion 103 is raised and lowered.

After the medicine container 10, the syringe 11, and the infusion bag 12 are set by the user, the tray 101 is stored in the storage unit 700. As will be described later, the storage unit 700 can store a plurality of trays 101. Accordingly, as described later, the tray 101 is automatically supplied from the storage unit 700 to the mixing and filling processing unit 300 via the tray discharge port 701 and the tray loading port 114 as needed. After the mixed filling process in the mixed filling process section 300 is completed, the tray 101 is discharged from the tray discharge port 15 (see fig. 3) of the mixed filling process section 300 in a state where the infusion bag 12 is stored, or discharged from the tray discharge port 206 (see fig. 3) of the medicine filling section 200 via the storage unit 700. Further, the mixed filling processing unit 300 may be provided with a carrying-in port through which a user can directly supply the tray 101 from the medicine loading unit 200 to the mixed filling processing unit 300.

[ MIXING TREATMENT UNIT 300 ]

Next, a schematic configuration of the mixed injection processing unit 300 will be described.

As shown in fig. 2 to 4, a main door 301, a syringe takeout door 302, a waste storage chamber door 13, a touch panel monitor 14, a tray discharge port 15, and the like are provided on the front surface of the co-injection processing unit 300.

The main door 301 is opened or closed to move into and out of the mixed injection processing chamber 104 when, for example, cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300. In the mixing and filling device 1, the syringe 11 may be dispensed in a state filled with a medicine in addition to the infusion bag 12 into which the medicine is injected. The syringe discharge door 302 is opened or closed when the syringe 11 is discharged from the mixing/injection processing chamber 104.

The waste storage chamber door 13 is opened or closed to remove waste such as the medicine container 10 and the syringe 11 used in the mixed filling process chamber 104 from the waste storage chamber 13 a. The tray discharge port 15 is opened or closed to take out the tray 101 on which the infusion bag 12 mixed and filled with the medicine by the mixing and filling process in the mixing and filling process chamber 104 is placed.

The touch panel monitor 14 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 the second control unit 500. The touch panel monitor 14 includes a touch panel that receives a touch operation performed by a user. The touch panel monitor 14 can display images or videos captured by various cameras described later, for example.

As shown in fig. 4, the garbage storage chamber 13a includes: a waste container 13b for discarding a liquid such as a transfusion liquid stored in the infusion bag 12, and a scale 13c for measuring the weight of the waste container. The waste container 13b can be attached to or detached from the waste storage chamber 13a in a state where the waste storage chamber door 13 is opened. Further, a communication port (not shown) communicating with the waste container 13b is formed in the bottom surface of the mixed injection processing chamber 104 above the waste container 13 b. The second robot arm 22, which will be described later, can operate the syringe 11 to discard the liquid in the syringe 11 from the communication port into the disposal container 13 b. The weighing meter 13c includes, for example, a load sensor that inputs an electric signal corresponding to the weight of the waste container 13b to the second control unit 500.

Thus, the second control unit 500 can acquire the amount of the liquid to be discarded when the liquid is discarded, based on the results of weighing the waste container 13b by the weighing meter 13c before and after the liquid is discarded into the waste container 13 b. For example, the second control unit 500 compares the amount of the liquid discarded from the syringe 11 with the discard amount determined based on the preparation data and the like, and if the comparison result shows that the amounts do not match, an error is displayed on the touch panel monitor 14 and the like, and the user is notified of the error. The second control unit 500 records the matching result in the data storage unit 504 as history information of the mixing process. This enables the consistency check of the amount of waste from the syringe 11 and the management of the amount of waste to be accurately performed.

Further, as an example of performing liquid disposal using the syringe 11, for example, the following case may be considered: that is, in the mixed injection process, when the amount of the liquid in the infusion bag 12 exceeds a preset maximum allowable amount corresponding to the infusion bag 12, the infusion solution is drawn out from the infusion bag 12 and discarded. In this case, the second controller 500 may weigh the amount of liquid drawn out of the infusion bag 12 by the syringe 11 using a weight scale 35 or the like provided in the mixed injection processing chamber 104, and compare the weighed amount with the preparation data. Further, the second control unit 500 may compare the weighing result of the weight scale 35 with the weighing result of the weight scale 13 c.

[ MIXING TREATMENT CHAMBER 104 ]

As shown in fig. 3 and 4, the co-injection processing chamber 104 includes: a first robot arm 21, a second robot arm 22, an ampoule cutter 31, the stirring device 32, a carriage 33, a medicine reading unit 34, a scale 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, and a waste cover 132 a. As shown in fig. 6, the mixed injection treatment chamber 104 is provided with: a tray confirmation camera 41, a syringe confirmation camera 42, a needle attachment/detachment device 43, a needle insertion confirmation camera 44, a germicidal lamp 45, and the like.

[ first arm 21, second arm 22 ]

The first robot arm 21 and the second robot arm 22 are driving units having a multi-joint structure, and are provided in a suspended state with their base end portions fixed to the ceiling side of the mixed injection processing chamber 104. For example, the joints of the first robot arm 21 and the second robot arm 22 are 5 to 8 axes, respectively. In the mixed injection apparatus 1, each operation step in the mixed injection process is executed by the first robot arm 21 and the second robot arm 22 of the double arm type.

Specifically, the second control unit 500 drives the drive motors provided in the joints of the first robot arm 21 and the second robot arm 22, respectively, and causes the first robot arm 21 and the second robot arm 22 to execute the respective operations in the co-injection process. The mixed injection processing unit 300 may have a configuration including one robot, a configuration including three or more robots, or a configuration not using a robot, for example, as long as the mixed injection processing is performed.

As shown in fig. 6, the first robot arm 21 has a holding portion 25 capable of holding a device such as the medicine container 10 and the syringe 11, and is capable of moving the holding portion 25 to an arbitrary position within a predetermined movable range. The second robot arm 22 has a holding unit 26, and the holding unit 26 can hold and move equipment such as the medicine container 10 and the syringe 11 to an arbitrary position, and can perform operations of sucking and injecting a medicine by the syringe 11. The second robot arm 22 can move the medicine container 10, the syringe 11, and the like to an arbitrary position within a predetermined movable range.

As shown in fig. 7, the holding portion 25 of the first robot arm 21 includes: a pair of holding claws 25a, a motor 251, two Screw shafts (screen Shaft)252, 253 that rotate by the motor 251, and Nut seats (Nut Block)254, 255 that are screwed to the Screw shafts 252, 253. The pair of gripping claws 25a are fixed to the nut holders 254 and 255, respectively. The nut holders 254 and 255 are moved by the rotation of the screw shafts 252 and 253, and the pair of gripping claws 25a approach or separate from each other, so that the holding portion 25 holds or releases the holding portion.

The pair of gripping claws 25a is a gripping portion as follows: that is, the holding portion has a recess adapted to hold the vial 10B, and the distal end side has a recess adapted to hold the ampoule 10A. Fig. 7 shows a state in which both the ampoule 10A and the vial 10B are held, but one ampoule 10A or one vial 10B is actually held.

The holding portion 25 may hold the injection needle 11c to which the end cap 11d is attached or the syringe 11 by the pair of holding claws 25 a. The second controller 500 may measure the diameter of the syringe 11 based on the driving amount of the motor 251 when the syringe 11 is held by the pair of gripping claws 25a of the holding unit 25. Therefore, the second control unit 500 can determine whether or not the syringe 11 is a syringe specified by the dispensing content information of the dispensing data.

As shown in fig. 8, the holding portion 26 of the second robot arm 22 includes: a syringe holding portion 261, a plunger holding portion 262, and a moving portion 263. The syringe holding section 261 includes a pair of holding claws 261a for holding the syringe barrel 11a of the syringe 11. The pair of gripping claws 261a is a gripping portion as follows: that is, the syringe barrels 11a of the syringe 11 are held or released by moving the syringe barrels closer to or away from each other by the same mechanism as the drive mechanism used in the holding portion 25. In addition, the pair of gripping claws 261a has inclined portions 261b formed on the facing surfaces facing each other so as to be inclined downward from the upper end surfaces of the gripping claws 261a toward the facing surfaces.

The plunger holding portion 262 includes a pair of gripping claws 262a for holding the flange portion of the plunger 11b of the syringe 11. The pair of gripping claws 262a is a gripping portion as follows: that is, the flange portions of the plunger 11b of the syringe 11 are held or released by approaching or separating from each other by the same mechanism as the drive mechanism used for the holding portion 25. A holding claw 262b is fixed to a top surface of each of the holding claws 262 a. Each of the gripping claws 262b is a gripping portion as follows: that is, the pair of gripping claws 262a are moved closer to or farther from each other, whereby not only the syringe 11 but also other devices such as the medicine container 10 are gripped. Further, a recess into which the flange portion of the plunger 11b enters is formed in the top surface of the pair of gripping claws 262a on the opposite side. Further, the pair of gripping claws 262B have distal ends that protrude forward from the pair of gripping claws 262a, and it is easy to grip a tool such as the ampoule 10A or vial 10B by the pair of gripping claws 262B. The gripping claw 262b may be provided on the gripping claw 261 a.

The moving portion 263 can move the plunger holding portion 262 in the moving direction of the plunger 11b of the syringe 11. The moving unit 263 moves the plunger 11b by a driving mechanism such as a motor, a screw shaft rotated by the motor, a nut holder screwed to the screw shaft, and a guide rail. The plunger holding portion 262 is fixed to the nut holder and is moved by the movement of the nut holder.

[ Pallet transport section 110 ]

The mixing/filling processing section 300 is provided with a tray conveying section 110 capable of conveying the tray 101 back and forth between the tray loading port 114 at the right end and the tray conveying terminal section 110a at the left end in fig. 6.

Here, fig. 9 is a schematic plan view showing an example of a conveying path of the tray 101 in the tray conveying unit 110. The interior of the tray conveying unit 110 is set to a positive pressure than the interior of the mixing/injection processing chamber 104. As shown in fig. 9, the tray conveying unit 110 is provided as follows: that is, the tray 101 is conveyed through a lower side of the mixed injection processing chamber 104 and a rear side of the waste storage chamber 13a, in which the waste storage chamber 13a is positioned below the waste cover 132 a. This allows the garbage containing chamber 13a to be accessed from the front side of the mixing and injecting apparatus 1. In fig. 9, the tray 101 moving in the tray conveying unit 110 is shown by a two-dot chain line in order to show the conveying path of the tray conveying unit 110, and a plurality of trays 101 do not exist in the tray conveying unit 110 at the same time. Further, the tray conveying unit 110 may be configured to: in the tray conveying section 110, a plurality of trays 101 can be conveyed simultaneously between the tray loading port 114 and the tray conveying terminal section 110 a.

The tray conveyance start portion 110b of the tray conveying portion 110 is provided with a conveyor belt, not shown, which can introduce the tray 101 inserted from the tray loading port 114 into the tray or discharge the tray 101 from the tray loading port 114. Further, an IC reader 101c and an IC reader 15a are provided to read information from the IC tag 101b provided on the infusion bag holding portion 10 of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from RFID tags. The IC reader 101c is provided at a tray feed start portion 110b where the tray 101 is loaded from the tray loading port 114, and the IC reader 15a is provided at a tray feed end portion 110a where the tray 101 is discharged from the tray discharge port 15.

The second control unit 500 reads information from the IC tag 101b by the IC reader 101c when determining that the tray 101 is inserted into the tray conveyance starting unit 110b from the tray loading port 114 based on a sensor output, not shown. The second control section 500 reads information from the IC tag 101b by the IC reader 15a when it determines that the tray 101 is inserted into the tray conveyance terminal section 110a based on a sensor output, not shown. Similarly, the second control unit 500 may read information from the IC tag 101b by the IC reader 101c when the tray 101 is conveyed from the tray conveyance start unit 110b toward the storage unit 700 through the tray loading port 114. The second control unit 500 executes a tray matching process for determining whether or not the tray 101 is appropriate based on the read results of the IC reader 101c and the IC reader 15 a.

Further, the second control unit 500 may slide the movable shutter 111, which communicates with and blocks the tray conveying unit 110 and the mixing/injection processing chamber 104, in a horizontal direction when it is determined that the tray 101 has reached a predetermined position in the tray conveying unit 110 through the tray loading port 114 based on an output of a sensor (not shown), for example. When the shutter 111 is opened, the equipment mounting portion 102 is exposed to the inside of the mixing and injecting processing chamber 104. Fig. 9 shows a state where the device mounting portion 102 is exposed in the mixing and injection processing chamber 104.

As shown in fig. 10, the tray conveying unit 110 is provided with a tray lifting unit 112, and the tray lifting unit 112 lifts and lowers the device placement unit 102 in the tray 101 moved into the tray conveying unit 110 through the tray loading port 114. The tray lifting/lowering unit 112 lifts the equipment placing unit 102 from the lower side to the upper side by driving four shafts 112a provided to be capable of lifting/lowering in the vertical direction, for example.

The second control unit 500 performs imaging by the tray checking camera 41 after the tray lifting unit 112 lifts the device placement unit 102. The tray confirmation camera 41 photographs the medicine container 10, the syringe 11, and the like placed on the predetermined device placing portion 102 from above. The second control unit 500 executes an image recognition process using the image captured by the tray confirmation camera 41, and determines whether or not the medicine containers 10 and the syringes 11 (syringe cartridges 11a and injection needles 11c) and the like, the number of which is indicated by the dispensing data, are present on the instrument mounting portion 102.

As shown in fig. 10, a bag lifting/lowering section 113 for lifting/lowering the infusion bag holding section 103 is provided at the tray conveyance terminal end section 110a located in the left space of the mixing/filling processing chamber 104. The second control unit 500 pulls the hook portion 113a of the bag lifting and lowering unit 113 from below to the engagement hole portion 103a after the tray 101 is conveyed to the front surface of the bag lifting and lowering unit 113. Then, the second control unit 500 causes the motor 113c to rotate the arcuate gear portion 113b on which the hook portion 113a is formed, thereby raising the infusion bag holding portion 103 and positioning the mixing port of the infusion bag 12 at the mixing communication port 37. The second control unit 500 can control the motor 113c to drive the bag lifting and lowering unit 113 to tilt the infusion bag holding unit 103, thereby moving the mixing and pouring port of the infusion bag 12 upward or downward.

In particular, the second control unit 500 can adjust the tilt angle of the mixing and pouring port of the infusion bag 12 to a preset tilt angle by controlling the motor 113c to adjust the driving amount of the bag lifting and lowering unit 113.

Specifically, in the medicine standard, in association with each type of the infusion bag 12, there are stored: an upper limit injection amount that can be injected in a state where the air is not removed from the infusion bag 12, and an exceptional inclination angle that is an inclination angle of the mixing and injection port of the infusion bag 12 set when the upper limit injection amount is exceeded. In the mixing and filling process based on the preparation data, the second control part 500 performs a degassing step of previously evacuating air from the infusion bag 12 using the syringe 11 when the amount of the liquid injected into the infusion bag 12 exceeds the upper limit injection amount. In this case, the amount of air in the infusion bag 12 becomes small. Therefore, when the inclination of the infusion bag 12 becomes large, the liquid in the infusion bag 12 may come into contact with the rubber stopper of the mixing/pouring port of the infusion bag 12, and the liquid may leak when the injection needle 11c is pulled out from the rubber stopper.

In contrast, in the mixing and filling device 1, when the amount of the liquid injected into the infusion bag 12 is equal to or less than the upper limit injection amount, the second control unit 500 sets the inclination angle of the mixing and filling port of the infusion bag 12 to a predetermined angle that is set in advance. The predetermined angle is set as an inclination angle of the mixing and pouring port common to a plurality of types of the infusion bags 12, for example.

In the mixing process, when the amount of the liquid to be injected into the infusion bag 12 exceeds the upper limit injection amount, the second control unit 500 sets the inclination angle of the mixing port of the infusion bag 12 to the exceptional inclination angle. The exceptional inclination angle is an angle at which the mixing and pouring port of the infusion bag 12 is inclined at least less than the predetermined angle with respect to the vertical direction. That is, the exceptional inclination angle is an angle at which the infusion bag 12 is in a state of being approximately upright from the predetermined angle. Accordingly, when the inclination angle of the mixing port of the infusion bag 12 is set to the exceptional inclination angle, the possibility that the liquid in the infusion bag 12 comes into contact with the rubber stopper of the mixing port is reduced, and the possibility that the liquid leaks out when the injection needle 11c is pulled out from the rubber stopper is reduced. The exceptional inclination angle may be used, for example, when the type of the infusion bag 12 is a so-called AL type in which the amount of air in the bag is small.

As shown in fig. 6, a dome lamp 120 and an infusion camera 121 for illuminating the infusion bag 12 fed to the tray feeding terminal end portion 110a are provided above the tray feeding terminal end portion 110 a. The infusion camera 121 is provided in the center of the dome lamp 120, and reads a barcode attached to the surface of the infusion bag 12. Thus, the second control unit 500 can determine whether or not the infusion bag 12 is appropriate based on the information of the barcode read by the infusion camera 121.

[ ampoule cutter 31 ]

As shown in fig. 11, the ampoule cutter 31 is provided with a file portion 31a, a waste tray 31b, a head portion insertion portion 31c, a drive cassette 31f, a waste cassette 31g, and a grip portion 31 h.

The file portion 31a is a member for grooving the neck portion of the ampoule 10A, and scraps generated in the grooving of the file portion 31a fall onto the scrap tray 31 b. Specifically, in the mixed injection device 1, the first robot arm 21 holds the ampoule 10A and slides the neck portion of the ampoule 10A in contact with the file portion 31a, thereby grooving the neck portion of the ampoule 10A.

The head insertion portion 31c includes: a hole 31d into which the head of the ampoule 10A subjected to the grooving process is inserted from below, and a push rod 31e located on the side of the head of the ampoule 10A protruding upward from the hole 31 d. The drive case 31f includes a cam provided therein and a drive motor for driving the cam, and when the cam is driven by the drive motor, the push rod 31e reciprocates in a direction toward and away from the head of the ampoule 10A by the cam.

In the mixing and injecting apparatus 1, the first robot arm 21 holds the ampoule 10A by the holding claw 25a, inserts the head portion of the ampoule 10A into the hole 31d from below, and projects the head portion above the neck portion upward. Then, when the drive motor of the drive cassette 31f is driven by the second control unit 500 and the push rod 31e is moved in a direction to press the head portion of the ampoule 10A, the head portion is pressed and broken by the push rod 31 e. At this time, the head broken by the push rod 31e falls into the waste material box 31 g. The gripping portion 31h is used for a user to grip the ampoule cutting blade 31 when the ampoule cutting blade 31 is slid along a guide rail 31i (see fig. 4), which slidably supports the ampoule cutting blade 31.

[ stirring device 32 ]

The stirring device 32 is used when a medicine to be dissolved, such as a facial medicine (powder), is contained in the vial 10B, and an infusion solution or a medicine is injected into the vial 10B to dissolve the medicine, thereby producing a mixed medicine. Specifically, the stirring device 32 is used in a stirring step of stirring the medicine in the vial 10B.

As shown in fig. 12, the stirring device 32 includes a roller 32a, a pressing portion 32b, a rotation supporting portion 32c, a supporting base 32d, a horizontal swing mechanism 32e, a supporting portion 32f, a driving motor 32g, and the like. The two rollers 32a are disposed to face each other with a predetermined gap therebetween. One of the rollers 32a is rotatably supported, and the other roller 32a is connected to the drive motor 32 g. Further, each of the rollers 32a is long in the axial direction, and the two vial bottles 10B placed on both ends of the roller 32a in the axial direction can be simultaneously stirred by the stirring device 32.

The pressing portion 32B is a driven roller that is used to press the vial 10B placed on the roller 32a from above and rotates with the rotation of the vial 10B. The rotation support portion 32c rotates the pressing portion 32B in a direction to contact or separate from the vial 10B by a driving motor, not shown.

The support base 32d supports the roller 32a, the pressing portion 32b, the rotation support portion 32c, and the like. The horizontal swing mechanism 32e has, for example, a crank mechanism, and can swing the support base 32d in the axial direction of the roller 32 a.

The support portion 32f has U-shaped notches at both ends of the roller 32a in the axial direction, into which the neck portion of the vial 10B can be fitted. When the vial 10B is placed on the roller 32a, the neck of the vial 10B engages with the notch. Thus, when the support base 32d is swung in the axial direction of the roller 32a by the horizontal swing mechanism 32e, the vial 10B is swung in accordance with the axial swing of the roller 32a, and the medicine in the vial 10B is stirred in the horizontal direction.

When the vial 10B is placed between the two rollers 32a and the drive motor 32g is driven, the vial 10B is rotated by the other roller 32a connected to the drive motor 32g, and the medicine in the vial 10B is stirred. At this time, the roller 32a rotates in the same direction as the other roller 32a by the rotation of the vial 10B. Further, if at least one of the rollers 32a is eccentrically driven, the vial 10B placed on the roller 32a can be stirred in the vertical direction (vertical direction).

[ CARRIER HOLDER 33 ]

As shown in fig. 4, the carriage 33 is used to temporarily store the medicine container 10, the syringe 11, and the like in the mixing process performed by the mixing and injecting apparatus 1. The carriage 33 is provided at a position where both the first robot arm 21 and the second robot arm 22 can move in and out. In the placement rack 33, the vial 10B is placed in a predetermined position in a standing state. The placement frame 33 is provided with an inclined holding portion for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed on the inclined holding portion in an inclined state. The carriage 33 is formed with a neck holding hole having a predetermined diameter into which the neck of the syringe 11 is fitted, and the syringe 11 is temporarily placed with the neck facing downward in a state where the injection needle 11c is not attached. The size of the carriage 33 is preferably predetermined according to the number of the trays 101 that can be stored in the storage unit 700. For example, the dimensions of the carriage 33 may be considered as follows: the sizes of the medicine containers 10, the syringes 11, and other equipment used in the mixing/filling process, which correspond to the number of the trays 101 that can be stored in the storage unit 700, can be simultaneously placed.

[ drug reading section 34 ]

The medicine reading unit 34 reads a barcode indicating medicine information of the stored medicine described in a label attached to the medicine container 10 such as the ampoule 10A and the vial 10B. Specifically, as shown in fig. 13, the medicine reading section 34 includes two rollers 34a and a barcode reader 34 b. The rollers 34a are disposed opposite to each other with a predetermined gap therebetween. One of the rollers 34a is rotatably supported, and the other roller 34a is connected to a drive motor, not shown. The two rollers 34a are driven by the drive motor, and thereby the medicine container 10 placed between the rollers 34a is rotated in the circumferential direction. Accordingly, since the medicine container 10 can be rotated once in the circumferential direction, the entire area of the label attached to the medicine container 10 can be directed to the barcode reader 34 b. Then, the barcode reader 34b reads a barcode from the label of the medicine container 10 rotated by the roller 34 a.

[ WEIGHING METER 35 ]

The weight meter 35 is used to measure the weight of the syringe 11 in the mixing process performed by the mixing and injecting apparatus 1, and the measurement result of the weight meter 35 is input to the second control unit 500. The weight meter 35 is disposed within the movable range of the second robot arm 22, and measures the weight of the syringe 11 placed on the second robot arm 22. It is also conceivable that a scale for weighing the medicine containers 10, the syringes 11, and the like be provided on the carriage 33 separately from the scale 35.

[ NEEDLE BENDING DETECTION SECTION 36 ]

As shown in fig. 14, the needle bending detection unit 36 has a long hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. The needle bending detection unit 36 includes a first photosensor 361 and a second photosensor 362, and the first photosensor 361 and the second photosensor 362 are arranged to irradiate and receive detection light through the long hole 36a, and the detection light is not parallel to each other. That is, the first photosensor 361 and the second photosensor 362 have different irradiation directions of the detection light. The detection results of the first photosensor 361 and the second photosensor 362 are input to the second control unit 500.

Then, the injection needle 11c attached to the syringe 11 is inserted into the elongated hole 36a by the second robot arm 22 and moved in the vertical direction. At this time, when the detection light of each of the first photosensor 361 and the second photosensor 362 is blocked by the injection needle 11c, each of the first photosensor 361 and the second photosensor 362 is turned off.

Thus, the second control unit 500 can detect the bending or the like of the injection needle 11c by using the position information of the injection needle 11c when the detection light is blocked. Further, it is also possible to take an image of the injection needle 11c with a camera and detect needle bending or the like by image recognition of the taken image. When the injection needle 11c is bent, the second control unit 500 can adjust, for example, the needle point position or the like when the injection needle 11c pierces a rubber stopper of the mixing/pouring port of the infusion bag 12 by the second robot arm 22, in accordance with the amount of bending of the injection needle 11 c.

[ MIXING COMMUNICATION PORT 37 ]

As shown in fig. 3, the mixed injection communication port 37 is formed in a dome-shaped portion protruding outward on the side wall of the mixed injection treatment chamber 104, and a notch through which the mixed injection port of the infusion bag 12 passes is formed in the dome-shaped portion in the vertical direction. Therefore, when the infusion bag holding portion 103 is raised, the mixing port of the infusion bag 12 is positioned in the mixing treatment chamber 104. Thereby, the injection needle 11c of the syringe 11 held by the second robot arm 22 can be inserted into the mixing and pouring port of the infusion bag 12.

[ needle insertion confirmation transparent window 38 ]

The needle insertion confirmation transparent window 38 is a window through which the infusion bag 12 in the tray transport terminal portion 110a can be visually confirmed from the mixed injection processing unit 300, and is used for image capturing for confirming the state where the injection needle 11c of the syringe 11 is inserted into the infusion bag 12.

[ Syringe confirmation Camera 42 ]

As shown in fig. 6, the syringe check camera 42 is disposed on the ceiling of the mixing processing unit 300. The syringe confirmation camera 42 is used to photograph the syringe 11 to confirm the presence or absence of the medicine, the amount of the medicine, and the like sucked by the syringe 11. The syringe confirmation camera 42 may be a device that captures an image within a predetermined capture range, or may be a device that can arbitrarily change the position and size of the capture range under the control of the second control unit 500. As will be described later, in the mixing and filling apparatus 1, the syringe 11 and the medicine container 10 are imaged together by the syringe check camera 42, and a highly reliable inspection image is provided. The second control unit 500 records the shot image shot by the syringe confirmation camera 42 in the data storage unit 404, the data storage unit 504, or a storage unit such as a hard disk provided outside the mixing and injection apparatus 1, so as to check whether the mixing and injection process performed by the mixing and injection apparatus 1 is appropriate, for example, by an image. The second control unit 500 causes a display device such as the touch panel monitor 14 or the display 203 to display a captured image captured by the syringe check camera 42 when the user performs the examination.

[ Syringe needle attaching/detaching device 43 ]

As shown in fig. 15 and 16, the needle attachment/detachment device 43 is configured to insert the tip of the needle 11c with the end cap 11d attached thereto into the hole 43b of the collet portion 43a having the cutout portion facing upward. When the motor 43c is driven, the hole 43b of the holder 43a is expanded by a cam mechanism not shown, and the injection needle 11c can be inserted together with the cap 11 d. When the driving of the motor 43c is stopped, the spring 43d maintains the holding state of the cap 11d and the injection needle 11 c. When the needle swinging motor 43e is driven, the gear 43f and the gear 43g rotate, and the chuck portion 43a rotates, so that the end cap 11d and the injection needle 11c are rotated.

The injection needle 11c and the end cap 11d are provided with: and a rib (rib) which comes into contact when the end cap 11d is rotated in the circumferential direction in a state where it is attached to the injection needle 11 c. Therefore, when the end cap 11d of the injection needle 11c is rotated by the clip part 43a, the injection needle 11c is rotated together with the end cap 11d, and is attached to and detached from the syringe 11 a. In the needle attachment/detachment device 43, the attachment/detachment of the end cap 11d to/from the needle 11c can be automatically performed by moving the syringe 11 closer to or farther from the clip part 43a by the second robot arm 22 in a state where the end cap 11d is held by the clip part 43 a. In the needle attachment/detachment device 43, the tip of the needle 11c faces upward, so that the tip opening of the syringe 11a from which the needle 11c is detached faces upward, and dripping from the neck opening of the syringe 11a can be prevented.

[ needle insertion confirmation camera 44 ]

The needle insertion confirmation camera 44 captures images of the infusion bag 12 located outside the mixed infusion processing chamber 104 and the syringe 11 located inside the mixed infusion processing chamber 104 so as to be contained in one image. The second control unit 500 takes an image of the direction of the needle insertion confirmation transparent window 38 by the needle insertion confirmation camera 44 when the rubber stopper of the mixing port of the infusion bag 12 is pierced by the injection needle 11 c. Then, the shot image taken by the needle insertion confirmation camera 44 is displayed on the touch panel monitor 14, for example. Here, fig. 17 shows an example of a captured image captured by the needle insertion confirmation camera 44. Thus, the user can confirm whether the tip end side of the injection needle 11c is positioned in the infusion bag 12 by using the photographed image. The captured image is stored in a storage unit such as a hard disk provided inside or outside the mixing and filling apparatus 1, for example, for final inspection. When the user operates the OK key on the touch panel monitor 14 on which the captured image is displayed and determines that the mixing process is properly completed, the infusion bag 12 is lowered by the bag lifting and lowering unit 113 and returned to the tray 101.

[ germicidal lamp 45 ]

The germicidal lamp 45 is turned on, for example, three hours before the start of the mixture filling process. As shown in fig. 6, one of the two germicidal lamps 45 is disposed between the first robot arm 21 and the second robot arm 22. Therefore, the amount of sterilizing light blocked by the first robot arm 21 and the second robot arm 22 is reduced, and the inside of the mixed injection processing chamber 14 can be sterilized without omission. The mixed injection processing unit 300 is provided with an exhaust system for sucking air in the mixed injection processing chamber 104 from a slit 104b (see fig. 3 and 4) formed in a lower portion of a side wall of the mixed injection processing chamber 104 and discharging the air from an unillustrated exhaust fan provided above the mixed injection processing chamber 104. Further, an air supply system is also provided which purifies the outside air from an air inlet formed in the ceiling portion of the mixed injection processing chamber 104 and introduces the air into the mixed injection processing chamber 104 and the like.

Next, the storage unit 700 will be described with reference to fig. 18 to 21. Fig. 18 is a front view of the medicine loading unit 200 and the storage unit 700, fig. 19 is a sectional view taken along line I-I in fig. 18, and fig. 20 is a sectional view taken along line II-II in fig. 18. Fig. 21 is a schematic diagram showing an internal structure of the storage unit 700. In the following description, the vertical, horizontal, and front-rear directions shown in fig. 18 to 21 are sometimes used.

The storage unit 700 includes a tray loading unit 710, an elevating unit 800, a tray conveying unit 900, and the like, and is controlled by the mixing and filling control device 100. The tray loading unit 710 and the lifting unit 800 are disposed behind the work table 202, and the tray conveying unit 900 is disposed below the work table 202. The storage unit 700 may store a plurality of trays 101, and the mixture control device 100 may move any of the trays 101 out of the storage unit 700. The specific configuration of the storage unit 700 is not limited to the configuration described herein, as long as the same function can be achieved.

The tray loading unit 710 includes: a shutter 712 for opening and closing the tray loading port 711, and a driving unit 713 for opening and closing the shutter 712, wherein the tray loading port 711 is used for loading the tray 101 into the storage unit 700. The driving unit 713 is, for example, a belt including a motor, a gear, a tension roller, and a belt, and when the tension roller is rotated by the motor and the gear, the shutter 712 connected to the belt is opened or closed. When the shutter 712 is opened, the user can load the tray 101 into the lifting unit 800 of the storage unit 700 by sliding the tray 101 rearward on the work table 202. The tray loading port 711 is disposed at a position vertically distant from the tray discharge port 206, specifically, the tray loading port 711 is disposed at a position higher than the tray discharge port 206.

The lifting unit 800 includes: a moving housing 810 supported to be vertically movable, a plurality of tray housing portions 811 arranged vertically in the moving housing 810, driving portions 812 and 813 used for loading and unloading the tray 101 into and from the tray housing portions 811, and a lifting mechanism 820 for lifting and lowering the moving housing 810 vertically. The moving frame 810 is supported slidably in the vertical direction by, for example, a guide rail portion (not shown) formed on the inner surface of the frame of the storage unit 700. The moving frame 810 is at least vertically movable between a state in which the tray housing portion 811 at the uppermost layer is positioned above the tray loading port 711 and a state in which the tray housing portion 811 at the lowermost layer is positioned below the tray loading port 711. In particular, the moving frame 810 is lifted and lowered within a range in which each of the tray housing portions 811 can be positioned in a state in which: a state in which the tray 101 is movable between the tray housing portion 811 and the tray loading portion 710, and a state in which the tray 101 is movable between the tray housing portion 811 and the tray conveying portion 900.

The tray storage portion 811 is a conveyor belt including: that is, the tray 101 includes a pair of left and right belts 814 capable of supporting the tray 101, a plurality of tension rollers 815 for supporting the belts 814 so as to be able to travel, and a magnetic wheel 816 connected to any one of the tension rollers 815. The driving unit 812 and the driving unit 813 are motors that can rotate the magnetic wheels 812a and 813a in the normal rotation direction and the reverse rotation direction. The magnetic wheels 812a and 813a can cause the magnetic wheels 816 disposed at the opposite positions to rotate in synchronization with each other by the magnetic force. That is, the driving force of the driving units 812 and 813 is transmitted from the magnetic wheels 812a and 813a to the magnetic wheel 816 of the tray housing unit 811 in a non-contact manner. Then, the tension roller 815 and the belt 814 are run by the magnetic wheel 816.

Therefore, in the lifting unit 800, even when the tray housing portions 811 are provided in three or more layers, the two driving portions 812 and 813 can be used to drive the tray housing portions 811. Therefore, in the mixing and filling apparatus 1, compared to the case where a driving unit such as a motor is provided for each tray housing 811, the weight of the moving frame 810 that moves in the vertical direction can be reduced while suppressing dust generation and cost of the lifting unit 800.

Here, the magnetic wheel 812a and the magnetic wheel 813a are disposed at different positions in the vertical direction. Specifically, the magnetic wheels 812a are disposed at positions facing the magnetic wheels 816 of the tray housing portion 811, and the tray housing portion 811 is disposed at a position where the tray 101 can be loaded from the work table 202 through the tray loading port 711. The magnetic wheel 813a is disposed below the magnetic wheel 812a at a position facing the magnetic wheel 816 of the tray housing portion 811, wherein the tray housing portion 811 is disposed at a position where the tray 101 is movable between the tray housing portion 811 and the tray conveying portion 900.

Accordingly, in the storage unit 700, the lower region of the table 202 can be effectively used, and the tray 101 can be conveyed between the tray storage portion 811 and the tray conveying portion 900, for example. Hereinafter, a position of the tray housing portion 811 where the tray 101 can be loaded from the work table 202 to the tray housing portion 811 is sometimes referred to as a "first movement position", and a position of the tray housing portion 811 where the tray 101 can be moved between the tray housing portion 811 and the tray conveying portion 900 is sometimes referred to as a "second movement position".

The lifting mechanism 820 is a conveyor belt including a motor 821, a pair of left and right belts 822, and a plurality of tension rollers 823. The motor 821 drives the tension roller 823 to move the belts 822 in the vertical direction. Each of the belts 822 is connected to the moving frame 810. The elevating mechanism 820 moves the moving frame 810 in the vertical direction by moving the belts 822 in the vertical direction by the normal rotation or reverse rotation of the motor 821.

The tray conveying unit 900 includes a first conveying unit 910, a second conveying unit 920, an IC reader 930, and a third conveying unit 940. The first conveying unit 910 can convey the tray 101 in the front-rear direction, and the second conveying unit 920 can convey the tray 101 in the left-right direction. For example, the first conveying unit 910, the second conveying unit 920, and the third conveying unit 940 are each a belt having a motor, a gear, a tension roller, a belt, and the like, and the belt is driven by the motor, the gear, and the tension roller, thereby conveying the tray 101 held on the belt.

More specifically, the first conveying unit 910 can convey the tray 101 accommodated in the tray accommodating unit 811 to the tray discharge port 206. The first conveying unit 910 can store the tray 101 in the tray storage unit 811. The second conveying unit 920 is configured to be movable in the vertical direction and between a usable state in which the tray 101 placed on the first conveying unit 910 can be conveyed in the horizontal direction and a retracted state (see fig. 21) in which the tray is retracted downward from the usable state. When the second conveying unit 920 is in the usable state, the third conveying unit 940 may convey the tray 101 between the second conveying unit 920 and the tray discharge port 701.

For example, when the second conveying unit 920 shifts from the retracted state to the usable state, the tray 101 placed at a predetermined position on the first conveying unit 910 is moved upward while being held, and thereby the tray 101 can be conveyed to the third conveying unit 930. When the usable state is shifted to the retracted state, the second conveying unit 920 moves the tray 101 placed on the second conveying unit 920 downward of the first conveying unit 910 while holding the tray 101, and delivers the tray 101 to the first conveying unit 910.

Accordingly, the second conveying unit 920 can convey the tray 101 discharged from the tray storage unit 811 to the first conveying unit 910 to the third conveying unit 940 in the usable state. In the usable state, the second conveying unit 920 can receive the tray 101 supplied from the mixing and filling processing unit 300 through the tray discharge port 701 through the third conveying unit 940 and convey the tray to the first conveying unit 910.

The IC reader 930 can read information from the IC tag 101b of the tray 101 placed on the first conveying unit 910 of the tray conveying unit 900. The identification information of the tray 101 read from the IC tag 101b by the IC reader 930 is input to the second control unit 500.

As another embodiment, the mixing and injecting apparatus 1 may be configured as follows: that is, the storage unit 700 may further include a storage rack capable of storing a plurality of the trays 101, and may arbitrarily carry out the loading of the trays 101 into the storage rack and the unloading of the trays 101 from the storage rack. Accordingly, a large amount of the trays 101 can be temporarily stored in the storage rack and automatically discharged as needed. The above-described configuration is suitable for the following cases, for example: that is, the mixing and filling apparatus 1 has a batch preparation and inspection function described later, and needs to temporarily store a plurality of trays 101 that have not been subjected to inspection after the completion of the mixing and filling process.

It is also conceivable to provide the storage rack with a door with a lock that is opened or closed to take out the tray 101 from a position different from the storage unit 700 side with respect to the individual storage section that individually stores the trays 101. Thus, for example, the user can take out the trays 101 from the storage rack as needed to collectively perform an inspection, and the user who can take out the trays 101 can be limited to a specific user who holds the key of the door.

[ Co-injection treatment ]

Next, an example of basic processing steps of the mixed injection processing executed by the mixed injection control unit 100 controlling the mixed injection processing unit 300 in the mixed injection device 1 will be described. In the mix-and-fill process, as described below, the second control unit 500 controls the first robot arm 21, the second robot arm 22, and the like, thereby drawing a medicine from one or more of the medicine containers 10 by the syringe 11 according to the preparation data and injecting the medicine from the syringe 11 into another container such as the infusion bag 12.

[ Co-injection treatment Using ampoule 10A ]

First, a basic operation of the mixing process when the medicine contained in the ampoule 10A is injected into the infusion bag 12 will be described.

When the tray 101 is supplied to the tray conveying unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by using the IC reader 101 c. When the identification information of the tray 101 matches identification information corresponding to the preparation data of the mix-and-fill process in advance, the second control unit 500 opens the shutter 111. Then, the second control unit 500 raises the device placing portion 102 of the tray 101 by the tray raising and lowering portion 112 of the tray conveying portion 110, and exposes the device placing portion to the inside of the mixing and injecting processing chamber 104.

Next, the second control unit 500 takes an image of the equipment mounting unit 102 by using the tray checking camera 41. Then, the second control unit 500 recognizes the position and direction of the instrument, such as the ampoule 10A and the syringe 11, placed on the instrument placement unit 102 by image recognition processing based on the image captured by the tray confirmation camera 41. In particular, the second control unit 500 takes an image of the instrument mounting unit 102 by the tray checking camera 41 each time the ampoule 10A or the syringe 11 is taken out from the instrument mounting unit 102, and grasps the latest position and orientation of the ampoule 10A and the syringe 11 based on the taken image.

Next, the second control unit 500 temporarily places the syringe 11 placed on the device placing portion 102 exposed in the mixture treatment chamber 104 on the placing rack 33 by the first robot arm 21. The second control unit 500 also sets the ampoule 10A placed on the device placement unit 102 to the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of the medicine contained in the ampoule 10A by the medicine reading unit 34.

The second control unit 500 places the first needle 11c on the needle attaching/detaching device 43 by the first robot arm 21, and temporarily places the second needle 11c on the carriage 33. Here, the first injection needle 11c is an injection needle without a needle filter, and the second injection needle 11c is an injection needle with a needle filter. An end cap 11d is attached to the injection needle 11c placed on the device placing section 102, and the end cap 11d is attached to or detached from the injection needle attaching and detaching device 43. It is also conceivable that the injection needle 11c is mounted on the tray 101 in a state of being attached to the syringe 11a of the syringe 11. In this case, the step of attaching the injection needle 11c to the syringe 11 is omitted.

When all the instruments on the instrument placement unit 102 are taken out, the second control unit 500 lowers the instrument placement unit 102 by the tray lifting unit 112 of the tray conveying unit 110 and returns the instruments to the tray 101. The second control unit 500 checks whether or not all the equipment on the equipment placement unit 102 has been taken out by the image recognition processing based on the captured image captured by the tray checking camera 41.

Then, the second control unit 500 closes the shutter 111 and conveys the tray 101 to the tray conveyance terminal 110a by the tray conveyance unit 110. Next, the second control part 500 positions the mixing port of the infusion bag 12 held by the infusion bag holding part 103 of the tray 101 at the mixing-injection communication port 37 formed in the mixing-injection processing chamber 104 by the bag lifting part 113 of the tray conveying part 110.

Then, the second control unit 500 moves the ampoule 10A set in the medicine reading unit 34 to the rack 33 by the second robot arm 22. Next, the second control unit 500 takes out the syringe 11 from the rack 33 by the first robot arm 21 and sets it on the second robot arm 22. Next, the second control unit 500 moves the syringe 11 to the needle attaching and detaching device 43 by the second robot arm 22, and attaches the needle 11c to the syringe 11. Then, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22, and detects whether the injection needle 11c is bent or not. It is also conceivable that the injection needle 11c is mounted on the tray 101 in a state where it is attached to the syringe 11. In this case, the step of attaching the injection needle 11c to the syringe 11 is omitted.

Next, the second control unit 500 takes out the ampoule 10A from the carriage 33 by the first robot arm 21, and breaks the head of the ampoule 10A by using the ampoule cutter 31. Then, the second control unit 500 brings the ampoule 10A and the syringe 11 close to each other by the first robot arm 21 and the second robot arm 22, and inserts the injection needle 11c of the syringe 11 into the ampoule 10A. Then, the second control unit 500 operates the plunger 11b by the second robot arm 22 to draw a medicine of an amount predetermined in accordance with the preparation data from the ampoule 10A by using the syringe 11.

At this time, the first robot arm 21 and the second robot arm 22 gradually incline the postures of the ampoule 10A and the syringe 11. For example, after a certain amount of medicine is sucked from the ampoule 10A in a state where the mouth of the ampoule 10A is directed vertically upward and the injection needle 11c of the syringe 11 is directed vertically downward, the ampoule 10A is tilted by about 10 degrees with respect to the vertical direction, and the medicine is moved to the mouth (neck). This allows the medicine to be sucked out as little as possible without the tip of the injection needle 11c of the syringe 11 touching the bottom of the ampoule bottle 10A.

Then, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 to move the ampoule 10A after the medicine has been aspirated and the syringe 11 in the medicine aspirated state into the imaging range of the syringe confirmation camera 42. Then, the second control unit 500 images the ampoule 10A and the syringe 11 together by the syringe check camera 42, and records the captured image as an inspection image in the data storage unit 504. For example, the syringe check camera 42 is a device that takes an image of the predetermined imaging range. It is also conceivable that the second control unit 500 may change the imaging range of the syringe confirmation camera 42 so that the ampoule 10A and the syringe 11 moved by the first robot arm 21 and the second robot arm 22 can be imaged together.

Next, the second control unit 500 replaces the injection needle 11c of the syringe 11 with the first robot arm 21 and the second robot arm 22. Specifically, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22, and detects whether the injection needle 11c is bent or not. Then, the second robot arm 22 moves the syringe 11 to the needle attaching and detaching device 43, and attaches the end cap 11d to the needle 11 c. Then, the second control unit 500 rotates the end cap 11d by the needle attachment/detachment device 43 to detach the needle 11c from the syringe 11. The needle 11c may be removed by rotating the end cap 11d by the first arm 21 and the second arm 22.

Then, the second controller 500 opens the waste cover 132a, and causes the needle 11c gripped by the needle detaching device 43 to fall into the waste storage chamber 13a together with the end cap 11d attached to the needle 11c by the first robot arm 21, and discard the needle. Then, the second control unit 500 causes the needle 11c with the needle filter to be set on the needle attaching and detaching device 43 from the mounting rack 33 by the first robot arm 21. Then, the second control unit 500 moves the syringe 11 to the needle attaching and detaching device 43 by the second robot arm 22, and attaches the needle 11c to the syringe 11. In this case, the second controller 500 also moves the syringe 11 to the needle bending detector 36 by the second robot arm 22 to detect whether the injection needle 11c is bent or not. In this way, in the mixing and filling device 1, the injection needle 11c is replaced when the medicine is sucked from the ampoule 10A and the infusion solution is injected into the infusion bag 12, and the pieces of the ampoule 10A are prevented from being mixed into the infusion bag 12.

Then, the second control unit 500 injects the mixed drug in the syringe 11 into the infusion bag 12 by piercing the injection needle 11c of the syringe 11 with the second robot arm 22 into a rubber stopper of the mixing port of the infusion bag 12 transported to the tray transportation terminal unit 110 a. The second controller 500 opens the waste cover 132a, and causes the first robot arm 21 to drop the ampoule 10A into the waste storage chamber 13a to be discarded. The second controller 500 moves the syringe 11 to the needle attaching and detaching device 43 by the second robot arm 22, attaches the end cap 11d to the needle 11c of the syringe 11, and drops the syringe 11 into the garbage accommodating chamber 13a to be discarded.

After the mixed injection process is completed, the second control unit 500 executes a preparation check process for checking the result of the mixed injection process. In the preparation and inspection process, the second control unit 500 displays various captured images captured in the mixing process on the touch panel 14, for example, and receives an operation for completing the inspection of the mixing process. Thus, the user can check the adequacy of the betting process while viewing the touch panel monitor 14. When the operation for completing the inspection is received, the second control unit 500 conveys the tray 101 to the tray discharge port 15 and takes out the tray 101.

[ Co-injection treatment Using tube medicine bottle 10B ]

Next, a basic operation of the mixing and filling process when the medicine contained in the vial 10B is a medicine such as a facial medicine that needs to be dissolved, and the medicine is mixed with an infusion solution and then injected into the infusion bag 12 will be described.

When the tray 101 is supplied to the tray conveying unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by using the IC reader 101 c. When the identification information of the tray 101 matches identification information corresponding to the preparation data of the mix-and-fill process in advance, the second control unit 500 opens the shutter 111. Then, the second control unit 500 raises the device placing portion 102 of the tray 101 by the tray raising and lowering portion 112 of the tray conveying portion 110, and exposes the device placing portion to the inside of the mixing and injecting processing chamber 104.

Next, the second control unit 500 takes an image of the equipment mounting unit 102 by using the tray checking camera 41. Then, the second control unit 500 recognizes the position and orientation of the instrument such as the vial 10B and the syringe 11 placed on the instrument placement unit 102 by image recognition processing based on the image captured by the tray confirmation camera 41. In particular, each time the vial 10B or the syringe 11 is taken out from the device placement unit 102, the second control unit 500 takes an image of the device placement unit 102 using the tray recognition camera 41, and grasps the latest position and orientation of the vial 10B and the syringe 11 based on the taken image.

Next, the second control unit 500 temporarily places the syringe 11 placed on the device placing portion 102 exposed in the mixture treatment chamber 104 on the placing rack 33 by the first robot arm 21. The second control unit 500 also places the vial 10B placed on the device placement unit 102 in the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of the medicine contained in the vial 10B by the medicine reading unit 34.

Next, when all the instruments on the instrument placement unit 102 are taken out, the second control unit 500 lowers the instrument placement unit 102 by the tray lifting unit 112 of the tray conveying unit 110 and returns the instruments to the tray 101. The second control unit 500 checks whether or not all the equipment on the equipment placement unit 102 has been taken out by the image recognition processing based on the captured image captured by the tray checking camera 41.

Then, the second control unit 500 closes the shutter 111 and conveys the tray 101 to the tray conveyance terminal 110a by the tray conveyance unit 110. Next, the second control part 500 positions the mixing port of the infusion bag 12 held by the infusion bag holding part 103 of the tray 101 at the mixing-injection communication port 37 formed in the mixing-injection processing chamber 104 by the bag lifting part 113 of the tray conveying part 110.

Then, the second control unit 500 moves the vial 10B set in the medicine reading unit 34 to the rack 33 by the second robot arm 22. In addition, at the same time as the movement process, the second control unit 500 places the injection needle 11c of the syringe 11 placed on the device placing unit 102 on the injection needle attaching and detaching device 43 in a state where the end cap 11d is attached thereto, by using the first robot arm 21.

Next, the second control unit 500 takes out the syringe 11 from the rack 33 by the first robot arm 21 and sets it on the second robot arm 22. Next, the second control unit 500 moves the syringe 11 to the needle attaching and detaching device 43 by the second robot arm 22, and attaches the needle 11c to the syringe 11. Then, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22, and detects whether the injection needle 11c is bent or not. It is also conceivable that the injection needle 11c is mounted on the tray 101 in a state of being attached to the syringe 11a of the syringe 11. In this case, the step of attaching the injection needle 11c to the syringe 11 is omitted.

Next, the second control unit 500 pierces the injection needle 11c of the syringe 11 into a rubber stopper of the mixing port of the infusion bag 12 conveyed to the tray conveyance terminal unit 110a by the second robot arm 22, and suctions the infusion solution of the dissolution amount indicated by the preparation data from the infusion bag 12. Further, the second control unit 500 takes out the vial 10B placed on the placement rack 33 by the first robot arm 21.

Then, the second control unit 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and pierces the injection needle 11c of the syringe 11 into the vial 10B. Then, the second control unit 500 operates the plunger 11B by the second robot arm 22, thereby injecting the infusion solution in the syringe 11 into the vial 10B. In this way, when the medicine is a face medicine, the mixing and injection process is performed with a dissolving step of withdrawing an infusion solution from the infusion bag 12 by the syringe 11 and injecting the infusion solution from the syringe 11 into the vial 10B. Thereby, the medicine in the vial 10B is dissolved by the infusion solution. At this time, the syringe 11 and vial 10B are in a posture in which the injection needle 11c of the syringe 11 faces a vertically downward direction and the mouth of the vial 10B faces a vertically upward direction.

Next, the second control unit 500 sets the vial 10B into which the infusion solution is injected in the stirring device 32 by the first robot arm 21. Thus, the stirring device 32 performs a stirring step of stirring the medicine and the infusion solution in the vial 10B. The stirring time in the stirring step is predetermined depending on, for example, the type of the chemical. The stirring time may be predetermined in combination with the drug and the infusion solution, or may be changed according to the amount of the drug in the vial 10B. When the stirring process by the stirring device 32 is completed, the second control unit 500 takes the vial 10B out of the stirring device 32 by the first robot arm 21.

Here, the second control part 500 performs a stirring inspection process of inspecting the stirring result of the stirring step after the stirring step is completed. In the agitation check process, the second control unit 500 controls the first robot arm 21 to move the vial 10B to a position and a posture where the bottom or the side of the vial 10B can be visually checked by the user, and waits for a check operation performed by the user on the touch panel monitor 15 or the like. The second control unit 500 controls the first robot arm 21 in accordance with a predetermined operation performed on the touch panel monitor 15, and executes a swing process of moving the vial 10B to a state in which a user can visually confirm a plurality of states (postures and positions) of the bottom or the side surface of the vial 10B from different angles. This allows the user to confirm the degree of dissolution of the medicine in the vial 10B from different angles.

Then, when the confirmation operation is performed, the second control unit 500 causes the processing step of the mixture processing to be performed next. In addition, when the preset re-stirring operation is performed, the second control part 500 sets the vial 10B again in the stirring device 32 and performs the stirring process again without performing the process of the mixing/filling process downward. In the agitation check process, the second control unit 500 may display an image of the bottom, side, or the like of the medicine container 10 captured after the agitation process on the touch panel monitor 15.

Then, the second control unit 500 causes the vial 10B and the syringe 11 to approach each other by the first robot arm 21 and the second robot arm 22, and pierces the injection needle 11c of the syringe 11 into the vial 10B. Then, the second controller 500 operates the plunger 11B by the second robot arm 22, thereby sucking the mixed medicine in the vial 10B using the syringe 11. At this time, the syringe 11 and vial 10B are in a posture in which the mouth of the vial 10B is oriented in a vertically downward direction and the injection needle 11c of the syringe 11 is oriented in a vertically upward direction.

Then, the second control unit 500 controls one or both of the first robot arm 21 and the second robot arm 22 to move the vial 10B from which the medicine has been sucked and the syringe 11 from which the medicine has been sucked into the imaging range of the syringe confirmation camera 42. Then, the second control unit 500 images the vial 10B and the syringe 11 together by the syringe confirmation camera 42, and records the image in the data storage unit 504 as an inspection image. For example, the syringe check camera 42 is a device that takes an image of the predetermined imaging range. It is also conceivable that the second control unit 500 may change the imaging range of the syringe confirmation camera 42 so that the vial 10B and the syringe 11 moved by the first robot arm 21 and the second robot arm 22 can be imaged together.

Then, the second control unit 500 injects the mixed drug in the syringe 11 into the infusion bag 12 by piercing the injection needle 11c of the syringe 11 with the second robot arm 22 into a rubber stopper of the mixing port of the infusion bag 12 transported to the tray transportation terminal unit 110 a. In this way, the following injection steps are performed in the mixed injection process: that is, the injection step of sucking the medicine from the vial 10B by the syringe 11 and injecting the medicine from the syringe 11 into the infusion bag 12.

The second controller 500 opens the waste cap 132a, and causes the vial 10B to drop into the waste storage chamber 13a by the first robot arm 21 and discard the vial. The second controller 500 moves the syringe 11 to the needle attaching and detaching device 43 by the second robot arm 22, attaches the end cap 11d to the needle 11c of the syringe 11, and drops the syringe 11 into the garbage accommodating chamber 13a to be discarded.

After the mixed injection process is completed, the second control unit 500 executes a preparation check process for checking the result of the mixed injection process. In the preparation and inspection process, the second control unit 500 displays various captured images captured in the mixing process on the touch panel 14, for example, and receives an operation for completing the inspection of the mixing process. Thus, the user can check the adequacy of the betting process while viewing the touch panel monitor 14. When the operation for completing the inspection is received, the second control unit 500 conveys the tray 101 to the tray discharge port 15 and takes out the tray 101.

Further, it is also considered that the medicine contained in the vial 10B is a medicine such as a drug solution that does not need to be dissolved. The mixing and filling process in this case is the same as the mixing and filling process described above when the medicine contained in the vial 10B is a medicine such as a powdered medicine that needs to be dissolved, except that the stirring step is not performed, and therefore, the description thereof is omitted. Even when the medicine contained in the vial 10B is liquid, the stirring step may be performed according to the type of the medicine.

[ premixing function ]

However, the stirring step performed in the mixing and pouring process may take a long time, and the waiting time until the stirring step is completed may hinder the efficiency of the mixing and pouring process. In contrast, the mixing and injection device 1 according to the present embodiment has an early agitation function that enables the agitation step in the mixing and injection process to be executed in advance before the execution start time of the mixing and injection process. Specifically, the mixing control unit 100 implements the preliminary mixing function by executing a filling preparation process and a mixing control process, which will be described later, according to the first mixing control program or the second mixing control program using the first control unit 400 or the second control unit 500. Here, the mixture control device 100 for executing the loading preparation process and the mixture control process is an example of a preliminary mixing process section. The first controller 400 and the second controller 500 may set the preliminary stirring function to be effective when the medicine container 10 is the vial 10B.

[ filling preparation treatment ]

First, an example of the filling preparation process executed by the mixture control apparatus 100 will be described with reference to fig. 22.

< step S1 >

In step S1, the first controller 400 waits for a loading preparation start operation by the user using the operating unit 405 (S1: no). For example, when the user performs the operation of selecting the preparation data, the first 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.

In addition, as the loading preparation start operation, the first control unit 400 may receive, in addition to an operation to immediately execute the mixing process based on the preparation data, a reservation indicating a predetermined time for ending the mixing process, an ending time period, or the like, with respect to the preparation data. In the case of reserving the end time zone, for example, reservation in units of one hour such as a period from T1 to T2 can be accepted as a time range in which the mixture processing should be ended. For example, the first control unit 400 may set the preparation data reservation in the same number as the number of the tray storage units 811 and equal to or less than a preset maximum number of reservations. The processing of the reservation is not limited to being executed at the start of the loading preparation processing, and may be executed at the end of the loading preparation processing.

When the predetermined end time is set, the first control unit 400 automatically estimates the required time for the mixing process from the preparation data, and sets a time obtained by subtracting the required time from the predetermined end time as the execution start time of the mixing process. For example, the required time is calculated from the required schedule information stored in the data storage unit 404. In the required time table, a required time of each step of the mixing process and the like is set in advance for each content of the mixing process, as information for calculating the required time from the content of the mixing process.

The first control unit 400 may receive the preparation data not only by receiving the reservation of the predetermined end time, but also by receiving a reservation of a predetermined start time indicating a start time, a start period, or the like of the mixing process. In the case of reserving the start time period, for example, a reservation in units of one hour such as a period from T1 to T2 can be accepted as a time range in which the mixing process should be started. For example, when the predetermined start time is set for the placement data, the first control unit 400 sets the predetermined start time as the execution start time of the mixing process. Further, as the time range from the start to the end of the mixing process, it is possible to accept reservation of the execution time period in units of one hour, such as the period from T1 to T2. When the execution time period is set for the preparation data, the first control unit 400 sets the execution start time of the mixing process so that the mixing process ends within the execution time period. The first control unit 400 may be configured to reserve the mixing process for only one piece of the preparation data. The reservation target is not limited to the end scheduled time, the start scheduled time, or the execution time period of the mixing process, and may be the end scheduled time, the start scheduled time, or the execution time period of the injection step of injecting the chemical solution extracted from the drug container 10 into the infusion bag 12 in the mixing process.

< step S2 >

In step S2, the first control unit 400 executes a process of associating the allocation data selected as the processing target with the identification information of the tray 101. Specifically, the first control unit 400 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 placed on the work table 202 by using the IC reader 207 provided on the work table 202. Then, the first control unit 400 stores the identification information read from the IC tag 101b in the data storage unit 404 as the identification information of the tray 101 corresponding to the dispensing data selected as the processing target. For example, the correspondence between the dispensing data and the identification information of the tray 101 is managed by table information. The first control unit 400 also transmits information indicating the correspondence between the placement data and the identification information of the tray 101 to the second control unit 500, and stores the information in the data storage unit 504. Accordingly, the first control unit 400 and the second control unit 500 can recognize the correspondence between the dispensing data and the identification information of the tray 101 based on the correspondence.

< step S3 >

Then, in steps S3 to S8, the first control unit 400 executes a process for supporting the operation of setting the medicine container 10, the syringe 11, the infusion bag 12, and the like, which are necessary for the mixing and filling process based on the preparation data, on the tray 101. Specifically, first, in step S3, the first control unit 400 displays a message, an image, or the like, for instructing reading of identification information such as a GS1 data barcode attached to the infusion bag 12, on the display 203 together with information including the type of the infusion bag 12 included in the preparation data. Then, the first control unit 400 reads the identification information of the infusion bag 12 by using the barcode reader 204, and when the identification information matches the matching result of the preparation data, the process proceeds to step S4. In addition, when the identification information of the infusion bag 12 does not match the matching result of the preparation data, the first control unit 400 displays an error message, for example.

< step S4 >

In step S4, the first control unit 400 displays a message, an image, and the like for guiding the placement of the infusion bag 12 on the tray 101 on the display 203. This allows the user to easily dispose the infusion bag 12 at a predetermined position in the tray 101.

< step S5 >

In step S5, the first controller 400 displays a message, an image, and the like for instructing reading of identification information such as a GS1 data barcode attached to the medicine container 10, on the display 203 together with information including the type of the medicine container 10 and the like included in the preparation data. Then, the first control unit 400 reads the identification information of the medicine container 10 by the barcode reader 204, and when the identification information matches the matching result of the dispensing data, the process proceeds to step S6. In addition, when the identification information of the medicine container 10 does not match the matching result of the dispensing data, the first control unit 400 displays an error message, for example.

< step S6 >

In step S6, the first control unit 400 displays a message, an image, and the like for guiding the arrangement of the medicine containers 10 in the tray 101 on the display 203. This allows the user to easily place the medicine container 10 at a predetermined position in the tray 101. If a plurality of medicine containers 10 are necessary, steps S5 to S6 are repeated.

< step S7 >

In step S7, the first control unit 400 displays a message, an image, and the like for guiding the arrangement of the syringes 11 in the tray 101 on the display 203. This allows the user to easily dispose the syringe 11 at a predetermined position in the tray 101. When a plurality of syringes 11 are necessary, the step S7 is repeatedly executed.

< step S8 >

When the guidance of all the instruments necessary for the mixing process based on the dispensing data is completed, in the next step S8, the first control unit 400 displays the completion of the preparation for filling the dispensing data and displays an operation key or the like for accepting a confirmation operation of the contents.

< step S9 >

In step S9, the first control unit 400 determines whether or not the confirmation operation is performed, and when the confirmation operation is performed (yes in S9), the process proceeds to step S10, and waits until the confirmation operation is performed (no in S9) in step S9.

< step S10 >

In step S10, the first control unit 400 opens the shutter 712 of the storage unit 700. Specifically, the first control unit 400 sends an instruction to open the shutter 712 to the second control unit 500. Accordingly, the second control part 500 controls the storage unit 700 to open the shutter 712.

Before the shutter 712 is opened, the second controller 500 controls the position of the moving frame 810 so that the unused tray housing 811 is disposed at the first moving position. For example, it is conceivable that the second control unit 500 controls the storage unit 700 such that the unused tray storage 811 is disposed at the first movement position when the storage unit 700 is in standby (not operating). In addition, the second control unit 500 may move the moving housing 810 so that the unused tray housing 811 is disposed at the first moving position after receiving the opening instruction in step S10. In addition, it is possible to consider: when there are a plurality of unused tray housing portions 811, the second control portion 500 selects the tray housing portion 811 having the smallest amount of movement of the movement housing 810 required for movement to the first movement position among the plurality of tray housing portions 811, and moves the tray housing portion 811 to the first movement position.

For example, the data storage portion 504 stores storage table information indicating whether or not each of the tray storage portions 811 is in use. In the storage table information, identification information of the tray 101 stored in each tray storage portion 811 is stored in association with each tray storage portion 811, and the tray 101 not storing the identification information of the corresponding tray 101 is not used. The second control unit 500 updates the storage table information when the tray 101 is loaded into the tray storage unit 811 and when the tray 101 is discharged from the tray storage unit 811.

< step S11 >

Then, in step S11, when the tray housing 811 of the housing unit 700 houses the tray 101, the second control unit 500 executes a process of associating the identification information of the tray 101 with the tray housing 811. Specifically, the second control unit 500 updates the storage table information stored in the data storage unit 504 based on the correspondence between the identification information of the tray 101 and the tray storage unit 811. Accordingly, the second control portion 500 can identify the tray housing portion 811 of the respective housing destinations of the trays 101 based on the housing table information. Whether or not the tray 101 is accommodated in the tray accommodating portion 811 is detected by an optical sensor or the like, not shown, provided in the tray accommodating portion 811.

< step S12 >

Next, in step S12, the second control unit 500 controls the storage unit 700 to execute a confirmation operation of confirming the correspondence relationship between the configuration data and the tray 101 stored in the tray storage unit 811. This prevents the tray 101 from being stored in the tray storage 811 by mistake.

Specifically, the second control unit 500 moves the moving frame 810 downward such that the tray housing 811 determined in step S11 to house the tray 101 is disposed at the second moving position. Then, the second control unit 500 discharges the tray 101 stored in the tray storage unit 811 to the first conveying unit 910 of the tray conveying unit 900, and reads the identification information of the tray 101 from the tag 101b of the tray 101 by the IC reader 930 provided on the first conveying unit 910. Then, the second control unit 500 compares the identification information of the tray 101 read by the IC reader 930 with the identification information of the tray 101 corresponding to the dispensing data received from the first control unit 400. Here, when the matching result is the match, the second control unit 500 returns the tray 101 to the tray housing unit 811, ends the series of loading preparation processing, and returns the processing to the step S1. In addition, if the matching result is not the same, the second control unit 500 causes the display 203 or the like to notify an error via the first control unit 400, and discharges the tray 101 toward the tray discharge port 206. Thereby, the user can take out the tray 101 from the tray outlet 206.

[ MIXING CONTROL TREATMENT ]

Next, an example of the mixture control process will be described with reference to fig. 23.

< step S21 >

In step S21, the second control unit 500 determines whether or not the execution start time of the mixing process has come. Specifically, the second control unit 500 determines that the execution start time of the mixing process has come when the execution start request is received from the first control unit 400. When it is determined that the execution start time has come (yes in S21), the process proceeds to step S211, and when the execution start time has not come (no in S21), the process proceeds to step S22.

For example, when the user performs the selection operation of the preparation data and the immediate start operation of the mixing process based on the preparation data using the operation unit 405, the first control unit 400 transmits the execution start request of the mixing process for the preparation data to the second control unit 500. In addition, when the execution start time of the mixing process based on the preparation data is reserved, the first control unit 400 transmits the execution start request of the mixing process for the preparation data to the second control unit 500 when the execution start time has come.

The execution start request includes, for example, an execution procedure of the mix-and-fill process based on the preparation data. It is also possible that the execution procedure of the mixing process based on the dispensing data is transmitted from the first control unit 400 to the second control unit 500 in advance and stored in the data storage unit 504, and the execution start request includes identification information of the dispensing data.

< step S22 >

In step S22, the second control unit 500 determines whether or not there is any preparation data to be subjected to preliminary mixing processing in which the mixing process is performed in advance among the preparation data reserved by the first control unit 400. Specifically, in the medicine standard, a preliminary mixing target flag indicating whether or not the preliminary mixing process is a target is stored in association with each of the medicines. When the medicine set as the target of the preliminary mixing process by the preliminary mixing target flag is included in the preparation data, the second control unit 500 determines that the preparation data is the target of the preliminary mixing process. The second control unit 500 may determine whether or not the preliminary stirring process is performed based on a combination of the medicine in the medicine container 10 and the infusion solution in the infusion bag 12, which are stirred in the stirring step. In addition, also conceivable are: when a user operation for selecting an arbitrary recipe data as a target of the preliminary mixing process is performed in advance, the second control unit 500 determines that the selected recipe data is the target of the preliminary mixing process. When it is determined that the object of the preliminary mixing process is present (yes in S22), the process proceeds to step S23, and when it is determined that the object of the preliminary mixing process is not present (no in S22), the process returns to step S21.

< step S23 >

In step S23, the second control unit 500 determines whether or not the preliminary stirring process can be executed. For example, consider: the second control unit 500 determines whether or not the mixing process is being executed, and determines that the preliminary stirring process can be executed when the mixing process is not being executed. Further, it is also conceivable: the second control unit 500 determines that the preliminary mixing process can be executed in a predetermined specific time period such as nighttime or late night. The index for determining whether or not the preliminary stirring process can be executed is not limited to the one described here. When it is determined that the preliminary mixing process can be executed (yes in S23), the process proceeds to step S24, and when it is determined that the preliminary mixing process cannot be executed (no in S23), the process returns to step S21. The second control unit 500 may execute the preliminary mixing process with respect to the preparation data when a user operation for selecting the preparation data and starting the preliminary mixing process is performed.

In addition, also conceivable are: in step S23, the second control unit 500 determines that the preliminary mixing process is to be executed on the condition that the time required for the mixing process associated with the medicine in the medicine container 10 in the medicine standard is equal to or longer than a predetermined lower limit required time. That is, when the time required for the stirring step is shorter than the lower limit required time, the stirring step is excluded from the objects of the preliminary stirring processing. Thus, the preliminary stirring process is executed only when the stirring step requires a long time, and unnecessary execution of the preliminary stirring process is suppressed. The second control unit 500 may arbitrarily set the lower limit required time in response to a user operation. In addition, it is also possible to consider a case where the second control unit 500 determines that the preliminary mixing process is to be executed on the condition that a time required for the mixing step associated with the medicine in the medicine container 10 in the medicine standard is shorter than a predetermined upper limit required time. That is, it is considered that the time required for the stirring step is not less than the upper limit time required for the preliminary stirring treatment. In this case, the preliminary stirring process is executed only when the stirring step does not require a long time, and thus, for example, a delay in the mixing process or the like based on the other preparation data due to the preliminary stirring process is suppressed. The second control unit 500 may arbitrarily set the upper limit required time in response to a user operation.

< step S24 >

In step S24, the second control unit 500 controls the mixing unit 300 and the storage unit 700 to execute the preliminary mixing process. When a plurality of preparation data to be processed by the preliminary mixing process are reserved, the preparation data to be processed are sequentially selected and the preliminary mixing process is executed in steps S21 to S24.

The order of the preparation data to be selected as the processing target of the preliminary stirring processing is not limited to the order based on the time elements such as the scheduled end time and the execution start time, which are set in advance in association with the preparation data. For example, the recipe data may be selected in accordance with the reception order from the host system 6, or the recipe data may be randomly selected. It is also possible to preferentially select the preparation data containing a drug having a long time required for the stirring step, which is set in advance, or to determine the order of the preparation data so that the preparation data using the same drug or infusion solution is continuous. Further, it is also conceivable that an index value indicating the degree of difficulty of solidification after the stirring step is executed is stored in the drug standard, and the preparation data is selected in order from a drug that is difficult to solidify based on the index value.

Here, a specific example of the preliminary stirring treatment will be described.

First, the second control unit 500 controls the storage unit 700 and automatically conveys the tray 101 associated with the preparation data selected as the processing target from the tray storage unit 811 of the storage unit 700 to the tray conveying unit 110 of the mixing and filling processing unit 300. Further, the second control unit 500 identifies the tray housing unit 811 housing the tray 101 corresponding to the preparation data, based on the housing table information.

Then, the second control unit 500 controls the first robot arm 21 to set the medicine container 10 placed on the tray 101 in the stirring device 32, and to perform the stirring process of stirring the medicine in the medicine container 10 by the stirring device 32.

Specifically, when the tray 101 is supplied to the tray conveying unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by using the IC reader 101 c. When the identification information of the tray 101 matches identification information corresponding to the preparation data of the mix-and-fill process in advance, the second control unit 500 opens the shutter 111. Then, the second control unit 500 raises the device placing portion 102 of the tray 101 by the tray raising and lowering portion 112 of the tray conveying portion 110, and exposes the device placing portion to the inside of the mixing and injecting processing chamber 104.

Next, the second control unit 500 takes an image of the equipment mounting unit 102 by using the tray checking camera 41. Then, the second control unit 500 recognizes the positions and directions of the instruments such as the medicine container 10 and the syringe 11 placed on the instrument placement unit 102 through image recognition processing based on the captured image captured by the tray confirmation camera 41. In particular, each time the medicine container 10 or the syringe 11 is taken out from the equipment mounting portion 102, the second control portion 500 takes an image of the equipment mounting portion 102 using the tray recognition camera 41, and grasps the latest positions and orientations of the medicine container 10 and the syringe 11 based on the taken image.

Next, the second control unit 500 temporarily places the syringe 11 placed on the device placing portion 102 exposed in the mixture treatment chamber 104 on the placing rack 33 by the first robot arm 21. The second control unit 500 also places the medicine container 10 placed on the device placing unit 102 in the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of the medicine contained in the medicine container 10 by the medicine reading unit 34.

Next, when all the instruments on the instrument placement unit 102 are taken out, the second control unit 500 lowers the instrument placement unit 102 by the tray lifting unit 112 of the tray conveying unit 110 and returns the instruments to the tray 101. The second control unit 500 checks whether or not all the equipment on the equipment placement unit 102 has been taken out by the image recognition processing based on the captured image captured by the tray checking camera 41.

Then, the second control unit 500 closes the shutter 111 and conveys the tray 101 to the tray conveyance terminal 110a by the tray conveyance unit 110. Next, the second control part 500 positions the mixing port of the infusion bag 12 held by the infusion bag holding part 103 of the tray 101 at the mixing-injection communication port 37 formed in the mixing-injection processing chamber 104 by the bag lifting part 113 of the tray conveying part 110.

Then, the second control unit 500 moves the medicine container 10 set in the medicine reading unit 34 to the rack 33 by the second robot arm 22. In addition, at the same time as the movement process, the second control unit 500 sets the injection needle 11c of the syringe 11 placed on the device placement unit 102 to the injection needle attaching and detaching device 43 by the first robot arm 21.

Next, the second control unit 500 takes out the syringe 11 from the rack 33 by the first robot arm 21 and sets it on the second robot arm 22. Next, the second control unit 500 moves the syringe 11 to the needle attaching and detaching device 43 by the second robot arm 22, and attaches the needle 11c to the syringe 11. Then, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 by the second robot arm 22, and detects whether the injection needle 11c is bent or not.

Next, the second control unit 500 pierces the injection needle 11c of the syringe 11 into a rubber stopper of the mixing port of the infusion bag 12 conveyed to the tray conveyance terminal unit 110a by the second robot arm 22, and suctions the infusion solution of the dissolution amount indicated by the preparation data from the infusion bag 12. Further, the second control unit 500 takes out the medicine container 10 placed on the placement rack 33 by the first robot arm 21.

Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to bring the medicine container 10 and the syringe 11 close to each other, and pierces the injection needle 11c of the syringe 11 into the medicine container 10. Then, the second control unit 500 operates the plunger 11b by the second robot arm 22, thereby injecting the infusion fluid in the syringe 11 into the medicine container 10.

In addition, a dedicated container that accommodates the infusion solution used in the preliminary mixing process may be housed in the mixed infusion processing chamber 104, and the infusion solution in the dedicated container may be injected into the medicine container 10 in the preliminary mixing process. Further, it is also conceivable that a plastic ampoule storing a transfusion solution or the like used in the preliminary stirring process is placed in advance on the tray 101, and the transfusion solution in the plastic ampoule is used in the preliminary stirring process.

Next, the second control unit 500 sets the medicine container 10 into which the infusion solution is injected to the stirring device 32 by the first robot arm 21. Thus, the stirring device 32 performs a stirring step of stirring the medicine and the infusion solution in the medicine container 10. When the stirring process by the stirring device 32 is completed, the second control unit 500 takes out the medicine container 10 from the stirring device 32 by using the first robot arm 21.

Then, the second control unit 500 controls the first robot arm 21 to move and place the medicine container 10 on the placement rack 33 in the mixing and filling processing unit 300, and stores the position of the medicine container 10 on the placement rack 33 in the data storage unit 504 in association with the identification information of the preparation data. The mounting rack 33 is an example of a first mounting portion on which the plurality of medicine containers 10 can be mounted, and the second control unit 500 is an example of a first mounting processing portion when the process of mounting the medicine containers 10 on the mounting rack 33 after the stirring step is performed. The second control unit 500 controls the first robot arm 21 and the second robot arm 22 to move the syringe 11 to the mounting rack 33 in the mixing and injecting section 300 to be mounted thereon, and stores the position of the syringe 11 on the mounting rack 33 in the data storage unit 504 in association with the identification information of the preparation data. Accordingly, the second control unit 500 can specify the positions of the medicine container 10 and the syringe 11 used for the mixing process based on the preparation data. The syringe 11 used in the preliminary mixing process may be provided in advance on the carriage 33 as a dedicated syringe used in the preliminary mixing process according to the type of the infusion solution.

The second control unit 500 controls the tray transport unit 110 to return the infusion bag 12 to the tray 101 and move the tray 101 from the tray transport terminal 110a to the tray transport start unit 110 b. Then, the second control unit 500 controls the conveyor belt (not shown) provided in the tray conveyance start unit 110b of the tray conveyance unit 110, and supplies the tray 101 to the storage unit 700 through the tray loading port 114. Then, the second control part 500 controls the storage unit 700 to store the tray 101 in the tray storage part 811. The tray storage portion 811 used at this time is a tray storage portion associated with the identification information of the tray 101 in the storage table information. In this case, the second control unit 500 also compares the correspondence between the identification information of the tray 101 and the placement data using the IC reader 101c and the IC reader 930. In this manner, in the preliminary mixing process, the tray 101 is moved from the storage unit 700 to the mixed injection processing unit 300 side, and the tray 101 is returned to the storage unit 700 without being carried into the mixed injection processing chamber 104. Therefore, contamination of the tray 101 in the preliminary mixing process is prevented, and contamination of the tray housing portion 811 on which the tray 101 returned from the mixing and filling process portion 300 is placed is prevented.

In the mixing and injecting apparatus 1, the dedicated syringe 11 and the plastic ampoule used for the preliminary stirring process may be placed on the placement rack 33, and the preliminary stirring process may be performed using the dedicated syringe 11 and the plastic ampoule. For example, in the mixing and injecting apparatus 1, when the replenishment request operation of the dedicated syringe 11 or the plastic ampoule used in the preliminary mixing process is performed and the mixing and injecting process section 300 is loaded with a tray on which the dedicated syringe 11 or the plastic ampoule used in the preliminary mixing process is placed, the second control section 500 controls the second robot arm 22 to place the syringe 11 or the plastic ampoule on the placement rack 33. The dedicated syringe 11 or plastic ampoule used for the preliminary mixing process may be placed at a predetermined position on the placement frame 33 by the user.

In addition, it is conceivable that, when a plurality of preparation data common to the combination, concentration, and the like of the chemical and the dissolving solution stirred in the preliminary stirring processing exists in the preparation data in the current reservation, the preliminary stirring processing is executed only on the preparation data of the number smaller than the total number of the preparation data. In this way, the medicine container 10 after the preliminary mixing process can be used for the mixing process corresponding to any one of the plurality of preparation data. Specifically, it is conceivable that the second control unit 500 reassigns the medicine container 10 corresponding to one of the preparation data as the medicine container 10 used in the other preparation data. Thus, the waste of the medicine container 10 when the mixing process based on any one of the preparation data is cancelled is suppressed as compared with the case where the preliminary mixing process is performed on all the preparation data. It is also conceivable that the second control unit 500 requires a predetermined confirmation operation by the user when the medicine container 10 is reassigned to the dispensing data. For example, when the mixing process based on the preparation data is started, the second control unit 500 displays an operation screen for selecting whether or not to use the medicine container 10 in the mixing process based on the preparation data when the medicine container 10 having the same combination and concentration of the medicine and the infusion solution contained in the preparation data is already placed on the placement unit 33. When an operation indicating that the medicine container 10 is used is performed on the operation screen, the second control unit 500 uses the medicine container 10 in the mixing process.

< step S211 >

When the execution start time of the mixed betting process has come (yes in S21), the second control unit 500 then executes the mixed betting process in steps S211 to S212. As described above, the second control unit 500 executes the betting process when the user performs the immediate start operation or when the reserved execution start time comes, for example. That is, the execution start time of the mixed injection process includes: when the execution start time of the reservation has come or when the user performs the immediate start operation. Specifically, in step S211, the second control unit 500 controls the storage unit 700, and automatically supplies the tray 101 associated with the preparation data that has come at the execution start time from the tray storage unit 811 of the storage unit 700 to the mixing and filling processing unit 300.

In this case, it is conceivable that the second control unit 500 compares the identification information of the tray 101 read from the IC tag 101b of the tray 101, which is carried out from the tray storage unit 811 and placed on the first conveying unit 910, with the identification information of the tray 101 associated with the preparation data. When the matching result is not matched, the second control unit 500 notifies an error to discharge the tray 101 to the tray discharge port 206, and the tray 101 is supplied to the mixed injection processing unit 300 by the second control unit 500. This ensures the accuracy of the correspondence between the tray 101 and the placement data.

< step S212 >

In step S212, the second control unit 500 performs the mixing process based on the dispensing data. However, when the preparation data is preparation data in which the stirring step has been performed by the preliminary stirring process, the mixing/filling process is performed using the medicine container 10 stirred by the preliminary stirring process, and the stirring step is omitted.

Specifically, in the mixing process, the medicine containers 10 after the mixing step placed on the placing rack 33 during the preliminary mixing process are used without performing the process of taking out the medicine containers 10 from the tray 101. Similarly, in the mixing process, the syringe 11 placed on the placing rack 33 during the preliminary mixing process is used without performing the process of taking out the syringe 11 used in the preliminary mixing process from the tray 101.

In the mixing process using the medicine container 10 that has been stirred in the preliminary stirring process, the second control unit 500 omits the stirring process for the medicine container 10. This shortens the time required after the execution start time of the mixing process. In addition, also conceivable are: the second control unit 500 shortens the execution time of the mixing step in the preliminary mixing process and executes the medicine container 10 that has been mixed in the preliminary mixing process, as compared to a case where the preliminary mixing process is not executed.

As described above, in the mixing and injecting apparatus 1, the preliminary stirring process can be executed for the mixing and injecting process based on the preparation data by using the time when the mixing and injecting apparatus 1 is not used. Therefore, when the mixing process based on the preparation data on which the preliminary stirring process has been performed is performed later, the time required for the mixing process is shortened, and the mixing process can be performed efficiently.

In the mixing and filling apparatus 1, after the preliminary mixing process is performed on a certain preparation data, the mixing and filling process is not continuously performed on the preparation data, and the mixing and filling process or the preliminary mixing process may be performed on the basis of another preparation data until the execution start time of the mixing and filling process on the preparation data arrives. That is, in the mixing and injecting apparatus 1, at least one of the stirring step and the injecting step may be performed for the other preparation data between the stirring step performed by the preliminary stirring processing unit for one preparation data and the injecting step performed by the mixing and injecting processing unit for the preparation data. Therefore, as another embodiment, the execution start time may be the following time: that is, the mixing step corresponding to one of the preparation data is executed, and at least one of the mixing step and the injecting step corresponding to the other preparation data is executed. For example, it is conceivable that the preliminary mixing process is sequentially executed for a plurality of the preparation data at night or the like, and then the mixing process for the plurality of the preparation data is executed in the next morning or the like.

[ batch preparation examination function ]

As described above, in the mixed injection device 1, the preparation check process is executed to check the result of the mixed injection process after the mixed injection process is completed. However, in this case, the mix-and-fill process is executed after each completion of the preparation check process, and the user needs to check the check result each time.

In contrast, the mixing and filling apparatus 1 includes the storage unit 700 capable of storing the plurality of trays 101 as described above. Therefore, it is conceivable that the mixing and injecting apparatus 1 has a batch preparation and inspection function of storing a plurality of trays 101 after the mixing and injecting process is performed in the storage unit 700 in advance, and collectively performing the preparation and inspection process on the preparation data sets corresponding to the trays 101. Specifically, the mixture control unit 100 implements the batch preparation inspection function by executing a batch preparation inspection process, which will be described later, according to the first mixture control program or the second mixture control program using the first control unit 400 or the second control unit 500. The second control unit 500 can switch between the activation and deactivation of the batch preparation/inspection function according to a user operation, and the same applies to other functions of the mixing and injecting apparatus 1. Here, the mixing control unit 100 when executing the batch preparation inspection process is an example of a storage processing unit and a preparation inspection processing unit.

[ batch preparation inspection treatment ]

An example of the batch preparation inspection process performed by the mixing and filling apparatus 1 when the batch preparation inspection function is enabled will be described below with reference to fig. 24.

< step S31 >

First, in step S31, the second control unit 500 determines whether the mixing process has ended, and if it is determined that the mixing process has ended (yes in S31), the process proceeds to step S32, and if it is determined that the mixing process has not ended (no in S31), the process proceeds to step S33.

< step S32 >

In step S32, the second controller 500 executes a process for storing the tray 101 containing the infusion bag 12 after the mixing process in the storage unit 700. Specifically, the second control unit 500 controls the tray transport unit 110 to return the infusion bag 12 to the tray 101 and move the tray 101 from the tray transport terminal 110a to the tray transport start unit 110 b. Next, the second control unit 500 controls the tray conveying unit 110 to supply the tray 101 to the storage unit 700 through the tray loading port 114.

Then, the second control part 500 controls the storage unit 700 to store the tray 101 in the tray storage part 811 of the elevation unit 800. At this time, the second control unit 500 updates the storage table information indicating the correspondence relationship between the identification information of the tray 101 and the tray storage unit 811. Before the tray 101 is stored in the tray storage portion 811 of the storage unit 700, the second control portion 500 reads the identification information of the tray 101 by the IC reader 930, and compares the identification information with the identification information of the tray 101 associated with the preparation data.

< step S33 >

In step S33, the second control unit 500 determines whether or not a preset placement check start operation has been performed on the touch panel monitor 14 or the like. For example, the second control unit 500 displays a list of the preparation data on which the mixing process has been executed on the touch panel monitor 14 in response to a user operation, and determines that the preparation check start operation has been performed on one or more of the preparation data when one or more of the preparation data is selected. Here, when it is determined that the formulation check start operation is performed (S33: yes), the process proceeds to step S34, and when the formulation check start operation is not performed (S33: no), the process returns to step S31.

< step S34 >

In step S34, the second control unit 500 executes the placement check process for one or more pieces of the placement data. Specifically, the second control unit 500 sequentially executes the preparation checking process on one or more pieces of the preparation data selected when the preparation checking start operation is performed.

The second control unit 500 sequentially discharges the trays 101 corresponding to the dispensing data from the storage unit 700 toward the tray discharge port 206 each time the operation indicating that the inspection is completed in the dispensing inspection process corresponding to the dispensing data, the operation indicating that the result of the mixing process is appropriate, is performed in the dispensing inspection process corresponding to the dispensing data. Thereby, the user can take out the tray 101 from the tray outlet 206. In addition, the tray 101 is not discharged until the inspection is completed. That is, the second control unit 500 restricts the removal of the tray 101 after the execution of the mix-filling process until the result of the mix-filling process is determined to be appropriate in the preparation check process.

In this way, in the mixed injection device 1, the batch preparation inspection function can collectively and sequentially execute the preparation inspection process on each of the preparation data sets. Therefore, the user does not need to perform a confirmation operation each time the mixture processing is finished, and the burden of the user operation is reduced.

[ batch stirring inspection function ]

In the mixing and injecting apparatus 1, as described above, the stirring inspection process is performed after the completion of the stirring process to inspect the stirring result in the stirring process. As described above, the mixing and filling apparatus 1 may be provided with the storage unit 700 capable of storing a plurality of trays 101, and may perform the preliminary mixing process on a plurality of medicine containers 10. Here, in the preliminary mixing process, the user is also required to check the mixing result each time the mixing process is completed and the mixing check process is executed.

Therefore, it is conceivable that the mixing and filling apparatus 1 has a batch stirring and inspection function of storing a plurality of medicine containers 10 stirred in the stirring step performed by the plurality of preliminary stirring processes in the mounting rack 33 in advance and collectively performing the stirring and inspection process on the plurality of medicine containers 10. Specifically, the mixture control unit 100 implements the batch agitation inspection function by executing a batch agitation inspection process, which will be described later, according to the first mixture control program or the second mixture control program using the first control unit 400 or the second control unit 500.

[ batch agitation inspection treatment ]

An example of the batch agitation inspection process performed by the mixing and filling apparatus 1 when the batch agitation inspection function is enabled will be described below with reference to fig. 25.

< step S41 >

First, in step S41, the second controller 500 determines whether or not the stirring step has ended, and if it is determined that the stirring step has ended (yes in S41), the process proceeds to step S42, and if it is determined that the stirring step has not ended (no in S41), the process proceeds to step S43.

< step S42 >

In step S42, the second controller 500 executes a process for placing the medicine container 10 after the stirring process in the placement rack 33. Here, the second control unit 500 for executing the processing is an example of a placement processing unit. Specifically, the second control unit 500 controls the first robot arm 21 to move the medicine container 10 to the rack 33. Further, the data storage unit 504 stores arrangement table information indicating a correspondence relationship between the identification information of the medicine containers 10 and the arrangement on the mounting rack 33, and the second control unit 500 updates the arrangement table in step S42.

< step S43 >

In step S43, the second control unit 500 determines whether or not a preset agitation check start operation has been performed on the touch panel monitor 14 or the like. For example, the second control unit 500 displays a list of the medicine containers 10 in which the mixing process has been performed on the touch panel monitor 14 in response to a user operation, and determines that the mixing inspection start operation has been performed on one or more of the medicine containers 10 when one or more of the medicine containers 10 are selected. Here, when it is determined that the operation for starting the agitation check is performed (yes in S43), the process proceeds to step S44, and when the operation for starting the agitation check is not performed (no in S43), the process returns to step S41.

< step S44 >

In step S44, the second controller 500 executes the agitation check process for one or more of the medicine containers 10 placed on the placement rack 33 after the agitation process. Here, the second control unit 500 for executing this process is an example of the agitation inspection processing unit. Specifically, the second control unit 500 sequentially executes the agitation check process on one or more of the medicine containers 10 selected when the agitation check start operation is performed.

The second control unit 500 allows the use of the medicine container 10 each time the operation for completing the inspection is performed in the agitation inspection process corresponding to the medicine container 10. That is, the second control unit 500 restricts the use of the medicine container 10 stirred by the preliminary stirring process until the stirring inspection process is executed.

In this way, in the mixing and filling apparatus 1, the stirring inspection process can be collectively and sequentially executed for each of the medicine containers 10 that have been the target of the preliminary stirring process by the batch stirring inspection function. Therefore, the user does not need to perform a confirmation operation each time the stirring process is completed, and the burden of the user operation is reduced.

[ Schedule management function ]

As described above, the mixing and filling apparatus 1 has a schedule management function capable of reserving the mixing and filling process for one or more preparation data. Specifically, the mixing control unit 100 implements the schedule management function by executing a schedule management process, which will be described later, according to the first mixing control program or the second mixing control program using the first control unit 400 or the second control unit 500.

[ Schedule management processing ]

An example of the schedule management processing will be described below with reference to fig. 26.

< step S51 >

First, in step S51, the first control unit 400 determines whether or not the user has performed a reservation setting operation on the operation unit 405. When the first control unit 400 determines that the reservation setting operation has been performed (yes in S51), the process proceeds to step S52. When the first control unit 400 determines that the reservation setting operation is not performed (no in S51), the process proceeds to step S54.

Specifically, when a predetermined operation for displaying a prescription selection screen P0 is performed using the operation unit 405, the first control unit 400 displays the prescription selection screen P0, and receives a reservation setting operation for the mixing process based on the dispensing data in accordance with the operation of the operation unit 405 during the display of the prescription selection screen P0. In the reservation setting operation, the preparation data to be reserved is selected, and a predetermined time for ending the mixing process of the preparation data is designated.

Here, fig. 27 is a diagram showing an example of the prescription selection screen P0. As shown in fig. 27, the prescription selection screen P0 displays: a region a1 in which a list of one or more of the placement data input to the mixing and injection device 1 is displayed, and a region a2 in which conditions for extracting the placement data displayed in the region a1 can be set. The region a1 includes: a selection operation part A3 capable of arbitrarily selecting the recipe data to be reserved from each of the recipe data, and an input area A4 capable of inputting a predetermined time to end each of the recipe data.

The first control unit 400 determines that the reservation setting operation is performed when: that is, on the prescription selection screen P0, the reservation setting key a5 is operated in a state where the selection operation unit A3 selects the prescription as the reservation target and the predetermined end time is input to the input area a 4. In addition, the reservation setting operation may be determined to be performed on the condition that the selection operation unit a3 selects the reservation target.

In the reservation setting operation, the scheduled start time of the mix-filling process may be designated instead of the scheduled end time of the mix-filling process of the preparation data. For example, the predetermined ending time or the predetermined starting time is specified by inputting a date and time. The predetermined ending time or the predetermined starting time may be specified by inputting an elapsed time from the current time.

< step S52 >

In step S52, the first 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 reservation number. The maximum number of reservations is a number predetermined in accordance with the specification of the mixing and injecting apparatus 1, and corresponds to the number of trays 101 that can be loaded in the mixing and injecting apparatus 1. For example, in the mixing and filling device 1 according to the present embodiment, since the number of trays 101 that can be loaded by the storage unit 700 is six, it is considered that the maximum divisor is "6". Here, when the first control unit 400 determines that the total of the reserved numbers is within the maximum reserved number (yes in S52), the process proceeds to step S53. When the first control unit 400 determines that the total of the reserved numbers exceeds the maximum reserved number (no in S52), the process returns to step S51 after, for example, a preset error message is displayed.

< step S53 >

In step S53, the first control unit 400 executes a reservation setting process for reserving the mixing process based on one or more of the dispensing data in accordance with the reservation setting operation. Here, the first control unit 400 when executing the reservation setting process is an example of a reservation setting process unit. Specifically, the first control unit 400 sets the execution start time of the mixing process based on the dispensing data and the predetermined end time designated by the reservation setting operation so that the mixing process based on the dispensing data ends at the predetermined end time. Further, information on the execution start time of the mixing process based on each piece of the placement data is stored as schedule information in the data storage unit 404, and is updated by the first control unit 400 in the step S53 or the step S57 described later.

For example, the data storage unit 404 stores a required time for each dispensing content indicated by the dispensing data or information for calculating the required time, and the first control unit 400 calculates the required time for the betting process based on the required time. Then, the first control unit 400 sets the execution start time based on the predetermined end time and the time required for the mixing process. When the scheduled start time of the mix-up processing is designated by the reservation setting operation, the execution start time is set based on the scheduled start time, and the scheduled start time is set as the execution start time, for example. The calculation of the time required for the mixture processing and the setting of the execution start time may be performed in consideration of the presence or absence of execution of the preliminary stirring processing.

The first control unit 400 transmits reservation information such as the execution start time set for the recipe data together with the recipe data to the second control unit 500. For example, the reservation information includes, in addition to the execution start time, information indicating a correspondence relationship between information for identifying the preparation data of the reservation target and the identification information of the tray 101 corresponding to the preparation data.

Specifically, as shown in fig. 27, in the prescription selection screen P0, when the predetermined end time is input into each of the five input regions a4 and the five selection operation units A3 are operated to select the dispensing data as a reservation target, the first control unit 400 sets the execution start time of each dispensing data so that the mixing process based on each dispensing data ends before each predetermined end time. Fig. 28A is a diagram showing the result of setting the execution start time of the five pieces of the dispensing data shown in fig. 27. In addition, when the execution start time cannot be set so that the mixing process based on the five pieces of dispensing data ends before the predetermined end time, the first control unit 400 notifies the user of an error by displaying it on the display 203.

< step S54 >

In step S54, the first controller 400 determines whether or not a reservation change start operation for starting a change of the schedule information is performed on the operation unit 405, and when the reservation change start operation is performed (yes in S54), the process proceeds to step S55. For example, when the reservation list key a6 displayed on the prescription selection screen P0 is operated, the first control unit 400 determines that the reservation change start operation has been performed. When the reservation change start operation is not performed (no in S54), the process returns to step S51.

< step S55 >

In step S55, the first controller 400 displays a schedule setting screen P1 on the display 203 based on the schedule information. Fig. 28A to 28C are diagrams showing display examples of the schedule setting screen P1.

As shown in fig. 28A to 28C, the first control unit 400 displays the execution start time of each of the placement data along the time axis on the schedule setting screen P1 based on the schedule information. Here, the first control unit 400 when executing this processing is an example of a display processing unit. Thus, the user can easily grasp the execution start time of the mixing process and the like corresponding to each piece of placement data by viewing the schedule setting screen P1. Note that, in the schedule setting screen P1, other information such as the scheduled end time or the scheduled start time may be written, instead of the execution start time of the mixing process corresponding to each piece of the placement data.

< Steps S56-S57 >

The first control unit 400 executes a change process for changing the execution start time corresponding to each of the recipe data in steps S56 to S57. Here, the first control unit 400 when executing the change processing is an example of the change processing unit.

First, in step S56, the first control unit 400 determines whether or not an operation such as a change operation of the execution start time, the predetermined start time, or the predetermined end time of the recipe data has been performed on the operation unit 403. Here, when it is determined that the change operation has been performed (yes in S56), the process proceeds to step S57, and when it is determined that the change operation has not been performed (no in S56), the process proceeds to step S55.

In step S57, the first control unit 400 executes a process of changing the schedule information in accordance with the changing operation. Specifically, the order of the execution start time of each of the preparation data is changed in accordance with the execution start time, the predetermined end time, and the like of the preparation data changed by the change operation.

Specifically, the first control unit 400 can change the execution start time of each of the dispensing data in accordance with a user operation on the operation unit 405 during the display of the schedule setting screen P1. For example, fig. 28A shows an example in which five pieces of the above-described dispensing data having patient IDs "0007", "0004", "0008", "0002", and "0006" are reserved on the schedule setting screen P1. Fig. 28A to 28C show: in the display area of each of the preparation data, the start point is the execution start time of the mixing process, the end point is the execution end time of the mixing process, and the mixing process is being executed between the start point and the end point. In addition, the schedule setting screen P1 may display not only the patient ID but also a reservation number (Order No.) or the like.

As shown in fig. 28A, in the schedule setting screen P1, the following operation may be performed as the change operation by a user operation: and an operation for moving back the area corresponding to the dispensing data having the identification information "0008" by drag and drop (drop). In this case, as shown in fig. 28B, the first control unit 400 shifts the execution start time of the placement data having the identification information "0008" backward and displays it. Next, as shown in fig. 28B, the following operation may be performed as the change operation by a user operation: and an operation for moving the region corresponding to the dispensing data having the identification information of "0002" forward by a drag and drop operation. In this case, as shown in fig. 28C, the first control unit 400 shifts forward and displays the execution start time of the placement data having the identification information of "0002".

Then, when a predetermined determination operation is performed, the first control unit 400 determines a change in the execution start time of the dispensing data and updates the schedule information. In this way, in the mixing and annotating device 1, the user can easily change the execution start time of the dispensing data by intuitively moving the execution start time of the dispensing data on the schedule setting screen P1. When the change operation or the determination operation is performed, if the execution time of the betting process based on a plurality of the placement data is repeated, the first control unit 400 displays a warning message or the like for warning of the repetition on the schedule setting screen P1, thereby notifying the user of the repetition.

< step S58 >

In step S58, the first control unit 400 determines whether or not a reservation change end operation for ending the change of the schedule information has been performed on the operation unit 405. When the reservation change end operation is performed (yes in S58), the schedule setting screen P1 is closed, and the process returns to step S51. When the reservation change end operation is not performed (no in S58), the process returns to step S55.

In the mixing and injecting device 1, as described above, when the first control unit 400 determines that the scheduled execution start time of the dispensing data has come in the mixing and injecting control process (fig. 23) (yes in S21), the mixing and injecting process based on the dispensing data is executed by notifying the second control unit 500 of the fact. Here, the first control unit 500 and the second control unit 500 when executing the processing are examples of reserved execution processing units.

[ batch Total extraction inspection function ]

In the mix-filling process, when all of the medicines in the medicine container 10 are extracted, an extraction check may be performed in which the user confirms that no medicines remain in the medicine container 10. For example, the execution of the shuffle process is restricted until the user performs a confirmation operation after the completion of all the extractions is notified to the user every time the completion of all the extractions is completed. In this case, when all of the medicines are extracted from the plurality of medicine containers 10 in the mixing process based on the preparation data, the all-extraction check is performed every time all of the medicines are extracted from each of the medicine containers 10. Therefore, the user needs to perform the operation of the mixing and filling device 1 every time the extraction of all the medicine containers 10 is completed.

In contrast, the mixing and filling device 1 may have a batch-all-extraction-inspection function of collectively performing all extraction inspections on a plurality of medicine containers 10. Specifically, the mixed injection control unit 100 implements the batch all-out inspection function by executing a batch all-out inspection process, which will be described later, according to the first mixed injection control program or the second mixed injection control program using the first control unit 400 or the second control unit 500.

[ batch Total extraction inspection treatment ]

An example of the batch all-out inspection process executed by the mixed injection device 1 when the batch all-out inspection function is enabled will be described below with reference to fig. 29. Further, the batch-wise all-extraction inspection process is executed together with the mix-pouring process.

< step S61 >

In step S61, the second control unit 500 determines whether or not there are a plurality of medicine containers 10 to be all extracted in the mixing process based on the dispensing data. Here, when it is determined that there are a plurality of the medicine containers 10 to be all-extracted (yes in S61), the process proceeds to step S62, and when it is determined that there are no plurality of the medicine containers 10 to be all-extracted (no in S61), the batch all-extraction process is ended.

< step S62 >

In step S62, the second control unit 500 determines whether or not all of the extractions of any of the plurality of medicines 10 to be extracted have been completed. When it is determined that all the extractions have been completed (yes in S62), the process proceeds to step S63, and when all the extractions have not been completed (no in S62), the process stands by in step S62.

< step S63 >

In step S63, the second controller 500 controls the first robot arm 21 to place the medicine containers 10, which are the objects of all the extractions determined to have ended in step S62, on the placement rack 33. At this time, the second controller 500 stores the medicine containers 10 in the data storage 504 in association with the arrangement thereof on the rack 33. The mounting rack 33 is an example of a second mounting unit, and the second control unit 500, which is used when the process of mounting the medicine containers 10 after all the extractions are performed on the mounting rack 33, is an example of a second mounting processing unit. In the present embodiment, the placement frame 33 is an example of the first placement unit and the second placement unit, and the first placement unit and the second placement unit may be provided separately.

< step S64 >

In step S64, the second control unit 500 determines whether or not all of the medicine containers 10 targeted for all of the extractions in the dispensing data have been completely extracted. Here, when it is determined that all the extractions have been completed (yes in S64), the process proceeds to step S65, and when it is determined that all the extractions have not been completed (no in S64), the process proceeds to step S62.

< step S65 >

In step S65, the second control unit 500 notifies that all of the medicine containers 10 targeted for all of the dispensing data have been completely dispensed. For example, the second control unit 500 causes the touch panel monitor 14 to display the end of all the extractions. The second control unit 500 may cause the display 203 to display the end of all the extractions via the first control unit 400.

< step S66 >

In step S66, the second control unit 500 determines whether or not an operation to start all the extraction checks has been performed on the touch panel monitor 14. Here, when it is determined that the operation for starting the all extraction check is performed (yes in S66), the process proceeds to step S67, and the process stands by in step S66 before the operation for starting the all extraction check is performed (no in S66).

< step S67 >

In step S67, the second control unit 500 sequentially executes all-extraction inspection processing for inspecting the result of all-extraction for each of the medicine containers 10 after all-extraction. Here, the second control unit 500 for executing this process is an example of the total extraction inspection processing unit. Specifically, in the all-extraction inspection process, the second control unit 500 controls the first robot arm 21 to move the medicine container 10 to a position and a posture at which the bottom or the side of the medicine container 10 can be visually recognized by the user. When the inspection confirmation operation of the medicine container 10 by the user is accepted, the second control unit 500 starts the all-extraction inspection process for the next medicine container 10. When all the extraction inspection processes for all the medicine containers 10 are completed, the inspection results are stored in the data storage unit 504.

It is also conceivable that the second control unit 500 controls the first robot arm 21 in response to an operation from a user to change the medicine container 10 to a plurality of postures in which the bottom or the side of the medicine container 10 can be checked from a plurality of angles. Thus, the user can visually confirm the medicine containers 10 from different angles, and can appropriately determine whether or not all the medicine containers 1 have been normally extracted. It is also conceivable that the second control unit 500 displays one or more images previously captured of the bottom or side of the medicine container 10 in order without changing the position and orientation of the medicine container 10 to be visually recognizable.

In addition, although the case where the all-extraction inspection process is executed after all the above-described all the extractions included in the mixed injection process are completed has been described here, as another embodiment, it is also conceivable that the second control unit 500 executes the all-extraction inspection process at the time of the batch preparation inspection process.

[ advanced air injection function ]

In the mixing and filling device 1, it is conceivable that the second control unit 500 controls the second robot arm 22 to suck a predetermined amount of air in the infusion bag 12 after the infusion bag 12 has been sucked by the syringe 11 and before the injection needle 11c is pulled out from the infusion bag 12. This suppresses the possibility that the infusion fluid will drip from the injection needle 11c when the syringe 11 is moved after the injection needle 11c of the syringe 11 is pulled out from the infusion bag 12.

In contrast, in recent years, as the infusion bag 12 used for the mixing and filling process, a special container called AL type, which has a very small amount of air stored therein, has been known. As described above, when the infusion bag 12 is the special container, the process of sucking a predetermined amount of air from the infusion bag 12 as described above may not be performed. This is because: for example, when the air in the infusion bag 12 is sucked by using the syringe 11, the injection needle 11c of the syringe 11 may contact the infusion solution in the infusion bag 12 and unnecessarily suck the infusion solution. Therefore, it is considered that the mixing and filling device 1 has a function of injecting air into the infusion bag 12 in advance when the infusion bag 12 used in the mixing and filling process is the special container set in advance.

Specifically, the medicine standard stored in the data storage 404 stores the type of container for each infusion bag 12. For example, in the drug standard, a special flag indicating whether or not the infusion bag 12 is the AL-type special container is stored. Then, the first control unit 400 notifies the second control unit 500 of the fact that the infusion bag 12 used in the mixing process is the special container, based on the preparation data and the medicine standard. Thus, for example, when the mixing/filling process is started, the second control unit 500 performs a preliminary air injection step of injecting a predetermined amount of air, which is set in advance for the infusion bag 12, into the infusion bag.

In addition, the preliminary air injection step is performed before the suction step of sucking the infusion solution from the infusion bag 12 or the injection step of injecting the liquid into the infusion bag 12 is performed in the mixed injection process, and the execution start timing is not limited to the start timing of the mixed injection process. In addition, when the infusion bag 12 is not the special container, the preliminary air injection step is not performed. Alternatively, the second control unit 500 may determine whether the preliminary air injection step is necessary based on the preparation data and the drug standard instead of the first control unit 400.

As described above, when the mixing and injecting device 1 has the preliminary air injecting function, the amount of air in the infusion bag 12 can be increased before the suction step or the injection step. Therefore, in the suction step or the injection step, before the injection needle 11c of the syringe 11 is pulled out from the infusion bag 12, the air in the infusion bag 12 can be sucked out by a predetermined amount, and the infusion solution can be prevented from dripping from the injection needle 11 c.

[ insertion processing function ]

In the mixing and filling apparatus 1, the tray 101 can be temporarily stored in the storage unit 700. Therefore, the mixing and injecting apparatus 1 may have the following insertion processing functions: that is, during execution of the mixed-note processing, an interpolation processing function of the mixed-note processing based on the other dispensing data is executed in the middle of the executing mixed-note processing. Thus, when the preparation data with a high degree of urgency is generated, the user of the mixing and filling apparatus 1 can preferentially execute the mixing and filling process based on the preparation data.

Specifically, when the preparation data to be inserted is selected and a preset insertion request operation is performed on the operation unit 405, the first control unit 400 transmits an insertion request for the preparation data to the second control unit 500. When the insertion request is received during execution of the mixing process, the second control unit 500 temporarily interrupts the mixing process currently being executed, executes the mixing process based on the preparation data corresponding to the insertion request, and restarts the mixing process that was interrupted.

For example, when the mixing process is interrupted, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to place the medicine container 10 and the syringe 11 used in the mixing process currently being executed on the placement unit 33. The second control unit 500 controls the tray transport unit 110 to place the infusion bag 12 on the tray 101, and to return the tray 101 to the storage unit 700 to store the infusion bag therein. Then, the second control unit 500 controls the storage unit 700 to supply the tray 101 corresponding to the preparation data corresponding to the insertion request to the mixing and injecting unit 300, and executes the mixing and injecting process based on the preparation data corresponding to the insertion request. When the mixing process is completed, the second control unit 500 supplies the tray 101 corresponding to the interrupted mixing process from the storage unit 700 to the mixing process unit 300 again, and restarts the mixing process.

[ PARALLEL PREPARING FUNCTION ]

In the mixing and filling apparatus 1, only one of the infusion bag holding unit 103, the bag lifting unit 113, the mixing and filling communication port 37, and the tray conveying unit 110 is provided, and the mixing and filling process using the tray 101 is sequentially and individually performed. The mixing and filling device 1 may be configured to include a plurality of sets of the infusion bag holding portion 103, the bag lifting portion 113, the mixing and filling communication port 37, and the tray conveying portion 110. The mixing and filling apparatus 1 configured as described above may be considered to have the following parallel preparation function: that is, the second control unit 500 can convey a plurality of trays 101 in the mixing and injecting apparatus 1 and can execute the mixing and injecting process based on a plurality of dispensing data substantially simultaneously.

Specifically, the second control unit 500 may execute the first mixing process based on the first preparation data and the second mixing process based on the second preparation data substantially simultaneously. In this case, it is conceivable that the second control unit 500 performs an input process of inputting a device such as the medicine container 10, the syringe 11, or the infusion bag 12 from the tray 101 to the mix-filling processing unit 300 in the second mix-filling process based on the second preparation data while the stirring process is performed in the first mix-filling process based on the first preparation data.

In addition, it is also conceivable that the second control unit 500 performs a process of injecting a medicine from the infusion bag 12 into the medicine container 10 or injecting a medicine from the medicine container 10 into the infusion bag 12 in the first mixing process based on the first preparation data while the stirring process is performed in the second mixing process based on the second preparation data.

In this way, in the mixing and dispensing device 1 having the parallel dispensing function, since the mixing and dispensing processes based on the plurality of dispensing data can be executed simultaneously, the mixing and dispensing processes based on the plurality of dispensing data can be executed efficiently by effectively utilizing the spare time in each mixing and dispensing process.

[ second embodiment ]

Other embodiments of the present invention will be described below. Specifically, in the present embodiment, another example of the schedule management function will be described. The same components, processing steps, and the like as those of the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.

As shown in fig. 30, the mixing and injection device 1 according to the present embodiment includes a touch panel monitor 208, and the touch panel monitor 208 is disposed at a position where another operator can operate the device at a position different from the position of the operator who performs the operation using the operation unit 405, the display 203, and the like. The display and operation using the touch panel monitor 208 described in the present embodiment may be performed using the operation unit 405 and the display 203.

The touch panel monitor 208 includes: a display unit such as a liquid crystal display or an organic EL display for displaying various information in response to a control instruction from the first control unit 400, and an operation unit such as a touch panel for receiving a touch operation on the display unit. Thus, for example, a placement job for placing equipment on the tray 101 using the operation unit 405, the display 203, the barcode reader 204, and the like and a reservation job for using the placement data of the touch panel monitor 208 can be executed at the same time.

In the mixing and filling apparatus 1 according to the present embodiment, the first control unit 400 can cause the touch panel monitor 208 to display the prescription selection screen P0 as well. In the recipe selection screen P0, the scheduled end time of the recipe data cannot be input to the input area A3, and the input area a4 is used as a display area for the scheduled end time of the recipe data after reservation. In the recipe selection screen P0, when the operation key a5 is operated in a state in which the preparation data is selected as a reservation target by the selection operation unit A3 or in a state in which any preparation data is selected in the area a1, the first control unit 400 causes the touch panel monitor 208 to display a reservation registration screen P10 for reserving a mixing process based on the preparation data for each preparation data. Here, fig. 31 is a diagram showing an example of the reservation registration screen P10.

As shown in fig. 31, the information related to the dispensing data to be reserved is displayed on the reservation registration screen P10, for example, a patient code (patient CD) and a patient name for identifying a patient, an identification code for identifying the dispensing data, and a time required for the mixing process based on the dispensing data. The time required for the mixing process is stored in the data storage unit 404 for each dispensing content indicated by the dispensing data. Further, the data storage unit 404 stores calculation information for calculating the required time, and the first control unit 400 may calculate the required time for the mixing process based on the calculation information.

In addition, the reservation registration screen P10 displays: operation keys K11 to K13 for accepting selection operation of the reservation condition of the recipe data, and an operation key K14 for accepting execution of the reservation of the recipe data. The operation key K11 is an operation key for selecting, as a reservation condition, a non-time-designated reservation in which: the mixing process based on the preparation data to be reserved is executed during an idle time when the mixing device 1 does not execute another mixing process. The operation key K12 is an operation key for selecting a temporary reservation as a reservation condition, the temporary reservation being: the mix-and-fill processing of the recipe data to be reserved is executed in preference to other recipe data reserved by the non-time-designated reservation and the later-described time-designated reservation. When the operation key K12 is selected, if there is any recipe data that has already been reserved by the temporary reservation, the execution order of the recipe data to be reserved can be selected.

The operation key K13 is an operation key for selecting a time-designated reservation as a reservation condition, the time-designated reservation being: the mixing process of the preparation data based on the reservation target is executed according to the execution start time preset by the user operation. As described above, the execution start time is set by inputting a predetermined time for ending the mixing process (corresponding to the "preparation end time" in fig. 31), or by inputting a predetermined time for starting the mixing process. More specifically, when the operation key K13 is selected, the date and time at which the betting process based on the placement data is executed can be set on the reservation entry screen P10. For example, the reservation registration screen P10 shown in fig. 31 is set to have a time-designated reservation for the purpose of executing the mix-up process before 8 months, 22 days, 19 hours, and 02 minutes.

In addition, in the reservation registration screen P10, when a reservation is made with a time designated, a margin time can be set for a predetermined time for ending the mixing process. The allowance time indicates a changeable range in which the execution time of the mixing process is advanced after the predetermined time is set, and is, for example, a time set for each medicine in the medicine standard or a time input in the reservation registration screen P10 in response to a user operation. For example, when the predetermined end time is 19 hours and 02 minutes, and the slack time is 30 minutes, the execution timing of the mixing process may be changed within a range in which the mixing process ends 18 hours and 32 minutes before 30 minutes before the predetermined end time and 19 hours and 02 minutes before the predetermined end time. When the predetermined end time is 19 hours and 02 minutes, and the allowance time is 30 minutes, the execution time of the mixing process may be changed within a range in which the mixing process is started after 18 hours and 32 minutes before 30 minutes from the predetermined end time.

When the reservation method, the reservation content, and the like of the recipe for the reservation target are set on the reservation registration screen P10 and the operation key K14 is operated, the first control unit 400 determines that the reservation setting operation is performed (S51 of fig. 26: yes), and performs a reservation setting process on each recipe data according to the reservation setting operation when the total number of reservations is within the maximum number of reservations (S52: yes) (S53). The first control unit 400 when executing the reservation setting process is an example of a reservation setting process unit.

In the reservation setting process of step S53, the first controller 400 updates the schedule information with respect to the reservation contents of the reservation registration screen P10. Specifically, the first control unit 400 can selectively receive the time-designated reservation, the no-time-designated reservation, and the provisional reservation as the reservation conditions according to a user operation, and update the schedule information according to the reservation conditions.

When the provisional reservation is made for the placement data, the first control unit 400 causes the second control unit 500 to preferentially execute the mix-and-fill process based on the placement data as compared with other placement data. More specifically, when the mixing and filling process based on the other preparation data is not currently executed in the mixing and filling apparatus 1, the first control unit 400 causes the second control unit 500 to immediately execute the mixing and filling process based on the preparation data for which the provisional reservation was made. In this case, when there is a mixing process based on the preparation data that has been reserved, the execution start time of the mixing process is reset to at least a time after the mixing process based on the preparation data related to the provisional reservation is executed.

When the mixing process based on the other preparation data is currently executed in the mixing and injecting apparatus 1, the first control unit 400 causes the second control unit 500 to execute the mixing and injecting process based on the preparation data subjected to the provisional reservation after the mixing and injecting process is completed. Further, when the mixing process based on the other preparation data is currently being executed, the first control unit 400 may temporarily interrupt the mixing process and cause the second control unit 500 to execute the mixing process based on the preparation data for which the provisional reservation was made. Specifically, the second control unit 500 places the medicine container 10 and the syringe 11, which are involved in the mixing/filling process being executed, on the placement frame 33, and returns the infusion bag 12 to the tray 101 and returns the tray 101 to the tray storage portion 811 of the storage unit 700. Then, the second control unit 500 executes the mixing process based on the preparation data relating to the provisional reservation, and resumes the interrupted mixing process after the mixing process is completed.

When the non-time-designated reservation is made for the recipe data, the first control unit 400 causes the second control unit 500 to execute the mixing process based on the recipe data for which the non-time-designated reservation is made in the order in which the non-time-designated reservation is made, when the mixing process based on the recipe data for which the provisional reservation is made and the mixing process based on the recipe data for which the time-designated reservation is made are not executed.

When the time-designated reservation is made for the placement data, the first control unit 400 sets the execution start time in the schedule information so that the mixing process based on the placement data is ended at the scheduled end time set by the time-designated reservation. For example, the execution start time is set to a time obtained by subtracting the required time of the betting process from the predetermined end time, and when the execution times of the plurality of betting processes overlap, the execution start time is set so that the execution times of the plurality of betting processes do not overlap by advancing the execution start time of one or more of the plurality of betting processes. In addition, the first control unit 400 sets the execution start time of each of the preparation data for the time-designated reservation and the provisional reservation, without considering the execution start time of the preparation data for the non-time-designated reservation and considering the execution start time of each of the preparation data for the time-designated reservation and the provisional reservation when setting the schedule information.

In step S55, the first controller 400 causes the touch panel monitor 208 to display a schedule setting screen P11 shown in fig. 32, instead of the schedule setting screen P1. In the schedule setting screen P11, the execution start time of each recipe data is displayed along the time axis based on the schedule information, similarly to the schedule setting screen P1.

Further, on the schedule setting screen P11, there are displayed: a marker P111 indicating the current time, a marker P112 indicating the execution time of the mixing process corresponding to each of the preparation data, and a marker P113 indicating the changeable range of the execution time of the mixing process corresponding to each of the preparation data. In particular, on the schedule setting screen P11, a predetermined time for completion of the dubbing process based on the allocation data is displayed for each allocation data by the character string and the indicator P112. The indicator P113 is displayed based on the scheduled end time and the slack time, and is displayed using a line segment connecting a time corresponding to the scheduled end time and a time traced back from the scheduled end time by the slack time. Thus, the user can easily determine the execution time and the changeable range of each of the betting processes at a glance.

As described above, in the schedule setting screen P11, the first control unit 400 can change the execution time of the betting process based on the placement data by dragging and dropping the marker P112 corresponding to the placement data. In this case, it is conceivable that the first control part 400 limits the movable range of the drag and drop of the indicator P112 to the range of the allowance time indicated by the indicator P113. This prevents the execution time of the mixing process from being changed beyond the margin time.

When an arbitrary recipe is selected on the schedule setting screen P11 and the reservation edit key K21 for starting the change of the reservation content for the recipe is operated, it is also determined in the step S56 that the change operation is performed (S56: yes). In this case, as shown in fig. 33, the first controller 400 pop-up-displays a reservation change screen P12 similar to the reservation registration screen P10 on the schedule setting screen P11. In addition, the same information as the reservation registration screen P10 is displayed on the reservation change screen P12, and the first control unit 400 changes the reservation content of the recipe data in accordance with the operation on the reservation change screen P12.

Further, when the monitor key K22 is operated on the schedule setting screen P11, the first controller 400 causes the schedule setting screen P11 to display information indicating the current status of each piece of dispensing data, as shown in fig. 34. Specifically, on the schedule setting screen P11, for each of the placement data, there are displayed: a state of pending dispensing, pending inspection, in dispensing error, standby, and the like, and a dispensing time indicating a time required for the mix-filling process based on the above-mentioned dispensing data. The state of the dispensing data includes "ready" indicating that the confirmation process (S2 to S8) when the device such as the medicine container 10 used in the mixing process based on the dispensing data is placed on the tray 101, and "loaded" indicating that the tray 101 on which the device such as the medicine container 10 is placed is loaded in the storage unit 700.

Further, on the schedule setting screen P11, there are displayed: an operation portion P114 that receives an operation for the mixing process based on each of the preparation data, and an operation portion P115 that receives an operation for the tray 101 corresponding to each of the preparation data. For example, the operation portion P114 displays: various operation keys such as an inspection key for receiving an operation for starting inspection of the mixing process based on the placement data, and a change key for receiving an operation for changing the reservation content of the mixing process. In addition, a take-out key or the like for taking out the tray 101 from the tray outlet 206 is displayed in the operation portion P115. In addition, the extraction key is not displayed on the operation unit P115, and the extraction key is displayed on the operation unit P115 on condition that the mixed injection process is performed.

Further, on the schedule setting screen P11, there are displayed: a Tab key P31 indicating details of the placement data selected on the schedule setting screen P11, and a Tab key P32 indicating a state of the mixing and filling apparatus 1. Further, the first control unit 400 displays details of the placement data as shown in fig. 32 when the Tab key P31 is selected, and displays the state of the mixing and injection device 1 as shown in fig. 35 when the Tab key P32 is selected. For example, the number of unused tray housing portions 811 among the tray housing portions 811 in the housing unit 700 is displayed as the state of the mixing and filling apparatus 1.

In addition, as another embodiment, the following may be considered: the touch panel monitor 208 is omitted, the recipe selection screen P0, the reservation registration screen P10, the schedule setting screen P11, and the like relating to the schedule management function are displayed on the display 203, and a user operation is received through the operation unit 405.

The storage unit 700 is not limited to the one for storing the tray 101 on which the medicine container 10 or other equipment used in the mixing process based on the preparation data is placed, and it is conceivable that the storage unit 700 is also used for storing the empty tray 101. Specifically, the first control unit 400 executes a process for storing the empty tray 101 in the storage unit 700 and a process for discharging the empty tray 101 from the storage unit 700, according to a user operation. Accordingly, the tray housing 811 not used in the housing unit 700 can be used to store the tray 101, and for example, a user in operation can take the tray 101 from the housing unit 700 without leaving the medicine loading unit 200.

[ third embodiment ]

In the present embodiment, another example of the above-described loading preparation process will be described. Here, fig. 36 is a flowchart showing another example of the above-described loading preparation processing. In the first and second embodiments, the description has been given of the case where the confirmation processing (S2 to S8) when various equipment is placed on the tray 101 corresponding to the recipe data is executed next after the reservation job of the recipe data is executed (S1). That is, in the first and second embodiments, the reservation work of the preparation data corresponding to the tray 101 and the placement work of placing the equipment on the tray 101 are sequentially executed as a series of jobs.

As shown in fig. 36, in the loading preparation process according to the present embodiment, the processes of steps S81 to S82 are executed between step S8 and step S9. In the present embodiment, the first control unit 400 does not accept the reservation operation in step S1, but accepts the reservation operation in steps S81 to S82.

< step S81 >

First, after the confirmation process of placing the medicine container 10, the syringe 11, and the infusion bag 12 on the tray 101 corresponding to the dispensing data is executed in steps S2 to S8, the first control unit 400 displays a selection screen indicating whether or not to make a reservation for a time designation for the mixing process based on the dispensing data on the display 203, and accepts the presence or absence of the reservation for the time designation by a user operation in step S81. In step S81, when it is determined that time designation has been selected (S81: yes), the process proceeds to step S82, and when it is determined that no time designation has been selected (S81: no), the process proceeds to step S83.

< step S82 >

In step S82, the first control unit 400 displays an operation screen such as the reservation registration screen P10 (see fig. 31) and accepts reservation of the mixing process based on the placement data. Note that, the method of accepting the reservation of the mix-note processing may be the same as that of the first embodiment or the second embodiment, and therefore, the description thereof is omitted here.

That is, in the mixing and filling apparatus 1 according to the present embodiment, the first control unit 400 can make a reservation for time specification of mixing and filling processing based on the placement data on the tray 101 on which the placement data corresponds, on condition that the confirmation processing is completed when various kinds of devices are placed. Therefore, the job of placing the equipment on the tray 101 and the job of reserving the preparation data corresponding to the tray 101 are executed as a series of jobs. Thus, the preparation data is reserved on condition that the equipment is correctly placed on the tray 101, and the preparation data is prevented from being reserved before the equipment is correctly placed on the tray 101.

[ fourth embodiment ]

Here, fig. 37 is a diagram showing another embodiment of the storage unit 700. As shown in fig. 37, the storage unit 700 according to the present embodiment includes a fourth conveying unit 950 and a fifth conveying unit 960 for temporarily retracting the tray 101 stored in the tray storage unit 811. The fourth conveying unit 950 can convey the tray 101 in the front-rear direction, and the fifth conveying unit 960 can convey the tray 101 in the left-right direction between the first conveying unit 910 and the fourth conveying unit 950. The fourth conveying unit 950 and the fifth conveying unit 960 are conveyor belts having a motor, a gear, a tension roller, a belt, and the like, and the tray 101 held on the belt can be conveyed by driving the belt by the motor, the gear, and the tension roller.

In the storage unit 700 according to the present embodiment, the tray discharge port 206 is disposed in front of the fourth conveyance unit 950 instead of in front of the first conveyance unit 910. The fourth conveying unit 950 is configured to be movable in the vertical direction and between a usable state in which the tray 101 placed on the fifth conveying unit 960 can be conveyed in the front-rear direction and a retracted state in which the tray is retracted downward from the usable state. More specifically, the fourth conveying unit 950 can convey the tray 101 placed on the fifth conveying unit 960 toward the tray discharge port 206. That is, in the storage unit 700, the tray 101 stored in the storage unit 700 is conveyed to the tray discharge port 206 sequentially through the first conveying unit 910, the second conveying unit 920, the fifth conveying unit 960, and the fourth conveying unit 950.

The fourth conveying unit 950 and the fifth conveying unit 960 may also be configured to temporarily retract the tray 101 stored in the storage unit 700. Specifically, when the mix-filling process based on the preparation data is executed by the immediate start operation, if all of the tray storage portions 811 in the storage unit 700 are in use, the tray 101 used for the mix-filling process started by the immediate start operation cannot be loaded into the mix-filling process portion 300 through the tray discharge port 701 and the tray loading port 114. In contrast, when the mix-and-fill process based on the preparation data is executed by the immediate start operation, the second control unit 500 causes the tray 101 stored in any one of the tray storage units 811 in the storage unit 700 to be retracted to the fourth conveying unit 950 or the fifth conveying unit 960 when all of the tray storage units 811 in the storage unit 700 are in use. Then, the second control unit 500 controls the storage unit 700 to load the tray 101, on which the medicine or the like used in the mixing process executed by the immediate start operation is placed, into the tray loading port 114 and execute the mixing process. The tray 101 retracted to the fourth conveying unit 950 or the fifth conveying unit 960 is then returned to the tray housing unit 811.

In particular, when the mix-filling process based on the preparation data is executed by the immediate start operation, the second control unit 500 causes the tray 101 corresponding to the mix-filling process based on the preparation data to be executed next among the trays 101 stored in the tray storage 811 in the storage unit 700 to be retracted to the fourth conveying unit 950 or the fifth conveying unit 960 when all the tray storage 811 in the storage unit 700 is in use. Then, the second control unit 500 controls the storage unit 700 to load the tray 101, on which the medicine or the like used in the mixing process executed by the immediate start operation is placed, into the tray loading port 114 and execute the mixing process. Then, the tray 101 retracted to the fourth conveying unit 950 or the fifth conveying unit 960 is supplied from the tray discharge port 701 to the mixed injection processing unit 300 by the fifth conveying unit 960, the second conveying unit 920, and the third conveying unit 940.

Claims (17)

1. A mixing and injecting device is characterized by comprising:

a mix-filling processing unit that executes a mix-filling process including an injection step of injecting the medicine in the first container into the second container, based on the dispensing data generated by the prescription information;

a stirring device used in a stirring step of stirring the medicine in the first container used in the mixing/filling process; and

a preliminary mixing processing unit capable of executing the mixing process before an execution start time of the mixing process based on the preparation data, wherein the mixing process via the preliminary mixing processing unit includes: and a step of injecting the infusion solution sucked from the second container into the first container before the medicine is stirred.

2. The co-injection apparatus of claim 1,

the mixing and injecting device is provided with:

a reservation setting processing unit that can reserve the execution start time of the mixing process based on one or more of the preparation data; and

a reservation execution processing unit that executes the betting process when the execution start time of the betting process reserved by the reservation setting processing unit has come.

3. The co-injection apparatus of claim 1,

the mixed injection processing unit executes the mixed injection processing when a start operation for starting the mixed injection processing based on the preparation data is performed;

the execution start time is when the start operation is performed;

the mixing/pouring processing unit executes the mixing/pouring processing using the first container stirred by the preliminary stirring processing unit, with respect to the preparation data on which the stirring processing has been executed by the preliminary stirring processing unit.

4. The co-injection apparatus of claim 1,

at least one of the stirring step and the injecting step for the other preparation data can be executed between the stirring step executed by the preliminary stirring processing unit for one preparation data and the injecting step executed by the mixing and injecting processing unit for the preparation data;

the execution start time is a time after the stirring step corresponding to one of the preparation data is executed and at least one of the stirring step and the injection step corresponding to the other preparation data is executed.

5. The co-injection apparatus according to any one of claims 1 to 4,

the mixing and filling device includes a storage unit capable of storing a plurality of trays on which the first containers and the second containers are placed;

the preliminary mixing processing unit is configured to, after the tray on which the first container and the second container are placed is conveyed from the storage unit to the mixed injection processing unit and the mixing process is performed, place the first container on the mixed injection processing unit and convey the second container together with the tray to the storage unit;

the mixed injection processing unit may execute the mixed injection processing using the second container placed on the tray transferred from the storage unit to the mixed injection processing unit and the first container placed on the mixed injection processing unit.

6. The co-injection apparatus according to any one of claims 1 to 5,

the mixing/injecting processing unit omits or shortens the stirring step when the mixing/injecting processing based on the preparation data on which the stirring step has been executed by the preliminary stirring processing unit is executed.

7. The co-injection apparatus according to any one of claims 1 to 6,

the preliminary mixing processing unit executes the mixing process before an execution start time of the mixing process based on the preparation data when a time required for the mixing process for the medicine in the first container is equal to or longer than a predetermined time.

8. The co-injection apparatus according to any one of claims 1 to 7,

the mixing and injecting device is provided with:

a storage unit capable of storing a plurality of trays on which the first and second containers are placed;

a storage processing unit that stores the tray on which the second container after the mixed filling process is executed in the storage unit; and

a placement check processing unit that executes placement check processing for checking a result of the mix-filling processing based on the placement data corresponding to each tray after the mix-filling processing stored in the storage unit is executed.

9. The co-injection apparatus of claim 8,

the mix-out processing unit performs mix-out processing on the tray, and the mix-out processing unit performs mix-out processing on the tray.

10. The co-injection apparatus of any one of claims 1-9,

the mixing and injecting device is provided with:

a first placing section on which a plurality of the first containers can be placed;

a first placing processing unit that places the first container after the stirring step is performed on the first placing unit; and

and a stirring inspection processing unit configured to execute a stirring inspection process for inspecting a result of the stirring process corresponding to each of the first containers after the stirring process carried on the first carrying unit is executed.

11. The co-injection apparatus of claim 10,

the agitation inspection processing unit restricts use of the first container agitated in the agitation step until the result of the agitation step is determined to be appropriate in the agitation inspection processing.

12. The co-injection apparatus of any one of claims 1-11,

the mixing and injecting device is provided with:

a second placement unit on which the plurality of first containers can be placed;

a second placement processing unit that places each of the first containers after all of the medicines in the plurality of first containers are extracted in the mixing process on the second placement unit; and

and a total extraction inspection processing unit that executes total extraction inspection processing for inspecting a result of the total extraction corresponding to each of the first containers placed on the second placement unit after the execution of the total extraction.

13. The co-injection apparatus of any one of claims 1-12,

the mixing and injecting device is provided with:

a reservation setting processing unit that can reserve an execution start time of the mixing process based on one or a plurality of the preparation data;

a display processing unit that displays the execution start time of each of the dispensing data along a time axis;

a change processing unit capable of changing the execution start time in accordance with a movement operation of the execution start time on a display screen executed by the display processing unit; and

a reservation execution processing unit that executes the mixing process when the execution start time reserved by the reservation setting processing unit has come.

14. The co-injection apparatus of claim 13,

the change processing unit notifies that the execution time of the mixing process based on the plurality of pieces of the preparation data is overlapped after the execution start time is changed.

15. The co-injection apparatus of claim 13 or 14,

the reservation setting processing section sets the execution start time based on a scheduled start time or a scheduled end time of the dispensing data set by a user operation.

16. A mixed injection device, which is characterized in that,

comprises a mixed injection processing part, a reservation setting processing part and a preliminary stirring processing part;

a mix-filling processing unit that executes a mix-filling process including an injection step of injecting the medicine in the first container into the second container, based on the dispensing data generated by the prescription information;

the reservation setting processing unit is capable of selectively accepting, as reservation conditions, a time-designated reservation for causing the mixed-injection process to be executed according to an execution start time set by a user operation, a no-time-designated reservation for causing the mixed-injection process to be executed at a time when the other mixed-injection process is not executed without setting the execution start time by the user operation, and a provisional reservation for causing the mixed-injection process to be executed in preference to the preparation data reserved by the time-designated reservation and the no-time-designated reservation;

the preliminary mixing processing unit may execute a mixing process before an execution start time of the mixing process based on the preparation data, wherein the mixing process via the preliminary mixing processing unit includes: and a step of injecting the infusion solution sucked from the second container into the first container before the medicine is stirred.

17. The co-injection apparatus of claim 16,

the mixing and filling device includes a display processing unit that displays, along a time axis, information indicating an execution start time of each of the preparation data and a margin time preset for the execution start time of the mixing and filling process based on each of the preparation data.

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