JP7564485B2 - Co-infusion device, co-infusion method, and co-infusion control program - Google Patents

Description

The present invention relates to a co-infusion device that performs a co-infusion process in which a drug, such as an anticancer drug, contained in a drug container is injected into an infusion container.

A co-injection device is known that performs a co-injection process in which a drug, such as an anticancer drug, contained in a drug container such as a vial is drawn up with a syringe and the drug is injected into an infusion bag containing an infusion (see, for example, Patent Document 1). More specifically, a tray on which the drug containers and infusion bags of the drug indicated in the preparation data are placed is loaded into the co-injection device, and the co-injection process is performed using the drug containers and infusion bags placed on the tray.

JP 2012-250016 A

For example, if the medicine remaining in the medicine container after the first mixing process is performed can be used in the second mixing process that is performed thereafter, there is no need to put the medicine container of the medicine in the tray corresponding to the second mixing process, and the medicine can be used efficiently. However, in this case, if the order of performing the first mixing process and the second mixing process is changed after the trays corresponding to the first mixing process and the second mixing process are loaded into the mixing device, the medicine will be insufficient in the second mixing process and the second mixing process cannot be performed.

The object of the present invention is to provide a co-injection device, a co-injection method, and a co-injection control program that can suppress the adverse effects of supporting the efficient use of medicines in medicine containers loaded in the co-injection device.

The co-injection device according to the present invention includes a co-injection processing unit capable of executing a co-injection process in which a drug in a first container is injected into a second container based on preparation data, a co-injection control unit capable of allocating the drug in the first container remaining in the co-injection process based on second preparation data different from the first preparation data as the drug to be injected in the co-injection process based on the first preparation data executed by the co-injection processing unit, and a notification processing unit that notifies when a shortage of drug occurs in the co-injection process corresponding to one or more of the preparation data due to a change in the execution order of the co-injection process corresponding to the preparation data or a cancellation of execution.

The co-injection method according to the present invention is a co-injection method in a co-injection device equipped with a co-injection processing unit capable of executing a co-injection process in which a drug in a first container is injected into a second container based on preparation data, and includes the steps of: allocating the drug in the first container that remains in the co-injection process based on second preparation data different from the first preparation data as the drug to be injected in the co-injection process based on the first preparation data executed by the co-injection processing unit; and notifying the user when a shortage of drug occurs in the co-injection process corresponding to one or more of the preparation data due to a change in the order of execution of the co-injection process corresponding to the preparation data or a cancellation of execution.

The co-injection control program according to the present invention is a program for causing a control unit of a co-injection device having a co-injection processing unit capable of executing a co-injection process in which a drug in a first container is injected into a second container based on preparation data to execute the following steps: allocating the drug in the first container remaining in the co-injection process based on second preparation data different from the first preparation data as the drug to be flowed in the co-injection process based on the first preparation data executed by the co-injection processing unit; and notifying the user when a shortage of drug occurs in the co-injection process corresponding to one or more of the preparation data due to a change in the order of execution of the co-injection process corresponding to the preparation data or a cancellation of execution.

The present invention provides a co-injection device, a co-injection method, and a co-injection control program that can suppress the adverse effects of supporting the efficient use of medicines in medicine containers loaded in the co-injection device.

FIG. 1 is a block diagram showing a system configuration of a co-infusion apparatus according to an embodiment of the present invention. FIG. 2 is a perspective view showing the external configuration of the co-infusion device according to the embodiment of the present invention. FIG. 3 is a perspective view of a state in which a part of a storage unit of the co-infusion apparatus according to the embodiment of the present invention is omitted. FIG. 4 is a front view of the co-infusion device according to the embodiment of the present invention with a main door and a part of a front wall removed. FIG. 5 is a perspective view showing a tray used in the co-infusion apparatus according to the embodiment of the present invention. FIG. 6 is a perspective view of the co-infusion apparatus according to the embodiment of the present invention, seen from below. FIG. 7 is a perspective view showing a holding part of a first robot arm of the co-infusion apparatus according to the embodiment of the present invention. FIG. 8 is a perspective view showing a holding part of a second robot arm of the co-infusion apparatus according to the embodiment of the present invention. FIG. 9 is a schematic plan view showing a tray transport section of the co-infusion apparatus according to the embodiment of the present invention. FIG. 10 is a perspective view showing a mechanism of a tray transport unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 11 is a perspective view showing an ampoule cutter of the co-infusion apparatus according to the embodiment of the present invention. FIG. 12 is a perspective view showing the internal configuration of the stirring device of the co-infusion apparatus according to the embodiment of the present invention. FIG. 13 is a perspective view showing a medicine reading unit of a co-infusion apparatus according to an embodiment of the present invention. FIG. 14 is a perspective view showing a needle bending detection unit of a co-infusion apparatus according to an embodiment of the present invention. FIG. 15 is a perspective view showing the internal structure of the injection needle attaching/detaching device of the co-infusion apparatus according to the embodiment of the present invention. FIG. 16 is a perspective view showing the internal structure of the injection needle attaching/detaching device of the co-infusion apparatus 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 co-infusion device according to the embodiment of the present invention. FIG. 18 is a diagram showing the configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 19 is a diagram showing the configuration of a storage unit of a co-infusion apparatus according to an embodiment of the present invention. FIG. 20 is a diagram showing the configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 21 is a diagram showing the configuration of a storage unit of the co-infusion apparatus according to the embodiment of the present invention. FIG. 22 is a flowchart showing an example of a procedure of a mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 23 is a diagram showing an example of a display screen in a mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 24 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 25 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 26 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 27 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 28 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 29 is a flowchart showing an example of a procedure of a co-infusion control process executed by the co-infusion apparatus according to the embodiment of the present invention. FIG. 30 is a diagram showing an example of a printed matter printed as a preparation record sheet in the mixed injection management process executed by the mixed injection apparatus according to the embodiment of the present invention. FIG. 31 is a diagram showing an example of the operation of the injection process in the co-infusion apparatus according to the embodiment of the present invention. FIG. 32 is a diagram showing an example of an air bubble discharging operation in the co-infusion apparatus according to the embodiment of the present invention. FIG. 33 is a diagram showing an example of the operation of the infusion process in the co-infusion apparatus according to the embodiment of the present invention. FIG. 34 is a diagram showing an example of the operation of the syringe drop process in the co-infusion apparatus according to the embodiment of the present invention.

The following describes an embodiment of the present invention with reference to the attached drawings to facilitate understanding of the present invention. Note that the following embodiment is an example of the present invention and is not intended to limit the technical scope of the present invention. First, the first embodiment will be described. Note that in each embodiment described below, similar configurations or processes may be denoted by the same reference numerals and descriptions thereof may be omitted.

[Mixture device 1]
As shown in FIG. 1 and FIG. 2, the co-infusion device 1 according to the present embodiment includes a co-infusion control unit 100, a drug loading unit 200, a co-infusion processing unit 300, a storage unit 700, and a stirring device 32. The co-infusion device 1 is installed in a medical facility such as a hospital. In the co-infusion device 1, the co-infusion control unit 100 controls the operation of the co-infusion processing unit 300 and the storage unit 700 based on the preparation data, so that a co-infusion process is performed in which a drug such as an anticancer drug indicated in the preparation data is injected from a first container such as one or more ampoules or vials containing a predetermined amount of the drug into a second container such as an infusion bag with a syringe. The co-infusion process also includes a process of aspirating a drug from a first container such as an ampule or vial with a syringe and injecting it into a second container such as another ampule or vial.

[Mixed injection control unit 100]
First, a schematic configuration of the co-injection control unit 100 will be described with reference to Fig. 1. The co-injection control unit 100 includes a first control unit 400 and a second control unit 500 that are communicably connected. The first control unit 400 is provided on the drug loading unit 200 side, and the second control unit 500 is provided on the co-injection processing unit 300 side. In addition, a printer 506 (printing device) such as a monochrome printer, a color printer, or a label printer is connected to the second control unit 500, and the printer 506 is used to print various information on paper or labels.

The division of processing between the first control unit 400 and the second control unit 500 described in this embodiment is merely an example, and each process executed by the co-infusion control unit 100 may be executed by either the first control unit 400 or the second control unit 500. In addition, as another embodiment, the co-infusion control unit 100 may be a single control unit or may have three or more control units. Note that some or all of the processes executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC or DSP.

The first control unit 400 can also communicate with a higher-level system 600, such as an electronic medical record system or a dispensing management system, which inputs preparation data to the co-infusion device 1. The preparation data is preparation data generated based on prescription data or the prescription data itself. The prescription data includes, for example, the prescription issue date, patient ID, patient name, patient date of birth, drug information (drug code, drug name, dosage, etc.), dosage form information (oral, topical, etc.), usage information (three times a day after each meal, etc.), medical treatment type (outpatient, hospitalization, etc.), medical department, ward, and room. The preparation data also includes, for example, a preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescribed amount of drug, type of drug container (ampule containing drug solution, vial containing drug solution, vial containing powdered drug, etc.), preparation content information (type and number of drug containers, syringes, and needles used in the mixed injection process, etc.), preparation procedure information (task content, dissolved drug, solvent, amount of dissolved drug, amount of solvent, amount extracted), preparation date, prescription category, administration date, medical department, ward, designated preparation end time (or planned start time), required time, etc.

The first control unit 400 is a personal computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, and an operation unit 405. In addition, various electrical components such as a touch panel monitor 203, a barcode reader 204, and an air purifier 205, which are provided in the medicine loading unit 200, are connected to the first control unit 400.

The CPU 401 is a processor that executes processing according to various control programs. The ROM 402 is a non-volatile memory in which programs such as the BIOS executed by the CPU 401 are pre-stored. The RAM 403 is a volatile or non-volatile memory used for the expansion of various control programs by the CPU 401 and for temporary storage of data.

The data storage unit 404 is a non-volatile storage device such as a hard disk that stores various application programs and various data for causing the CPU 401 to execute various processes. For example, the data storage unit 404 stores the preparation data input from the upper system 600.

The first control unit 400 stores, in the data storage unit 404, the identification information of the tray 101 (described below) corresponding to each of the preparation data together with the preparation data input from the higher-level system 600. Specifically, the correspondence between the preparation data and the identification information of the tray 101 is performed by the first control unit 400. It is also possible that information indicating the correspondence between the preparation data and the identification information of the tray 101 is input from the higher-level system 600 to the co-infusion device 1 together with the preparation data.

In addition, the data storage unit 404 stores various databases such as a medicine master, a patient master, a doctor master, a prescription category master, a medical department master, and a ward master. The medicine master includes information such as a medicine code, a medicine name, a JAN code (or RSS), a medicine bottle code, a category (dosage form: powder (powder), a tablet, a liquid medicine, an external medicine, etc.), a specific gravity, a medicine type (ordinary medicine, an anticancer drug, a poison, a narcotic, a powerful drug, an antipsychotic, a therapeutic drug, etc.), a compounding change, an excipient drug, a caution, a medicine container type (ampule, vial), a medicine capacity (predetermined amount) per medicine container, a container shape information of the medicine container, and a medicine container weight. In addition, in the medicine master, a medicine used as a remaining medicine is registered in advance as a medicine to be stored as a remaining medicine, and the first control unit 400 can determine that the medicine container 10 registered as a remaining medicine storage target medicine is a target to be used as a remaining medicine.

Furthermore, the data storage unit 404 prestores a first co-infusion control program for causing the CPU 401 to execute various processes. The first co-infusion 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 first control unit 400, and installed in the data storage unit 404.

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

The second control unit 500 is a personal computer including a CPU 501, a ROM 502, a RAM 503, a data storage unit 504, an operation unit 505, etc. The second control unit 500 is connected to various electrical components provided in the mixed injection processing unit 300, such as a first robot arm 21, a second robot arm 22, a tray transport unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, a tray confirmation camera 41, and a syringe confirmation camera 42, which will be described later.

The CPU 501 is a processor that executes processing according to various control programs. The ROM 502 is a non-volatile memory in which programs such as BIOS executed by the CPU 501 are pre-stored. The RAM 503 is a volatile or non-volatile memory used for the expansion of various control programs by the CPU 501 and for 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 CPU 501 to execute various processes. Specifically, the data storage unit 504 prestores a second co-infusion control program for causing the CPU 501 to execute the co-infusion process described below. The second co-infusion 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 drug master as the data storage unit 404, and the second control unit 500 can refer to the drug master. In another embodiment, the second control unit 500 may be configured to be able to acquire information on the drug master via the first control unit 400.

The present invention may be understood as an invention of the first mixture control program, the second mixture control program, or a mixture control program integrating the first mixture control program and the second mixture control program for causing the CPU 401 and the CPU 501 to execute various processes in the mixture control unit 100. The present invention may also be understood as 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 integrating the first mixture control program and the second mixture control program is recorded. Furthermore, the present invention may be understood as an invention of a mixture method including one or more processing procedures executed in the mixture device 1.

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

[Drug loading section 200]
Next, a schematic configuration of the medicine loading section 200 will be described with reference to Fig. 2 and Fig. 3. Fig. 3 is a diagram showing a main part of the internal configuration of the medicine loading section 200, and the containing unit 700 is omitted.

As shown in Figures 2 and 3, the drug loading section 200 is a clean bench equipped with a door 201, a work table 202, a touch panel monitor 203, a barcode reader 204, and an air purifier 205. The drug loading section 200 and the mixed injection processing section 300 are connected to each other through a tray loading port 114 (see Figure 6) and a tray discharge port 701 (see Figure 21) formed on the side of the mixed injection processing section 300.

The work table 202 is used to perform preparation work for the co-infusion process executed by the co-infusion device 1, and the barcode reader 204, the tray 101, and the like are placed on the work table 202. A tray discharge port 206 that is opened and closed when removing the tray 101 discharged from the storage unit 700 is provided on the front side of the work table 202. An IC reader 207 (see FIG. 21) capable of reading information from the IC tag 101b of the tray 101 placed on the work table 202 is provided inside the work table 202. The reading result by the IC reader 207 is input to the first control unit 400.

The touch panel monitor 203 includes a display unit such as a liquid crystal display or an organic EL display that displays various information in response to control instructions from the first control unit 400, and an operation unit such as a touch panel that accepts touch operations by the user. Specifically, the touch panel monitor 203 displays preparation data that is a candidate for a co-infusion target in the co-infusion device 1. The second control unit 500 may be capable of displaying information on the touch panel monitor 203 via the first control unit 400 and accepting operation input to the touch panel monitor 203 via the first control unit 400.

The barcode reader 204 reads a barcode written on a prescription or preparation instructions, and inputs the contents of the barcode into the first control unit 400. The air purifier 205 supplies air through a specified filter into the medicine loading unit 200. The touch panel monitor 203 may be supported, for example, on a front panel 700A (see Figures 18 to 21) of the storage unit 700.

The door 201 is provided on the front of the drug loading section 200 and is a transparent member that can be opened and closed vertically. The door 201 may be omitted. As shown in FIG. 2, the user slightly opens the door 201 and places his/her hand inside the drug loading section 200 to perform preparation work for the co-infusion process performed by the co-infusion device 1. Specifically, as shown in FIG. 5, the tray 101 placed on the work table 202 contains a drug container 10 (an example of a first container), a syringe 11, and an infusion bag 12 (an example of a second container) to be used in the co-infusion process performed by the co-infusion device 1. The infusion bag 12 contains a predetermined amount of infusion fluid, such as physiological saline, glucose, or high-calorie infusion, corresponding to the type of the infusion bag 12. The drug contained in the drug container 10 is, for example, an anticancer drug, but may be a drug other than an anticancer drug. The preparation work includes, for example, a loading work 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. In the following, when the medicine container 10 is an ampoule, the medicine container 10 may be referred to as an ampoule 10A, and when the medicine container 10 is a vial, the medicine container 10 may be referred to as a vial 10B.

As shown in FIG. 5, the tray 101 has an electronic paper 101a that displays the patient name (patient identification information), regimen name (regimen identification information), and application in text, and an IC tag 101b such as an RFID (Radio Frequency Identification) tag that can read and write various information. The IC tag 101b is provided on the bottom surface of the tray 101, and is a recording medium that stores identification information for identifying the tray 101.

The tray 101 has an equipment placement section 102 (see FIG. 9) on which the drug container 10 and the injector 11 (syringe 11a, injection needle 11c, cap 11d) are placed, and an infusion bag holding section 103 (see FIG. 5) that holds the infusion bag 12. The equipment placement section 102 and the infusion bag holding section 103 are detachable from the tray 101 individually.

As shown in FIG. 5, the equipment 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 upright position on the support section 102A at an angle. This prevents medicine from accumulating in the neck of the ampoule 10A. In addition to the ampoule 10A, the injection needle 11c with the cap 11d attached and the like are also set in an upright position on the support section 102A at an angle.

As shown in Figs. 5 and 9, the vial bottle 10B and the syringe 11 are set in a horizontal state on the equipment placement section 102. At this time, the syringe 11 is in a state in which the syringe 11a and the injection needle 11c are separated. Of course, the arrangement form within the equipment placement section 102 described here is an example, and is not limited to this.

As shown in FIG. 5, the infusion bag holding part 103 is provided with a chuck part 140 for fixing the mixed injection port (neck part) of the infusion bag 12. In the preparation work, the user sets the infusion bag 12 in the infusion bag holding part 103 while the infusion bag 12 is held by the chuck part 140. The infusion bag holding part 103 is also provided with an engagement hole part 103a that is used when raising and lowering the infusion bag holding part 103.

The tray 101 is then stored in the storage unit 700 after the user sets the equipment such as the drug container 10, the syringe 11, and the infusion bag 12. As described later, the storage unit 700 can store a plurality of the trays 101, and the trays 101 are automatically supplied from the storage unit 700 to the mixed injection processing unit 300 through the tray discharge port 701 and the tray loading port 114 as necessary. After that, after the mixed injection processing in the mixed injection processing unit 300 is completed, the tray 101 is discharged from the tray discharge port 15 (see FIG. 3) of the mixed injection processing unit 300 with the infusion bag 12 stored therein, or is discharged from the tray discharge port 206 (see FIG. 3) of the drug loading unit 200 via the storage unit 700.

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

As shown in Figures 2 to 4, the front of the mixed injection processing unit 300 is provided with a main door 301, a syringe removal door 302, a waste storage chamber door 13, a touch panel monitor 14, and a tray discharge port 15.

The main door 301 is opened and closed to access the mixed injection processing chamber 104, for example, for the purpose of cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300 or for the purpose of removing the drug container 10. In addition to dispensing the infusion bag 12 into which a drug has been injected, it is also possible to dispense the syringe 11 in a state in which the drug is filled, and the syringe removal door 302 is used when removing the syringe 11 from the mixed injection processing chamber 104.

The waste storage chamber door 13 is opened and closed to remove waste from the waste storage chamber 13a in which waste such as the drug container 10 and the syringe 11 is stored after use in the mixed injection process in the mixed injection process chamber 104. The tray discharge port 15 is opened and closed to remove the tray 101 on which the infusion bag 12 is placed after the drug is mixed in the mixed injection process in the mixed injection process chamber 104.

The touch panel monitor 14 includes a display unit such as a liquid crystal display or an organic EL display that displays various information in response to control instructions from the second control unit 500, and an operation unit such as a touch panel that accepts touch operations by the user. The touch panel monitor 14 can display images or videos captured by various cameras, which will be described later, for example. The first control unit 400 may be capable of displaying information on the touch panel monitor 14 via the second control unit 500, and of accepting operation input to the touch panel monitor 14 via the second control unit 500.

As shown in FIG. 4, the waste storage chamber 13a is provided with a waste container 13b for disposing of liquid such as infusion liquid contained in the infusion bag 12, and a weighing scale 13c for measuring the weight of the waste container. The waste container 13b is detachable from the waste storage chamber 13a when the waste storage chamber door 13 is open. A communication port (not shown) communicating with the waste container 13b is formed above the waste container 13b on the bottom surface of the mixed injection processing chamber 104. The second robot arm 22 described later can operate the syringe 11 to dispose of the liquid in the syringe 11 from the communication port into the waste container 13b.

The weighing scale 13c has, for example, a load cell that inputs an electric signal corresponding to the weight of the waste container 13b to the second control unit 500. This allows the second control unit 500 to obtain the amount of liquid discarded when discarding the liquid based on the weighing results of the waste container 13b by the weighing scale 13c before and after the liquid is discarded into the waste container 13b. For example, the second control unit 500 compares the amount of liquid discarded from the syringe 11 with the amount of liquid discarded determined based on the preparation data, etc., and if the comparison results do not match, displays an error on the touch panel monitor 14, etc. to notify the user. In addition, the second control unit 500 records the comparison results in the data storage unit 504 as history information of the mixed injection process. This allows for accurate checking of the consistency of the amount of liquid discarded from the syringe 11 and management of the amount of waste liquid.

[Mixed injection processing chamber 104]
As shown in Figures 3 and 4, the mixed injection processing chamber 104 is provided with a first robot arm 21, a second robot arm 22, an ampoule cutter 31, the agitator 32, a mounting shelf 33, a drug reading unit 34, a weighing scale 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, and a trash lid 132a. Furthermore, as shown in Figure 6, a tray confirmation camera 41, a syringe confirmation camera 42, an injection needle attachment/detachment device 43, a needle insertion confirmation camera 44, a germicidal lamp 45, etc. are provided on the ceiling side of the mixed injection processing chamber 104.

[First robot arm 21, second robot 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 hanging manner with their base ends fixed to the ceiling side of the mixed injection processing chamber 104. For example, the first robot arm 21 and the second robot arm 22 each have 5 to 8 joints. In the mixed injection device 1, each work process in the mixed injection processing is performed by the double-armed first robot arm 21 and the second robot arm 22.

Specifically, the second control unit 500 drives the drive motors provided at each joint of the first robot arm 21 and the second robot arm 22 individually, and causes the first robot arm 21 and the second robot arm 22 to perform each task in the co-injection process. Note that the co-injection processing unit 300 may have, for example, a configuration having one robot arm, a configuration including three or more robot arms, or a configuration without using a robot arm, as long as it has a structure capable of performing the co-injection process.

As shown in FIG. 6, the first robot arm 21 has a holding part 25 capable of holding equipment such as the drug container 10 and the syringe 11, and is capable of moving the holding part 25 to any position within a predetermined movable range. The second robot arm 22 has a holding part 26 capable of holding equipment such as the drug container 10 and the syringe 11, and is capable of moving the drug container 10, the syringe 11, etc. to any position within a predetermined movable range. In addition, the holding part 26 is capable of performing the operation of aspirating and injecting the drug using the syringe 11.

As shown in FIG. 7, the holding unit 25 of the first robot arm 21 includes a pair of gripping claws 25a, a motor 251, two screw shafts 252, 253 rotated by the motor 251, and nut blocks 254, 255 screwed onto the screw shafts 252, 253. The pair of gripping claws 25a are fixed to the nut blocks 254, 255, respectively. The nut blocks 254, 255 move due to the rotation of the screw shafts 252, 253, and the pair of gripping claws 25a move toward and away from each other, thereby holding the drug container 10 or the like with the holding unit 25 or releasing the holding.

The pair of gripping claws 25a are gripping parts that have a recess suitable for holding the vial bottle 10B, and also have a recess on the tip side suitable for holding the ampoule 10A. In FIG. 7, both the ampoule 10A and the vial bottle 10B are shown being held, but in reality, one of the ampoule 10A or the vial bottle 10B is held.

The holding unit 25 can also hold the injection needle 11c with the cap 11d attached or the syringe 11 by the pair of gripping claws 25a. The second control unit 500 can measure the diameter of the syringe 11 according to 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 the syringe 11 is the syringe specified in the preparation content information of the preparation data.

As shown in FIG. 8, the holding unit 26 of the second robot arm 22 includes a syringe holding unit 261, a plunger holding unit 262, and a moving unit 263. The syringe holding unit 261 includes a pair of gripping claws 261a that hold the syringe 11a of the syringe 11. The pair of gripping claws 261a are gripping units that move toward and away from each other to hold and release the syringe 11a of the syringe 11 by a mechanism similar to the drive mechanism used in the holding unit 25. In addition, in the pair of gripping claws 261a, an inclined portion 261b that slopes downward from the upper end surface of the gripping claws 261a toward the opposing surface is formed on the opposing surfaces of the pair of gripping claws 261a.

The plunger holding portion 262 is provided with a pair of gripping claws 262a that hold the flange of the plunger 11b of the syringe 11. The pair of gripping claws 262a are gripping portions that move toward and away from each other to hold and release the flange of the plunger 11b of the syringe 11 by a mechanism similar to the drive mechanism used in the holding portion 25. A gripping claw 262b is fixed to the upper surface of each of the gripping claws 262a. Each of the gripping claws 262b is a gripping portion that moves toward and away from the pair of gripping claws 262a to hold not only the syringe 11 but also other equipment such as the medicine container 10 by moving the pair of gripping claws 262a toward and away from each other. In addition, a recess is formed on the upper surface of the opposing side of the pair of gripping claws 262a into which the flange of the plunger 11b fits. In addition, the tips of the pair of gripping claws 262b protrude forward further than the pair of gripping claws 262a, making it easy for the pair of gripping claws 262b to grip the ampule 10A, the vial bottle 10B, and other equipment. The gripping claws 262b may be provided on the gripping claws 261a.

The moving unit 263 is capable of moving the plunger holding unit 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, for example, a motor, a screw shaft rotated by the motor, a nut block screwed onto the screw shaft, a guide, etc. The plunger holding unit 262 is fixed to the nut block and moves due to the movement of the nut block.

[Tray conveying section 110]
In addition, the mixed injection processing unit 300 is provided with a tray transport unit 110 capable of transporting the tray 101 back and forth between the tray loading port 114 at the right end in FIG. 6 and the tray transport terminal end 110a at the left end.

9 is a schematic plan view showing an example of the transport path of the tray 101 in the tray transport unit 110. The inside of the tray transport unit 110 is set to a more positive pressure than the inside of the mixed injection processing chamber 104. As shown in FIG. 9, the tray transport unit 110 is configured to transport the tray 101 by passing through the rear side of the garbage storage chamber 13a located below the mixed injection processing chamber 104 and below the garbage lid 132a. This allows access to the garbage storage chamber 13a from the front side of the mixed injection device 1. In FIG. 9, the tray 101 moving in the tray transport unit 110 is shown by a two-dot chain line to show the transport path of the tray transport unit 110, and multiple trays 101 do not exist in the tray transport unit 110 at the same time. The tray transport section 110 may be configured to transport multiple trays 101 simultaneously between the tray loading opening 114 and the tray transport end 110a within the tray transport section 110.

The tray transport start section 110b of the tray transport section 110 is provided with a belt conveyor (not shown) capable of drawing the tray 101 inserted from the tray loading port 114 into the inside or discharging the tray 101 from the tray loading port 114. Also provided are an IC reader 101c and an IC reader 15a capable of reading information from the IC tag 101b provided in the infusion bag holding section 10 of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from an RFID tag. The IC reader 101c is provided in the tray transport start section 110b where the tray 101 is loaded from the tray loading port 114, and the IC reader 15a is provided in the tray transport end section 110a where the tray 101 is discharged from the tray discharge port 15.

Then, when the second control unit 500 determines based on the sensor output (not shown) that the tray 101 has been inserted from the tray loading port 114 to the tray transport start section 110b, it reads information from the IC tag 101b with the IC reader 101c. Also, when the second control unit 500 determines based on the sensor output (not shown) that the tray 101 has been inserted into the tray transport end section 110a, it reads information from the IC tag 101b with the IC reader 15a. Similarly, the second control unit 500 can read information from the IC tag 101b with the IC reader 101c when the tray 101 is transported from the tray transport start section 110b to the storage unit 700 through the tray loading port 114. Then, the second control unit 500 executes a tray matching process to determine whether the tray 101 is suitable or not according to the reading results by the IC reader 101c and the IC reader 15a.

When the second control unit 500 determines that the tray 101 has passed through the tray loading port 114 and reached a predetermined position in the tray transport unit 110 based on, for example, the output of a sensor (not shown), it opens the shutter 111, which connects and shields the tray transport unit 110 and the mixed injection processing chamber 104, by sliding it horizontally. When the shutter 111 is opened, the equipment placement unit 102 is exposed in the mixed injection processing chamber 104. Figure 9 shows the state in which the equipment placement unit 102 is exposed in the mixed injection processing chamber 104.

As shown in FIG. 10, the tray transport section 110 is provided with a tray lifting section 112 that lifts and lowers the material placement section 102 in the tray 101 that has been moved into the tray transport section 110 through the tray loading port 114. The tray lifting section 112 lifts the material placement section 102 from below upward, for example, by driving four shafts 112a that are provided so as to be able to be raised and lowered in the vertical direction.

The second control unit 500 then raises the instrument placement unit 102 using the tray lift unit 112, and then photographs the instrument placement unit 102 using the tray confirmation camera 41. The tray confirmation camera 41 photographs the medicine containers 10 and the syringes 11, etc., placed on the predetermined instrument placement unit 102 from above. The second control unit 500 executes image recognition processing using the image captured by the tray confirmation camera 41, and determines whether the number of medicine containers 10 and the syringes 11 (syringes 11a and injection needles 11c) indicated in the preparation data are present on the instrument placement unit 102, etc.

10, the tray transport end 110a located in the left space of the mixed injection processing chamber 104 is provided with a bag lifting unit 113 for lifting the infusion bag holding unit 103. The second control unit 500 transports the tray 101 to the front of the bag lifting unit 113, and then hooks the hook portion 113a of the bag lifting unit 113 into the engagement hole portion 103a from below. The second control unit 500 then lifts the infusion bag holding unit 103 by rotating the arc gear portion 113b on which the hook portion 113a is formed by the motor 113c, thereby positioning the mixed injection port of the infusion bag 12 at the mixed injection communication port 37. In addition, the second control unit 500 can control the motor 113c to drive the bag lifting unit 113 to tilt the infusion bag holding unit 103 and point the mixing port of the infusion bag 12 upward or downward.

As shown in FIG. 6, a dome-shaped light 120 and an infusion camera 121 are provided above the tray transport terminal 110a to illuminate the infusion bag 12 transported to the tray transport terminal 110a. The infusion camera 121 is provided in the center of the dome-shaped light 120 and reads the barcode on the surface of the infusion bag 12. This allows the second control unit 500 to determine whether the infusion bag 12 is suitable or not according to the information on 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 chip tray 31b, a head insertion portion 31c, a drive box 31f, a chip box 31g, and a grip portion 31h.

The file portion 31a is a member for notching the neck of the ampoule 10A, and debris resulting from the notching in the file portion 31a falls into the debris tray 31b. Specifically, in the co-infusion device 1, the first robot arm 21 holds the ampoule 10A and slides the neck of the ampoule 10A against the file portion 31a, thereby notching the neck of the ampoule 10A.

The head insertion portion 31c has a hole 31d into which the notched head of the ampule 10A is inserted from below, and a pusher 31e located to the side of the head of the ampule 10A that protrudes upward from the hole 31d. Meanwhile, the drive box 31f has a cam provided therein and a drive motor that drives the cam, and when the cam is driven by the drive motor, the cam causes the pusher 31e to reciprocate in a direction approaching and moving away from the head of the ampule 10A.

In the co-infusion device 1, the first robot arm 21 holds the ampoule 10A with the gripping claws 25a, and inserts the head of the ampoule 10A into the hole 31d from below to protrude the head above the neck. After that, the second control unit 500 drives the drive motor of the drive box 31f to move the pusher 31e in a direction to push the head of the ampoule 10A, and the head is pushed and broken by the pusher 31e. At this time, the head broken by the pusher 31e falls into the waste box 31g. The gripping portion 31h is used by the user to grip the ampoule cutter 31 when sliding it along a rail 31i (see FIG. 4) that slidably supports the ampoule cutter 31.

[Stirring device 32]
The agitator 32 is used when a medicine that needs to be dissolved, such as a powdered medicine, is injected into the vial 10B to dissolve the medicine and generate a mixed medicine. Specifically, the agitator 32 is used in a mixing process for mixing the medicine in the vial 10B. The agitator 32 is disposed in a position accessible to a user when the main door 301 is opened.

As shown in FIG. 12, the stirring device 32 includes a roller 32a, a pressing portion 32b, a rotation support portion 32c, a support base 32d, a horizontal rocking mechanism 32e, a support portion 32f, and a drive motor 32g. The two rollers 32a are arranged facing each other at a predetermined distance. One of the rollers 32a is supported so as to be freely rotatable, and the other roller 32a is connected to the drive motor 32g. Each of the rollers 32a is elongated in the axial direction, and the stirring device 32 can simultaneously stir two vials 10B placed on both axial ends of the roller 32a.

The pressing portion 32b is a driven roller that is used to press down the vial bottle 10B placed on the roller 32a from above and rotates with the rotation of the vial bottle 10B. The rotation support portion 32c rotates the pressing portion 32b in a direction of contacting or separating from the vial bottle 10B by a drive motor (not shown).

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

The support portion 32f has U-shaped notches at both axial ends of the roller 32a into which the neck of the vial 10B fits. When the vial 10B is placed on the roller 32a, the neck of the vial 10B engages with the notches. As a result, when the support base 32d is swung in the axial direction of the roller 32a by the horizontal swing mechanism 32e, the vial 10B swings in response to the axial swing of the roller 32a, and the medicine in the vial 10B is stirred horizontally.

On the other hand, when the vial bottle 10B is placed between the two rollers 32a and the drive motor 32g is driven, the vial bottle 10B is rotated by the other roller 32a connected to the drive motor 32g, and the medicine in the vial bottle 10B is stirred. At this time, the one roller 32a rotates in the same direction as the other roller 32a due to the rotation of the vial bottle 10B. In addition, if at least one of the rollers 32a is eccentrically driven, it is possible to stir the vial bottle 10B placed on the roller 32a in the vertical direction (up and down direction).

[Loading shelf 33]
As shown in FIG. 4, the placement shelf 33 is used to temporarily place the drug container 10 and the syringe 11 in the mixed injection process performed in the mixed injection device 1. The placement shelf 33 is also used to store the drug container 10 in which the drug used in the mixed injection process remains. The placement shelf 33 is provided at a position accessible to both the first robot arm 21 and the second robot arm 22. On the placement shelf 33, the vial bottle 10B is placed in an upright state at a predetermined position. On the other hand, the placement shelf 33 is provided with an inclined holding portion for holding the ampoule 10A in an inclined state, and the ampoule 10A is placed in an inclined state on the inclined holding portion. In addition, the placement shelf 33 is formed with a neck holding hole of a predetermined diameter into which the neck of the syringe 11 fits, and the syringe 11 is temporarily placed with the neck facing downward without the injection needle 11c attached.

[Drug reading unit 34]
The medicine reading unit 34 reads a barcode indicating medicine information of the medicine contained in the medicine container 10, which is written on a label attached to the medicine container 10 such as the ampule 10A and the vial bottle 10B. Specifically, the medicine reading unit 34 includes two rollers 34a and a barcode reader 34b, as shown in FIG. 13. The rollers 34a are arranged facing each other at a predetermined interval. One of the rollers 34a is supported rotatably, and the other roller 34a is connected to a drive motor (not shown). The two rollers 34a are driven by the drive motor to rotate the medicine container 10 placed between the rollers 34a in a circumferential direction. This allows the medicine container 10 to rotate once in the circumferential direction, so that the entire area of the label attached to the medicine container 10 can be directed to the barcode reader 34b. The barcode reader 34b then reads a barcode from the label of the medicine container 10 rotated by the roller 34a.

[Weighing scale 35]
The weighing meter 35 is used to measure the weight of the syringe 11 in the co-infusion process executed in the co-infusion device 1, and the measurement result by the weighing meter 35 is input to the second control unit 500. The weighing meter 35 is disposed within the movable range of the second robot arm 22, and measures the weight of the syringe 11 placed by the second robot arm 22. In addition to the weighing meter 35, a weighing meter that weighs the medicine container 10 or the syringe 11, etc. may be provided on the placement shelf 33.

[Needle bending detection unit 36]
As shown in Fig. 14, the needle bending detection unit 36 is formed with an elongated hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. The needle bending detection unit 36 also includes a first optical sensor 361 and a second optical sensor 362 that irradiate and receive detection light across the elongated hole 36a and are arranged so that their detection lights are non-parallel to each other. That is, the first optical sensor 361 and the second optical sensor 362 irradiate detection light in different directions. Detection results by the first optical sensor 361 and the second optical sensor 362 are input to the second control unit 500.

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

As a result, the second control unit 500 can detect bending of the injection needle 11c using the position information of the injection needle 11c when the detection light is blocked. In another embodiment, the injection needle 11c is photographed with a camera and needle bending is detected by image recognition of the photographed image. If the injection needle 11c is bent, the second control unit 500 can adjust the needle tip position when the injection needle 11c punctures the rubber stopper of the mixed injection port of the infusion bag 12 with the injection needle 11c, for example, by the second robot arm 22, based on the amount of bending of the injection needle 11c.

[Mixed injection communication port 37]
3, the mixed injection communication port 37 is formed in a dome-shaped portion protruding outward from the side wall of the mixed injection processing chamber 104, and a notch for passing the mixed injection port of the infusion bag 12 in the vertical direction is formed in the dome-shaped portion. Therefore, when the infusion bag holding portion 103 rises, the mixed injection port of the infusion bag 12 is positioned in the mixed injection processing chamber 104. As a result, the injection needle 11c of the syringe 11 held by the second robot arm 22 can be inserted into the mixed injection 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 at the tray transport end 110a can be viewed from the mixed injection processing unit 300, and is used when taking images to confirm that the injection needle 11c of the syringe 11 has been inserted into the infusion bag 12.

[Syringe Confirmation Camera 42]
In addition, the syringe confirmation camera 42 is disposed on the ceiling of the co-injection processing unit 300 as shown in FIG. 6. The syringe confirmation camera 42 is used to photograph the syringe 11 in order to confirm the presence and amount of the drug aspirated into the syringe 11. The syringe confirmation camera 42 may photograph an image within a pre-fixed photographing range, or may be controlled by the second control unit 500 to arbitrarily change the position and size of the photographing range. In addition, as described later, in the co-injection device 1, the syringe confirmation camera 42 photographs the syringe 11 and the drug container 10 at once, providing a highly reliable inspection image. The second control unit 500 records the photographed image by the syringe confirmation camera 42 in a storage unit such as the data storage unit 404, the data storage unit 504, or a hard disk provided outside the co-injection device 1, for example, in order to inspect the appropriateness of the co-injection process performed by the co-injection device 1 with the image. Then, the second control unit 500 causes the image captured by the syringe confirmation camera 42 to be displayed on a display device such as the touch panel monitor 14 or the touch panel monitor 203 during the inspection by the user.

[Injection needle attachment/detachment device 43]
As shown in Figures 15 and 16, in the injection needle attaching/detaching device 43, the tip of the injection needle 11c with the cap 11d attached is inserted upward into the hole 43b of the chuck portion 43a in which a notch is formed. When the motor 43c is driven, the hole 43b of the chuck portion 43a is expanded by a cam mechanism (not shown), and the injection needle 11c can be inserted together with the cap 11d. When the driving of the motor 43c is stopped, the cap 11d and the injection needle 11c are maintained in a held state by the spring 43d. When the needle rotating motor 43e is driven, the gears 43f and 43g rotate, the chuck portion 43a rotates, and the cap 11d and the injection needle 11c rotate.

The injection needle 11c and the cap 11d are each provided with a rib that comes into contact when the cap 11d rotates in the circumferential direction while attached to the injection needle 11c. Therefore, when the cap 11d of the injection needle 11c is rotated by the chuck portion 43a, the injection needle 11c rotates together with the cap 11d and is attached to and detached from the syringe 11a. In addition, in the injection needle attachment/detachment device 43, the second robot arm 22 can automatically attach and detach the cap 11d to and from the injection needle 11c by moving the syringe 11 close to or away from the chuck portion 43a while the cap 11d is held by the chuck portion 43a. In addition, in the injection needle attachment/detachment device 43, since the tip of the injection needle 11c faces upward, the tip opening of the syringe 11a from which the injection needle 11c has been removed faces upward, and dripping from the neck opening of the syringe 11a can be prevented.

[Needle insertion confirmation camera 44]
In addition, the needle insertion confirmation camera 44 photographs the infusion bag 12 located outside the mixed injection processing chamber 104 and the syringe 11 in the mixed injection processing chamber 104 so that they fit within one image. When the second control unit 500 punctures the rubber stopper of the mixed injection port of the infusion bag 12 with the injection needle 11c, the needle insertion confirmation camera 44 photographs the direction of the needle insertion confirmation transparent window 38. The image photographed by the needle insertion confirmation camera 44 is displayed on, for example, the touch panel monitor 14. Here, FIG. 17 is an example of an image photographed by the needle insertion confirmation camera 44. This allows the user to check whether the tip side of the injection needle 11c is located in the infusion bag 12 by the photographed image. The photographed image is stored in a storage unit such as a hard disk provided inside or outside the mixed injection device 1 for final inspection, for example. Then, when the user operates the OK button on the touch panel monitor 14 on which the captured image is displayed, determining that the co-infusion process has been properly completed, the infusion bag 12 is lowered by the bag lifting section 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 mixed injection process. As shown in FIG. 6, one of the two germicidal lamps 45 is provided at a position between the first robot arm 21 and the second robot arm 22. Therefore, the amount of germicidal light blocked by the first robot arm 21 and the second robot arm 22 is reduced, and the mixed injection processing chamber 104 can be sterilized evenly. In addition, the mixed injection processing unit 300 is provided with an exhaust system that sucks the air in the mixed injection processing chamber 104 from a slit 104b (see FIGS. 3 and 4) formed in the lower part of the side wall of the mixed injection processing chamber 104 and exhausts it from an exhaust fan (not shown) provided above the mixed injection processing chamber 104. In addition, an air supply system is also provided that cleans the outside air from an air intake formed in the ceiling part of the mixed injection processing chamber 104 and leads it to the mixed injection processing chamber 104, etc.

Next, the storage unit 700 will be described with reference to Figures 18 to 21. Note that Figure 18 is a front view of the drug loading section 200 and the storage unit 700, Figure 19 is a cross-sectional view taken along line II in Figure 18, and Figure 20 is a cross-sectional view taken along line II-II in Figure 18. Also, Figure 21 is a schematic diagram showing the internal configuration of the storage unit 700. Note that the following description may use the up-down, left-right, and front-back directions shown in Figures 18 to 21.

The storage unit 700 includes a tray loading section 710, a lifting unit 800, and a tray transport section 900, and is controlled by the co-infusion control section 100. The tray loading section 710 and the lifting unit 800 are disposed behind the work table 202, and the tray transport section 900 is disposed below the work table 202. The storage unit 700 can store a plurality of the trays 101, and the co-infusion control section 100 can transport 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 here, as long as it can achieve the same function.

The tray loading section 710 includes a shutter 712 that opens and closes a tray loading port 711 used to load the tray 101 into the storage unit 700, and a drive section 713 that opens and closes the shutter 712. The drive section 713 is, for example, a belt conveyor 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 and 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 backward on the work table 202. The tray loading port 711 is disposed at a position spaced apart from the tray discharge port 206 in the vertical direction. Specifically, the tray loading port 711 is disposed at a higher position than the tray discharge port 206.

The lifting unit 800 includes a movable housing 810 supported so as to be liftable in the vertical direction, a plurality of tray storage sections 811 arranged vertically in the movable housing 810, drive sections 812 and 813 used to load and unload the tray 101 into and from the tray storage section 811, and a lifting mechanism 820 for lifting the movable housing 810 in the vertical direction. The movable housing 810 is supported so as to be slidable in the vertical direction, for example, by a rail section (not shown) formed on the inner surface of the housing of the storage unit 700. The movable housing 810 can be lifted and lowered at least between a state in which the uppermost tray storage section 811 is positioned above the tray loading opening 711 and a state in which the lowermost tray storage section 811 is positioned below the tray loading opening 711. In particular, the movable housing 810 moves up and down within a range that allows each of the tray storage sections 811 to be positioned in a state in which the tray 101 can be moved between the tray storage section 811 and the tray loading section 710, and in a state in which the tray 101 can be moved between the tray storage section 811 and the tray transport section 900.

The tray storage section 811 is a belt conveyor including a pair of left and right belts 814 capable of supporting the tray 101, a plurality of tension rollers 815 supporting each of the belts 814 so that the belts 814 can run, and a magnet gear 816 connected to one of the tension rollers 815. The driving section 812 and the driving section 813 are motors capable of rotating the magnet gears 812a and 813a in the forward and reverse directions. The magnet gears 812a and 813a can synchronously rotate the magnet gear 816 arranged in an opposing position by magnetic force. That is, the driving force of the driving sections 812 and 813 is transmitted from the magnet gears 812a and 813a to the magnet gear 816 of the tray storage section 811 in a non-contact manner. The magnet gear 816 then runs the tension rollers 815 and the belts 814.

Therefore, even if the lifting unit 800 has three or more stages of tray storage sections 811, it is possible to drive each of the tray storage sections 811 using the two drive sections 812, 813. Therefore, in the co-infusion device 1, dust generation and costs in the lifting unit 800 can be suppressed compared to a case where a drive section such as a motor is provided for each tray storage section 811, and the moving housing 810 that moves in the vertical direction can be made lighter.

The magnet gear 812a and the magnet gear 813a are disposed at different positions in the vertical direction. Specifically, the magnet gear 812a is disposed at a position facing the magnet gear 816 of the tray storage unit 811 disposed at a position where the tray 101 can be loaded from the work table 202 through the tray loading port 711. The magnet gear 813a is disposed below the magnet gear 812a at a position facing the magnet gear 816 of the tray storage unit 811 disposed at a position where the tray 101 can be moved between the tray storage unit 811 and the tray transport unit 900.

In this way, in the storage unit 700, the area below the work table 202 can be effectively utilized to transport the tray 101, for example, between the tray storage section 811 and the tray transport section 900. Hereinafter, the position of the tray storage section 811 at which the tray 101 can be carried from the work table 202 to the tray storage section 811 may be referred to as a first movement position, and the position of the tray storage section 811 at which the tray 101 can be moved between the tray storage section 811 and the tray transport section 900 may be referred to as a second movement position.

The lifting mechanism 820 is a belt conveyor equipped with a motor 821, a pair of left and right belts 822, and a number of tension rollers 823. The motor 821 drives the tension rollers 823 to make each of the belts 822 run vertically. Each of the belts 822 is connected to the movable housing 810. The lifting mechanism 820 moves the movable housing 810 vertically by making each of the belts 822 run vertically by forward or reverse rotation of the motor 821.

The tray transport unit 900 includes a first transport unit 910, a second transport unit 920, an IC reader 930, and a third transport unit 940. The first transport unit 910 can transport the tray 101 in the front-rear direction, and the second transport unit 920 can transport the tray 101 in the left-right direction. For example, each of the first transport unit 910, the second transport unit 920, and the third transport unit 940 is a belt conveyor including a motor, a gear, a tension roller, a belt, etc., and the belt is driven by the motor, the gear, and the tension roller to transport the tray 101 held on the belt.

More specifically, the first transport unit 910 can transport the tray 101 housed in the tray housing unit 811 toward the tray discharge port 206. The first transport unit 910 can house the tray 101 in the tray housing unit 811. The second transport unit 920 is configured to be movable in the vertical direction and can move between a usable state in which the tray 101 placed on the first transport unit 910 can be transported in the horizontal direction and a retracted state (see FIG. 21) in which the tray 101 is retracted downward from the usable state. The third transport unit 940 can transport the tray 101 between the second transport unit 920 and the tray discharge port 701 when the second transport unit 920 is in the usable state.

For example, when the second conveying unit 920 transitions from the retracted state to the usable state, it moves upward while holding the tray 101 placed at a predetermined position on the first conveying unit 910, thereby making it possible to convey the tray 101 between the third conveying unit 940. Also, when the second conveying unit 920 transitions from the usable state to the retracted state, it moves downward below the first conveying unit 910 while holding the tray 101 placed on the second conveying unit 920, and hands over the tray 101 to the first conveying unit 910.

Thereby, in the usable state, the second conveying unit 920 can convey the tray 101 discharged from the tray storage unit 811 onto the first conveying unit 910 to the third conveying unit 940. In addition, in the usable state, the second conveying unit 920 can receive the tray 101 supplied from the mixed injection processing unit 300 via the tray discharge port 701 via the third conveying unit 940 and convey it to the first conveying unit 910.

The IC reader 930 is capable of reading information from the IC tag 101b of the tray 101 placed on the first transport section 910 of the tray transport section 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 section 500.

The stock shelf may be provided with a door with a key that can be opened and closed to remove the trays 101 from a position different from the storage unit 700 side with respect to the individual storage sections in which the trays 101 are stored individually. This allows, for example, a user to remove the trays 101 from the stock shelf as needed and inspect them all at once, and also allows the users who can remove the trays 101 to be limited to specific users who have a key to the door.

[Mixed injection processing]
Next, an example of a basic processing procedure of the co-infusion processing executed by controlling the co-infusion processing unit 300 by the co-infusion control unit 100 in the co-infusion device 1 will be described. In the co-infusion processing, as described below, the second control unit 500 controls the first robot arm 21 and the second robot arm 22, etc., to aspirate a drug from one or more drug containers 10 with the syringe 11 based on the preparation data, and inject the drug from the syringe 11 into another container such as the infusion bag 12.

[Mixed injection process using vial 10B]
Next, a basic operation of the mixed injection process will be described when the medicine contained in the vial bottle 10B is a powdered medicine that needs to be dissolved, and the medicine is mixed with an infusion liquid and then injected into the infusion bag 12. Also, the process after the tray 101 is supplied from the storage unit 700 to the mixed injection processing unit 300 will be described. Note that the description of the mixed injection process using the ampoule 10A will be omitted.

When the tray 101 is supplied to the tray transport 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 the IC reader 101c. Then, when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the co-infusion process, the second control unit 500 opens the shutter 111. After that, the second control unit 500 raises the equipment placement unit 102 of the tray 101 by the tray lift unit 112 of the tray transport unit 110 to expose it to the co-infusion process chamber 104.

Next, the second control unit 500 photographs the instrument placement unit 102 with the tray confirmation camera 41. Then, the second control unit 500 grasps the positions and orientations of the instruments, such as the vial bottle 10B and the syringe 11, placed on the instrument placement unit 102 by image recognition processing based on the image photographed by the tray confirmation camera 41. In particular, the second control unit 500 photographs the instrument placement unit 102 with the tray confirmation camera 41 every time the vial bottle 10B or the syringe 11 is removed from the instrument placement unit 102, and grasps the latest positions and orientations of the vial bottle 10B and the syringe 11 from the photographed image.

The second control unit 500 then causes the first robot arm 21 to temporarily place the syringe 11 placed on the equipment placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. The second control unit 500 also causes the first robot arm 21 to set the vial bottle 10B placed on the equipment placement unit 102 in the drug reading unit 34. The second control unit 500 then causes the drug reading unit 34 to read information such as the type of drug contained in the vial bottle 10B.

Next, when the second control unit 500 has removed all of the equipment from the equipment placement unit 102, the tray lift unit 112 of the tray transport unit 110 lowers the equipment placement unit 102 and returns it to the tray 101. The second control unit 500 confirms whether all of the equipment from the equipment placement unit 102 has been removed by image recognition processing based on the image captured by the tray confirmation camera 41.

Then, the second control unit 500 closes the shutter 111 and causes the tray transport unit 110 to transport the tray 101 to the tray transport terminal 110a. Next, the second control unit 500 causes the bag lift unit 113 of the tray transport unit 110 to position the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 at the mixed injection communication port 37 formed in the mixed injection processing chamber 104.

Then, the second control unit 500 moves the vial bottle 10B set in the medicine reading unit 34 to the storage shelf 33 by the second robot arm 22. Meanwhile, in parallel with this moving process, the second control unit 500 sets the injection needle 11c of the syringe 11 placed on the equipment placement unit 102 in the injection needle attachment/detachment device 43 by the first robot arm 21 with the cap 11d still attached.

Next, the second control unit 500 uses the first robot arm 21 to take out the syringe 11 from the shelf 33 and set it on the second robot arm 22. Next, the second control unit 500 uses the second robot arm 22 to move the syringe 11 to the injection needle attachment/detachment device 43 and set the injection needle 11c on the syringe 11. Thereafter, the second control unit 500 uses the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36 and detects whether the injection needle 11c is bent. It is also possible that the injection needle 11c is set on the tray 101 in a state where it is attached to the syringe 11a of the syringe 11. In this case, the process of setting the injection needle 11c on the syringe 11 is omitted.

Then, the second control unit 500 causes the injection needle 11c of the syringe 11 to pierce the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a by the second robot arm 22, and aspirates the amount of infusion indicated by the preparation data from the infusion bag 12. Meanwhile, the second control unit 500 causes the first robot arm 21 to remove the vial bottle 10B placed on the storage shelf 33.

Then, the second control unit 500 brings the vial bottle 10B and the syringe 11 close to each other using the first robot arm 21 and the second robot arm 22, and punctures the injection needle 11c of the syringe 11 into the vial bottle 10B. After that, the second control unit 500 injects the infusion in the syringe 11 into the vial bottle 10B by operating the plunger 11b using the second robot arm 22. In this way, when the medicine is a powder, a dissolution process is performed in which the infusion is extracted from the infusion bag 12 by the syringe 11 and the infusion is injected from the syringe 11 into the vial bottle 10B in the mixed injection process. As a result, the medicine in the vial bottle 10B is dissolved by the infusion. At this time, the position of the syringe 11 and the vial bottle 10B is such that the injection needle 11c of the syringe 11 is facing vertically downward, and the mouth of the vial bottle 10B is facing vertically upward.

Next, the second control unit 500 sets the vial bottle 10B into which the infusion liquid has been injected to the stirring device 32 by the first robot arm 21. As a result, the stirring device 32 executes a stirring process in which the medicine and the infusion liquid in the vial bottle 10B are stirred. The stirring time in the stirring process is predetermined, for example, depending on the type of medicine. The stirring time may also be predetermined for each combination of the medicine and the infusion liquid, or may be changed depending on the amount of medicine in the vial bottle 10B. When the stirring process by the stirring device 32 is completed, the second control unit 500 removes the vial bottle 10B from the stirring device 32 by the first robot arm 21.

Here, the second control unit 500 executes an agitation inspection process to inspect the agitation result of the agitation process after the agitation process is completed. In the agitation inspection process, the second control unit 500 controls the first robot arm 21 to move the vial bottle 10B to a posture and position where the bottom or side of the vial bottle 10B can be viewed by the user, and waits for a confirmation operation by the user on the touch panel monitor 14 or the like. In addition, the second control unit 500 controls the first robot arm 21 in response to a predetermined operation on the touch panel monitor 14, and executes a rocking process to move the vial bottle 10B to a plurality of states (postures and positions) where the bottom or side of the vial bottle 10B can be viewed by the user from different angles. This allows the user to check the degree of solubility of the drug in the vial bottle 10B from different angles.

After that, when the confirmation operation is performed, the second control unit 500 advances the processing step of the co-injection process to the next step. On the other hand, when a predetermined re-mixing operation is performed, the second control unit 500 does not advance the processing step of the co-injection process to the next step, but sets the vial bottle 10B in the mixer 32 again and executes the mixing step again. Note that, in the mixing inspection process, the second control unit 500 may display on the touch panel monitor 14 a photographed image of the bottom or side of the medicine container 10, etc., taken after the mixing step.

The second control unit 500 then brings the vial bottle 10B and the syringe 11 close to each other using the first robot arm 21 and the second robot arm 22, and inserts the injection needle 11c of the syringe 11 into the vial bottle 10B. After that, the second control unit 500 operates the plunger 11b using the second robot arm 22 to suck up the mixed medicine in the vial bottle 10B with the syringe 11. At this time, the orientation of the syringe 11 and the vial bottle 10B is such that the mouth of the vial bottle 10B is facing vertically downward, and the injection needle 11c of the syringe 11 is facing vertically upward.

Then, the second control unit 500 controls either one or both of the first robot arm 21 and the second robot arm 22 to move the vial bottle 10B after the drug has been aspirated and the syringe 11 in a state in which the drug has been aspirated into the shooting range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the vial bottle 10B and the syringe 11 at once with the syringe confirmation camera 42, and records the photographed image in the data storage unit 504 as an inspection image. For example, the syringe confirmation camera 42 photographs the predetermined shooting range. On the other hand, it is also conceivable that the second control unit 500 can change the shooting range of the syringe confirmation camera 42 so that the vial bottle 10B and the syringe 11 after being moved by the first robot arm 21 and the second robot arm 22 can be photographed at once.

Then, the second control unit 500 causes the second robot arm 22 to pierce the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a, and injects the mixed medicine in the syringe 11 into the infusion bag 12. In this way, in the mixed injection process, an injection process is performed in which the medicine is sucked from the vial bottle 10B by the syringe 11 and the medicine is injected from the syringe 11 into the infusion bag 12.

Meanwhile, the second control unit 500 opens the dust lid 132a, and drops the vial bottle 10B into the dust storage chamber 13a and discards it using the first robot arm 21. The second control unit 500 also moves the syringe 11 to the needle attachment/detachment device 43 using the second robot arm 22, attaches the cap 11d to the injection needle 11c of the syringe 11, and then drops the syringe 11 into the dust storage chamber 13a and discards it.

Then, the second control unit 500 executes a preparation inspection process for inspecting the results of the co-injection process after the co-injection process is completed. In the preparation inspection process, the second control unit 500 displays, for example, various captured images taken during the co-injection process on the touch panel monitor 14, and accepts an operation to complete the inspection of the co-injection process. This allows the user to inspect the appropriateness of the co-injection process while looking at the touch panel monitor 14. Then, when the second control unit 500 accepts the operation to complete the inspection, it transports the tray 101 to the tray discharge port 15 and makes the tray 101 removable.

It is also possible that the medicine contained in the vial bottle 10B is a liquid medicine that does not need to be dissolved. The co-injection process in this case is similar to the co-injection process in which the medicine contained in the vial bottle 10B is a powder medicine that needs to be dissolved, except that the stirring process is not performed, so a description thereof will be omitted. Even if the medicine contained in the vial bottle 10B is a liquid, the stirring process may be performed depending on the type of medicine.

The mixed injection process when the medicinal liquid contained in the vial bottle 10B is directly injected into the infusion bag 12 is similar to the mixed injection process when the powdered medicine contained in the vial bottle 10B is injected into the infusion bag 12, except that the process of producing a mixed medicine by aspirating the infusion liquid from the infusion bag 12, injecting it into the vial bottle 10B, and stirring it is not performed.

Below, an example of the procedure of the co-infusion management process and the co-infusion control process executed by the co-infusion control unit 100 in the co-infusion device 1 will be described with reference to Figures 22 to 30.

[Mixed injection management processing]
First, the mixed injection management process will be described with reference to FIG.

<Step S21>
In step S21, the first control unit 400 waits for a loading preparation start operation by the user using the touch panel monitor 203 (S21: No). Specifically, the first control unit 400 displays a prescription selection screen M1 showing a list of the preparation data input to the co-infusion device 1 on the touch panel monitor 203. Then, when the preparation data to be processed is selected and confirmed by the user on the prescription selection screen M1, it is determined that the loading preparation start operation has been performed (S21: Yes), and the process proceeds to step S22. In the following, the preparation data to be processed selected here may be referred to as the target preparation data.

Here, FIG. 23 is a diagram showing an example of the prescription selection screen M1. As shown in FIG. 23, the prescription selection screen M1 shown in FIG. 23 includes a search condition display section D1 in which an input field for search conditions for narrowing down the selection candidates is arranged, and a prescription display section D2 in which the preparation data of the selection candidates is arranged. An extraction key D11 is arranged in the search condition display section D1 for starting an extraction process for narrowing down the selection candidates of the preparation data according to the search conditions.

When there are multiple selection candidates for the preparation data to be subjected to the co-infusion process in the co-infusion device 1, the preparation data of the selection candidates are displayed in a state arranged according to a pre-set sorting condition on the prescription selection screen M1. The sorting condition is determined, for example, by one or a combination of the preparation date and time by the co-infusion device 1, the administration date and time, the prescription category, and the preparation data issuance date and time. The user then refers to the prescription selection screen M1, places the number of equipment items, such as the drug containers 10, the syringes 11, and the infusion bags 12, required for the target preparation data selected on the prescription selection screen M1 on the tray 101, and loads the tray 101 into the storage unit 700.

The prescription display unit D2 also includes a remaining medicine presence/absence display unit D21 that displays, for each of the preparation data, whether or not the preparation data contains the same type of medicine in the prescription medicine as the remaining medicine remaining in the medicine container 10 in the mixing process based on other preparation data executed before the mixing process based on the preparation data. That is, the remaining medicine presence/absence display unit D21 displays, for each of the preparation data (first preparation data), whether or not the medicine in the medicine container 10 remaining in the mixing process based on other preparation data (second preparation data) different from the preparation data can be assigned as the medicine to be injected in the mixing process based on the preparation data. For example, the remaining medicine presence/absence display unit D21 displays, by information such as characters, symbols, figures, or illustrations, whether or not the remaining medicine is usable preparation data.

It is possible that there may be cases where it is not necessary to use the remaining medicine from a previous mixing process in a subsequent mixing process. Therefore, the first control unit 400 can change the ON/OFF of a remaining medicine use function for using the remaining medicine from a previous mixing process in a subsequent mixing process in response to a user operation in the initial settings, etc. Also, the first control unit 400 may be configured to be able to switch the remaining medicine use function ON/OFF for each of the preparation data in response to a user operation on the prescription selection screen M1.

Furthermore, the first control unit 400 may automatically switch the remaining medicine use function ON/OFF based on the preparation data. Specifically, the preparation data may include the medical treatment type (outpatient, inpatient, etc.), and the first control unit 400 may automatically switch the remaining medicine use function ON/OFF according to the medical treatment type. For example, the first control unit 400 may set the remaining medicine use function OFF when the medical treatment type is outpatient, and set the remaining medicine use function ON when the medical treatment type is inpatient.

The first control unit 400 can receive an immediate start operation for immediately executing the co-injection process based on the target preparation data as the loading preparation start operation, and can also receive a reservation co-injection operation for reserving a planned completion time indicating the completion time or completion time zone of the co-injection process for the target preparation data. Specifically, when the target preparation data is selected on the prescription selection screen M1, the first control unit 400 causes the touch panel monitor 203 to display a reservation registration screen P10 for reserving the co-injection process based on the target preparation data.

Here, FIG. 24 is a diagram showing an example of the reservation registration screen P10. In FIG. 24, the reservation registration screen P10 is displayed as a pop-up on a loading check screen M2 for assisting in loading equipment onto the tray 101. The loading check screen M2 includes a display area A11 in which information capable of identifying the target preparation data is displayed, and a display area A12 in which equipment such as the drug container 10 and the infusion bag 12 required for the mixed injection process based on the target preparation data is displayed.

As shown in FIG. 24, the reservation registration screen P10 displays, as information related to the target preparation data, for example, a patient ID and a patient name for identifying a patient, a control number or preparation ID for identifying the target preparation data, and the time required for the co-injection process based on the target preparation data. The time required for the co-injection process is stored in the data storage unit 404 for each preparation content (regimen) indicated in the target preparation data. In addition, calculation information for calculating the required time is stored in the data storage unit 404, and the first control unit 400 may calculate the required time for the co-injection process based on the calculation information.

Furthermore, the reservation registration screen P10 displays operation keys K11 to K13 for accepting the selection operation of the reservation conditions of the target preparation data, operation key K14 for accepting the execution operation of the reservation of the target preparation data, and operation key K15 for accepting the setting of whether or not remaining medicine can be used.

The operation key K11 is an operation key for selecting a reservation condition of a reservation without time designation for executing the mixed injection process based on the target preparation data in the order in which the target preparation data was input. When the reservation without time designation is made for the target preparation data, the first control unit 400 causes the second control unit 500 to execute the mixed injection process based on the target preparation data for which the reservation without time designation was made in the order in which the reservation without time designation was made, if the mixed injection process based on other preparation data for which the interrupt reservation was made and the mixed injection process based on other preparation data for which the reservation with time designation was made have not been executed.

The operation key K12 is an operation key for selecting an interrupt reservation as a reservation condition, which allows the mixing process based on the target preparation data to be executed in priority over other preparation data reserved by the reservation without time designation and the reservation with time designation described later. When the operation key K12 is selected, if the preparation data already reserved by the interrupt reservation exists, the execution order of the preparation data of the multiple interrupt reservation targets may be selectable. Then, when the interrupt reservation is made for the target preparation data, the first control unit 400 causes the second control unit 500 to execute the mixing process based on the target preparation data in priority over other preparation data. More specifically, when the mixing process based on other preparation data is not currently being executed in the mixing device 1, the first control unit 400 causes the second control unit 500 to immediately execute the mixing process based on the target preparation data for which the interrupt reservation has been made. In addition, if there is a mixed injection process based on the preparation data that has already been reserved, the timing to start execution of the mixed injection process is reset to a timing after execution of at least the mixed injection process based on the target preparation data related to the interrupt reservation.

The operation key K13 is an operation key for selecting a reservation with a time designation as a reservation condition for executing the co-injection process based on the target preparation data based on the execution start timing preset by a user operation. The execution start timing is set by inputting the preparation end time indicating the scheduled completion time of the co-injection process, or the scheduled start time indicating the scheduled start time of the co-injection process. More specifically, when the operation key K13 is selected, the date and time for executing the co-injection process based on the target preparation data can be set on the reservation registration screen P10. For example, the reservation registration screen P10 shown in FIG. 24 is in a state in which a reservation with a time designation is set for executing the co-injection process by 19:00 on August 22.

In addition, when a reservation with a specified time is made on the reservation registration screen P10, a margin time for the scheduled completion time of the mixing process can also be set. The margin time indicates a changeable range in cases where the timing of the mixing process is advanced after the scheduled completion time is set, and is, for example, a time set for each drug in the pharmaceutical master, or a time input in response to a user operation on the reservation registration screen P10. For example, when the scheduled completion time of the target preparation data is 19:00 and the margin time is 30 minutes, the execution timing of the mixing process based on the target preparation data can be changed within a range in which the mixing process is completed after 18:30, 30 minutes before the scheduled completion time, and before 19:00. In addition, when the scheduled completion time is 19:00 and the margin time is 30 minutes, the execution timing of the mixing process may be changed within a range in which the mixing process is started after 18:30, 30 minutes before the scheduled completion time.

When the time-specified reservation is made for the target preparation data, the first control unit 400 sets the execution start timing so that the mixed injection process based on the target preparation data is completed at the expected completion time set in the time-specified reservation. The first control unit 400 can set reservations for the preparation data up to a preset maximum reservation number equal to the number of the tray storage units 811. For example, the execution start timing is set to a time obtained by subtracting the required time for the mixed injection process from the expected completion time, and when the execution times of multiple mixed injection processes overlap, the execution start timing is set so that the execution times of the multiple mixed injection processes do not overlap by advancing the execution start timing of one or more of the mixed injection processes. When the completion time zone is reserved, a reservation is accepted in one-hour units, such as between 11:00 and 12:00, as the time range in which the mixed injection process should be completed.

When the estimated completion time is set, the first control unit 400 automatically estimates the required time for the mixing process based on the target preparation data, and sets the time obtained by subtracting the required time from the estimated completion time as the timing to start execution of the mixing process. For example, the data storage unit 404 stores required time table information that is preset for each content of the mixing process, such as the required time for each step of the mixing process, as information for calculating the required time according to the content of the mixing process. Then, the first control unit 400 calculates the required time based on the required time table information.

The operation key K15 is an operation unit for accepting a setting of whether or not to use the remaining medicine in the mixed injection process based on the target preparation data. The first control unit 400 controls whether or not to use the remaining medicine depending on whether or not to use the remaining medicine by the operation key K15. Furthermore, the first control unit 400 can automatically determine whether or not to use the remaining medicine in the mixed injection process based on the target preparation data based on the information of the patient corresponding to the target preparation data. Specifically, the first control unit 400 can permit the use of the remaining medicine in the mixed injection process for the preparation data corresponding to an inpatient among the target preparation data, and can not permit the use of the remaining medicine in the mixed injection process for the preparation data corresponding to an outpatient among the preparation data. Conversely, it can also be considered that the use of the remaining medicine in the mixed injection process is permitted for the preparation data corresponding to an outpatient among the target preparation data, and the use of the remaining medicine in the mixed injection process is not permitted for the preparation data corresponding to an inpatient among the preparation data.

In addition, in the reservation registration screen P10, it is also possible to set whether or not the remaining medicine generated in the mixing process based on the target preparation data can be used in the subsequent mixing process based on the other preparation data. Furthermore, it is also possible that the first control unit 400 automatically determines whether or not the remaining medicine generated in the mixing process based on the target preparation data can be used in the subsequent mixing process based on the other preparation data, based on the information of the patient corresponding to the target preparation data. Specifically, the first control unit 400 may determine that the remaining medicine generated in the mixing process can be used in the subsequent other mixing process for the preparation data corresponding to an inpatient among the target preparation data, and may determine that the remaining medicine generated in the mixing process cannot be used in the subsequent other mixing process for the preparation data corresponding to an outpatient among the preparation data. Conversely, for the preparation data corresponding to outpatients among the target preparation data, it may be determined that the remaining medication resulting from the mixing process can be used in other subsequent mixing processes, and for the preparation data corresponding to inpatients among the target preparation data, it may be determined that the remaining medication resulting from the mixing process cannot be used in other subsequent mixing processes.

<Step S23>
In step S23, the first control unit 400 determines whether or not the remaining medicine stored in the co-infusion processing chamber 104 of the co-infusion device 1 can be used for the target preparation data based on the remaining medicine information D30 indicating the information of the remaining medicine. The remaining medicine information D30 is information edited in step S26 described later and is stored in the data storage unit 404. Note that, when the reservation registration screen P10 is set to not use the remaining medicine for the target preparation data, steps S23 to S25 are omitted.

Specifically, the first control unit 400 determines that the remaining medicine is usable when the remaining amount of the usable medicine stored as the remaining medicine in the mixing device 1 at a preset reference time point is equal to or greater than the amount of the medicine required for the mixing process based on the target preparation data, for the same type of medicine in the medicine container 10 used in the mixing process based on the target preparation data. For example, the reference time point is the start of the mixing process based on the target preparation data or the time when the loading preparation start operation for the target preparation data is performed. Note that when determining whether the prescription medicine included in the target preparation data matches the remaining medicine, it is not determined whether the standard amount of the medicine container 10 is the same, but whether the types of medicine are the same. As a result, even if the same medicine is used but only the standard amount is different, it is determined that the medicine can be used as the remaining medicine. For example, if the type of remaining medicine is "5-FU injection" and the standard amount is "1000 mg," and the name of the medicine in the medicine container 10 used in the mixed injection process based on the target preparation data is "5-FU injection" and the standard amount is "500 mg," it is determined that they are the same medicine.

The first control unit 400 may also determine that the remaining medicine present in the mixing device 1 at the reference time is usable for the same type of medicine as the medicine in the medicine container 10 used in the mixing process based on the target preparation data, when the number of the medicines loaded on the tray 101 corresponding to the target preparation data is reduced by using the remaining medicine present in the mixing device 1 at the reference time. For example, when two medicine containers 10 are required for the mixing process based on the target preparation data, if the number of the medicine containers 10 loaded on the tray 101 corresponding to the target preparation data is reduced to one by using the remaining medicine, the first control unit 400 determines that the remaining medicine is usable. On the other hand, when two medicine containers 10 are required for the mixing process based on the target preparation data, and the number of the medicine containers 10 loaded on the tray 101 corresponding to the target preparation data is two even if the remaining medicine is used, the first control unit 400 determines that the remaining medicine is not usable.

However, if the number of times the injection needle 11c punctures the medicine container 10 increases, coring may occur. Therefore, the first control unit 400 may determine that, among the medicine containers 10 that can be used as remaining medicine in the co-injection device 1 at the reference time, the medicine containers 10 in which the number of punctures by the injection needle 11c reaches or exceeds a preset upper limit number at the reference time cannot be used as remaining medicine. Specifically, the first control unit 400 predicts the number of punctures by the injection needle 11c into each of the medicine containers 10 in the co-injection process based on each of the preparation data, based on each of the preparation data. After that, the first control unit 400 determines whether or not the medicine containers 10 that can be used as remaining medicine in the co-injection device 1 at the reference time can be used according to the number of punctures.

Here, the remaining amount of the remaining medicine in the mixing device 1 is the total amount of medicine stored as remaining medicine usable in the mixing device 1 when the mixing process based on the target preparation data is executed. More specifically, the remaining amount of the remaining medicine is the total amount of the remaining amount of the medicine container 10 stored as remaining medicine in the storage shelf 33 at the time when the loading preparation start operation is performed for the target preparation data and the amount of the medicine loaded into the mixing device 1 attached to other preparation data corresponding to one or more other mixing processes executed until the mixing process based on the target preparation data is executed, minus the total amount of the medicine (total amount used) used in one or more other mixing processes executed until the mixing process based on the target preparation data is executed. In particular, the remaining amount of the remaining medicine is the amount of remaining medicine that does not expire at the start or end of the mixing process based on the target preparation data, and is the value obtained by subtracting the amount of remaining medicine that expires by the start or end of the mixing process.

In addition, when the target preparation data includes information on the administration date and time, the first control unit 400 may determine that the remaining medicine shown in the remaining medicine information D30, whose expiration date arrives before the administration date and time, cannot be used. That is, the remaining amount of the remaining medicine is a value obtained by excluding the remaining amount of the medicine whose expiration date arrives before the administration date and time from the remaining amount of the remaining medicine shown in the remaining medicine information D30. Note that the unit of the remaining amount of the remaining medicine may be weight or volume, but is not limited to these, and for example, the remaining amount of the remaining medicine may be displayed in units of the number of the medicine containers 10 based on a preset amount of the medicine contained in the specific medicine container 10.

Here, FIG. 28(A) shows an example of the remaining medicine information D30, and FIG. 28(B) shows an example of the correspondence information D31 indicating preparation data corresponding to the tray 101 loaded in the storage unit 700. The remaining medicine information D30 and the correspondence information D31 are stored in the data storage unit 404 and updated by the first control unit 400. Meanwhile, the second control unit 500 can also access the data storage unit 404 of the first control unit 400 to refer to and edit the remaining medicine information D30 and the correspondence information D31 stored in the data storage unit 404.

As shown in FIG. 28(A), in the remaining medicine information D30, the "preparation No.", which is the identification information of the preparation data, and the drug name, remaining amount, opening date and time, expiration date, preparation data to be used, etc. of the drug remaining in the mixed injection process based on the preparation data are stored in correspondence with each other. The preparation data to be used is identification information for identifying the preparation data to be used with the remaining medicine, and the first control unit 400 assigns the remaining medicine recorded in the remaining medicine information D30 to other preparation data and records the assignment result in the remaining medicine information D30. In addition, when the remaining medicine is a mixed medicine, the remaining medicine information D30 includes various information such as the ingredients of the mixed medicine (medicine name, solvent name), the amount of solvent, the remaining amount, the opening date and time, the expiration date, and preparation data information to be used. In addition, the remaining medicine information D30 also includes other information such as position information on the shelf 33 on which the medicine container 10 containing the remaining medicine is placed.

28(A) includes information on the drug container 10 corresponding to the preparation data "Rp11" that is already stored as a remaining drug on the shelf 33, and information on the drug container 10 corresponding to the preparation data "Rp21" and "Rp22" that will be stored as a remaining drug on the shelf 33 in the co-injection process to be executed in the future. Specifically, the remaining drug information D30 indicates that a total of three drug containers 10, including the drug container 10 containing "3.00 ml" of "5-FU injection 1000 mg", the drug container 10 containing "5.00 ml" of "5-FU injection 1000 mg", and the drug container 10 containing "2.00 ml" of "5-FU injection 1000 mg", will be stored as a remaining drug on the shelf 33. In this case, the current time is after the mixed injection process based on the preparation data "Rp11" has ended and before the mixed injection process based on the preparation data "Rp21" and "Rp22" has started.

As shown in FIG. 28(B), in the correspondence information D31, the identification information "Preparation No." of the preparation data, the identification information "Tray ID" of the tray 101, and the identification information "Storage section No." of the tray storage section 811 in which the tray 101 is stored are associated. Note that in the correspondence information D31 shown in FIG. 28(B), each of the preparation data is displayed from the top in the order in which the mixed injection process is executed first. Also, in the correspondence information D31, each of the preparation data is associated with information such as the drug name, amount used, default amount, whether or not remaining drugs are used, whether or not drugs are loaded, and execution start timing of the drug used in the mixed injection process based on the preparation data.

As shown in FIG. 28(B), two drug containers 10 containing 20 ml of 5-FU injection 1000 mg are loaded into the storage unit 700 in correspondence with the two preparation data for which the tray 101 has already been loaded into the storage unit 700. As shown in FIG. 28(B), the two preparation data use 15 ml and 18 ml of drug, respectively. In this case, the remaining amount of the drug placed on the storage shelf 33 at the start of the mixed injection process based on the first preparation data "Rp21" is 3.00 ml, and the remaining amount of the drug placed on the storage shelf 33 at the start of the mixed injection process based on the preparation data "Rp22" is 3 ml + 5 ml, making it 8.00 ml. Then, in the mixed injection process based on the preparation data "Rp22", the remaining amount of the drug is 2 ml.

Here, consider an example in which the target preparation data to be processed after the preparation data "Rp22" is the preparation data "Rp23" shown in FIG. 28(C). In this case, the remaining amount of the medicine placed on the storage shelf 33 at the start of the mixed injection process based on the preparation data "Rp23" is "10.00 ml" which is "3 ml" + "5 ml" + "2 ml". Therefore, when the preparation data "Rp23" is the target preparation data, in the step S23, it is determined that the remaining medicine stored in the mixed injection process chamber 104 of the mixed injection device 1 is available for the target preparation data. In this case, the first control unit 400 can assign the remaining medicine as a medicine to be injected in the mixed injection process based on the target preparation data. In addition, when information on preparation data using the remaining medicine is input in the preparation data to be used in the remaining medicine information D30, it is determined that the remaining medicine cannot be used in other preparation data different from the preparation data to be used.

<Step S24>
Then, in step S24, if the first control unit 400 determines in the judgment process of step S23 that the remaining medicine is usable (S24: Yes), it transitions the process to step S25, and if it determines that the remaining medicine is not usable (S24: No), it transitions the process to step S26.

<Step S25>
In step S25, the first control section 400 causes a remaining medicine usage guidance screen P20 (see FIG. 25) including a message to the effect that it is not necessary to load the medicine container 10 corresponding to the remaining medicine determined to be usable in step S23 to be displayed on the touch panel monitor 203. When a confirmation operation is performed on the remaining medicine usage guidance screen P20, the remaining medicine usage guidance screen P20 is closed and the process proceeds to step S26.

Here, FIG. 25 is a diagram showing an example of the remaining medicine usage guidance screen P20. As shown in FIG. 25, if "5-FU injection 1000 mg" can be omitted by using remaining medicine, the remaining medicine usage guidance screen P20 displays a message indicating that there is no need to load the medicine container 10. This allows the user to load onto the tray 101 the equipment required for the mixed injection process based on the preparation data, excluding the medicine container 10 that can be omitted by using remaining medicine.

For example, the remaining medicine usage guidance screen P20 is displayed in preference to the loading check screen M2 (see FIG. 26) by pop-up display on the loading check screen M2 on which a message for instructing to read the identification information attached to the medicine container 10 is displayed. Also, as shown in FIG. 25 and FIG. 26, when the remaining medicine usage guidance screen P20 is displayed, the loading check screen M2 does not display a message prompting the reading of the medicine container 10 and the infusion bag 12, and after the remaining medicine usage guidance screen P20 is displayed, a message prompting the reading of the medicine container 10 and the infusion bag 12 is displayed on the loading check screen M2. Note that the loading check screen M2 may be displayed after the remaining medicine usage guidance screen P20 is displayed.

Here, a configuration is also conceivable in which the remaining medicine use guidance screen P20 displays identification information of the preparation data that generates remaining medicine that can be used in the co-infusion process based on the target preparation data or identification information of the patient corresponding to the preparation data, and allows the user to select whether or not to use the remaining medicine. This makes it possible to select not to use the remaining medicine, for example, when the available remaining medicine is a remaining medicine generated in the co-infusion process based on the preparation data corresponding to a patient with many cancellations. Furthermore, the first control unit 400 may display a list of remaining medicines that can be selected as remaining medicines to be used in the co-infusion process based on the target preparation data on the touch panel monitor 203, etc., and allow the user to arbitrarily select remaining medicines to be used in the co-infusion process based on the preparation target data in response to a user operation.

<Step S26>
In step S26, the first control section 400 edits the remaining medicine information D30 and the corresponding information D31 based on the reservation contents of the preparation data set in step S22 and the presence or absence of remaining medicine use for the preparation data.

Specifically, the first control unit 400 determines whether or not any medicine remains in the medicine container 10 that is used when the co-injection process for the target preparation data is performed. For example, the first control unit 400 can determine whether or not any medicine remains in the medicine container 10 before the end of the co-injection process, based on the amount of medicine used in the co-injection process based on the preparation data and the predetermined amount of medicine contained in the medicine container 10. Then, the first control unit 400 edits the remaining medicine information D30 based on the presence or absence of remaining medicine in the medicine container 10.

For example, if the amount of the drug used is 20 ml and the preset amount of the drug container 10 is 30 ml, the first control unit 400 determines that 10 ml of drug remains in the drug container 10 based on the difference between the preset amount of 30 ml for one drug container 10 and the used amount of 20 ml. Also, if the amount of the drug used is 40 ml and the preset amount of the drug container 10 is 30 ml, the first control unit 400 determines that 20 ml of drug remains in the drug container 10 based on the difference between the total amount of 60 ml for two drug containers 10 and the used amount of 40 ml.

In addition, when it is determined in step S23 that the remaining medicine can be used, the first control unit 400 inputs information capable of identifying the preparation data in which the remaining medicine is used into the item of the preparation data to be used corresponding to the remaining medicine in the remaining medicine information D30. Specifically, in the example described above using Figures 28 (A) to (C), in step S26, the fact that the remaining medicines corresponding to the preparation data "Rp11", "Rp21", and "Rp22" are scheduled to be used in the preparation data "Rp23" is recorded in the preparation data to be used in the remaining medicine information D30 (see Figure 28 (D)), and the correspondence information D31 records that the remaining medicine use presence/absence is "Yes" and the medicine loading presence/absence is "No" for the preparation data "Rp23" (see Figure 28 (E)). That is, the correspondence information D31 records that the remaining medicine is used in the mixed injection process based on the preparation data "Rp23", and that the tray 101 corresponding to the preparation data "Rp23" does not need to be loaded with the drug container 10. When the remaining medicine is used in the mixed injection process based on the preparation data, and therefore some of the multiple drug containers 10 required for the mixed injection process do not need to be loaded, the first control unit 400 stores the type and number of the drug containers 10 in the correspondence information D30. Then, the first control unit 400 displays the drug containers 10 that need to be loaded and the drug containers 10 that do not need to be loaded on the loading check screen M2 based on the correspondence information D30.

The first control unit 400 may delete data of remaining medicine whose expiration date has passed from the remaining medicine information D30 stored in the data storage unit 404, and input a control signal to the second control unit 500 to discard the medicine container 10 corresponding to the remaining medicine information D30. As a result, the second control unit 500 controls the first robot arm 21 or the second robot arm 22 in response to receiving the control signal, and discards the medicine container 10 containing the remaining medicine whose expiration date has passed.

In addition, the first control unit 400 deletes data of the remaining medicine in which the number of times the injection needle 11c has punctured the medicine container 10 has reached a preset upper limit number or more in the remaining medicine information D30 stored in the data storage unit 404. Furthermore, the first control unit 400 inputs a control signal to the second control unit 500 to discard the medicine container 10 of the remaining medicine whose number of punctures has reached the upper limit number, thereby discarding the medicine container 10. Here, the first control unit 400 when executing the relevant process is an example of a disposal processing unit. Then, the second control unit 500 controls the first robot arm 21 or the second robot arm 22 in response to receiving the control signal, and discards the medicine container 10 whose number of punctures has reached the upper limit number or more. Specifically, the first control unit 400 or the second control unit 500 counts and stores the number of times the injection needle 11c has punctured each of the medicine containers 10 in the mixed injection process based on each of the preparation data. For example, the upper limit number is set individually for each type of the medicine container 10 in the medicine master. The first control unit 400 or the second control unit 500 may count the number of times the medicine container 10 is punctured during the execution of the co-infusion process, or may predict the number of times the medicine container 10 will be punctured based on the preparation data before the co-infusion process begins.

When the expiration date of the medicine container 10 has passed or the number of times the medicine container 10 has been punctured has reached or exceeded the upper limit, the first control unit 400 may display an operation screen for allowing the user to select one of disposal, storage extension, and collection of the medicine container 10. When disposal is selected by the user, the first control unit 400 causes the second control unit 500 to execute a disposal process for disposing of the medicine container 10. When storage extension is selected by the user, the first control unit 400 may further store the medicine container 10 in the storage shelf 33 for a preset extension period. When collection is selected by the user, the first control unit 400 causes the second control unit 500 to execute a collection process for moving the medicine container 10 to a position accessible to the user, such as the stirring device 32.

<Step S27>
By the way, the execution order of the mixed injection process based on the target preparation data may be changed by reserving the mixed injection process based on other preparation data that has already been registered in the reservation setting process of step S22. In this case, if the remaining medicine was scheduled to be used in the mixed injection process based on the other preparation data, the remaining medicine may be used in the mixed injection process based on the target preparation data, and the remaining medicine may not be available in the mixed injection process based on the other preparation data.

Therefore, in step S27, the first control unit 400 judges whether or not there is any preparation data that makes it impossible to use the remaining medicine in the co-injection process by editing the remaining medicine information D30 and the corresponding information D31. If it is judged that there is any preparation data that makes it impossible to use the remaining medicine (S27: Yes), the process proceeds to step S28, and if it is judged that there is no preparation data that makes it impossible to use the remaining medicine (S27: No), the process proceeds to step S31.

In addition, the first control unit 400 may be able to execute a change process such as changing the execution order or canceling the execution of the mixing process based on the preparation data for which the corresponding tray 101 in the mixing management process has already been loaded in the storage unit 700 in response to a user operation. In this case, the change process may make it impossible to use the remaining medicine in the mixing process based on the other preparation data, resulting in a shortage of medicine in the mixing process. Therefore, even if the change process makes it impossible to use the remaining medicine in the mixing process based on the other preparation data, the first control unit 400 executes the processes of steps S28 to S30 and steps S40 to S41 described below. That is, when the change process makes it impossible to use the remaining medicine in the mixing process based on the other preparation data due to a change process such as changing the execution order of the mixing process based on the preparation data or canceling the execution, a process for supporting the reloading of the drug container 10 to the tray 101 may be executed by step S41 described below.

<Step S28>
In step S28, the first control unit 400 displays a warning display screen P31 including a message indicating that a drug shortage will occur in the mixed injection process based on the other preparation data on the touch panel monitor 203 to notify the user of the fact. Here, the first control unit 400 when executing the notification process is an example of a notification processing unit. In addition, if there are multiple other preparation data that make it impossible to use the remaining drug in the mixed injection process based on the other preparation data, multiple warning display screens P31 are displayed corresponding to each of the other preparation data, or a list of the other preparation data is displayed on one warning display screen P31.

27 is a diagram showing an example of the warning display screen P31. As shown in FIG. 27, the warning display screen P31 displays a message indicating that the medicine is insufficient, and an operation key for selecting whether or not to execute the reservation process of the preparation data by the step S22. For example, as shown in FIG. 27, the warning display screen P31 is popped up on a schedule display screen P30 on which the execution schedule of each of the preparation data is displayed. Note that in FIG. 27, the warning display screen P31 displays "A new remaining medicine mismatch will occur due to the schedule change. Do you want to execute the process?" as a message indicating that the medicine is insufficient, but the content of the message is only an example. For example, a message such as "If the reservation process is executed, medicine will be insufficient in another mixed injection process. Do you want to continue the reservation process?" may be displayed as a message indicating that the medicine is insufficient.

The first control unit 400 may also display, on a preparation data list screen such as the prescription selection screen M1, identification information such as letters or symbols that can identify that the preparation data is preparation data that will prevent the remaining medicine from being used, in association with the preparation data. This allows the user to understand the preparation data and the tray 101 that will prevent the remaining medicine from being used, etc.

<Step S29>
In step S29, the first control unit 400 judges whether or not an operation has been performed to execute the reservation process of the preparation data. If it is judged that an operation has been performed to execute the reservation process of the preparation data (S29: Yes), the process proceeds to step S30. On the other hand, if an operation has been performed not to execute the reservation process of the preparation data (S29: No), the process proceeds to step S291.

<Step S291>
In step S291, the first control section 400 cancels the reservation of the step S22, and returns the process to the step S21. Specifically, the first control section 400 cancels the changes of the remaining medicine information D30 and the correspondence information D31 in the step S26, and returns the process to the step S21.

<Step S30>
On the other hand, in step S30, the first control unit 400 stores reloading information indicating that a process will be executed to load the drug container 10 into the tray 101 corresponding to the preparation data that will make it impossible to use the remaining medicine in the data memory unit 404 in association with the preparation data.

<Step S31>
Then, in steps S31 to S35, the first control unit 400 executes processing to assist in setting the drug container 10, the syringe 11, the infusion bag 12, etc., required for the co-injection process based on the preparation data, on the tray 101.

Specifically, in step S31, the first control unit 400 displays the loading check screen M2 on the touch panel monitor 203, including a message and an image for instructing the user to read identification information such as the GS1 data bar attached to the infusion bag 12 or the medicine container 10. Specifically, the loading check screen M2 displays the type of the infusion bag 12 and the type of the medicine container 10 included in the preparation data. Here, in the loading check screen M2, for the medicine container 10 for which loading is determined to be omitted because the remaining medicine is to be used based on the correspondence information D30, a character, symbol, or mark such as "Omitted" is displayed in the corresponding area A121, and the display mode such as the character color or background color corresponding to the medicine container 10 is displayed in a mode different from other display modes. This allows the user to easily identify the medicine container 10 that does not need to be loaded.

Then, when the identification information of the infusion bag 12 or the medicine container 10 is read by the barcode reader 204 and the comparison result with the preparation data matches, the first control unit 400 shifts the process to step S32. Note that, when the comparison result between the identification information of the infusion bag 12 or the medicine container 10 and the preparation data does not match, the first control unit 400 displays, for example, an error message.

<Step S32>
In step S32, the first control unit 400 displays on the touch panel monitor 203 a message and an image for guiding the placement of the infusion bag 12 or the medicine container 10, the identification information of which has been read in step S31, on the tray 101. This allows the user to easily place the infusion bag 12 or the medicine container 10 at a predetermined position in the tray 101. In addition, when there are a plurality of infusion bags 12 and medicine containers 10 that need to be loaded on the tray 101, the steps S31 to S32 are repeatedly executed until the reading of the identification information of the infusion bags 12 and the medicine containers 10 that need to be loaded on the tray 101 is completed. However, when the medicine container 10 that is determined to use the remaining medicine among the medicine containers 10 required for the mixed injection process based on the target preparation data is determined not to need to be loaded, and the identification information of the medicine container 10 is read, a message indicating that loading is not required is displayed.

<Step S33>
In step S33, the first control unit 400 causes the touch panel monitor 203 to display messages, images, and the like for guiding the placement of the syringe 11 on the tray 101. This allows the user to easily place the syringe 11 at a predetermined position in the tray 101. Note that, when a plurality of the syringes 11 are required, the step S33 is repeatedly executed.

In addition, when the equipment corresponding to the preparation data needs to be divided and loaded onto multiple trays 101, the first control unit 400 repeats the processing of steps S31 to S33 for each tray 101. This supports the work of setting the necessary equipment on each tray 101. When the equipment needs to be divided and loaded onto multiple trays 101, the equipment included in the preparation data is distributed to each tray 101 according to a preset rule. For example, if the number of drug containers 10 that can be placed on one tray 101 is predetermined to be 10, and 14 drug containers 10 are required for the mixed injection process based on the preparation data, 10 drug containers 10 are assigned to the first tray 101, and 4 drug containers 10 are assigned to the second tray 101. In steps S31 to S33, if the tray 101 to be processed does not require loading of the drug container 10, the syringe 11, or the infusion bag 12, the display process for prompting loading is omitted.

<Step S34>
When the loading guidance for the equipment necessary for the co-injection processing based on the preparation data is completed, in the subsequent step S34, the first control unit 400 displays a message indicating that preparation for loading of the preparation data is complete, and also displays operation keys, etc. for accepting a confirmation operation to that effect.

<Step S35>
In step S35, the first control unit 400 determines whether or not the confirmation operation has been performed, and if the confirmation operation has been performed (S35: Yes), it transitions the processing to step S36, and keeps the processing on hold in step S35 until the confirmation operation has been performed (S35: No).

<Step S36>
In step S36, the first control unit 400 opens the shutter 712 of the accommodating unit 700. Specifically, the first control unit 400 transmits an instruction to open the shutter 712 to the second control unit 500. In response to this, the second control unit 500 controls the accommodating unit 700 to open the shutter 712, and the user can accommodate the tray 101 in the tray accommodating portion 811.

Before opening the shutter 712, the second control unit 500 controls the position of the movable housing 810 based on the correspondence information D31 so that the unused tray storage unit 811 is placed at the first moving position. Specifically, the tray storage unit 811 that is not stored in the correspondence information D31 as the tray storage unit 811 corresponding to the tray 101 is determined to be unused. The second control unit 500 edits the correspondence information D31 when loading the tray 101 into the tray storage unit 811 and when ejecting the tray 101 from the tray storage unit 811.

For example, the second control unit 500 may control the storage unit 700 so that the unused tray storage unit 811 is placed at the first movement position while the storage unit 700 is waiting (not operating). In addition, after receiving the opening instruction transmitted from the first control unit 400 in step S36, the second control unit 500 may move the movable housing 810 to place the unused tray storage unit 811 at the first movement position. In addition, when there are a plurality of unused tray storage units 811, the second control unit 500 may select the tray storage unit 811 that requires the least amount of movement of the movable housing 810 to move to the first movement position from among the plurality of tray storage units 811, and move the tray storage unit 811 to the first movement position.

<Step S37>
Then, in step S37, when the tray 101 is accommodated in the tray accommodation portion 811 of the accommodation unit 700, the first control portion 400 executes a process of associating the preparation data, the identification information of the tray 101, and the tray accommodation portion 811. Specifically, the first control portion 400 updates the correspondence information D31 indicating the correspondence between the preparation data, the identification information of the tray 101, and the tray accommodation portion 811. Here, the first control portion 400 when executing this process is an example of a storage processing portion. Thereby, the first control portion 400 and the second control portion 500 can recognize the correspondence between the preparation data, the identification information of the tray 101, and the tray accommodation portion 811 based on the correspondence information D31.

For example, the first control unit 400 uses the IC reader 207 provided on the work table 202 to read the identification information of the tray 101 from the IC tag 101b of the tray 101 placed on the work table 202. Then, the first control unit 400 stores the identification information read from the IC tag 101b in the correspondence information D31 of the data storage unit 404 as the identification information of the tray 101 corresponding to the preparation data selected as the processing target. In addition, the correspondence information D31 may store remaining drug use information indicating whether or not remaining drugs are to be used in the mixed injection process based on the preparation data in the tray 101 corresponding to each of the preparation data.

The correspondence between the preparation data and the tray 101, the correspondence between the preparation data or the tray 101 and the tray storage unit 811, and the correspondence between the preparation data and the remaining medicine utilization information may each be managed in a separate database. The correspondence between the preparation data and the tray 101 may be stored in the data storage unit 404 of the first control unit 400, and the correspondence between the preparation data or the tray 101 and the tray storage unit 811 may be stored in the data storage unit 504 of the second control unit.

When the equipment such as the drug container 10, the syringe 11, and the infusion bag 12 required for the mixed injection process based on the preparation data cannot be placed on one tray 101, the first control unit 400 executes a process of storing the preparation data selected as the processing target in correspondence with the multiple trays 101 in correspondence information D31. Then, in the mixed injection process based on the preparation data, the equipment such as the drug container 10 supplied from the multiple trays 101 is used.

<Step S38>
Next, in step S38, the first control section 400 controls the accommodation unit 700 to execute a confirmation operation for confirming the correspondence between the tray 101 accommodated in the tray accommodation section 811 and the preparation data. This prevents the wrong tray 101 from being accommodated in the tray accommodation section 811.

Specifically, the first control unit 400 moves the movable housing 810 downward so that the tray storage unit 811, which was located at the first movement position when the shutter 712 was opened in step S36, is located at the second movement position. Thereafter, the first control unit 400 ejects the tray 101 stored in the tray storage unit 811 to the first transport unit 910 of the tray transport 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 transport unit 910. Then, the first control unit 400 collates the identification information of the tray 101 read by the IC reader 930 with the identification information of the tray 101 corresponding to the preparation data stored in the correspondence information D31 in association with the tray storage unit 811. Here, if the collation results are a match, the first control unit 400 returns the tray 101 to the tray storage unit 811, ends the series of mixed injection management processes, and transitions to step S39. On the other hand, if the collation results are a mismatch, the first control unit 400 notifies the touch panel monitor 203 or the like of an error via the first control unit 400 and ejects the tray 101 toward the tray ejection port 206. This allows the user to remove the tray 101 from the tray ejection port 206.

<Step S39>
In step S39, the first control unit 400 transmits the target preparation data to the second control unit 500. The first control unit 400 may generate mixing control data for causing the mixing processing unit 300 to execute mixing processing based on the target preparation data, not limited to the target preparation data itself, and transmit the mixing control data to the second control unit 500. It is also possible that preparation data identification information capable of identifying the target preparation data is transmitted to the second control unit 500, and the target preparation data corresponding to the preparation data identification information is read out from the data storage unit 404 by the second control unit 500.

<Step S40>
In step S40, the first control unit 400 judges whether or not the reloading information is stored in the data storage unit 404. If it is judged that the reloading information is stored (S40: Yes), the process proceeds to step S41, and if it is judged that the reloading information is not stored (S40: No), the process returns to step S21.

<Step S41>
In step S41, the first control unit 400 executes a process for supporting the reloading of the medicine container 10 to the tray 101 corresponding to the preparation data in which the remaining medicine cannot be used, based on the reloading information, and executes a reloading process for erasing the reloading information from the data storage unit 404. Specifically, the first control unit 400 controls the storage unit 700 to discharge the tray 101 corresponding to the preparation data in which the remaining medicine cannot be used to a position where it can be removed from the tray discharge port 206. Then, the first control unit 400 displays on the touch panel monitor 203 a message urging the user to load the medicine container 10 to the tray 101 corresponding to the preparation data in which the remaining medicine cannot be used. For example, the first control unit 400 displays the loading check screen M2 again, displays characters, symbols, or marks such as "short" in the area A121 corresponding to the medicine container 10 that is short, and displays a display mode such as a character color or background color corresponding to the medicine container 10 in a mode different from other display modes. It is also possible that the tray 101 is moved to a position in the movable housing 810 from which the tray 101 can be removed when the shutter 712 is opened, and the shutter 712 is then opened.

The first control unit 400 may also display a guide to place the drug container 10 on a new tray 101 and load it into the storage unit 700, separate from the tray 101 associated with the preparation data for which the remaining drug can no longer be used, and associate the tray 101 with the preparation data when the tray 101 is loaded. In this case, in the mixed injection process based on the preparation data, multiple trays 101 associated with the preparation data are supplied from the storage unit 700 to the mixed injection processing unit 300 and used.

Furthermore, instead of steps S40 to S41, a refill operation of the drug container 10 on the tray 101 may be performed in step S53 of the co-infusion control process described below. Specifically, the second control unit 500 controls the storage unit 700 to eject the tray 101 corresponding to the preparation data for which the remaining drug can no longer be used to a position where it can be removed from the tray ejection port 206. The second control unit 500 may then display on the touch panel monitor 203 a message urging the user to load the drug container 10 on the tray 101 corresponding to the preparation data for which the remaining drug can no longer be used. As a result, when the drug container 10 is loaded on the tray 101 by the user, the second control unit 500 executes the co-infusion process using the tray 101. In this embodiment, a case is described in which the presence or absence of the reloading operation is determined in step S40, and the reloading process is executed as necessary in step S41, but the reloading process may be executed at other times, such as step S30.

[Mixed injection control process]
Next, an example of a procedure of the co-infusion control process executed by the second control section 500 will be described with reference to FIG.

<Step S50>
In step S50, the second control unit 500 judges whether or not the execution start timing of the co-infusion process has arrived for any of the preparation data registered in the correspondence information D31. If it is judged that the execution start timing has arrived (S50: Yes), the process proceeds to step S51, and if the execution start timing has not arrived (S50: No), the process waits in step S50.

It is also conceivable that the first control unit 400 transmits a request to the second control unit 500 to start execution of the mixing process for the preparation data when the user uses the operation unit 405 to select the preparation data and to immediately start the mixing process based on the preparation data. Furthermore, it is also conceivable that the first control unit 400 transmits a request to the second control unit 500 to start execution of the mixing process for the preparation data when the execution start timing arrives, if the execution start timing of the mixing process based on the preparation data has been reserved by the reserved mixing operation. In this case, the second control unit 500 determines that the execution start timing has arrived when it receives the execution start request.

In addition, the second control unit 500 may suspend the mixing process based on the preparation data for the preparation data set to use remaining medicine in the mixing process until the amount of medicine in one or more of the medicine containers 10 (an example of a remaining medicine container) stored as remaining medicine in the mixing device 1 reaches the amount of medicine required for the mixing process based on the preparation data. Specifically, when the execution start timing of the preparation data arrives and the amount of medicine in one or more of the medicine containers 10 stored as remaining medicine in the mixing device 1 does not reach the amount of medicine required for the mixing process based on the preparation data, the second control unit 500 determines in step S50 that the execution start timing has not arrived. Then, the second control unit 500 skips the preparation data for which the amount of medicine in one or more of the medicine containers 10 stored as remaining medicine in the mixing device 1 does not reach the amount of medicine required for the mixing process based on the preparation data, and starts the mixing process based on the other preparation data. On the other hand, when the timing to start execution of the preparation data arrives and the amount of medicine in one or more of the medicine containers 10 stored as remaining medicine in the co-infusion device 1 reaches the amount of medicine required for the co-infusion process based on the preparation data, the second control unit 500 determines that the timing to start execution of the co-infusion process based on the preparation data has arrived.

<Step S51>
In step S51, the second control unit 500 judges whether or not to use the remaining medicine remaining in the previously executed mixing process in the mixing process based on the target preparation data. Specifically, the second control unit 500 judges whether or not to use the remaining medicine in the mixing process based on the remaining medicine information D30 and the corresponding information D31. For example, the second control unit 500 judges that the remaining medicine will be used in the mixing process based on the target preparation data when the remaining medicine use is set to yes for the target preparation data in the corresponding information D31, the target preparation data is registered in the remaining medicine information D30 as the preparation data to be used, and the contents of the remaining medicine information D30 satisfy the preset use conditions. The use conditions are, for example, that the expiration date of the remaining medicine stored in the remaining medicine information D30 has not passed, that a predetermined time has not passed since the date and time of opening the remaining medicine, or that the number of times the injection needle 11c has punctured the medicine container 10 has not reached the upper limit number of times. Here, if the second control unit 500 determines that the remaining medicine will be used (Yes side of S51), it transitions the process to step S53, and if it determines that the remaining medicine cannot be used (No side of S51), it transitions the process to step S52.

<Step S52>
In step S52, the second control unit 500 controls the co-infusion processing unit 300 based on the preparation data input from the first control unit 400, thereby performing the normal co-infusion processing of injecting the drug from the drug container 10 placed on the tray 101 corresponding to the preparation data into the infusion bag 12.

Specifically, in step S52, the second control unit 500 controls the storage unit 700 to automatically supply the tray 101 associated with the preparation data for which the execution start timing has arrived from the tray storage unit 811 of the storage unit 700 to the mixed injection processing unit 300. Then, in the mixed injection processing, the second control unit 500 aspirates the medicine indicated in the preparation data from one or more of the medicine containers 10 placed on the tray 101 using the syringe 11, and injects the medicine from the syringe 11 into the infusion bag 12.

<Step S53>
On the other hand, in step S53, the second control unit 500 controls the mixed injection processing unit 300 based on the preparation data, the remaining medicine information D30, and the corresponding information D31 input from the first control unit 400, thereby executing the exceptional mixed injection processing in which the medicine is injected into the infusion bag 12 using the remaining medicine. That is, the second control unit 500 can cause the mixed injection processing unit 300 to use the medicine in the medicine container 10 remaining in the mixed injection processing based on other preparation data (second preparation data) different from the preparation data for each of the preparation data to be processed (first preparation data) in the mixed injection processing based on the preparation data. Therefore, for example, when a medicine remains in the medicine container 10 after the mixed injection processing, the medicine is effectively used and waste of the medicine is suppressed.

Specifically, in step S53, the second control unit 500 controls the storage unit 700 to automatically supply the tray 101 associated with the preparation data for which the execution start timing has arrived from the tray storage unit 811 of the storage unit 700 to the mixed injection processing unit 300. Then, in the mixed injection processing, the second control unit 500 aspirates the medicine indicated in the preparation data from the medicine container 10 placed on the storage shelf 33 using the syringe 11, and injects the medicine from the syringe 11 into the infusion bag 12. Note that in the mixed injection processing based on the target preparation data, one or more of the medicine containers 10 placed on the tray 101 may be used together with the medicine container 10 stored as a remaining medicine on the storage shelf 33.

In addition, in the co-infusion process executed in step S53, the drug container 10 stored as a remaining drug is used, and the drug container 10 placed on the tray 101 corresponding to the preparation data to be processed in the co-infusion process may remain unused. In this case, the second control unit 500 may store the unused drug container 10 on the shelf 33 as a remaining drug, but the second control unit 500 may place the unused drug container 10 on the tray 101 and discharge it. For example, when the drug container 10 has not been used, the second control unit 500 causes the touch panel monitor 203 to display a message for the user to confirm whether or not the drug container 10 has been removed. Then, when a request to remove the drug container 10 is made by a user operation on the touch panel monitor 203, the second control unit 500 causes the touch panel monitor 203 to display a message prompting the user to load the tray 101 to remove the drug container 10. Then, the second control unit 500 takes in the tray 101, places the drug container 10 on it, and ejects the tray 101 toward the tray ejection port 206 or the tray ejection port 15.

In addition, in another embodiment, the second control unit 500 can control the first robot arm 21 to move the drug container 10 from the storage shelf 33 to the stirring device 32, or to the vicinity of the main door 301 or the syringe removal door 302, thereby enabling a user to remove the drug container 10. In addition, the first robot arm 21 is provided with an adjustment unit that can manually release the grip of the drug container 10 by the holding unit 25, and a user can remove the drug container 10 from the holding unit 25 using the adjustment unit.

In addition, when the mixed injection process based on the preparation data is completed in step S53, the second control unit 500 stores remaining drug use information indicating whether or not remaining drugs have been used in the mixed injection process and the details thereof in the data storage unit 504 in association with the preparation data, and it is possible to display the remaining drug use information on the touch panel monitor 14 or the like in the preparation inspection process. Furthermore, the second control unit 500 can also print a preparation record sheet or the like including the remaining drug use information in the print contents with the printer 506. Here, FIG. 30 is a diagram showing an example of a printed matter M3 printed as the preparation record sheet. As shown in FIG. 30, in the printed matter M3, various information such as patient information and prescription contents corresponding to the preparation data in which the mixed injection process was performed, as well as information indicating whether the drug used in the mixed injection process is a remaining drug, are printed. Specifically, in the example shown in FIG. 30, "5-FU injection 1000 mg (DVO)" is written in area A31, and includes the letters "DVO" indicating that the drug with the name "5-FU injection 1000 mg" is a remaining drug. On the other hand, in the example shown in FIG. 30, "5-FU injection 1000 mg-1" is written in area A32, and does not include the letters "DVO" indicating that the drug with the name "5-FU injection 1000 mg" is a remaining drug. Of course, the information indicating whether or not a remaining drug has been used is not limited to an abbreviation such as "DVO," and may be letters such as "remaining drug," or a predetermined mark or symbol.

<Step S54>
When the co-infusion process is completed, in step S54, the second control unit 500 judges whether or not any medicine remains in the medicine container 10. The process of judging whether or not there is any remaining medicine in step S54 may be the same process as that in step S26 executed by the first control unit 400, or the second control unit 500 may judge based on the contents of the co-infusion process. Here, when the second control unit 500 judges that the medicine remains (Yes side of S54), it shifts the process to step S55, and when it judges that the medicine does not remain (No side of S54), it shifts the process to step S541.

<Step S55>
In step S55, the second control unit 500 executes a determination process to determine whether or not the medicine container 10 is to be stored as a remaining medicine on the shelf 33. Specifically, the second control unit 500 determines that the medicine container 10 is to be stored as a remaining medicine when a preset storage condition is satisfied. The storage condition includes one or more preset determination conditions. For example, the determination conditions include that the medicine container 10 is the vial bottle 10B, that the medicine container 10 is registered in the medicine master as a medicine to be stored as a remaining medicine, that the remaining amount of the remaining medicine in the medicine container 10 is equal to or greater than a preset minimum remaining amount, that the identification information of the medicine container 10 is normally read by the barcode reader 34b, that the number of punctures of the medicine container 10 is within an upper limit number of times, or that the expiration date of the medicine container 10 has not passed. In addition, when a plurality of the determination conditions are set as the storage condition, it is determined that the storage condition is satisfied when all of the determination conditions are satisfied.

Incidentally, among the judgment conditions, the user may wish to remove the drug container 10 without discarding it, even if the conditions are not met, such as that the identification information of the drug container 10 is normally read by the barcode reader 34b, that the number of times the drug container 10 has been punctured is within the upper limit, and that the expiration date of the drug container 10 has not passed. In particular, the second control unit 500 may be configured to be capable of accepting any removal operation (removal reservation operation) of the drug container 10 containing the remaining drug generated in the mixed injection process during the execution of the mixed injection process. In this case, the second control unit 500 associates a recovery flag indicating that the drug container 10 is a recovery target with the drug container 10 that is the target of the removal reservation operation and stores it in the data storage unit 504. The second control unit 500 executes the recovery process for the drug container 10 associated with the recovery flag at a timing when the recovery process can be executed, in which the mixed injection processing unit 300 is controlled to move the drug container 10 to a position where the user can remove it, as if the mixed injection process was not being executed. In step S55, it is considered that, among the judgment conditions, the conditions that the identification information of the drug container 10 is correctly read by the barcode reader 34b, the number of times the drug container 10 has been punctured is within the upper limit, and the expiration date of the drug container 10 has not passed are judged to be satisfied for the drug container 10 to which the recovery flag is associated, even if these conditions are not satisfied.

In addition, in the co-infusion device 1, the drug container 10 containing the drug that can be used as a remaining drug is placed on the storage shelf 33, but there is a limit to the number of the drug containers 10 that can be placed on the storage shelf 33. Therefore, when the storage conditions are met and the number of the drug containers 10 to be newly stored does not exceed the preset upper limit number that can be placed on the storage shelf 33, the second control unit 500 places the drug container 10 on the storage shelf 33. On the other hand, when the storage conditions are met and the number of the drug containers exceeds the upper limit number when the drug container 10 to be newly stored is placed on the storage shelf 33, the second control unit 500 may determine whether or not to store the drug container 10 on the storage shelf 33 according to a preset storage priority. In addition, since the storage shelf 33 is also used for temporary storage of equipment in the mixed injection process, the upper limit number is considered to be less than the maximum number that can be placed on the storage shelf 33. In addition, as another embodiment, a configuration in which a shelf dedicated to remaining medicine is provided for storing the drug containers 10 containing remaining medicine, separate from the storage shelf 33, is also considered.

More specifically, when the second control unit 500 has leftover medicine in the co-injection process and the number of the medicine containers 10 placed on the storage shelf 33 exceeds a preset upper limit, the second control unit 500 may discard the medicine container 10 containing the medicine with the lowest storage priority among the medicine container 10 containing the leftover medicine and the medicine containers 10 already placed on the storage shelf 33 as the leftover medicine into the trash storage chamber 13a, and place the medicine container 10 with a higher storage priority than the medicine container 10 on the storage shelf 33. That is, the second control unit 500 can replace the medicine container 10 containing the medicine remaining in the co-injection process with the medicine container 10 already stored on the storage shelf 33 according to preset conditions.

It is considered that the storage priority is set in the drug master. In addition, it may be possible to set the same storage priority for multiple drugs in the drug master. However, if the number of the drug containers 10 placed on the shelf 33 has reached the upper limit, and there are multiple drug containers 10 with the lowest storage priority among the drug container 10 with the remaining drug this time and the drug containers 10 already stored as remaining drugs on the shelf 33, it is not possible to select the drug container 10 to be placed on the shelf 33. Therefore, when there are multiple drug containers 10 that are candidates for disposal with the lowest storage priority, the second control unit 500 may determine whether or not to store each of the drug containers 10 as remaining drugs according to a storage priority condition set in advance. Specifically, the storage priority condition may include conditions related to items such as drug price, remaining amount, opening time, and number of punctures. The opening time is the time stored in the remaining medicine information D30 by the first control unit 400 or the second control unit 500 as the time when the injection needle 11c is first punctured into the medicine container 10 in the co-injection process. For example, the storage priority condition may be to prioritize the medicine container 10 with a higher drug price, the medicine container with a larger remaining amount, the medicine container with a slower opening time, or the medicine container with the fewest number of punctures. In addition, when the storage priority condition includes conditions for multiple items, it is possible to set the priority order for the application of each of the items in advance.

In another embodiment, the second control unit 500 may determine whether or not to place the drug container 10 (hereinafter sometimes referred to as the "target drug container 10C") containing the remaining drug resulting from the co-injection process on the storage shelf 33 and store it as a remaining drug according to the storage procedures (1) to (7) below. Note that the second control unit 500 executes a determination process for the storage procedures (1) to (7) below in this order, and when it determines that the target drug container 10C is to be placed on the storage shelf 33 in any of the storage procedures, it does not execute a determination process for the subsequent storage procedures.

(1) The second control unit 500 determines whether there is space on the storage shelf 33, and if there is space, stores the target drug container 10C on the storage shelf 33.

(2) When there is a drug container 10 for which disposal processing has already been reserved among the drug containers 10 included in the remaining drug information D30, the second control unit 500 discards the drug container 10 and stores the target drug container 10C on the storage shelf 33. Specifically, the second control unit 500 may be configured to accept any disposal operation (disposal reservation operation) of the drug container 10 containing the remaining drug generated in the mixed injection processing during the execution of the mixed injection processing. In this case, the second control unit 500 associates a disposal flag indicating that the drug container 10 is to be disposed of with the drug container 10 that is the target of the disposal reservation operation and stores it in the data storage unit 504. Note that the second control unit 500 controls the mixed injection processing unit 300 as if the mixed injection processing is not being executed, and executes the disposal processing for the drug container 10 associated with the disposal flag at a timing when the disposal processing can be executed in which the drug container 10 is moved to the waste storage chamber 13a and disposed of by controlling the mixed injection processing unit 300 as if the mixed injection processing is not being executed.

(3) If the collection flag indicating that the drug container is to be collected in response to the removal reservation operation is not stored in association with the drug container 10 and the drug container 10 is past its expiration date, the second control unit 500 discards the drug container 10 and stores the target drug container 10C on the storage shelf 33.

(4) When a drug container 10 corresponding to and stored in the recovery flag is present, the second control unit 500 executes a recovery operation to move the drug container 10 to a position where the user can recover it, and stores the target drug container 10C on the storage shelf 33.

(5) When a drug container 10 that is associated with and stored in the second control unit 500 and has passed its expiration date is present, the second control unit 500 discards the drug container 10 and stores the target drug container 10C on the storage shelf 33. However, even if the drug container 10 is to be discarded, if a user performs a recovery operation, a recovery operation is executed to move the drug container 10 to a position such as the agitator 32 where the user can recover the drug container 10 without discarding it.

(6) The second control unit 500 identifies the drug container 10 with the lowest storage priority as the comparison target container among the drug containers 10 placed on the storage shelf 33 as remaining drugs. In addition, when there are multiple drug containers 10 with the lowest storage priority, the second control unit 500 identifies the drug container 10 with the smallest remaining amount among them as the comparison target container. Furthermore, when there are multiple drug containers 10 with the lowest storage priority and the remaining amounts of the multiple drug containers 10 are the same, the second control unit 500 identifies the drug container 10 with the earliest opening time among them as the comparison target container. Then, the second control unit 500 compares the storage priority of the target drug container 10C with the comparison target container, and if the storage priority of the target drug container 10C is low, the target drug container 10C is discarded, and if the storage priority of the target drug container 10C is high, the comparison target container is discarded and the target drug container 10C is stored on the storage shelf 33. That is, the target drug container 10C is replaced with the comparison container and stored on the storage shelf 33.

(7) The second control unit 500 identifies, among the drug containers 10 placed on the shelf 33 as remaining drugs, a drug container 10 having the same drug type as the target drug container 10C as a comparison target container. In addition, when there are multiple drug containers 10 having the same drug type, the second control unit 500 identifies the drug container 10 having the smallest remaining amount as the comparison target container. Furthermore, when there are multiple drug containers 10 having the same drug type and the remaining amounts of the multiple drug containers 10 are the same, the second control unit 500 identifies the drug container 10 that was opened earlier as the comparison target container. Then, the second control unit 500 compares the remaining amounts in the target drug container 10C and the comparison target container, and if the remaining amount in the target drug container 10C is small, the target drug container 10C is discarded, and if the remaining amount in the target drug container 10C is large, the comparison target container is discarded and the target drug container 10C is stored on the shelf 33. That is, the target drug container 10C is replaced with the comparison container and stored on the storage shelf 33. On the other hand, if it is not determined that the target drug container 10C should be stored, the target drug container 10C is discarded.

When the recovery flag is stored in association with the drug container 10 determined to be discarded in place of the target drug container 10C in (2) to (7), the second control unit 500 may display an operation screen for selecting either the disposal or recovery of the drug container 10, and execute a disposal operation or a recovery operation in response to a user operation. In addition, when a drug container 10 has been arbitrarily selected by the user as a drug container to be discarded from among the drug containers 10 stored as remaining drugs, the drug container 10 is discarded without a user confirmation operation.

Even if it is determined based on (2) to (7) that the drug container 10 to be replaced does not exist, if the user performs a collection operation, the target drug container 10C may not be discarded, and a collection operation may be performed for the target drug container 10C. Note that the replacement processes of (2) and (3) may be performed without the need for user confirmation, and the replacement processes of (4) to (7) may be performed in response to user confirmation. The determination process in step S55 may be performed in step S26 of the mixed injection management process performed by the first control unit 400, or may be performed independently of the mixed injection management process or the mixed injection control process.

Furthermore, when the drug contained in the drug container 10 is a powdered drug and the powdered drug is dissolved in a solvent such as physiological saline, the solvent and concentration in the drug container 10 may not be visually determined after the drug container 10 is placed on the shelf 33. Therefore, the second control unit 500 may control whether or not the drug container 10 is placed on the shelf 33 so that there are not two or more drug containers 10 in which the drug type is the same but at least one of the solvent or concentration is different. Specifically, the drug master may store, for each drug, one type of solvent and a concentration (amount of solvent) that are predetermined as a solvent when use as a remaining drug is permitted, in association with each other. The second control unit 500 permits use of the drug as a remaining drug only when the combination of the drug in the drug container 10 and the solvent injected into the drug container 10 is a combination defined in the drug master, and prohibits use of the drug as a remaining drug when the combination is other than the combination. In another embodiment, when another drug container 10 having the same type of drug as the drug container 10 to be placed on the storage shelf 33 in step S55 and at least one of the solvent or concentration is different from the drug container 10 to be placed on the storage shelf 33, the second control unit 500 may discard the drug container 10 without placing it on the storage shelf 33. In addition, the second control unit 500 may select one of the other drug containers 10 already placed on the storage shelf 33 and the drug container 10 to be placed on the storage shelf 33 in step S55 according to the priority or the priority condition, place it on the storage shelf 33, and discard the other one.

<Step S56>
In step S56, the second control unit 500 stores the medicine in the medicine container 10 in the mixed injection processing chamber 104 in a reusable state. More specifically, the second control unit 500 controls the first robot arm 21 of the mixed injection processing unit 300 to place the medicine container 10 on the storage shelf 33 in a reusable state. That is, the mixed injection processing unit 300 stores the medicine container 10 in which the medicine remains in the mixed injection processing based on the preparation data as a remaining medicine container in the mixed injection device 1, and the medicine in the remaining medicine container can be used in the mixed injection processing based on the target preparation data. In addition, the second control unit 500 updates various information registered in the remaining medicine information D30 as necessary.

<Step S541>
On the other hand, when no drug remains in the drug container 10, the second control section 500 in step S541 discards the drug container 10 into the waste storage chamber 13a by the first robot arm 21. That is, basically, when the drug in the drug container 10 has not been used up, the drug container 10 is returned to the storage shelf 33, and when the drug in the drug container 10 has been used up, the drug container 10 is discarded.

[Other embodiments]
Incidentally, it is considered that the drug container 10 stored as a remaining drug in the mixed injection processing chamber 104 of the mixed injection device 1 can be taken out at a timing desired by a user. Specifically, the first control unit 400 displays the remaining drug information D30 on the touch panel monitor 203 in response to a specific operation by the user.

Then, when any of the remaining drugs included in the remaining drug information D30 is selected and a removal operation is performed, the first control unit 400 controls the first robot arm 21 or the second robot arm 22, etc., to remove the drug container 10 corresponding to the remaining drug from the storage shelf 33, and moves the drug container 10 to a position where it can be removed when the user opens the main door 301. For example, the first control unit 400 places the drug container 10 on the stirring device 32 arranged near the main door 301.

The first control unit 400 also transmits label printing information related to the medicine container 10 to be removed to the printer 506, and causes the printer 506 to print the label printing information on the label. Here, the first control unit 400 when executing the relevant process is an example of a print processing unit. The label printing information includes various information necessary for the subsequent use of the medicine container 10, such as the type of medicine in the medicine container 10, the remaining amount, the expiration date, and the number of punctures. As a result, by attaching the label to the medicine container 10, the user can easily grasp the information on the remaining medicine in the medicine container 10 and use it even after removing the medicine container 10 from the co-infusion device 1. The label may be automatically attached to the medicine container 10 by the first robot arm 21 and the second robot arm 22 of the co-infusion device 1. The co-infusion device 1 may also be provided with a separate attachment device that automatically attaches the label to the medicine container 10.

Furthermore, it is also conceivable that code information such as a one-dimensional code or a two-dimensional code indicating the label printing information is printed on the label. Then, when the code information of the label is read, the first control unit 400 can make the drug container 10 corresponding to the code information available again in the co-infusion device 1 based on the code information. Specifically, the first control unit 400 can update the remaining drug information D30 based on the label printing information. This allows the first control unit 400 to execute a process of matching the drug contained in the drug container 10 with the preparation data, obtain information on the remaining amount of the drug, check the expiration date of the drug, check the number of punctures, and the like. Note that the first control unit 400 can also display the presence of the drug container 10 on the touch panel monitor 203 when the co-infusion management process is executed for the preparation data in which the drug container 10 can be used as a remaining drug after executing the removal process for the drug container 10.

In addition, when a preset time such as the end of business arrives, or when a user performs a predetermined operation to end business on the co-injection device 1, it is possible that the drug container 10 containing usable drugs remains in the co-injection device 1. Therefore, the first control unit 400 or the second control unit 500 determines whether or not the drug container 10 remains in the co-injection processing chamber 104 based on the remaining drug information D30 at a preset time or when a operation to end business is performed, and if the drug container 10 remains in the co-injection processing chamber 104, it is possible to notify the user of this by displaying the fact on a display means such as the touch panel monitor 14 or the touch panel monitor 203.

Furthermore, the first control unit 400 or the second control unit 500 may select, in response to a user operation, whether to discard, remove, or reserve the drug container 10 remaining in the mixed injection processing chamber 104. When the user selects to discard the drug container 10, the second control unit 500 discards the drug container 10, and the drug information in the drug container 10 is erased from the remaining drug information D30. When the user selects to remove the drug container 10, the second control unit 500 moves the drug container 10 to a position where the user can remove the drug container 10, such as the stirring device 32, near the main door 301, or the syringe removal door 302, and the drug information in the drug container 10 is erased from the remaining drug information D30. When the user selects to reserve the drug container 10, the drug container 10 is stored as is in the mixed injection processing chamber 104.

[An example of an injection process]
Here, an example of an injection process will be described in which the second control unit 500 controls the second robot arm 22 when injecting a liquid such as an infusion or a medicinal solution in the syringe 11 into the medicine container 10. The same applies when injecting the liquid in the syringe 11 into the infusion bag 12.

As shown in FIG. 31(A), when the tip of the injection needle 11c of the syringe 11 is directed vertically downward and the syringe 11 is filled with liquid MD1, if an operation to push out the entire amount of the liquid MD1 is performed by the syringe 11, even if a flush operation that reciprocates the plunger 11b is finally performed, as shown in FIG. 31(B), the liquid MD1 may remain attached to the tip surface 11b-1 of the plunger 11b and the tip surface 11a-1 of the syringe 11a.

On the other hand, when the second control unit 500 injects the entire amount of the liquid MD1 in the syringe 11 into the medicine container 10, it first controls the second robot arm 22 to execute an air suction operation to take in the air AR1 into the syringe 11. As a result, as shown in FIG. 31(C), the liquid MD1 is present in the lower layer and the air AR1 is present in the upper layer in the syringe 11a, and the liquid MD1 is separated from the tip surface 11b-1 of the plunger 11b. The air suction operation may be performed in a state where the injection needle 11c of the syringe 11 is pierced into the medicine container 10, but the air suction operation may also be performed in a state before the injection needle 11c of the syringe 11 is pierced into the medicine container 10. In particular, when the air suction operation is performed before the medicine container 10 is punctured, the time until the injection needle 11c of the syringe 11 punctures the medicine container 10 can be used as the time for separating the liquid MD1 from the tip surface 11b-1 of the plunger 11b within the syringe 11.

Then, the second control unit 500 controls the second robot arm 22 to execute an operation of pushing out all of the liquid MD1 in the syringe 11. As a result, as shown in FIG. 31(D), the liquid MD1 in the syringe 11 is pushed out by the air AR1 present in the layer above it, making it possible to suppress the liquid MD1 remaining in the syringe 11 compared to when the air AR1 is not present.

In addition, for example, when the liquid MD1 is injected from the syringe 11 into the infusion bag 12, the syringe 11 may be operated in a state inclined with respect to the vertical direction as shown in Fig. 31 (E). In this case, if the syringe 11 is inclined at an angle at which the liquid MD1 does not come into contact with at least the tip surface 11b-1 of the plunger 11b, the effect of the air suction operation is achieved. In addition, the second control unit 500 may increase the amount of the air AR1 sucked into the syringe 11 as the angle of the syringe 11 becomes steeper, thereby avoiding contact between the tip surface 11b-1 of the plunger 11b and the liquid MD1. Here, the case where the liquid is injected from the syringe 11 into the infusion container 10 or the infusion bag 12 has been described, but even when the liquid in the syringe 11 is entirely disposed of in a waste liquid section such as a trash can or bucket provided in the co-infusion device 1 by operating the plunger 11b, the air suction operation may be performed before the plunger 11b is pressed.

[Bulk air bubble discharge function]
32(A), when the drug solution MD2 is aspirated from the drug container 10 by the syringe 11 using the second robot arm 22, air bubbles AR2 may be generated in the syringe 11. In response to this, the second control unit 500 may be provided with an air bubble discharge function capable of eliminating the air bubbles AR2.

Specifically, after the syringe 11 has sucked up the drug solution MD2 from the drug container 10, the plunger 11b is pulled back a predetermined amount with the tip of the injection needle 11c of the syringe 11 facing vertically downward to take in air AR3 into the syringe 11a, and as shown in FIG. 32(B), it is possible to combine the air AR3 with the air bubbles AR2 and eliminate the air bubbles AR2. Then, as shown in FIG. 32(C), the plunger 11b is pushed out a predetermined amount with the tip of the injection needle 11c of the syringe 11 facing vertically upward to discharge the air AR3 as shown in FIG. 32(D). Hereinafter, this operation is referred to as the air bubble discharge operation.

On the other hand, in the co-injection process, the second control unit 500 may control the second robot arm 22 to aspirate the drug solution MD2 from the multiple drug containers 10 with the syringe 11. In this case, if the air bubble discharge operation is performed each time the drug solution MD2 is aspirated from each drug container 10, the time required for the co-injection process will be longer.

Therefore, when the second control unit 500 aspirates the drug solution MD2 from multiple drug containers 10, it is considered to have a batch bubble discharge function that executes the bubble discharge operation only once after the drug solution MD2 has been aspirated from the multiple drug containers 10. This reduces the time required compared to when the bubble discharge operation is executed individually for each drug container 10.

In addition, if the number of the drug containers 10 from which the drug liquid MD2 is to be aspirated is large, the number of the air bubbles AR2 may increase during the process of repeating the aspirating of the drug liquid MD2, and the air bubbles AR2 may merge. Therefore, in another embodiment, the second control unit 500 may omit the step of aspirating the air AR3 when aspirating the drug liquid MD2 from a predetermined number of drug containers 10 or more, and may execute the step of aspirating the air AR3 when aspirating the drug liquid MD2 from less than the predetermined number of drug containers 10.

[An example of a transfusion process]
In the infusion injection step in which the liquid in the syringe 11 is injected into the infusion bag 12, the injection needle 11c of the syringe 11 is pierced into the rubber stopper of the infusion bag 12, and the plunger 11b is pushed to inject the liquid in the syringe 11a into the infusion bag 12. Here, as shown in Fig. 33, when the injection needle 11c is pierced into the rubber stopper 12a of the infusion bag 12, if the tip of the injection needle 11c is in contact with the inner surface 12b of the rubber stopper 12a or is stuck into the inner surface 12b, the liquid in the syringe 11a is not discharged even if the plunger 11b is pushed, and there is a possibility that the inside of the syringe 11a becomes positive pressure. In this state, when the injection needle 11c is removed from the rubber stopper 12a, the liquid in the syringe 11a, which is under positive pressure, may be pushed out from the injection needle 11c.

The second control unit 500 may control the second robot arm 22 to insert the injection needle 11c of the syringe 11 into the rubber stopper 12a, and then perform an operation of pushing the plunger 11b according to the amount of liquid to be injected, and then perform a pressure adjustment operation of pulling the plunger 11b by a predetermined amount before removing the injection needle 11c from the rubber stopper 12a. This reduces the degree of positive pressure in the syringe 11a of the syringe 11, thereby reducing the possibility of liquid leaking from the injection needle 11c of the syringe 11 when the injection needle 11c of the syringe 11 is removed from the rubber stopper 12a.

The second control unit 500 may detect the load (torque) of a driving unit such as a motor provided in the moving unit 263, and when the load is equal to or greater than a preset upper limit, determine that the liquid has not been discharged from the syringe 11a. When the second control unit 500 determines that the liquid has not been discharged from the syringe 11a, it executes the pressure adjustment operation, and when it determines that the liquid has been discharged from the syringe 11a, it does not execute the pressure adjustment operation. In this way, the pressure adjustment operation is executed only when necessary. In addition, the second control unit 500 may release the plunger 11b held by the plunger holding unit 262 and wait for a predetermined time in a state in which the plunger 11b can move freely, after controlling the second robot arm 22 to perform an operation of pushing out the plunger 11b of the syringe 11, before the injection needle 11c comes out of the rubber stopper 12a. As a result, when there is positive pressure inside the syringe 11a, the plunger 11b is pushed out naturally, and the positive pressure inside the syringe 11a is released.

[Syringe drop function]
The second control unit 500 discards the used syringe 11 by dropping it into the waste storage chamber 13a using the second robot arm 22. More specifically, the second control unit 500 drops the syringe 11 from the holding unit 26 into the waste storage chamber 13a by separating a pair of the gripping claws 261a (see FIG. 8) provided on the holding unit 26 of the second robot arm 22 that holds the syringe 11.

However, when the syringe 11 is held by a pair of gripping claws 261a as shown in FIG. 34(A), if the pair of gripping claws 261a are separated as shown in FIG. 34(B), the syringe 11 may get caught on one of the gripping claws 261a and not fall.

Therefore, it is considered that the second control unit 500 is provided with a syringe drop function that executes a syringe drop process in which the syringe 11 is brought into contact with the edge of the inlet of the waste storage chamber 13a, causing the syringe 11 to drop from the gripping claws 261a.

Specifically, as shown in FIG. 34(C), when the second control unit 500 discharges the syringe 11 held by the holding unit 26 into the waste storage chamber 13a, the second control unit 500 first controls the second robot arm 22 to move the gripping unit 26 so that at least a part of the syringe 11a or the injection needle 11c of the syringe 11 is positioned within the inlet 13a-1 of the waste storage chamber 13a. After that, the second control unit 500 controls the second robot arm 22 to move the gripping unit 26 in one or more directions, forward, backward, left, or right, so that a part of the syringe 11 contacts the edge 13a-2 of the inlet 13a-1. This makes it possible to bring the syringe 11 into contact with the edge 13a-2, relatively change the positional relationship between the syringe 11 and the gripping unit 26, and drop the syringe 11 from the gripping unit 26 into the waste storage chamber 13a.

It is also conceivable that the waste storage chamber 13a is provided with an input detection unit such as an optical sensor or ultrasonic sensor for detecting the input of an object into the waste storage chamber 13a. In this case, it is conceivable that the second control unit 500 executes the syringe drop process when the input detection unit does not detect that the syringe 11 has dropped into the waste storage chamber 13a within a preset time after executing the discharge process for opening the gripping unit 26 of the second robot arm 22 to drop the syringe 11 into the waste storage chamber 13a. On the other hand, the second control unit 500 does not execute the syringe drop process when the input detection unit detects that the syringe 11 has dropped into the waste storage chamber 13a within a preset time after executing the discharge process for opening the gripping unit 26 of the second robot arm 22 to drop the syringe 11 into the waste storage chamber 13a. This prevents the syringe drop process from being executed unnecessarily. In addition, in the syringe drop process, the movement of the gripping portion 26 in one or more directions of front, back, left, or right within the waste storage chamber 13a is continued until the drop detection portion detects that the syringe 11 has dropped, thereby minimizing the number of times the syringe 11 is moved.

[Embodiment of dissolving process]
In the dissolving step, the second control unit 500 injects the infusion liquid in the syringe 11 into the vial bottle 10B by operating the plunger 11b with the second robot arm 22. At this time, the second control unit 500 may perform a substitution step of pulling the plunger 11b to suck air in the vial bottle 10B before injecting the infusion liquid in the syringe 10 into the vial bottle 10B, and then pushing the plunger 11b to inject the infusion liquid in the syringe 10 into the vial bottle 10B, so that the pressure in the vial bottle 10B does not become positive. On the other hand, among various types of vial bottles 10B containing powdered medicine, there are some in which the pressure in the vial bottle 10B is negative when the vial bottle 10B is received, and the substitution step is not necessary for this type of vial bottle 10B.

The pharmaceutical master stored in the data storage unit 404 or the data storage unit 504 may include replacement determination information for determining the necessity of the replacement process for each pharmaceutical. For example, the replacement determination information may be flag information indicating whether the replacement process is necessary, flag information indicating whether the inside of the vial bottle 10B is under negative pressure, or information indicating the pressure state (pressure value) inside the vial bottle 10B.

The second control unit 500 may switch whether or not to execute the replacement process when injecting the infusion into the vial 10B based on the replacement determination information stored in the pharmaceutical master for the vial 10B of the drug that is the target of the dissolution process. This prevents the vial 10B that requires the replacement process from becoming positive pressure through the replacement process, and for the vial 10B that does not require the replacement process, it is possible to shorten the time required for the co-infusion process by omitting the replacement process.

Even if the vial bottle 10B is in a negative pressure state when it is received, the degree of negative pressure may vary for some drug types due to individual differences between the vials 10B. In this case, when an infusion is injected into the vial bottle 10B, the vial bottle 10B may become positive pressure. Therefore, individual difference information for determining whether there is an individual difference in the degree of negative pressure may be set in advance for each drug contained in the vial bottle 10B and registered in the drug master. Then, even if the second control unit 500 determines that the replacement process is unnecessary based on the replacement determination information, if the second control unit 500 determines that the vial bottle 10B has an individual difference in the degree of negative pressure based on the fixed difference information, the second control unit 500 performs the replacement process without skipping it. This makes it possible to prevent the vial bottle 10B from becoming positive pressure due to the individual difference.

Furthermore, even if the vial bottle 10B is in a state of negative pressure when it arrives, the vial bottle 10B may become positive pressure depending on the amount of infusion injected into the vial bottle 10B. Therefore, it is considered that the threshold value is set in advance for each drug contained in the vial bottle 10B and registered in the drug master. The threshold value may be a constant value set in advance. And, even if the second control unit 500 determines that the replacement process is unnecessary based on the replacement determination information, it is considered that the second control unit 500 performs the replacement process without skipping it if it determines that the amount of infusion to be injected into the vial bottle 10B is equal to or greater than a predetermined threshold value based on the threshold value.

The pharmaceutical master also includes information indicating the degree of negative pressure in the vial bottle 10B, and the second control unit 500 may change the amount of replacement in the replacement process depending on the degree of negative pressure in the vial bottle 10B. Specifically, the second control unit 500 may adjust the amount of air to be aspirated in the replacement process so that the smaller the degree of negative pressure in the vial bottle 10B, the greater the amount of air to be aspirated in the replacement process, and vice versa. This makes it possible to minimize the time required for the replacement process in the co-injection process while preventing the vial bottle 10B from becoming positive pressure.

[Syringe mixing function]
When the viscosity of the medicinal liquid injected into the infusion bag 12 using the syringe 11 is high, the medicinal liquid is not easily dissolved by the infusion in the infusion bag 12. Therefore, it is considered that the second control unit 500 has an in-syringe stirring function that executes an in-syringe stirring process in which, when the medicinal liquid in the syringe 11 is fully injected into the infusion bag 12, the medicinal liquid and the infusion are stirred and mixed in the syringe 11a of the syringe 11 and then injected into the infusion bag 12. The in-syringe stirring process may be executed only when the drug that is the target of the mixed injection process is registered as a drug with high viscosity in the pharmaceutical master. The in-syringe stirring process may also be executed for all drugs.

Specifically, in the syringe mixing process, the second control unit 500 may control the second robot arm 22 to sequentially execute the following steps (11) to (17).

(11) The needle 11c of the syringe 11 is inserted into the rubber stopper of the infusion bag 12, allowing the syringe 11 to aspirate the infusion in the infusion bag 12.

(12) The second control unit 500 pulls the plunger 11b so that the syringe 11 draws in a first suction amount of infusion from the infusion bag 12.

(13) The second control unit 500 pushes the plunger 11b so that the medicinal liquid in the syringe 11a is injected into the infusion bag 12 by a preset first injection amount that is equal to or smaller than the first suction amount. Note that the preset amount may be changed each time depending on the amount of medicinal liquid contained in the syringe 11a.

(14) The second control unit 500 repeats steps (12) and (13) a predetermined number of times. At this time, the first injection amount may be the same, or the first injection amount may be gradually decreased.

(15) The second control unit 500 pulls the plunger 11b so that the syringe 11 aspirates a second suction amount of infusion liquid from the infusion bag 12. The first suction amount and the second suction amount may be the same or different values.

(16) The second control unit 500 pushes the plunger 11b so that the medicinal liquid in the syringe 11a is injected into the infusion bag 12 by a second injection amount that is a preset amount that is greater than the second suction amount.

(17) The second control unit 500 repeats steps (15) and (16) until the medicinal liquid in the syringe 11a runs out. At this time, the second injection amount may remain the same, or the second injection amount may gradually increase.

Here, an example will be described in which 10 ml of medicinal liquid is contained in the syringe 11a, the entire amount of the medicinal liquid is injected from the syringe 11a into the infusion bag 12, and the syringe stirring process is executed. The first suction volume is 4 ml, the first injection volume is 3 ml, the second suction volume is 3 ml, and the second injection volume is 5 ml. Also, steps (12) and (13) are executed a total of three times.

In this case, in (11) to (14), the amount of medicinal liquid in the syringe 11a changes from 10 ml to 14 ml to 11 ml to 15 ml to 12 ml to 16 ml to 13 ml.

After that, in steps (15) to (17), the amount of medicinal liquid in the syringe 11a changes as follows: 13 ml → 16 ml → 11 ml → 14 ml → 9 ml → 12 ml → 7 ml → 10 ml → 5 ml → 8 ml → 3 ml → 6 ml → 1 ml → 4 ml → 0 ml.

In this way, when the mixing process in the syringe is performed, the medicinal liquid and the infusion liquid can be mixed by stirring in the syringe 11a and then injected into the infusion bag 12, thereby improving the mixability of the medicinal liquid and the infusion liquid in the infusion bag 12.

[Embodiment of the stirring inspection process]
In the stirring inspection process, the second control unit 500 moves the vial bottle 10B to a position and attitude (the front side of the co-infusion device 1) where the bottom or side of the vial bottle 10B can be visually confirmed by the user. However, even after the medicine and the infusion are stirred in the vial bottle 10B by the stirring process, powdered medicine tends to gather near the liquid surface in the vial bottle 10B, and for certain medicines such as medicines that darken the color of the medicine in the vial bottle 10B, it may be difficult to confirm the degree of solubility from the bottom or side of the vial bottle 10B.

The pharmaceutical master stored in the data storage unit 404 or the data storage unit 504 may include specific pharmaceutical information for each pharmaceutical, which indicates whether or not the pharmaceutical is the specific pharmaceutical. The second control unit 500 may determine whether or not the pharmaceutical to be subjected to the mixed injection process is the specific pharmaceutical based on the specific pharmaceutical information in the pharmaceutical master, and if it determines that the pharmaceutical is the specific pharmaceutical, may change the attitude and position of the vial bottle 10B in the mixing inspection process from the case where the pharmaceutical is not the specific pharmaceutical.

Specifically, when the drug to be mixed is the specific drug, the second control unit 500 may control the first robot arm 21 so that the position of the vial 10B is lower in the mixing inspection process than when the drug to be mixed is not the specific drug. This allows the user to check the liquid level in the vial 10B from above, and makes it easier to grasp the degree of dissolution of the powder in the vial 10B even when the drug to be mixed is the specific drug. In addition, when the drug to be mixed is the specific drug, the second control unit 500 may control the first robot arm 21 so that the position of the vial 10B is moved to the same position as when the drug to be mixed is not the specific drug, and then moved to a lower position than the position when the drug to be mixed is not the specific drug. In addition, when a photograph of the vial 10B is taken in the mixing inspection process, the vial 10B may be photographed from above in the same manner.

[Anti-coring function]
The rubber stopper of the medicine container 10 or the infusion bag 12 may have unevenness formed on its surface. For example, letters, symbols, or figures may be formed on the rubber stopper by the unevenness. In this case, when the injection needle 11c of the syringe 11 is pierced into the rubber stopper at the position of the unevenness, coring, in which a part of the rubber stopper is scraped off, is likely to occur. Therefore, it is considered that the second control unit 500 has a coring prevention function that allows the injection needle 11c of the syringe 11 to pierce the rubber stopper while avoiding the position of the unevenness when the injection needle 11c of the syringe 11 is pierced into the rubber stopper.

Specifically, it is considered that the drug master stored in the data storage unit 404 or the data storage unit 504 includes unevenness information indicating the position of the unevenness for each of the drug container 10 or the infusion bag 12. In this case, it is considered that the second control unit 500 acquires the position of the unevenness in the rubber stopper of the drug container 10 or the infusion bag 12 based on the unevenness information registered in the drug master corresponding to the drug container 10 or the infusion bag 12 to be processed in the mixed injection process.

The second control unit 500 may also capture an image of the surface of the rubber stopper of the drug container 10 or the infusion bag 12 using an imaging unit provided in the co-infusion device 1, such as the tray confirmation camera 41 or the syringe confirmation camera 42, and obtain the position of the irregularities based on the image captured by the imaging unit.

Then, the second control unit 500 punctures the injection needle 11c while avoiding the position of the unevenness in the rubber stopper. For example, when the infusion bag 12 is set in a predetermined posture in the infusion bag holding unit 103, the second control unit 500 may adjust the puncture position of the injection needle 11c in the rubber stopper of the infusion bag 12 based on the predetermined posture. The second control unit 500 may photograph the surface of the rubber stopper of the medicine container 10 or the infusion bag 12 by an imaging unit provided in the co-infusion device 1, such as the tray confirmation camera 41 or the syringe confirmation camera 42, and adjust the puncture position of the injection needle 11c based on the image photographed by the imaging unit. In addition, when the second control unit 500 reads the barcode of the medicine container 10 with the medicine reading unit 34, the second control unit 500 can stop the rotation of the medicine container 10 by the medicine reading unit 34 when the barcode is read, thereby making it possible for the first robot arm 21 to grasp the medicine container 10 in a predetermined posture, and the puncture position of the injection needle 11c can be adjusted based on the posture.

[Barcode damage response function]
As described above, in the co-infusion device 1, the remaining medicine remaining in the co-infusion process performed in the past may be used in the co-infusion process based on the target preparation data. However, the barcode attached to the vial bottle 10B placed on the shelf 33 as the remaining medicine may be damaged and become unreadable due to some cause. For example, when the vial bottle 10B is gripped by the gripping claws 25a by the first robot arm 21, the label of the vial bottle 10B may be caught and the label may be torn. As described above, the barcode attached to the vial bottle 10B is read by the barcode reader 204 and compared with the preparation data in the step S31 executed by the first control unit 400 when the vial bottle 10B is set on the tray 101.

On the other hand, in the co-infusion device 1, the posture of the vial bottle 10B when held by the first robot arm 21 and the second robot arm 22 may be controlled to a predetermined posture depending on the timing of reading the barcode of the vial bottle 10B by the drug reading unit 34. For example, the puncture position on the upper surface of the vial bottle 10B to be punctured by the injection needle 11c may be determined so that the puncture position of the injection needle 11c into the vial bottle 10B stored as a residual drug does not overlap with the first puncture. For example, the puncture position in the first predetermined posture for each vial bottle 10B is stored in the data storage unit 504, and the puncture position for the second puncture is controlled so as not to overlap based on the puncture position. In this case, if the vial bottle 10B's barcode is read by the medicine reading unit 34, the rotation of the vial bottle 10B by the medicine reading unit 34 is stopped and the vial bottle 10B is gripped by the first robot arm 21, it is possible to keep the circumferential positional relationship of the upper surface of the vial bottle 10B constant when it is held by the first robot arm 21. However, if the barcode of the vial bottle 10B stored on the shelf 33 as a remaining drug is in an unreadable state, the circumferential positional relationship of the upper surface of the vial bottle 10B becomes unclear using the barcode.

In response to this, the second control unit 500 may be provided with a barcode damage response function that performs control so that the vial bottle 10B with a damaged barcode is not left as a remaining drug when multiple vials 10B are used for the same type of drug in one co-injection process and the vial bottle 10B is left as a remaining drug in the co-injection process.

Specifically, in the mixed injection process, the second control unit 500 sequentially takes out the vials 10B from the equipment placement unit 102 using the first robot arm 21, and reads the barcodes of the vials 10B using the drug reading unit 34. Thereafter, the second robot arm 22 places the vials 10B set in the drug reading unit 34 on the placement shelf 33. At this time, damage information regarding whether the barcode of each of the vials 10B has been properly read is stored in the data storage unit 504.

Then, the second control unit 500 sequentially takes out the vials 10B to be used from the storage shelf 33 by the first robot arm 21 and uses them. At this time, the second control unit 500 selects and uses the vials 10B whose barcodes could not be properly read by the medicine reading unit 34 among the vials 10B based on the damage information stored in the data storage unit 504. As a result, the vials 10B whose barcodes are not damaged among the multiple vials 10B are used later, and if there is a remaining drug, the vials 10B whose barcodes are not damaged are left on the storage shelf 33. Therefore, when the vials 10B stored as remaining drugs on the storage shelf 33 are used in the subsequent mixed injection process, the puncture position of the vials 10B can be controlled based on the position of the barcode as described above, and the injection needle 11c is prevented from puncturing the same position of the vial 10B twice.

For example, consider the case where two vials 10B of the same specification, each containing 5 ml of the same drug, are used in the mixed injection process, and one vial 10B containing 3 ml of the drug remaining in the mixed injection process is stored on the shelf 33 as the remaining drug to be used next time. In this case, each of the vials 10B is sequentially taken out from the equipment placement section 102, the barcode is read, and the vial is moved to the shelf 33. Here, for example, suppose that the barcode is not read correctly from the vial 10B (hereinafter referred to as the "first vial 10B1") that was taken out first from the equipment placement section 102, and the barcode is read correctly from the vial 10B (hereinafter referred to as the "second vial 10B2") that was taken out later from the equipment placement section 102. In this case, in the mixed injection process, the second vial bottle 10B2 that is later removed from the equipment placement section 102 is first removed from the storage shelf 33 and used, and then the first vial bottle 10B1 that was first removed from the equipment placement section 102 is removed from the storage shelf 33 and used. As a result, at the end of the mixed injection process, the first vial bottle 10B1 whose barcode has been read normally is stored in the storage shelf 33 as a remaining drug. Therefore, when the first vial bottle 10B1 is used in the mixed injection process that is executed thereafter, the second control unit 500 can control the puncture position of the injection needle 11c into the first vial bottle 10B1 based on the predetermined attitude so that the puncture position is not the same as the previous time.

1 Co-infusion device 10 Drug container 11 Syringe 12 Infusion bag 21 First robot arm 22 Second robot arm 31 Ampoule cutter 32 Stirring device 33 Placement shelf 34 Drug reading unit 35 Weighing scale 36 Needle bending detection unit 37 Co-infusion communication port 100 Co-infusion control unit 101 Tray 101a Electronic paper 101b IC tag 101c IC reader 110 Tray transport unit 200 Drug loading unit 300 Co-infusion processing unit 400 First control unit 500 Second control unit 600 Upper system 700 Storage unit 800 Lifting unit 900 Tray transport unit

Claims (2)

A control device including a means for controlling a mixed injection processing unit capable of performing a mixed injection process of injecting an infusion in a syringe into a first container based on preparation data and injecting a drug in the first container into a second container,
The means comprises :
When the mixed injection processing unit injects the infusion in the syringe into the first container, the mixed injection processing unit injects the infusion in the syringe into the first container without executing a replacement step of aspirating air in the first container with the syringe and then injecting the infusion in the syringe into the first container ,
Based on the replacement determination information stored in a data storage unit in which replacement determination information for determining the necessity of the replacement process for each of the medicines is stored, switching whether or not to execute the replacement process when the mixed injection processing unit injects the infusion in the syringe into the first container for each of the medicines.
Control device. A control device controls a mixed injection processing unit capable of performing a mixed injection process of injecting an infusion in a syringe into a first container based on preparation data and injecting a drug in the first container into a second container,
When injecting the infusion in the syringe into the first container by the mixed injection processing unit, the infusion in the syringe is injected into the first container without executing a replacement step of aspirating air in the first container with the syringe and then injecting the infusion in the syringe into the first container;
A step of switching whether or not to execute the replacement process when the infusion in the syringe is injected into the first container by the mixed injection processing unit, for each of the drugs, based on the replacement determination information stored in a data storage unit in which replacement determination information for determining the necessity of the replacement process for each of the drugs is stored;
A control program for executing the above.