CN111821181A - Intelligent intravenous medication dispensing robot and dispensing method - Google Patents

Abstract

The invention discloses an intelligent intravenous drug dispensing robot and a dispensing method, wherein the intelligent intravenous drug dispensing robot comprises a complete machine frame, and a drug input module, a solvent module, a vibration dissolution module, a liquid injection peristaltic pump module, a suction peristaltic pump module, a manipulator module, a garbage can module and an air purification module are arranged in the complete machine frame; the invention also provides an intelligent intravenous medication allocation method, and by adopting the robot or the allocation method, the robot can be used for allocating prescriptions in large batches in clinic, the problem of centralized allocation of the same medicines in large batches is solved, and the medicine allocation efficiency is improved.

Description

Intelligent intravenous medication dispensing robot and dispensing method

Technical Field

The invention relates to the technical field of automatic dispensing robots, in particular to an intelligent intravenous medication dispensing robot and a dispensing method.

Background

With the successful clinical use of the first intelligent intravenous administration deployment robot in China, the deployment robot has been more and more dependent and trusted by hospitals.

However, the existing intelligent vein allocation robot only aims at tumor chemotherapy drugs, and except for the tumor chemotherapy drugs, more drugs with the same prescription are required to be allocated in batches in a certain time period (6-8 am) in all large comprehensive hospitals and over three large hospitals (for example, antibiotic drugs (which also need better occupational protection during antibiotic drug allocation) and common drugs). In order to solve the clinical requirement and be a clinical call, I designs and develops a large-batch same medicine centralized allocation robot so as to meet the efficiency requirement of the clinical large-batch robot on allocation of prescriptions.

Therefore, the prior art needs to be improved.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide an intelligent intravenous medicine dispensing robot for intensively dispensing large batches of the same medicine prescriptions.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides an intelligence robot for allotment of intravenous route medicine, complete machine frame, be provided with medicine input module, menstruum module, vibrate and dissolve the module, annotate liquid peristaltic pump module, suction peristaltic pump module, manipulator module, dustbin module, air purification module in the complete machine frame, wherein:

the medicine input module is responsible for batch input of the prepared prescription medicines;

the solvent module is responsible for batch input of solvents required to be prepared into a prescription and output of finished product solvents after preparation is finished;

the oscillation dissolving module is responsible for dissolving and diluting the penicillin drug after the injection of the solvent;

the liquid injection peristaltic pump module is responsible for injecting a solvent used for diluting and dissolving the medicine in the prescription into the medicine;

the suction peristaltic pump module is used for sucking and injecting the dissolved and diluted medicine into a finished product solvent and is connected with a station of a suction link for conveying the dissolved and diluted medicine to the next step through a manipulator;

the mechanical arm module is used for grabbing the medicine in the medicine input area to a medicine liquid injection station to be oscillated and dissolved, grabbing the dissolved and diluted medicine from the station of the oscillating and dissolving module to a station to be pumped and connecting the dissolved and diluted medicine with the medicine clamping jaw during pumping;

the garbage can module is used for collecting and automatically sealing the medical waste in the blending process;

the air purification module is responsible for meeting the requirement of the intravenous drug blending on the dispensing environment specification of the whole drug;

the intelligent robot for intravenous drug administration and preparation, wherein, the drug input module comprises a drug input library, a drug tray and a drug translation module, the drug tray is arranged in the drug input library, the drug translation module is arranged in one side of the drug input library, the drug translation module comprises a horizontal sliding table and a bottom plate arranged on the horizontal sliding table, and the drug tray can slide in the outside of the drug input library through the drug translation module.

Intelligence intravenous route medicine allotment robot in, wherein, the medicine input storehouse including input frame and through vertical slip table with the input inside casing that the input frame is connected, the input inside casing is provided with a plurality of being used for placing the support rail of medicine charging tray, be provided with drive arrangement on the vertical slip table, slide from top to bottom along vertical slip table through drive arrangement drive input inside casing.

The intelligent robot for blending intravenous injection comprises a solvent base, a solvent frame and a solvent translation module, wherein a plurality of rows of solvent clamps are arranged in the solvent frame and located in the solvent base, the solvent translation module is arranged on one side of the solvent frame, and a jacking mechanism used for enabling the solvent clamps to ascend is arranged above the solvent translation module.

Intelligence vein use medicine allotment robot in, wherein, the side of menstruum storehouse be provided with vertical slip table and with vertical slip table sliding connection's menstruum inner frame, be provided with vertical drive arrangement on the vertical slip table, reciprocate along vertical slip table through vertical drive arrangement drive menstruum inner frame.

Intelligence vein use of medicine allotment robot in, wherein, it includes the base, sets up to vibrate dissolving the module cavity rotary platform and setting on the base are in swing mechanism on the cavity rotary platform, cavity rotary platform's edge a week corresponds in proper order has the medicine bottle to place the station, annotate the liquid station, rocks and dissolves the station and snatch the station, swing mechanism and each station one-to-one set up, swing mechanism along with cavity rotary platform is rotatory together.

Intelligence vein use of medicine allotment robot in, wherein, annotate the liquid peristaltic pump module and include slip table, slip table mount and cavity rotary platform, the drive of cavity rotary platform slip table and slip table mount are rotatory, it deposits the mechanism to be provided with the menstruum on the slip table, the below that the mechanism was deposited to the menstruum has set gradually first notes liquid medicine allotment ware fixation clamp, peristaltic pump and second and has annotated liquid medicine allotment ware fixation clamp, and the medicine allotment ware both ends are fixed in on first notes liquid medicine allotment ware fixation clamp and the liquid medicine allotment ware fixation clamp of second, wherein medicine allotment ware hose portion passes the peristaltic pump.

Intelligence vein use of medicine allotment robot in, wherein, suction peristaltic pump module includes that medicine centre gripping subassembly, suction peristaltic pump, menstruum mark module and menstruum annotate the liquid subassembly, medicine centre gripping subassembly set up in one side of suction peristaltic pump, the menstruum annotates the liquid subassembly set up in the opposite side of suction peristaltic pump, menstruum mark module set up in the below of subassembly is annotated to the menstruum.

Intelligence vein use of medicine allotment robot in, wherein, the air purification module includes negative pressure zone and positive pressure zone, be provided with first forced draught blower, first air supply filter, exhaust fan, the filter of airing exhaust and supporting ventilation passageway in the negative pressure zone, first forced draught blower set up in the top of first air supply filter, the exhaust fan set up in the below of the filter of airing exhaust, ventilation passageway set up in the lateral wall and the intercommunication of complete machine frame the exhaust fan with the negative pressure zone, the top in positive pressure zone has set gradually second forced draught blower and second air supply filter.

A blending method of an intelligent intravenous drug blending robot comprises the following steps:

s1, acquiring a batch blending prescription bar code:

allocating personnel according to the medical advice prescription information to allocate the same prescription (perform the same batch allocation binding, print and obtain batch allocation prescription bar codes in the database;

s2, prescription information entry and prescription preparation:

the prescription information is entered in a mode of scanning and identifying according to the batch preparation prescription bar code, and medicines and solvents required in the batch prescription are prepared;

s3, synchronously placing a solvent tray, a medicine tray, a public solvent and a medicine dispenser, and closing each bin gate after placing the medicine dispenser at a designated position;

s4, moving the penicillin bottle to a designated position through the medicine input module, and grabbing the medicines in the medicine input area to a medicine liquid injection station to be oscillated and dissolved by using the manipulator module;

s5, injecting a solvent used for diluting and dissolving the medicine in the prescription into the medicine through a liquid injection peristaltic pump module;

s6, dissolving and diluting the penicillin drug injected with the solvent through a vibration dissolving module;

s7, the manipulator module grabs the dissolved and diluted medicine from the station of the oscillation dissolving module to the station to be sucked and connects the medicine to be sucked with the medicine clamping finger during suction;

s8, the dissolved and diluted medicine is pumped and injected into the finished product solvent through the pumping peristaltic pump module;

s9, outputting the finished product solvent after blending through a solvent module;

and circulating in sequence until all the penicillin bottles on the input mechanism are completely processed.

Compared with the prior art, the invention discloses an intelligent intravenous administration drug dispensing robot and a dispensing method, wherein the intelligent intravenous administration drug dispensing robot comprises a complete machine frame, and a drug input module, a solvent module, a vibration dissolving module, an injection peristaltic pump module, a suction peristaltic pump module, a manipulator module, a garbage can module and an air purification module are arranged in the complete machine frame; the invention also provides an intelligent intravenous medication allocation method, and by adopting the robot or the allocation method, the invention can deal with the allocation of prescriptions of clinical mass robots, meet the problem of centralized allocation of large-batch same medication prescriptions (in hospitals), save manpower and improve the efficiency and quality of medication allocation.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

fig. 1 is an isometric view of an intelligent intravenous medication dispensing robot provided by the present invention.

Fig. 2 is another perspective view of the intelligent intravenous medication dispensing robot provided by the present invention.

Figure 3 is an isometric view of a drug input module of the intelligent intravenous drug dispensing robot provided by the present invention.

Figure 4 is an isometric view of another angle of a drug input module of the intelligent intravenous drug dispensing robot provided by the present invention.

Fig. 5 is an isometric view of a vehicle module of the intelligent intravenous drug dispensing robot provided by the present invention.

Fig. 6 is a schematic view of a partial structure of a solvent module of the intelligent intravenous administration dispensing robot provided by the invention.

Fig. 7 is an isometric view of a concussion dissolution module of the intelligent intravenous medication dispensing robot provided by the present invention.

Fig. 8 is a partial structural schematic view of a concussion dissolution module of the intelligent intravenous drug dispensing robot provided by the present invention.

Fig. 9 is an isometric view of a priming peristaltic pump module of the intelligent intravenous medication dispensing robot provided by the present invention.

Fig. 10 is an isometric view of a suction peristaltic pump module of the intelligent intravenous medication dispensing robot provided by the present invention.

Fig. 11 is a schematic diagram of a solvent labeling module of a suction peristaltic pump module of the intelligent intravenous administration dispensing robot provided by the invention.

Figure 12 is an isometric view of a manipulator module of an intelligent intravenous medication dispensing robot provided by the present invention.

Figure 13 is an isometric view of a trash can module of the intelligent intravenous medication dispensing robot provided by the present invention.

Fig. 14 is a schematic view of a flow structure of an air purification system of the intelligent intravenous administration robot provided by the present invention.

Fig. 15 is a top view of the air purification system of the intelligent intravenous drug dispensing robot provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "on," "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.

The embodiment of the invention provides an intelligent intravenous medication dispensing robot, and particularly relates to fig. 1-15, the robot comprises a complete machine frame 1, wherein a medication input module 2, a solvent module 3, a dissolving module 4, a liquid injection peristaltic pump module 5, a suction peristaltic pump module 6, a manipulator module 7, a garbage can module 8 and a purification module 9 are arranged in the complete machine frame 1, wherein:

the medicine input module 2 is responsible for batch input of the prepared prescription medicines;

the solvent module 3 is responsible for batch input of solvents required to be prepared into a prescription and output of finished product solvents after preparation is finished;

the oscillation dissolving module 4 is responsible for dissolving and diluting the penicillin drug after the injection of the solvent;

the liquid injection peristaltic pump module 5 is responsible for injecting a solvent used for diluting and dissolving the medicine in the prescription into the medicine;

the suction peristaltic pump module 6 is responsible for sucking and injecting the dissolved and diluted medicines into a finished product solvent, and is connected with a station where the dissolved and diluted medicines are conveyed to the next step of a suction link through a manipulator;

the mechanical arm module 7 is used for grabbing the medicine in the medicine input area to a medicine liquid injection station to be oscillated and dissolved, grabbing the dissolved and diluted medicine from the station of the oscillation and dissolution module to a station to be pumped and connecting the dissolved and diluted medicine with the medicine clamping jaw during pumping;

the garbage can module 8 is responsible for collecting and automatically sealing the medical waste in the blending process;

the air purification module 9 is responsible for the blending environment of the whole medicine to meet the requirements of the intravenous medicine blending on the dispensing environment specification;

according to the invention, by adopting the robot equipment, the prescription for dispensing the medicines (mainly penicillin medicines which are medicines stored in penicillin bottles) by a clinical large-batch robot can be dealt with, the problem of concentrated dispensing of large-batch same medicines (in hospitals) is solved, the manpower is saved, the medicine dispensing efficiency and quality are improved, the nursing staff is prevented from being damaged by toxic medicines, meanwhile, the probability of wrong operation is reduced, the operation standard for dispensing intravenous medicines is standardized, and the medicine dispensing efficiency is improved.

Further, please continue to refer to fig. 1, fig. 2 and fig. 6, in this embodiment, the medicine input module 2 includes a medicine input library 21, a medicine tray 22, a medicine translation module 23 and a first detection device 24, the first detection device 24 and the medicine tray 22 are disposed in the medicine input library 21, the medicine translation module 23 is disposed at one side of the medicine input library 21, the medicine translation module 23 includes a horizontal sliding table 231 and a bottom plate 232 disposed on the horizontal sliding table 231, and the medicine tray 22 can slide outside the medicine input library 21 through the medicine translation module 23.

Specifically, please refer to fig. 2, fig. 4, fig. 5 together, medicine charging tray 22 is used for loading a plurality of medicine raw materials, when dispensing, transports the medicine in medicine charging tray 22 to the region of dispensing through medicine translation module 23 to carry out operation on next step, medicine translation module 23 includes horizontal slip table 231 and sets up bottom plate 232 on horizontal slip table 231, more specifically says, drives bottom plate 232 horizontal slip through tow chain mechanism 233 for bottom plate 232 stretches into in medicine input storehouse 21, and pulls back bottom plate 232 after medicine charging tray 22 targets in place, and it is regional to grab the bottle to transport medicine charging tray 22 to dispensing, medicine input module 2 can once only transport many bottles of medicine raw materials to grabbing the bottle region, has solved the problem that the efficiency of transporting the raw materials of dispensing among the prior art is too low.

Further, please continue to refer to fig. 2, the medicine input library 21 includes an input outer frame 211 and an input inner frame 213 connected to the input outer frame 211 through a vertical sliding table 212, the input inner frame 213 is provided with a plurality of supporting rails 214 for placing the medicine trays 22, the vertical sliding table 212 is provided with a driving device 215, the driving device 215 drives the input inner frame 213 to slide up and down along the vertical sliding table 212, and the medicine trays 22 can move up and down along with the supporting rails 214, so as to store a plurality of medicine trays 22 at the same time, thereby improving the conveying efficiency.

Specifically, be provided with first detection device 24 on the lateral wall of input frame 211, including the scanning module that targets in place (not numbered in the figure), be provided with the sensing part that is used for matching the scanning module that targets in place on the lateral wall of medicine charging tray 22, be provided with square hole 217 on the lateral wall of input inner casing 213, through whether the scanning module that targets in place passes through square hole 217 and sensing part and matches and detect medicine charging tray 22 and transport and target in place, if the scanning module that targets in place can't correspond with the sensing part on the medicine charging tray 22 and match, then can indicate the user.

More specifically, the first detecting device 24 can be used to detect the status of the tray loaded with medicine (whether the tray is placed at a designated position or whether the tray is accurately placed at a designated position), whether the tray loaded with medicine is used correctly, whether the medicine is in the tray loaded with medicine, and the like.

Further, referring to fig. 3 and 7, the solvent module 3 includes a solvent reservoir 31, a solvent frame 32 and a solvent translation module 33, wherein a plurality of rows of solvent clamps 34 are disposed in the solvent frame 32 and located in the solvent reservoir 31, the solvent translation module 33 is disposed at one side of the solvent frame 32, and a jacking mechanism 35 for raising the solvent clamps 34 is disposed above the solvent translation module 33.

Specifically, the solvent fixture 34 is fixed by a solvent fixture fixing seat 39, the jacking mechanism 35 is further provided with a solvent weighing module 36, and the solvent weighing module 36 comprises a weighing telescopic module 37 and a weighing sensor 38 and can ascend and descend along with the jacking mechanism 35.

Specifically, menstruum module 3 can once only transport many bags of menstruum to the regional solution of dispensing, has further solved among the prior art and has transported the problem that the menstruum efficiency is too low, when dispensing, the menstruum is located in bags on menstruum anchor clamps 34, once only transport the below to climbing mechanism 35 through menstruum translation module 33 in with the menstruum anchor clamps 34 in menstruum frame 32, the menstruum in rethread climbing mechanism 35 transports the regional solution of dispensing in the menstruum frame 32 to reach the mesh of fast to the regional solution of dispensing menstruum bag of dispensing, after dispensing, climbing mechanism 35 descends and makes the menstruum bag reset, transports solution menstruum frame 32 back to in the menstruum storehouse 1 through menstruum translation module 33.

Further, with reference to fig. 3, a vertical sliding table 311 and a solvent inner frame 312 slidably connected to the vertical sliding table 311 are disposed on a side of the solvent reservoir 31, a vertical driving device 313 is disposed on the vertical sliding table 311, and the solvent inner frame 312 is driven by the vertical driving device 313 to move up and down along the vertical sliding table 311.

In the invention, the vertical driving device 313 is a servo motor and can drive the solvent inner frame 312 to slide up and down along the vertical sliding table 311, so that the multi-layer storage of the solvent bags is realized, the trouble of storing the solvent bags for multiple times is avoided, meanwhile, the jacking mechanism 35 is also provided with the solvent weighing module 36, the solvent weighing module 36 is used for detecting the weight of the solvent before injecting the medicine and the weight of the injected medicine, the injection amount in the solvent bag is obtained by detecting the weight of the solvent before injecting the medicine and the weight of the injected medicine, and then whether the injection amount in the solvent bag is qualified is judged, so that the solvent bag with qualified injection amount can be conveniently marked in the follow-up process.

Referring to fig. 2, the oscillation dissolving module 4 includes a base 41, a hollow rotating platform 42 disposed on the base 41, and a swing mechanism 43 disposed on the hollow rotating platform 42, wherein a circumference of the edge of the hollow rotating platform 42 corresponds to a medicine bottle placing station 421, an injection station 422, a swing dissolving station 423, and a grabbing station 424 in sequence, the swing mechanism 43 is disposed in one-to-one correspondence with each station, and the swing mechanism 43 rotates along with the hollow rotating platform 42.

Specifically, the manipulator module 7 grabs a medicine from the medicine input module 2, places the medicine into the medicine bottle placement station 421 of the oscillation dissolution module 4, rotates the hollow rotary platform 42 by one station to reach the liquid injection station 422, performs liquid injection through the liquid injection peristaltic pump module 5, and after the liquid injection is completed, rotates the hollow rotary platform 42 by one station again to reach the shaking dissolution station 423 for shaking dissolution.

Further, please refer to fig. 1, fig. 2 and fig. 3, annotate liquid peristaltic pump module 5 and include slip table 51, slip table mount 52 and cavity rotary platform 53, cavity rotary platform 53 drives slip table 51 and slip table mount 52 are rotatory, it deposits mechanism 54 to be provided with the menstruum on the slip table 51, the menstruum is deposited the below of mechanism 54 and is provided with first notes liquid medicine dispenser fixation clamp 55, peristaltic pump 56 and second in proper order and annotates liquid medicine dispenser fixation clamp 57, and the medicine dispenser both ends are fixed in first notes liquid medicine dispenser fixation clamp 55 and second annotate liquid medicine dispenser fixation clamp and go up 57, the hose of medicine dispenser passes peristaltic pump 56.

It is specific, be provided with 4 at least menstruum anchor clamps on the mechanism 54 are deposited to the menstruum, when annotating the liquid, because peristaltic pump 56's structural characteristic, when the hose of liquid medicine dispenser is annotated to the pressfitting, can bend certain angle with it, through the impetus of cylinder, annotate liquid medicine dispenser fixation clamp 55 and second with first notes liquid and promote simultaneously, the liquid medicine dispenser of annotating of originally buckling is straightened again, insert in menstruum bag and lower extreme insert the powder bottle with its upper end again, the smooth flow of solution when being convenient for annotate the liquid to liquid is annotated to high-efficient smooth completion.

Further, please continue to refer to fig. 2, the pumping peristaltic pump module 6 includes a medicine clamping assembly 61, a pumping peristaltic pump 62, a solvent marking module 63, and a solvent injection assembly 64, the medicine clamping assembly 61 is disposed on one side of the pumping peristaltic pump 62, the solvent injection assembly 64 is disposed on the other side of the pumping peristaltic pump 62, and the solvent marking module 63 is disposed below the solvent injection assembly 64.

Specifically, the medicine clamping assembly 61 comprises a clamping jaw rotating assembly (not numbered in the figure) and a clamping jaw lifting assembly (not numbered in the figure) and is used for realizing rotation and movement of a penicillin bottle, the purpose is that after suction is completed, in order to enable the penicillin bottle to be separated from a steel needle, a bottle head can be clamped to be turned over to a position for losing the medicine bottle, the clamping jaw is opened to just throw the medicine bottle into a dustbin, the solvent injection assembly 64 is used for injecting a solvent into the solvent bag through the suction peristaltic pump 62, during injection, the solvent bag is conveyed to the lower part of a dispensing area, the solvent weighing module 36 fixes the solvent clamp 34, the jacking mechanism 35 is lifted to a region needing injection, the weighing telescopic module 37 drives the weighing sensor 38 and the solvent clamp 34 to lift together with the solvent, and the weight of the solvent before medicine injection is recorded; the weighing telescopic module 37 descends, after the medicine is injected, the weighing telescopic module 37 drives the weighing sensor 38, the solvent clamp 34 and the solvent to ascend together, the weight of the solvent after the medicine is injected is recorded, the injection amount is obtained, after the injection amount of the solvent is qualified, label paper is pasted on the qualified solvent for marking, and if the injection amount of the solvent is unqualified, label paper is pasted on the unqualified solvent for marking.

Marking principle: when qualified, the qualified marking pen 632 is extended to be pressed against the solvent bag through the qualified air cylinder 631, the solvent clamp 34 is lowered to the bottom, the qualified marking pen 632 is retracted, a vertical line is left, otherwise, when the unqualified marking pen 633 is unqualified, the marking pen is qualified (green is preferred in the embodiment) and unqualified (red is preferred in the embodiment), and colors are distinguished.

Further, the manipulator module 7 is used for grabbing the medicine of the medicine input module 2 to a medicine liquid injection station of the to-be-oscillated dissolving module 4, grabbing the dissolved and diluted medicine from the station of the oscillated dissolving module 4 to a to-be-pumped station of the pumping peristaltic pump module 6, and connecting the dissolved and diluted medicine with the medicine clamping jaw during pumping; the manipulator module 7 at least has 2 clamping jaws; the suction needle tool pre-stored on the liquid injection peristaltic pump module 5 can be conveyed to the suction peristaltic pump module 6 and the action of pulling out the needle cap and throwing the needle cap to a garbage can is completed; the needle cap of the needle tool required for filling is also supported to be pulled out and thrown to the garbage can module 8.

Further, please refer to fig. 14 and 15, the air purification module 9 includes a negative pressure region 91 and a positive pressure region 92, a first blower 93, a first blower filter 94, an exhaust fan 95, an exhaust filter 96 and a ventilation channel 97 matched with the first blower 93 are disposed in the negative pressure region 91, the first blower 93 is disposed above the first blower filter 94, the exhaust fan 95 is disposed below the exhaust filter 96, the ventilation channel 97 is disposed on the sidewall of the whole frame 1 and communicated with the exhaust fan 95 and the negative pressure region 91, and a second blower 98 and a second blower filter 99 are sequentially disposed above the positive pressure region 92.

Specifically, in order to ensure the cleanness and safety of the dispensing environment, the inside of the complete machine frame 1 is divided into a negative pressure area 91 and two positive pressure areas 92, a first blower 93 and an exhaust fan 95 are arranged inside the negative pressure area 91, the first blower 93 is used for conveying gas to the inside of the complete machine frame 1, the first blower 93 is used for continuously conveying air required for purification from the outside of the complete machine frame 1 to the inside of the complete machine frame 1, air coming out of the first blower 93 needs to be filtered by a first blower filter 94, and can enter the inside of the negative pressure area 91 of the complete machine frame 1 after meeting the requirement of medicine environment purification, so that the internal environment is purified, and part of air in the complete machine frame 1 is exhausted by the exhaust fan 95 through a ventilation channel 97.

Before being discharged, the gas needs to be filtered by the exhaust filter 96, so that the gas discharged by the exhaust fan 95 can meet the environmental requirement of medical gas discharge, and the device is energy-saving, environment-friendly, efficient and reliable; and the other part is communicated with the space between the first blower 93 and the first blower filter 94 through the ventilation channel 97, continues to pass through the first blower 93, enters the first blower filter 94 again for filtering, and enters the negative pressure area 91 again, so that the recycling of part of gas is realized, and the energy is saved.

More specifically, in this embodiment, in order to reasonably utilize the space and the high efficiency of the purification, and at the same time, in order to maintain the stability of the pressure of the positive pressure region 92 and the negative pressure region 91, according to the purification requirement, the negative pressure region 91 and the positive pressure region 92 have different filtering effects, because the gas pollution in the positive pressure region 92 is small, the requirement for the air purification is low, so the purification can be performed only by the positive pressure air supply filtering mode, and the negative pressure region 91 is a dispensing region, the gas pollution is large, so the requirement for the air purification is high, the circulation filtering needs to be performed by the negative pressure circulation mode, that is, by twice filtering, the gas in the negative pressure region 91 (dispensing region) does not leak, so the pollution to the environment and the occupational injury to the medical care workers are reduced, and the negative pressure region 91 and the positive pressure region 92 are not communicated with each other, each independently.

The top end of the negative pressure area 91 is provided with a first air supply outlet 911 and a first exhaust outlet 912, and electric control valves 100 are arranged above the first air supply outlet 911 and the first exhaust outlet 912 to adjust the air supply and exhaust amount, so that the first air blower 93 can suck air from the outside of the whole frame 1, and the first air blower 93 and the exhaust fan 95 are arranged at the upper end of the whole frame 1.

Preferably, in order to achieve the optimal recycling efficiency, the electric control valve 100 is controlled to control the intake and exhaust air volumes of the negative pressure region 91, so that 30% of the air is filtered by the first air supply filter 94 and then sucked into the negative pressure region 91 in the whole frame 1 for recycling, and 70% of the air is exhausted to the atmosphere.

Further, dustbin module 8 set up in manipulator module 7's below is responsible for taking in the collection and the automatic sealing up of allotment process medical waste, can carry out the classified collection to medicine bottle and dispenser, and nimble movement arrives the assigned position (can take the sensing detection technique to carry out the detection that targets in place), still can realize medical waste and collect the upper limit of depositing the volume when independently detect discernment suggestion change disposal bag and the corresponding disposal bag of automatic sealing up when reaching the dustbin.

Referring to fig. 1, in the entire dispensing process, the electrical control module is used to implement the actions and the coordination of the modules, and the coordination of the modules forms the environmental states of the drug area a, the dispensing area B, and the solvent area C, where the dispensing area B maintains a negative pressure state and the drug area a and the solvent area C can maintain a positive pressure state.

The invention also discloses a blending method of the intelligent intravenous medication blending robot, which comprises the following steps:

s1, acquiring a batch blending prescription bar code:

the preparing personnel performs the same batch preparing binding on the same prescription (the used medicines and the solvents are the same) in the database according to the prescription information of the medical advice, and prints and obtains the batch preparing prescription bar code;

s2, prescription information entry (entry of prescription information of the same batch) and prescription preparation:

the prescription information is entered in a mode of scanning and identifying according to the batch preparation prescription bar code, and medicines and solvents required in the batch prescription are prepared;

s3, synchronously placing a solvent tray, a medicine tray, a public solvent (code scanning identification placement) and a medicine dispenser (liquid injection medicine dispenser and suction medicine dispenser) (different operation bin doors can be synchronously carried out by three persons) and then closing each bin door after the medicine dispensers are placed into a designated position;

s4, moving the penicillin bottle to a designated position through the medicine input module, and grabbing the medicines in the medicine input area to a medicine liquid injection station to be oscillated and dissolved by using the manipulator module;

before step S4, the method further includes the steps of:

a1, a solvent bin automatically judges whether an unformulated solvent tray exists;

a2, automatically judging whether the solvent in the solvent tray needs to be blended;

a3, automatically judging whether the solvent in a clamp which holds the solvent in a solvent tray needs to be prepared;

a4, automatically judging according to the scanned solvent prescription information (whether the prescription is consistent with the prescription information of the same batch, and the dosage required by the prescription information);

a5, automatically judging whether manual processing is OK;

further comprising the steps of:

b1, automatically judging whether an unformulated medicine tray exists;

b2, automatically judging whether the medicine tray has medicines which are not prepared;

b3, automatically judging whether the vibration disc station is ready for OK;

s5, injecting a solvent used for diluting and dissolving the medicine in the prescription into the medicine through a liquid injection peristaltic pump module;

before step S5, the method further includes the steps of:

s51, automatically feeding a pre-placed suction dispensing device to a suction peristaltic pump, removing a needle sleeve, pressing a pump head, and inserting a needle into a common solvent bag;

s52, automatically feeding a tube to the suction peristaltic pump by the suction medicine dispenser and removing the needle sleeve;

s6, dissolving and diluting the penicillin drug injected with the solvent through a vibration dissolving module;

s7, the manipulator module grabs the dissolved and diluted medicine from the station of the oscillation dissolving module to the station to be sucked and connects the medicine to be sucked with the medicine clamping finger during suction;

s8, the dissolved and diluted medicine is pumped and injected into the finished product solvent through the pumping peristaltic pump module;

s81, judging whether the prescription (solvent) is completely pumped;

s9, outputting the finished product solvent after blending through a solvent module;

s91, the medicine warehouse judges whether the medicine needs to be added according to the prescription information of the batch;

s92, determining whether a public solvent needs to be added according to the prescription information of the batch;

s93, automatically prompting that the prescription of the batch is completely prepared, and taking out the public solvent.

In summary, the invention discloses an intelligent intravenous drug dispensing robot and a dispensing method, the intelligent intravenous drug dispensing robot comprises a complete machine frame, and a drug input module, a solvent module, a dissolving module, a liquid injection peristaltic pump module, a suction peristaltic pump module, a manipulator module, a garbage can module and an air purification module are arranged in the complete machine frame; the invention also provides an intelligent intravenous medication allocation method, which can be used for allocating prescriptions for clinical mass robots by adopting the robot or the allocation method, thereby meeting the problem of centralized allocation of large-batch same medicines in hospitals, saving manpower and improving the medicine allocation efficiency and quality.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides an intelligence robot for allotment of intravenous route medicine, includes the complete machine frame, its characterized in that, be provided with medicine input module, menstruum module in the complete machine frame, dissolve the module, annotate liquid peristaltic pump module, suction peristaltic pump module, manipulator module, dustbin module, air purification module, wherein:

the medicine input module is responsible for batch input of the prepared prescription medicines;

the solvent module is responsible for batch input of solvents required to be prepared into a prescription and output of finished product solvents after preparation is finished;

the oscillation dissolving module is responsible for dissolving and diluting the penicillin drug after the injection of the solvent;

the liquid injection peristaltic pump module is responsible for injecting a solvent used for diluting and dissolving the medicine in the prescription into the medicine;

the suction peristaltic pump module is used for sucking and injecting the dissolved and diluted medicine into a finished product solvent and is connected with a station of a suction link for conveying the dissolved and diluted medicine to the next step through a manipulator;

the mechanical arm module is used for grabbing the medicine in the medicine input area to a medicine liquid injection station to be oscillated and dissolved, grabbing the dissolved and diluted medicine from the station of the oscillating and dissolving module to a station to be pumped and connecting the dissolved and diluted medicine with the medicine clamping jaw during pumping;

the garbage can module is used for collecting and automatically sealing the medical waste in the blending process;

and the air purification module is responsible for the whole medicine blending environment to meet the requirements of the intravenous medicine blending on the dispensing environment specification.

2. The intelligent robot for dispensing intravenous drugs according to claim 1, wherein the drug input module comprises a drug input library, a drug tray, a drug translation module and a first detection device, the first detection device and the drug tray are disposed in the drug input library, the drug translation module is disposed on one side of the drug input library, the drug translation module comprises a horizontal sliding table and a bottom plate disposed on the horizontal sliding table, and the drug tray can slide outside the drug input library through the drug translation module.

3. The intelligent robot for dispensing intravenous drugs according to claim 2, wherein the drug input library comprises an input outer frame and an input inner frame connected with the input outer frame through a vertical sliding table, the input inner frame is provided with a plurality of support rails for placing the drug trays, the vertical sliding table is provided with a driving device, and the input inner frame is driven by the driving device to slide up and down along the vertical sliding table.

4. The intelligent robot for intravenous administration and drug blending according to claim 1, wherein the solvent module comprises a solvent reservoir, a solvent frame and a solvent translation module, wherein a plurality of rows of solvent clamps are arranged in the solvent frame and located in the solvent reservoir, the solvent translation module is arranged on one side of the solvent frame, and a jacking mechanism for lifting the solvent clamps is arranged above the solvent translation module.

5. The intelligent robot for dispensing intravenous injection according to claim 4, wherein a vertical sliding table and a solvent inner frame slidably connected with the vertical sliding table are disposed on the side of the solvent reservoir, and a vertical driving device is disposed on the vertical sliding table and drives the solvent inner frame to move up and down along the vertical sliding table.

6. The intelligent robot for dispensing intravenous drugs according to claim 1, wherein the oscillation dissolving module comprises a base, a hollow rotating platform arranged on the base, and a swing mechanism arranged on the hollow rotating platform, wherein a circle of the edge of the hollow rotating platform corresponds to a drug bottle placing station, a liquid injection station, a swing dissolving station and a grabbing station in sequence, the swing mechanism is arranged in one-to-one correspondence with each station, and the swing mechanism rotates along with the hollow rotating platform.

7. The intelligence robot is allocated to intravenous route of claim 1, its characterized in that, annotate the liquid peristaltic pump module and include slip table, slip table mount and cavity rotary platform, the drive of cavity rotary platform slip table and slip table mount are rotatory, it deposits the mechanism to be provided with the menstruum on the slip table, the menstruum is deposited the below of mechanism and is set gradually first notes liquid medicine dispenser fixation clamp, peristaltic pump and second and annotate liquid medicine dispenser fixation clamp, and the medicine dispenser both ends are fixed in on first notes liquid medicine dispenser fixation clamp and the second notes liquid medicine dispenser fixation clamp, wherein medicine dispenser hose portion passes the peristaltic pump.

8. The intelligent robot for intravenous administration and drug blending according to claim 1, wherein the suction peristaltic pump module comprises a drug clamping assembly, a suction peristaltic pump, a solvent marking module and a solvent injection assembly, the drug clamping assembly is disposed on one side of the suction peristaltic pump, the solvent injection assembly is disposed on the other side of the suction peristaltic pump, and the solvent marking module is disposed below the solvent injection assembly.

9. The intelligent robot for blending intravenous drugs according to claim 1, wherein the air purification module comprises a negative pressure region and a positive pressure region, the negative pressure region is internally provided with a first blower, a first blower filter, an exhaust fan, an exhaust filter and a matched ventilation channel, the first blower is arranged above the first blower filter, the exhaust fan is arranged below the exhaust filter, the ventilation channel is arranged on the side wall of the whole machine frame and is communicated with the exhaust fan and the negative pressure region, and the positive pressure region is sequentially provided with a second blower and a second blower filter above.

10. A dispensing method of the intelligent intravenous medication dispensing robot of any one of claims 1 to 9, comprising the steps of:

s1, acquiring a batch blending prescription bar code:

allocating personnel according to the medical advice prescription information to allocate the same prescription (perform the same batch allocation binding, print and obtain batch allocation prescription bar codes in the database;

s2, prescription information entry and prescription preparation:

the prescription information is entered in a mode of scanning and identifying according to the batch preparation prescription bar code, and medicines and solvents required in the batch prescription are prepared;

s3, synchronously placing a solvent tray, a medicine tray, a public solvent and a medicine dispenser, and closing each bin gate after placing the medicine dispenser at a designated position;

s4, moving the penicillin bottle to a designated position through the medicine input module, and grabbing the medicines in the medicine input area to a medicine liquid injection station to be oscillated and dissolved by using the manipulator module;

s5, injecting a solvent used for diluting and dissolving the medicine in the prescription into the medicine through a liquid injection peristaltic pump module;

s6, dissolving and diluting the penicillin drug injected with the solvent through a vibration dissolving module;

s7, the manipulator module grabs the dissolved and diluted medicine from the station of the oscillation dissolving module to the station to be sucked and connects the medicine to be sucked with the medicine clamping finger during suction;

s8, the dissolved and diluted medicine is pumped and injected into the finished product solvent through the pumping peristaltic pump module;

and S9, outputting the finished product solvent after blending through a solvent module.

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