JP7799229B2 - Drug handling equipment - Google Patents

Description

The present invention relates to a drug handling device, etc.

Medicine dispensing devices for dispensing medicines have been developed for some time. Examples are disclosed in Patent Documents 1 to 3.

Patent Document 1 discloses a medicine dispensing device that removes medicine sheets from medicine-containing cassettes transported from a cassette shelf to a delivery section and moves a medicine tray so that the medicine tray can receive the medicine sheets. This medicine dispensing device can reduce the total time required to dispense medicine sheets.

Patent Document 2 also discloses an automatic medicine supply device equipped with a medicine picking unit having multiple dispensing sections into which medicine-containing cassettes transported from a cassette shelf are dispensed. Each of the multiple dispensing sections has a medicine outlet for inserting and removing medicines, and an open/close cover that can open and close the medicine outlet. In this automatic medicine supply device, the open/close cover of the dispensing section into which the medicine-containing cassette has been dispensed is controlled to be open only, making it possible to correctly dispense the desired medicine even when multiple medicine-containing cassettes have been dispensed in the medicine picking section.

The method of Patent Document 3 also transports medical supply packs from a first receiving location within the access area of the operator unit to a discharge location within the access area of the operator. The method also transports medical supply packs from a replenishment location within the access area of the operator unit to a second receiving location within the access area of the operator unit.

International Publication No. 2016/047487 JP 2011-79642 A Patent No. 6424217

Let's consider a case where an operator retrieves a cassette stored in a cassette shelf or stores a cassette in the cassette shelf. Patent documents 1 and 2 do not disclose a configuration that allows the medicine dispensing device or automatic medicine supply device to automatically access the cassette to be retrieved or inserted without the operator having to directly access the cassette shelf.

Furthermore, Patent Document 3 does not disclose any of the following locations other than the discharge location where an operator removes medication from a pharmaceutical pack or the replenishment location where medication is replenished into a pharmaceutical pack. In other words, Patent Document 3 does not disclose a location where an operator removes pharmaceutical packs stored in a device and automatically transported by the device, or a location where an operator replenishes pharmaceutical packs that are automatically transported by the device and stored in the device. Note that the object of transportation in the method of Patent Document 3 is pharmaceutical packs, not cassettes that can contain pharmaceutical packs.

Therefore, the technologies of Patent Documents 1 to 3 may not be able to improve work efficiency and processing efficiency when removing cassettes from cassette shelves or storing cassettes on cassette shelves.

Furthermore, Patent Documents 1 to 3 do not disclose a method for transferring cassettes contained in a group of cassettes containing the same type of medication when the group of cassettes is stored on a cassette shelf. Therefore, the technology in Patent Documents 1 to 3 may not allow the operator to determine how to remove medication depending on the medication sheet storage status in each of the cassette groups.

One aspect of the present invention aims to realize a medicine handling device that can improve work efficiency and processing efficiency when removing cassettes from a cassette shelf or storing cassettes on a cassette shelf.

Another aspect of the present invention is to realize a medicine dispensing device that allows an operator to determine how to dispense medicine depending on the status of the medicine sheets in each of multiple cassettes containing the same type of medicine.

(1) In order to solve the above problem, one aspect of the present invention provides a medicine handling device that includes a medicine transfer unit that can remove medicines from a cassette containing the medicines or insert the medicines into the cassette; a cassette transfer unit that can remove the cassette from the medicine handling device or insert the cassette into the medicine handling device; and a cassette transfer unit that transfers the cassette between at least one of the medicine transfer unit and the cassette transfer unit and a cassette shelf that can store a plurality of cassettes.

(2) In order to solve the above problem, one aspect of the present invention provides a medicine dispensing device that includes a medicine handling device that can remove all or part of a medicine sheet containing multiple medicines from a cassette that stores the medicine sheet, or that can insert all or part of the medicine sheet into the cassette, and a cassette shelf that can store multiple cassettes. When at least one cassette group consisting of multiple cassettes that store the same type of medicine is stored on the cassette shelf, and medicines stored in at least two of the multiple cassettes that make up one of the cassette groups are to be removed, the medicine dispensing device includes a transfer control unit that transfers two or more cassettes included in one cassette group from the cassette shelf to the medicine handling device, regardless of the number of medicines stored in each of the multiple cassettes.

The medicine handling device according to one aspect of the present invention shown in (1) above can improve work efficiency and processing efficiency when removing cassettes from the cassette shelf or storing cassettes on the cassette shelf.

Furthermore, according to another aspect of the present invention shown in (2) above, the drug dispensing device allows the operator to decide how to dispense the drugs depending on the drug sheet storage status in each of multiple cassettes containing the same type of drug.

FIG. 1 is a block diagram showing an example of the configuration of a medicine dispensing system. FIG. 1 is a perspective view showing an example of the configuration of a drug station. FIG. 1 is a perspective view showing an example of the configuration of a drug station. FIG. 2 is a block diagram showing an example of the main configuration of a drug station. 10A and 10B are diagrams illustrating an example of the structure of a cassette that can be stored on a cassette shelf. 1A and 1B are perspective views showing an example of a main unit and a diagram showing an example of a schematic configuration of a main unit cassette transfer section; FIG. 10 is a diagram showing an example of cassette storage. FIG. 10 is a perspective view showing an example of the configuration of a cassette gripping portion. 10A and 10B are diagrams illustrating an example of the operation of a cassette gripping unit. FIG. 2 is a cross-sectional view showing a schematic configuration of a main unit and a picking unit. FIG. 2 is a perspective view showing an example of a picking unit. FIG. 10 illustrates an example of a picking cassette transport unit. 10A and 10B are diagrams illustrating a cassette gripping operation by a first picking cassette transport unit. 10A and 10B are diagrams illustrating an example of the operation of the first picking cassette transport unit and the second picking cassette transport unit. FIG. 10 is a diagram illustrating an example of the operation of the first shutter. FIG. 2 is a perspective view showing an example of a picking unit. FIG. 2 is a perspective view showing an example of a picking unit. 10 is a diagram for explaining the relationship in size between the medicine delivery section and the cassette. FIG. 10 is a perspective view showing an example of the cassette transfer section when viewed from the front side of the picking unit. FIG. 10 is a perspective view showing an example of the cassette transfer section when viewed from the rear side of the picking unit. FIG. 10A and 10B are diagrams illustrating an example of an operation of a cassette gripping section. FIG. 10 is a perspective view illustrating an example of a configuration of a first picking cassette transport unit. 10A and 10B are diagrams for explaining a state in which a cassette is gripped by a first cassette gripping portion; FIG. 4 is a diagram illustrating an example of the shape of a first shutter. 10 is a diagram for explaining an example of the operation of the picking cassette transport unit when the cassette arrives at the medicine delivery unit. FIG. FIG. 10 is a side view illustrating an example of the operation of the first shutter. FIG. 10 is a diagram showing another example of the medicine placing table. 10A and 10B are diagrams illustrating an example of the structure of a cassette; 10 is a flowchart illustrating an example of processing by a control device. 10A and 10B are diagrams illustrating an example of the structure of a holder. An example of a medicine delivery section that also functions as a cassette delivery section is shown below. 10 is an example of a lot list managed for each cassette or storage area in which drugs of the same type are stored. FIG. 10 is a diagram showing an example of a filling image displayed on the first touch panel. FIG. 10 is a diagram showing an example in which a lot list image including information on a lot list is displayed on a filling image. FIG. 10 is a diagram showing an example of an individual dispensing image displayed on the first touch panel. 10A and 10B are diagrams showing an example of a filling operation image displayed on a second touch panel and an example of a lot list image displayed on the second touch panel; 10 is a flowchart illustrating an example of a process for adding a new combination of a lot number and an expiration date. FIG. 10 is a diagram showing an example of a lot list when a new combination of lot number and expiration date is added. FIG. 10 is a diagram showing another example of a lot list when a new combination of lot number and expiration date is added.

[Basic configuration]
<Medicine dispensing system>
A medicine dispensing system 100 according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing an example of the configuration of the medicine dispensing system 100 according to this embodiment.

The drug dispensing system 100 is a system that dispenses drugs based on prescription data. The drug dispensing system 100 includes devices used for dispensing drugs based on prescription data, such as a drug station 1, a prescription input device 200, a tablet packaging machine 300, a powder medicine packaging machine 400, a press-through package (PTP) dispensing device 500, a dispensing assistance device 600, and a dispensing control device 800. The drug dispensing system 100 also includes a drug shelf 700. In the following description, the tablet packaging machine 300, the powder medicine packaging machine 400, the press-through package (PTP) dispensing device 500, and the dispensing assistance device 600 may be referred to as various devices. The drug station 1, various devices, and drug shelf 700 are installed in, for example, a hospital or pharmacy.

The prescription input device 200 is a device that accepts input of information regarding medications prescribed to patients by doctors (e.g., the type of medication (e.g., medication name, medication identification information), dosage (number of medications), and administration method). The prescription input device 200 transmits information regarding the prescribed medications to the dispensing control device 800 as prescription data. The prescription input device 200 may also issue a prescription on which information regarding the prescribed medications is printed. The prescription may be issued by the dispensing control device 800, which will be described later. The prescription input device 200 and the dispensing control device 800 may also issue dispensing instructions corresponding to the drug station 1 and each of the above-mentioned devices, instead of a prescription. The dispensing instructions are printed with information contained in the dispensing data, which will be described later and is created by the dispensing control device 800.

The prescription data may include information about medications prescribed to each of multiple patients, in which case the information may be aggregated for multiple patients. The prescription input device 200 may also divide the information about prescribed medications into predetermined prescription periods (e.g., one day) and generate prescription data for each predetermined prescription period.

The dispensing control device 800 controls the dispensing of drugs in the drug dispensing system 100. For example, the dispensing control device 800 determines which of the drug station 1 and the various devices described above will be used to dispense the drugs indicated in the prescription data received from the prescription input device 200. The drugs indicated in the prescription data are drugs prescribed to the patient and may also be referred to as prescribed drugs. The dispensing control device 800 includes a control unit 801 and a memory unit 802.

The control unit 801 controls all the units of the dispensing control device 800. The control unit 801 includes a determination unit 811 and a transmission/reception unit 812. The determination unit 811 determines which device will be used to dispense the drugs indicated in the prescription data. The transmission/reception unit 812 receives prescription data from the prescription input device 200, or notifications from the drug station 1 or various devices. Based on the determination made by the determination unit 811, the transmission/reception unit 812 transmits dispensing data including information about the drugs to be dispensed (information indicating the type of drug, etc.) to the drug station 1 or various devices. The dispensing data can also be considered prescription data transmitted to the drug station 1 or various devices.

The memory unit 802 stores, for example, various programs used by the control unit 801, and a drug database (drug master) that manages information about multiple types of drugs stored in the drug station 1. The information about the drugs includes, for example, the type of drug (e.g., drug name, drug identification information), expiration date, and lot number. The memory unit 802 also stores, for example, a drug database that manages information about multiple types of drugs stored in the tablet packaging machine 300, and a drug database that manages information about multiple types of drugs stored in the powder packaging machine 400. The drug station 1, the tablet packaging machine 300, and the powder packaging machine 400 also store their own drug databases.

The dispensing control device 800 updates the drug database stored in the memory unit 802 when updating the drug database stored in the memory unit of drug station 1. Specifically, when there is a change in the type of drugs stored in drug station 1, the dispensing control device 800 receives information indicating the change from drug station 1. Based on this information, the dispensing control device 800 updates the drug database of drug station 1 stored in the memory unit 802. The dispensing control device 800 may also update the drug database stored in the memory unit 802 when drug station 1 is started. Similarly, the dispensing control device 800 updates the drug database of tablet packing machine 300 or the drug database of powder packing machine 400 for tablet packing machine 300 and powder packing machine 400.

Drug station 1 is a device (first drug dispensing device, drug dispensing device) that dispenses drugs stored within drug station 1. The specific configuration of drug station 1 will be described later.

The tablet packaging machine 300, the powder medicine packaging machine 400, and the PTP dispensing device 500 are examples of second medicine dispensing devices (pharmacy equipment) that dispense medicines. The tablet packaging machine 300 is a device that dispenses medicines indicated in the dispensing data from the dispensing control device 800, i.e., tablets stored in the tablet packaging machine 300. The powder medicine packaging machine 400 is a device that dispenses medicines indicated in the dispensing data from the dispensing control device 800, i.e., powder medicines (powdered medicines) stored in the powder medicine packaging machine 400. The PTP dispensing device 500 is a device that dispenses PTP (Press Through Package) sheets (medicine sheets) containing medicines indicated in the dispensing data from the dispensing control device 800, i.e., the medicines stored in the PTP dispensing device 500.

The dispensing assistance device 600 is a device that assists in the dispensing of medications from the medication shelf 700 where medications are stored. The dispensing assistance device 600 presents information such as the type of medication indicated in the dispensing data from the dispensing control device 800. This allows medical professionals such as pharmacists, nurses, or doctors, and workers at drug station 1, to retrieve medications from the medication shelf 700. The workers at drug station 1 retrieve medications from drug station 1 and are unqualified individuals who do not hold qualifications such as pharmacists, nurses, or doctors. However, the workers may also be qualified individuals who hold the relevant qualifications. In the following description, qualified medical professionals such as pharmacists, nurses, or doctors may be referred to simply as users.

<Drug Station>
2 and 3 are perspective views showing an example of the configuration of the drug station 1. Fig. 2 is a view of the main unit 2 as seen from the front side, and Fig. 3 is a view of the main unit 2 as seen from the rear side. Fig. 4 is a block diagram showing an example of the main configuration of the drug station 1.

The drug station 1 is a device for storing, filling, and dispensing medications. As shown in Figures 2 to 4, the drug station 1 includes a main unit 2 and a picking unit 3.

(Main unit)
The main unit 2 is a unit for storing medicines. Specifically, the main unit 2 functions as a medicine storage shelf capable of storing a plurality of cassettes Ca containing medicines. The main unit 2 is a device that transfers the stored cassettes Ca to the picking unit 3 by using a main cassette transfer section 22 (22a and 22b shown by reference numerals 6001 and 6002 in FIG. 6). The main unit 2 is also a device that transfers cassettes Ca returned from the picking unit 3 to their original storage positions. In other words, the main unit 2 stores a plurality of cassettes Ca and functions as a cassette handling device that delivers and receives cassettes Ca to and from the picking unit 3.

The main unit 2 is capable of storing a variety of medications (e.g., approximately 1,500 to 2,000 types) expected for use in a single facility such as a hospital or pharmacy. In this embodiment, the main unit 2 stores medications such as medication sheets (e.g., press-through packaging sheets), topical medications such as ointments or eye drops, or powdered medications. The main unit 2 may also store, for example, ampoules or vials containing medication. In this specification, medications that are not medication sheets (medicines in a form other than medication sheets) include topical medications such as ointments or eye drops, and powdered medications, as well as ampoules or vials containing medications. The main unit 2 may store any type of medication as long as it is compatible with the main unit 2.

The main unit 2 includes a cassette shelf 21, a main cassette transfer section 22, and a cassette holding section 23.

The cassette shelf 21 is a medicine storage shelf capable of storing multiple cassettes Ca. In this embodiment, the cassette shelf 21 is capable of storing cassettes Ca of different sizes (types). Figure 5 shows an example structure of a cassette Ca that can be stored on the cassette shelf 21, with reference numeral 5001 being a perspective view showing an example of a large cassette Ca1, reference numeral 5002 being a perspective view showing an example of a medium-sized cassette Ca2, and reference numeral 5003 being a perspective view showing an example of a small cassette Ca3. Also, reference numeral 5004 in Figure 5 is a cross-sectional view showing an example of a large cassette Ca1.

Referring to reference numeral 5001, large cassette Ca1 is provided with dividers Ca11 that form multiple locations for storing medication. This allows multiple types of medication to be stored in a single large cassette Ca1. In this embodiment, large cassette Ca1 is provided with four dividers Ca11, forming five medication storage areas (storage positions). Medium cassette Ca2 is a cassette that is smaller in width (length in the short direction) than large cassette Ca1 and larger in width than small cassette Ca3. Furthermore, reference numeral 5002 indicates that medium cassette Ca2 also has a divider Ca21 (two storage areas are formed in this embodiment).

The small cassette Ca3 may also be provided with a divider, forming multiple storage areas. Furthermore, the large cassette Ca1 and medium cassette Ca2 may not be provided with a divider, and the large cassette Ca1 and medium cassette Ca2 may function as cassettes capable of storing a single type of medication sheet. Furthermore, the divider Ca11 is removable from the cassette Ca. Therefore, the size and number of storage areas in the large cassette Ca1 can be set as desired. Furthermore, the number of types of cassette Ca is not limited to three; two or four or more types of cassettes with different widths may be prepared, or even just one type.

In this way, by providing partitions in each of the multiple types of cassettes Ca, multiple storage areas for storing medications can be formed in the cassette Ca.

Furthermore, a claw receiving portion Ca12 is provided on the side wall (longitudinal end) extending in the short direction of the large cassette Ca1. The claw receiving portion Ca12 hooks onto the claw portion 2212 (see FIG. 8) of the main cassette transfer unit 22 and the protrusion 351a (see reference numeral 12002 in FIG. 12) of the picking cassette transfer unit 35. When the claw receiving portion Ca12 hooks onto the claw portion 2212 or the protrusion 351a, the main cassette transfer unit 22 and the picking cassette transfer unit 35 can remove or place the cassette Ca from the cassette shelf 21 or cassette holding unit 23.

Furthermore, a notch Ca13 is provided in the claw receiving portion Ca12. The position of the notch Ca13 is detected by the position sensor 2214 (see Figure 8), allowing the main body cassette transfer unit 22 to transfer the cassette gripper 221 (see Figure 8) directly in front of the large cassette Ca1 to be transferred. This allows the large cassette Ca1 to be reliably removed.

Furthermore, the two claw receivers Ca12 provided at both longitudinal ends of the large cassette Ca1 are each provided with an RFID (Radio Frequency Identifier) tag (not shown). Each RFID tag stores claw receiver identification information for identifying each claw receiver Ca12.

The orientation of the cassette Ca when placed in the medicine transfer unit 32 differs depending on whether the cassette Ca is removed from one of the claw receiving units Ca12 or the other. When a single cassette Ca contains multiple types of medicine, such as the large cassette Ca1, the positional relationship of the medicine with respect to the medicine transfer unit 32 changes depending on the orientation in which it is placed. Therefore, if the control device 10 cannot recognize the orientation in which it is placed, it may not be able to open the shutter 322 to match the storage position of the medicine to be removed.

By recording the claw receiving part identification information as described above and providing an RFID reader (not shown) in the main cassette transfer section 22 (e.g., cassette drawer 2211 (see Figure 8)), the control device 10 can determine the orientation of the cassette Ca when it is removed from the cassette shelf 21 based on the claw receiving part identification information read from the RFID tag by the RFID reader. Therefore, the control device 10 can open the shutter 322 in the medicine delivery section 32 to match the storage position of the medicine sheet to be removed.

The claw receiving portion Ca12, notch Ca13, and RFID tag are also provided on the medium-sized cassette Ca2 and small-sized cassette Ca3. In other words, they are provided on all cassettes Ca stored on the cassette shelf 21.

The RFID reader may also be provided in the picking cassette transfer section 35 (e.g., protrusion 351a). In this case, when the cassette Ca is removed from the delivery cassette holding section 231 (state 13003 in Figure 13), the control device 10 can determine the orientation of the cassette Ca based on the claw receiving section identification information read from the RFID tag by the RFID reader, as described above.

The cassette Ca is also provided with a barcode Ca14. The barcode Ca14 includes, for example, cassette identification information for identifying the cassette Ca and size information indicating the size (type) of the cassette Ca (information indicating whether it is a large cassette Ca1, a medium cassette Ca2, or a small cassette Ca3). The barcode Ca14 is merely an example, and the information need only be provided on each cassette Ca so that it can be read by a barcode reader (not shown) provided on the cassette gripper 221, etc. By reading the information on the barcode Ca14, the control device 10 can compare the information with data stored in the memory unit 15 (described below). Therefore, for example, the main cassette transport unit 22 can reliably retrieve a cassette Ca containing a drug to be dispensed or a cassette Ca containing a drug to be refilled. Furthermore, for example, if the above comparison results in a match between the above information and the above data, the control device 10 can open the shutter 322.

The main cassette transfer unit 22 transfers cassettes Ca between the cassette shelf 21 and the cassette holding unit 23. When dispensing medications, the main cassette transfer unit 22, for example, removes cassettes Ca containing medications included in the dispensing data from the cassette shelf 21 and transfers them to the cassette holding unit 23. The main cassette transfer unit 22 then transfers cassettes Ca placed on the cassette holding unit 23 (cassettes Ca from which a specified number of medications have been removed by the picking unit 3 and returned from the picking unit 3) to the cassette shelf 21. When filling medications, the main cassette transfer unit 22 removes cassettes Ca containing medications of the type indicated by the medication identification information read by the barcode reader 34 from the cassette shelf 21 and transfers them to the cassette holding unit 23. The main cassette transfer unit 22 then transfers the cassette Ca placed on the cassette holding unit 23 (a cassette Ca filled with medicine in the picking unit 3 and returned from the picking unit 3) to the cassette shelf 21.

By providing the main cassette transfer unit 22, the cassette Ca can be removed from the cassette shelf 21 and transferred to the picking unit 3, and the cassette Ca can be returned to the cassette shelf 21.

The cassette holding unit 23 temporarily holds (buffers) cassettes Ca transferred from the cassette shelf 21 or the picking unit 3. The cassette holding unit 23 includes a delivery cassette holding unit 231 and a receiving cassette holding unit 232. The delivery cassette holding unit 231 temporarily holds cassettes Ca that are removed from the cassette shelf 21 and handed over to the drug transfer unit 32 of the picking unit 3. The receiving cassette holding unit 232 temporarily holds cassettes Ca that are returned from the drug transfer unit 32 to the receiving cassette shelf 21. In other words, the delivery cassette holding unit 231 and the receiving cassette holding unit 232 each function as a platform on which cassettes Ca are temporarily placed.

The main unit 2 is also provided with a first touch panel 5. The first touch panel 5 is a display device that displays various information related to the drug station 1, and also functions as an input device that accepts input operations by the operator. However, the first touch panel 5 may function only as a display device.

The main unit 2 also has multiple doors 25 (opening and closing doors) on both the front and back sides. By opening the doors 25, the user can directly access the cassette shelf 21. Figure 3 shows the state in which the door 25 located on part of the back side is open. The doors 25 may be transparent or translucent so that the cassette shelf 21 can be seen from outside the main unit 2.

In Figures 2 and 3, one picking unit 3 is provided on the front side of the main unit 2, but this is not a limitation and multiple picking units 3 may be provided. Although not shown, this specification will be described as if two picking units 3 are provided.

(Picking unit)
The picking unit 3 is a device that dispenses medicines stored in the main unit 2. To dispense the medicines, the picking unit 3 functions as a device that allows an operator to perform a picking operation to retrieve medicines. The picking unit 3 also functions as a device that allows an operator to perform a filling operation to fill the main unit 2 with medicines. In other words, the picking unit 3 functions as a device that allows an operator to retrieve medicines from a cassette Ca stored in the main unit 2 or to fill the cassette Ca with medicines (a medicine handling device that enables an operator to handle medicines).

The picking unit 3 includes a second touch panel 31, a drug delivery unit 32, a barcode reader 34, a picking cassette transport unit 35, a printer 36, a drug placement table 37, a tray placement table 38, and a tray close button 39. These components are located on a workbench 40 where the worker handles the drugs.

The picking unit 3 uses the picking cassette transfer section 35 to transfer the cassette Ca transferred from the main unit 2 to the drug transfer section 32. While checking the display content on the second touch panel 31, the operator removes drugs from the cassette Ca transferred to the drug transfer section 32 and places them on the drug placement table 37 or the transport tray Tr placed on the tray placement table 38. The drugs placed on the drug placement table 37 are eventually placed on the transport tray Tr.

The user transports the transport tray Tr containing the medication to the inspection unit. The inspection unit is a unit where the user performs a final inspection of the medication dispensed from the main unit 2. The drug station 1 may be equipped with an inspection unit in addition to the main unit 2 and picking unit 3. The task of filling the medication into the cassette Ca is performed by the user.

Like the first touch panel 5, the second touch panel 31 displays various information related to the drug station 1 and accepts input operations from the operator. When removing drugs from a cassette Ca (when dispensing drugs), the second touch panel 31 displays, for example, the type and quantity of drugs that the operator should remove from the drug transfer unit 32. When loading drugs into a cassette Ca, the second touch panel 31 also accepts input operations to specify, for example, the type of drug to be loaded or the cassette Ca containing the drug.

The medicine transfer unit 32 allows an operator to remove medicine from the cassette Ca or to insert medicine into the cassette Ca (allowing an operator to transfer medicine). When the cassette Ca contains a medicine sheet containing multiple medicines, the medicine transfer unit 32 allows the operator to remove all or part of the medicine sheet from the cassette Ca or to insert all or part of the medicine sheet into the cassette Ca.

In the following explanation, unless otherwise specified, fractional sheets will be explained as referring to medication sheets that have been cut out from a full medication sheet containing a specified amount of medication. Medication sheets will be explained as referring to the entire medication sheet, or as a general term for either the entire medication sheet or a portion of it (fractional sheets).

In this embodiment, the drug transfer unit 32 has an opening 321 and a shutter 322. The opening 321 is an opening that allows an operator to access (take out or fill (input) drugs) the cassette Ca that has been transferred to the drug transfer unit 32. The shutter 322 is provided at the opening 321 and controls the operator's access to the cassette Ca. The shutter 322 is an opening/closing unit that opens and closes the opening 321. The shutter 322 is normally closed and becomes open when the cassette Ca has been transferred to the drug transfer unit 32. The opening width of the shutter 322 can be changed depending on the cassette Ca that is to be taken out or filled (input) with drugs.

The shutter 322 includes a first shutter 322a and a second shutter 322b. The first shutter 322a opens and closes in the Y-axis direction, while the second shutter 322b opens and closes in a direction (X-axis direction) generally perpendicular to the first shutter 322a. As described below with reference to FIG. 15, the first shutter 322a is controlled to open and close in accordance with the size of the storage area of the cassette Ca. This control allows the operator to access only the storage area containing the medication to be dispensed. The second shutter 322b is also controlled to open and close in accordance with the sizes of cassettes Ca of various widths (e.g., large cassette Ca1, medium cassette Ca2, small cassette Ca3). This control reduces the possibility of medications removed by the operator falling through the gap formed between the cassette Ca and the first shutter 322a in the X-axis direction (the short side direction of the medication delivery section 32). The first shutter 322a and second shutter 322b may be opened and closed simultaneously, or one of them may be opened and closed first.

The barcode reader 34 is a device that reads barcodes attached to medications when the medications are filled into the cassette Ca. Barcodes include, for example, GS1 codes attached to the medication sheets themselves, packages containing multiple medication sheets (pillow-packaged), packages containing multiple pillow-packaged powder medications, or boxes containing such packages. The barcode may also include, for example, GS1 codes attached to boxes containing medications other than medication sheets (e.g., ointments, eye drops). The barcode may contain medication identification information for identifying the medication, and the GS1 code is one example. In other words, the picking unit 3 may be equipped with a reading device capable of reading medication identification information. In this embodiment, the barcode reader 34 is attached to a corner of the workbench 40 so as not to interfere with the worker's work of removing or filling medications at the workbench 40.

The picking cassette transfer unit 35 transfers cassettes Ca between the main unit 2 and the picking unit 3 (specifically, between the cassette holding unit 23 and the drug transfer unit 32). This allows cassettes Ca to be removed from the main unit 2 and transferred to the drug transfer unit 32, and then returned to the main unit 2.

For example, when dispensing medicines, the picking cassette transfer unit 35 transfers the cassette Ca (cassette Ca placed on the delivery cassette holding unit 231) from which medicines are to be removed or filled in the medicine transfer unit 32 to the medicine transfer position P1 (see Figure 13) of the medicine transfer unit 32. Furthermore, when a cassette Ca is located at the medicine transfer position P1, the picking cassette transfer unit 35 transfers the cassette Ca from which medicines are to be removed or filled next to the cassette Ca to a standby position P2 (see Figure 13) located near the medicine transfer unit 32, where it waits. Furthermore, the picking cassette transfer unit 35 transfers the cassette Ca from which medicines have been removed in the medicine transfer unit 32 to the receiving cassette holding unit 232.

The printer 36 outputs printed materials such as journals containing information about the medications removed from the cassette Ca (e.g., type of medication, number of medications removed).

The medicine placing table 37 is a placing section on which medicines are placed in order to count the number of medicines. The medicine placing table 37 may function as a fractional part placing section on which fractional sheets are placed in order to count the number of medicines contained in the fractional sheets. The fractional sheets may be cut out from a medicine sheet removed from cassette Ca in the medicine transfer section 32, or may be removed from cassette Ca. A medicine sheet (full sheet) may also be placed on the medicine placing table 37. In this case, the medicine placing table 37 functions as a fractional part placing section on which medicine sheets are placed in order to count the number of medicines contained in the medicine sheet. Either one fractional sheet or multiple fractional sheets may be placed on the medicine placing table 37. Similarly, either one fractional sheet or multiple medicine sheets may be placed on the medicine placing table 37.

In this embodiment, an imaging unit 371 is provided above the medicine placing table 37 to capture an image of a fractional sheet, medicine sheet, or a combination of fractional sheets and medicine sheets placed on the medicine placing table 37. A backlight 372 (illumination unit) that illuminates the medicine placing table 37 is provided below the medicine placing table 37. When the imaging unit 371 captures an image of a medicine sheet or fractional sheet placed on the medicine placing table 37, the backlight 372 is turned on, illuminating the medicine sheet or fractional sheet from the side opposite the image capture direction of the medicine by the imaging unit 371.

It is also possible to provide an imaging unit 371 below the medicine placing table 37 and an illumination unit above the medicine placing table 37. In this case, the area of the medicine placing table 37 where the medicine is placed may be transparent or translucent so that the imaging unit 371 can capture the shape of the medicine.

For example, when the drug station 1 is started up, the control device 10 turns on the backlight 372 and sets the imaging unit 371 to an imaging state. In other words, in this case, while the drug station 1 is running, the imaging unit 371 continues to capture images of the drug placement table 37 regardless of whether a fractional sheet (or a full drug sheet) is placed on the drug placement table 37. If no fractional sheets are placed on the drug placement table 37, the imaging unit 371 does not capture images of the drugs, and the control device 10 does not perform drug counting processing based on the captured images. In other words, the control device 10 performs drug counting processing based on the captured images only when fractional sheets are placed on the drug placement table 37 and the imaging unit 371 captures an image of the fractional sheet.

However, the control device 10 may turn on the backlight 372 and capture an image of at least the remaining sheets with the imaging unit 371, for example, when it receives an input operation indicating that the specified number of sheets have been removed (e.g., when it detects that the tray close button 39 has been pressed). In other words, in this case, the control device 10 turns on the backlight 372 and sets the imaging unit 371 to an imaging state only when it receives the above input operation. The specified number is the number specified as the quantity of medications to be removed from the cassette Ca transferred from the main unit 2 to the medication delivery unit 32. The specified number of each medication is specified, for example, in the dispensing data received from the dispensing control device 800. Alternatively, the specified number of medications to be removed may be specified by an input operation by the operator.

The tray placement table 38 is a table on which the transport tray Tr onto which the medications removed from the medication delivery unit 32 are placed. The tray placement table 38 also functions as a medication placement unit on which medications are placed in order to count the number of medications removed from the medication delivery unit 32. When a medication sheet is removed from the medication delivery unit 32, the tray placement table 38 functions as a sheet placement unit on which the medication sheet is placed in order to count the number of medications contained in the medication sheet. The tray placement table 38 is equipped with a sensor 381 and a weighing unit 382.

Sensor 381 detects a transport tray Tr placed on the tray placement base 38. In this embodiment, sensor 381 is a transmission type sensor with one side being a light source and the other side being a light detection unit that detects light emitted from the light source. When a transmission type sensor is used, the presence or absence of a transport tray Tr can be recognized with high accuracy. However, a reflective type sensor that detects light emitted from the light source and reflected by the placed transport tray Tr may also be used. In this embodiment, sensor 381 is provided on both side walls of the tray placement base 38.

The weighing unit 382 weighs the medication placed on the transport tray Tr placed on the tray loading platform 38. The weighing unit 382 may, for example, weigh medication sheets, or a combination of medication sheets and leftover sheets. The weighing unit 382 is provided below the bottom of the tray loading platform 38. A load cell, for example, is used as the weighing unit 382.

In addition, the weight per transport tray Tr may not be stored in the memory unit 15, and the weighing unit 382 may calculate the weight of the medication placed on the tray placement table 38 by performing a tare. Specifically, after a transport tray Tr is placed on the tray placement table 38, the weighing unit 382 performs a tare. After that, the operator places medication on the transport tray Tr, and the weighing unit 382 can measure only the weight of that medication.

The tray close button 39 is a mechanical operation button that switches the first shutter 322a and the second shutter 322b from an open state to a closed state when pressed by an operator. The tray close button 39 has an illumination function and may illuminate when the button switches from the open state to the closed state.

The top surface of the workbench 40 is also inclined relative to the horizontal plane. To make it easier for the worker to load or remove medicine from the cassette Ca, the top surface is inclined so that it becomes lower from the main unit 2 side toward the worker's standing position (toward the -Y axis direction).

In the drug station 1 of this embodiment, the user transports the transport tray Tr containing the medication to the inspection unit, but this is not limited to this. Alternatively, a tray transport unit may be provided in the drug station 1, and the transport tray Tr may be automatically transported from the picking unit 3.

(Control device)
The control device 10 controls all the units of the drug station 1. The control device 10 includes a main unit control unit 11, a picking unit control unit 12, a touch panel control unit 14, and a storage unit 15.

The main unit control unit 11 controls all parts of the main unit 2. The main unit control unit 11 includes, for example, a cassette identification unit 111 and a main unit cassette transfer control unit 112 (transfer control unit).

The cassette identification unit 111 identifies the cassette Ca to be removed from the cassette shelf 21 based on the dispensing data, input operations by the operator on the first touch panel 5 or the second touch panel 31, or the results of reading by the barcode reader 34. The cassette identification unit 111 also identifies the orientation of the cassette Ca based on the claw receiving part identification information read by the RFID reader.

The main cassette transfer control unit 112 controls the operation of the main cassette transfer unit 22. Specifically, the main cassette transfer control unit 112 controls the main cassette transfer unit 22 to transfer the cassette Ca identified by the cassette identification unit 111 to the delivery cassette holding unit 231. The main cassette transfer control unit 112 also transfers the cassette Ca placed on the receiving cassette holding unit 232 to its storage position (original position).

When controlling the main cassette transfer unit 22 based on dispensing data, the main cassette transfer control unit 112 transfers the cassette Ca containing the medication included in the dispensing data, identified by the cassette identification unit 111, to the delivery cassette holding unit 231. Then, the cassette Ca transferred from the medication transfer unit 32 to the receiving cassette holding unit 232 by the picking cassette transfer unit 35 of the picking unit 3 is transferred to the storage position of the cassette Ca.

The picking unit control unit 12 controls all parts of the picking unit 3. The picking unit control unit 12 includes, for example, a picking cassette transfer control unit 121 (transfer control unit), a shutter control unit 122, and a drug determination unit 124.

The picking cassette transfer control unit 121 controls the operation of the picking cassette transfer unit 35 based on dispensing data, input operations by the operator on the first touch panel 5 or second touch panel 31, or the results of reading by the barcode reader 34. When controlling the picking cassette transfer unit 35 based on dispensing data, the picking cassette transfer control unit 121 transfers the cassette Ca from which the drugs included in the prescription data are to be removed to the drug delivery position P1 or the standby position P2.

The shutter control unit 122 controls the opening and closing operation of the shutter 322. The shutter control unit 122 independently controls the first shutter 322a and the second shutter 322b.

The drug determination unit 124 determines whether the specified number of drugs specified by the dispensing data has been placed on the drug placement table 37 based on the image of the drug captured by the imaging unit 371. In the case of drug sheets, the drug determination unit 124 determines whether the quantity of drugs to be dispensed as fractional sheets out of the specified number has been placed on the drug placement table 37 based on the image of the fractional sheets captured by the imaging unit 371. The drug determination unit 124 also determines whether the specified number of drugs specified by the dispensing data has been placed on the tray placement table 38 based on the weight of the drugs weighed by the weighing unit 382. In the case of drug sheets, the drug determination unit 124 determines whether the quantity of drugs to be dispensed as drug sheets (full sheets) out of the specified number has been placed on the tray placement table 38 based on the weight of the drug sheets (full sheets) weighed by the weighing unit 382. That is, the drug determination unit 124 functions as a counting unit that counts the number of drugs placed on the drug placement table 37 and/or the number of drugs placed on the tray placement table 38.

If the medication to be dispensed is a medication included in a medication sheet, the medication determination unit 124 may, for example, analyze the image to identify the shape of the fractional sheet placed on the medication placement table 37. The medication determination unit 124 may count the number of medications included in the fractional sheet based on the shape and the fractional sheet size per medication (the size of a fractional sheet containing only one medication tablet) stored for each medication type in the memory unit 15. An example of a counting method in this case will be described in embodiment 2.

The drug determination unit 124 may also count the number of drugs contained in the fractional sheets based on, for example, the shape, the number of sheet drugs contained in one drug sheet (full sheet) stored for each drug type in the memory unit 15, and the area of one drug sheet stored for each drug type in the memory unit 15. The number of sheet drugs is a number defined as the number of drugs contained in one drug sheet (the number of drugs contained in the vertical direction of the drug sheet multiplied by the number of drugs contained in the horizontal direction of the drug sheet). In this case, for example, the drug determination unit 124 may calculate the ratio of the area of the shape to the area of the drug sheet, and multiply the number of drug sheets by this ratio to count the number of drugs contained in the fractional sheets.

The memory unit 15 may also store information indicating the length of the ear portion ER (see Figure 19), and information indicating the sum of the length of the ear portion ER and the length of a fractional sheet containing one medication adjacent to the ear portion ER (symbol "ERA" in Figure 19). By using this information, the medication determination unit 124 can count the number of medications contained in the fractional sheet, taking the ear portion ER into account.

The memory unit 15 may also store information indicating the length (vertical length or horizontal length) of a fractional sheet containing a predetermined number of adjacent medications on a single medication sheet. In this case, the medication determination unit 124 can count the number of medications contained in the fractional sheet based on the shape and the length of the fractional sheet.

The drug determination unit 124 also counts the number of drugs contained in the drug sheets placed on the tray loading platform 38 based on the weight of the drug sheets measured by the weighing unit 382 and the weight per drug sheet for each drug type stored in the memory unit 15. For example, the drug determination unit 124 may count the number of drugs by multiplying the value obtained by dividing the measured weight of the drug sheet by the weight per drug sheet by the number of drugs on the drug sheet.

When a medication sheet (full sheet) is placed on the medication placement table 37, the medication determination unit 124 may count the number of medications contained in the medication sheet based on the image. The medication determination unit 124 may count the number of medications contained in the medication sheet based on the shape of the medication sheet identified by analyzing the image and the number of medications per sheet. The medication determination unit 124 may count the number of medications contained in the medication sheet based on the shape of the medication sheet identified by analyzing the image and the size of the remaining sheets, for example.

Furthermore, the memory unit 15 only needs to store information required according to the above-mentioned counting method used by the drug determination unit 124.

Furthermore, in the case of medications that are not medication sheets (e.g., ointments, eye drops), the medication determination unit 124 can count the number of medications, for example, as follows. The medication determination unit 124 may count the number of medications placed on the tray loading platform 38 based on the weight of the medication measured by the weighing unit 382 and the weight per medication for each type of medication stored in the memory unit 15, for example.

If the drug determination unit 124 determines that the number of drugs placed on the drug placement table 37, the number of drugs placed on the tray placement table 38, or the total number thereof matches the specified number, it determines that the drugs to be dispensed have been properly removed from the cassette Ca.

Here, there are two modes for counting the number of medications contained on a medication sheet: a first counting mode and a second counting mode, for example.

When set to the first counting mode, the drug determination unit 124 counts the number of drugs for any remaining sheets placed on the drug placement table 37 based on the image capture results of the imaging unit 371. For any remaining sheets placed on the tray placement table 38, the drug determination unit 124 counts the number of drugs based on the weight of the drug sheet measured by the weighing unit 382. If each counting result matches the number of drugs to be placed on each sheet, the drug determination unit 124 determines that the number of drugs removed by the operator matches the specified number. When the touch panel control unit 14 displays the match determination result on the second touch panel 31, the operator confirms this display, then bundles the drug sheets and remaining sheets together with a rubber band and places them on the transport tray Tr placed on the tray placement table 38. In addition, if the multiple drug sheets placed on the tray loading platform 38 are bound together with rubber bands, the drug determination unit 124 calculates the weight of the drug sheets placed on the transport tray Tr as the weight of the drug sheets minus the weight of each rubber band.

Furthermore, when the second counting mode is set, the drug determination unit 124 counts the number of drugs for the remainder sheets placed on the drug placement table 37 based on the image capture results of the image capture unit 371. If the drug determination unit 124 determines that the number of drugs contained in the remainder sheets matches the number of drugs to be placed on the drug placement table 37, the touch panel control unit 14 displays a determination result of match on the second touch panel 31. After confirming this display, the operator bundles the drug sheets removed from the cassette Ca and the remainder sheets removed from the drug placement table 37 with a rubber band and places them on the transport tray Tr placed on the tray placement table 38. The weighing unit 382 measures the total weight of the drug sheets and remainder sheets bundled with the rubber band after they are placed on the tray placement table 38. The drug determination unit 124 determines whether the specified number of drugs has been placed on the transport tray Tr based on the measurement results of the weighing unit 382.

For example, the drug determination unit 124 calculates the weight by subtracting from the measured weight the weight per rubber band and the value obtained by multiplying the weight per drug to be dispensed (the weight of the fractional sheet containing one drug) by the number of drugs to be dispensed as fractional sheets. This allows the drug determination unit 124 to calculate the weight of the drug sheets placed in the transport tray Tr. If the weight of this drug sheet approximately matches (is equal to or within the margin of error) the value obtained by multiplying the weight per drug sheet by the number of drug sheets to be dispensed, the drug determination unit 124 determines that the specified number of drugs have been placed in the transport tray Tr. The drug determination unit 124 may also determine whether the measured weight approximately matches the total weight of the drug sheets and fractional sheets corresponding to the drugs to be dispensed, which are stored in the memory unit 15, and the weight per rubber band, which is stored in the memory unit 15.

In the first counting mode, the drug determination unit 124 determines whether the number of drug sheets and the number of remainder sheets removed from the drug delivery unit 32 are appropriate based on the weighing results of the weighing unit 382 and the imaging results of the imaging unit 371, respectively. Therefore, the drug determination unit 124 can accurately determine whether the numbers are appropriate. However, in the first counting mode, the determination result by the drug determination unit 124 is output before the drug sheets and remainder sheets are bundled together with a rubber band and placed on the transport tray Tr. Therefore, after confirming that the number is appropriate, it is up to the operator to remember to bundle the drug sheets and remainder sheets with a rubber band and place them on the transport tray Tr.

In the second counting mode, the medicine determination unit 124 determines whether the specified number of medicines has been placed on the transport tray Tr after the operator has tied the medicine sheets and remaining sheets together with a rubber band and placed them on the transport tray Tr. This reduces the possibility that the operator will forget to tie the medicine sheets and remaining sheets together with a rubber band and place them on the transport tray Tr. However, the weighing unit 382 weighs the medicine sheets and remaining sheets while they are still tied together with a rubber band. Therefore, the counting accuracy based on the weighing may be lower than in the first counting mode (when only the medicine sheets are placed on the transport tray Tr before weighing by the weighing unit 382).

The first counting mode and the second counting mode may be selected as appropriate at the hospital or other facility receiving the drug station 1. Whether the first counting mode or the second counting mode is set may be determined based on whether the reliability of the process of bundling the drug sheets and remaining sheets with rubber bands and placing them on the transport tray Tr at the receiving facility is more important, or the reliability of the counting accuracy based on the weighing by the weighing unit 382.

In the first counting mode, the weighing unit 382 measures the weight of the drug sheets and remaining sheets held together by the rubber band after they are placed on the tray loading platform 38, and the drug determination unit 124 may determine whether the specified number of drugs has been placed on the transport tray Tr based on the measurement results.

The touch panel control unit 14 controls the display of the first touch panel 5 and the second touch panel 31.

For example, the touch panel control unit 14 displays on the second touch panel 31 the number of medications to be removed by the worker. For medications that are not medication sheets, the touch panel control unit 14 displays a specified number as the number of medications to be removed by the worker. For medication sheets, the touch panel control unit 14 displays the number of medication sheets (full sheets) and the number of medications to be dispensed as fractional sheets as the number of medications to be removed by the worker. The touch panel control unit 14 may also display the total number of medication sheets and the number of medications to be dispensed as fractional sheets (i.e., the specified number). This display allows the worker to place the specified number of medications on the medication placement table 37 and/or tray placement table 38. For example, the worker can insert a specified number of medication sheets into a transport tray Tr placed on the tray placement table 38, and place the fractional sheets containing the specified number of medications on the medication placement table 37.

Here, the control device 10 determines whether the drug to be dispensed is a drug included in a drug sheet or a drug not included in a drug sheet based on information stored for each drug type in the memory unit 15.

When the medication to be dispensed is a medication included in a medication sheet, the control device 10 calculates the number of medication sheets and fractional sheets to dispense based on the specified number and, for example, the fractional sheet size or number of medication sheets stored for each medication type in the memory unit 15. For example, if the number of medications specified on one medication sheet is 10 and the specified number is 32, the control device 10 calculates that there will be three medication sheets to dispense and two medications to be dispensed as fractional sheets. The touch panel control unit 14 displays this calculation result on the second touch panel 31. The medication determination unit 124 then determines whether the sum of the number of medications placed on the medication placement table 37 by the operator and the number of medications placed on the transport tray Tr placed on the tray placement table 38 by the operator matches the specified number.

If the drug determination unit 124 determines that there is a match, it determines that the drug to be dispensed has been properly removed from the cassette Ca. In this case, the touch panel control unit 14 displays a message via the second touch panel 31 indicating that the drug has been properly removed. After visually confirming this message, the operator presses the tray close button 39 to close the shutter 322. This causes the control device 10 to transport the cassette Ca containing the next drug to be dispensed to the drug delivery unit 32. On the other hand, if the drug determination unit 124 determines that there is a mismatch, it determines that the drug to be dispensed has not been properly removed from the cassette Ca. In this case, the touch panel control unit 14 displays an error message via the second touch panel 31 indicating that the drug has not been properly removed. Note that these controls are also applicable when the drug to be dispensed is not a drug sheet.

Now, consider a case where, while the drug station 1 is running, the imaging unit 371 continues to capture images of the medicine placement table 37, regardless of whether or not a fractional sheet is placed on the medicine placement table 37. In this case, the imaging unit 371 captures an image of the fractional sheet each time a fractional sheet is placed on the medicine placement table 37, and the medicine determination unit 124 counts the number of medicines contained in the fractional sheet based on the captured image. If a fractional sheet containing less medicine than the quantity to be dispensed as a fractional sheet is placed on the medicine placement table 37, the medicine determination unit 124 determines that the counted number of medicines does not match the quantity to be dispensed. However, the touch panel control unit 14 does not display this determination result on the second touch panel 31. In other words, in this case, the operator is not notified (an error message is displayed) that the quantity of medicine to be dispensed has not been properly dispensed. On the other hand, if a fractional sheet containing the amount of medication to be dispensed is placed on the medication placement table 37, the medication determination unit 124 determines that the counted number of medications matches the amount of medication to be dispensed, and the touch panel control unit 14 displays this determination result on the second touch panel 31. In other words, in this case, the operator is notified that the amount of medication to be dispensed has been properly dispensed. After displaying the determination result, the control device 10 automatically proceeds to the next process (step). Furthermore, if a fractional sheet containing more medications than the amount to be dispensed is placed on the medication placement table 37, the medication determination unit 124 determines that the counted number of medications does not match the amount of medication to be dispensed, and the touch panel control unit 14 displays this determination result on the second touch panel 31. In other words, in this case, the operator is notified (an error message) that the amount of medication to be dispensed has not been properly dispensed.

The control device 10 may also be able to set, via user input, an allowable mode that allows fractional sheets containing only one medication to be placed on the medication placement table 37, and a non-allowable mode that does not allow this. In this case, the control device 10 may change the method of counting the number of medications depending on whether the mode is allowable or non-allowable.

The storage unit 15 stores various data required by the control device 10. The storage unit 15 stores, for example, standard data specifying the size of the remaining sheets or the number of medicines per sheet for each medicine type, data indicating the weight per medicine, and data indicating the weight per medicine sheet for each medicine type. The storage unit 15 also stores data indicating the weight per rubber band. If a medicine is included in a medicine sheet, data indicating the weight of the remaining sheet containing one medicine may be stored for each medicine type as the weight per medicine. The storage unit 15 also stores, for example, information specified for each medicine type that indicates whether a medicine is included in a medicine sheet. In addition, the storage unit 15 stores, for example,
(1) Data associating cassette identification information with the storage position of the cassette Ca on the cassette shelf 21;
(2) Data associating cassette identification information of the cassette Ca (or storage position information indicating the storage position in the cassette Ca) with drug identification information;
(3) type information indicating the type of each cassette Ca;
I remember.

The type information may be, for example, information indicating a large cassette Ca1, a medium cassette Ca2, or a small cassette Ca3. The storage position information may specify, for example, the storage position from one end of the cassette Ca (e.g., the distance from that end).

In addition, images captured by the imaging unit 371 are stored in the memory unit 15. This allows evidence of the picking work to be kept.

(Example of operation of Drug Station 1)
An example of the operation of the drug station 1 according to this embodiment will be described below.

(Operation when dispensing medicine)
First, when the dispensing data is read into the drug station 1, the main cassette transport unit 22 of the main unit 2 grasps the cassette Ca containing the drug to be prescribed (to be dispensed, to be removed) from the cassettes Ca stored in the main unit 2 and places it on the cassette holding unit 23.

The cassette Ca placed on the cassette holding unit 23 is transferred to the drug delivery unit 32 by the picking cassette transfer unit 35. The operator checks the second touch panel 31 and removes the specified number of drugs from the cassette Ca at the drug delivery unit 32. The operator places the removed drugs on the drug placement table 37 and/or the transport tray placed on the tray placement table 38. The control device 10 then determines whether the specified number of drugs has been placed on the drug placement table 37 or the transport tray Tr based on the imaging results of the imaging unit 371 and the drug weighing results of the weighing unit 382.

If the medication to be dispensed is a medication sheet, it is bundled into a predetermined shape with a rubber band and placed into a transport tray placed on the tray loading platform 38. Examples of predetermined shapes include the following:

(1) When there is one or more medication sheets, the predetermined shape refers to the planar shape of the medication sheets.

(2) If there are only fractional sheets, the specified shape refers to the planar shape of the fractional sheets.

(3) When one or more medication sheets and remaining sheets are bundled together, the predetermined shape refers to the planar shape when one or more remaining sheets are placed on top of one or more medication sheets. For example, when dispensing 22 medication tablets, each consisting of 10 tablets, the predetermined shape would be two medication sheets stacked on top of each other with the remaining sheet containing two tablets placed on top of them.

Once all medications to be contained in one transport tray have been placed, the user transports the transport tray Tr to the inspection unit, where a final inspection is performed. The number of medications to be placed in one transport tray Tr may be specified, for example, in the dispensing data, or may be determined by the control device 10 based on the dosage and method of administration, etc. The number of medications may be specified, for example, as the number of medications prescribed for a patient (i.e., the number of medications per patient).

(Operation when filling medicine)
First, the user uses the barcode reader 34 to input the drug identification information of the drug to be filled into the main unit 2 to the drug station 1. When the input of this drug identification information is accepted, the main unit cassette transfer unit 22 in the main unit 2 transfers the cassette Ca to be filled to the cassette holding unit 23 based on the drug identification information.

In the picking unit 3, the picking cassette transfer unit 35 transfers the cassette Ca placed on the cassette holding unit 23 to the medicine transfer unit 32. The user loads medicines into the cassette Ca transferred to the medicine transfer unit 32. When the loading of medicines into the cassette Ca is complete (for example, when a completion operation is received on the second touch panel 31), the picking cassette transfer unit 35 transfers the cassette Ca to the cassette holding unit 23. Thereafter, in the main unit 2, the main cassette transfer unit 22 returns the cassette Ca placed on the cassette holding unit 23 to the cassette shelf 21.

<Main unit structure>
Next, the specific structure of the main unit 2 will be described with reference to Figures 6 to 10. In Figure 6, reference numeral 6001 is a perspective view showing an example of the main unit 2, and reference numeral 6002 is a diagram showing an example of the general configuration of the main unit cassette transfer section 22. Figure 7 is a diagram showing an example of storage of cassettes Ca.

(Cassette shelf and cassette transfer section)
As indicated by reference numerals 6001 and 6002 in Fig. 6, the cassette shelf 21 can store the cassettes Ca in a matrix along a vertical plane. In this embodiment, as shown in Fig. 7, the cassette shelf 21 includes a plurality of cassette mounting plates 211 on which the cassettes Ca are placed, and mounting plate supports 212 that support each cassette mounting plate 211.

In this embodiment, as shown in Figure 7, the same type of cassette Ca is placed on each cassette placement plate 211. In other words, the width of the cassette placement plate 211 (length in the X-axis direction) and the widths of the large cassette Ca1, medium cassette Ca2, and small cassette Ca3 are specified so that the same type of cassette Ca can be placed on each cassette placement plate 211. In the example of Figure 7, the same type of cassette Ca is placed on each cassette placement plate 211, but this is not limited to this, and the above two widths may be specified so that different types of cassettes Ca can be placed.

Also, as indicated by the reference numeral 6001, the cassette shelves 21 are provided with a first cassette shelf 21a and a second cassette shelf 21b facing each other. A main cassette transfer unit 22 is provided between the first cassette shelf 21a and the second cassette shelf 21b. The same figure shows an example in which the main cassette transfer unit 22 is provided with a first main cassette transfer unit 22a and a second main cassette transfer unit 22b.

Under the control of the main cassette transfer control unit 112, the main cassette transfer unit 22 pulls out a cassette Ca stored in the first cassette shelf 21a or the second cassette shelf 21b and places it on the cassette holding unit 23 (specifically, the delivery cassette holding unit 231). The main cassette transfer unit 22 also pulls out a cassette Ca placed in the cassette holding unit 23 (specifically, the receiving cassette holding unit 232) and returns it to the first cassette shelf 21a or the second cassette shelf 21b. This enables the cassette Ca to be removed from or returned to the cassette shelf 21, which stores cassettes Ca in a matrix along a vertical plane. The main cassette transfer control unit 112 independently controls the first main cassette transfer unit 22a and the second main cassette transfer unit 22b.

Furthermore, as indicated by reference numerals 6001 and 6002, the first main cassette transfer unit 22a includes a first cassette gripper 221a and a first cassette transfer mechanism 222a. Similarly, the second main cassette transfer unit 22b includes a second cassette gripper 221b and a second cassette transfer mechanism 222b.

Under the control of the main body cassette transfer control unit 112, the first cassette gripping unit 221a and the second cassette gripping unit 221b pull out and grip a cassette Ca from the cassette shelf 21 or the cassette holding unit 23 (specifically, the receiving cassette holding unit 232). Furthermore, the first cassette gripping unit 221a and the second cassette gripping unit 221b move vertically and/or horizontally to transport the gripped cassette Ca to the cassette shelf 21 or the cassette holding unit 23 (specifically, the delivery cassette holding unit 231) and place it on the cassette shelf 21 or the delivery cassette holding unit 231.

Figure 8 is a perspective view showing an example configuration of the cassette gripping unit 221 (first cassette gripping unit 221a and second cassette gripping unit 221b). Also, reference numerals 9001 to 9003 in Figure 9 show an example operation of the cassette gripping unit 221. As shown in Figure 8, the cassette gripping unit 221 includes a cassette pull-out unit 2211, a claw 2212, a cassette support unit 2213, a position sensor 2214, and a rotation drive unit 2215.

As shown in FIG. 8 , the cassette drawer 2211, under the control of the main body cassette transfer control unit 112, draws a cassette Ca placed on the cassette shelf 21 or the cassette holding unit 23 into the cassette gripping unit 221. The cassette drawer 2211 is slidably supported on a rail (not shown) extending in the depth direction of the cassette gripping unit 221 below the cassette gripping unit 221, and moves in the depth direction. This allows the cassette Ca to be drawn from the cassette shelf 21 or the cassette holding unit 23 and transferred to or from the cassette shelf 21 or the cassette holding unit 23.

The claw portion 2212 is a member for hooking onto the claw receiving portion Ca12 provided on the cassette Ca. As shown by reference numeral 9001 in FIG. 9 , when the cassette gripping portion 221 is positioned in front of the cassette Ca to be moved, the main body cassette transfer control unit 112 moves the cassette drawer 2211 so that the claw portion 2212 is positioned below the claw receiving portion Ca12, as shown by reference numeral 9002 in FIG. 9 . The main body cassette transfer control unit 112 then raises the cassette gripping portion 221. This temporarily engages the claw portion 2212 with the claw receiving portion Ca12. In this state, the main body cassette transfer control unit 112 moves the cassette drawer 2211 to its original position, as shown by reference numeral 9003 in FIG. 9 , thereby drawing the cassette Ca into the cassette gripping portion 221.

When placing the grasped cassette Ca on the cassette shelf 21 or cassette holding section 23, the reverse operation to that for retracting the cassette Ca is performed. That is, in the state indicated by reference numeral 9003, the main body cassette transfer control section 112 moves the cassette gripping section 221 to the position where the cassette Ca is to be placed, and then moves the cassette drawer 2211 in front of the cassette gripping section 221, as indicated by reference numeral 9002. The main body cassette transfer control section 112 then lowers the cassette gripping section 221, thereby releasing the temporary engagement between the claw section 2212 and the claw receiving section Ca12. The main body cassette transfer control section 112 then moves the cassette drawer 2211 to its original position, as indicated by reference numeral 9001.

Returning to Figure 8, the cassette support portion 2213 supports the cassette Ca pulled out by the cassette pull-out portion 2211.

The position sensor 2214 detects whether the cassette gripping part 221 is located directly in front of the cassette Ca to be moved. The position sensor 2214 includes, for example, a light-emitting part that emits light and a light-receiving part that receives the light. As described above, the cassette Ca is provided with a notch Ca13. The stopping position of the cassette gripping part 221 and the storage position (loading position) of the cassette Ca are positioned so that when the cassette gripping part 221 is located directly in front of the cassette Ca to be moved, the light emitted from the position sensor 2214 is irradiated onto the notch Ca13.

Therefore, when the cassette gripping portion 221 is located directly in front of the cassette Ca, light is irradiated onto the notch Ca13, and the light is not received by the light receiving unit. In this case, the position sensor 2214 detects that the cassette gripping portion 221 is located directly in front of the cassette Ca. On the other hand, when the cassette gripping portion 221 is located in a position shifted from directly in front of the cassette Ca, light is not irradiated onto the notch Ca13, and light is irradiated onto the wall surface of the claw receiving portion Ca12, and the light reflected from that wall surface is received by the light receiving unit. In this case, the position sensor 2214 cannot detect that the cassette gripping portion 221 is located directly in front of the cassette Ca. Therefore, the main body cassette transfer control unit 112 moves the cassette gripping portion 221 so that the position sensor 2214 detects that the cassette gripping portion 221 is located directly in front of the cassette Ca. In other words, the main body cassette transfer control unit 112 fine-tunes the position of the cassette gripper 221 so that the light emitted by the position sensor 2214 is irradiated onto the notch Ca13 and is not received. This allows the cassette gripper 221 to reliably pull out the cassette Ca.

The rotation drive unit 2215 rotates the cassette gripping unit 221 around the vertical axis so that the cassette gripping unit 221 (specifically, the cassette pull-out unit 2211) can be moved to the first cassette shelf 21a, the second cassette shelf 21b, or the cassette holding unit 23.

Specifically, under the control of the main body cassette transfer control unit 112, the rotation drive unit 2215 rotates the cassette gripping unit 221 while or after the cassette gripping unit 221 moves to the placement position for the cassette Ca so that the cassette pull-out unit 2211 faces the placement position. This makes it possible to remove the cassette Ca from the placement position or place the cassette Ca at the placement position.

For example, the rotation drive unit 2215 rotates the cassette gripping unit 221 so that the cassette pull-out unit 2211 faces the storage position of the cassette Ca to be removed on the first cassette shelf 21a or the second cassette shelf 21b, and then pulls out the cassette Ca from that storage position. This makes it possible to remove the cassette Ca from either the first cassette shelf 21a or the second cassette shelf 21b, which are arranged along different vertical planes.

Returning to reference numerals 6001 and 6002 in Figure 6, the first cassette transfer mechanism 222a includes a first beam portion 223a and a first support portion 224a. Similarly, the second cassette transfer mechanism 222b includes a second beam portion 223b and a second support portion 224b.

The first beam portion 223a and the second beam portion 223b each extend in the width direction (X-axis direction) of the cassette shelf 21 and slidably support the first support portion 224a and the second support portion 224b. The first support portion 224a and the second support portion 224b each extend in the height direction (Z-axis direction) of the cassette shelf 21 and slidably support the first cassette gripping portion 221a and the second cassette gripping portion 221b.

The first beam portion 223a and the second beam portion 223b are spaced a predetermined distance apart. This predetermined width is set to a width that allows the first cassette gripping portion 221a and the second cassette gripping portion 221b to move along the width direction of the cassette shelf 21. The predetermined width is also set to a width that prevents the first cassette gripping portion 221a and the second cassette gripping portion 221b from colliding with the first cassette shelf 21a and the second cassette shelf 21b when they rotate around their respective vertical axes. Note that by setting the predetermined width as small as possible, the main unit 2 can be made more compact.

The main body cassette transfer control unit 112 then moves the first support column 224a along the first beam 223a, and also moves the first cassette gripper 221a along the first support column 224a (the same applies to the second cassette transfer mechanism 222b). This allows the desired cassette Ca to be moved between the cassette shelf 21 and the cassette holder 23.

In addition, the main body cassette transfer control unit 112 controls the movement (position) of the first cassette gripping unit 221a and the second cassette gripping unit 221b so that the first cassette gripping unit 221a and the second cassette gripping unit 221b do not collide with each other.

Specifically, the first cassette gripping portion 221a and the second cassette gripping portion 221b are supported in a cantilevered manner by the first beam portion 223a and the second beam portion 223b, which are spaced a predetermined distance apart as described above. The first cassette transfer mechanism 222a and the second cassette transfer mechanism 222b are controlled so as not to interfere with each other in the movable range of the first cassette gripping portion 221a and the second cassette gripping portion 221b (the range between the first beam portion 223a and the second beam portion 223b). Therefore, the first cassette gripping portion 221a and the second cassette gripping portion 221b can move between the cassette shelf 21 (the storage position of the cassette Ca) and the cassette holding portion 23 without colliding with each other.

Therefore, the multiple cassette gripping sections 221 enable the transfer of cassettes Ca between the cassette shelf 21 and the cassette holding section 23, thereby improving the transfer efficiency of cassettes Ca.

The first cassette shelf 21a and the second cassette shelf 21b do not necessarily have to be arranged facing each other, as long as they are arranged so that the vertical planes on which the cassettes Ca are stored are different from each other. Arranging them in this manner makes it possible to save space in the storage area for a large number of cassettes Ca. However, by arranging the first cassette shelf 21a and the second cassette shelf 21b facing each other, it is possible to store cassettes Ca at a high density while further saving space. The number of cassette shelves 21 may be one, or three or more.

Furthermore, the number of main body cassette transfer units 22 is not limited to two, and may be one, or three or more. However, by providing a first main body cassette transfer unit 22a and a second main body cassette transfer unit 22b, and by allowing the first cassette gripping unit 221a and the second cassette gripping unit 221b to move without colliding with each other, it is possible to efficiently transfer cassettes Ca in a main unit 2 that has a larger capacity and is more compact.

(Cassette holding part)
As indicated by reference numeral 6001 in FIG. 6 , the cassette holding section 23 includes a first cassette holding section 23a, a second cassette holding section 23b, a third cassette holding section 23c, and a fourth cassette holding section 23d. In this embodiment, two picking units 3 are provided in the main unit 2. Each picking unit 3 is provided with two medicine transfer sections 32 (four in total). The first cassette holding section 23a, the second cassette holding section 23b, the third cassette holding section 23c, and the fourth cassette holding section 23d are provided to correspond to the four medicine transfer sections 32, respectively. In this way, it is sufficient that one cassette holding section 23 is provided for one medicine transfer section 32.

As shown in FIG. 10, the cassette holding section 23 is provided to correspond to the picking cassette transfer section 35 of the picking unit 3 so that cassettes Ca can be transferred between the cassette holding section 23 and the medicine transfer section 32. Specifically, a picking cassette transfer section 35 is provided for each of the first cassette holding section 23a, second cassette holding section 23b, third cassette holding section 23c, and fourth cassette holding section 23d. FIG. 10 is a cross-sectional view showing the general configuration of the main unit 2 and the picking unit 3.

As shown in FIG. 10, each of the first cassette holding unit 23a, the second cassette holding unit 23b, the third cassette holding unit 23c, and the fourth cassette holding unit 23d includes a delivery cassette holding unit 231 and a receiving cassette holding unit 232. In the example of FIG. 10, in one cassette holding unit 23 provided corresponding to one medicine transfer unit 32, two delivery cassette holding units 231 and two receiving cassette holding units 232 are provided alternately along the vertical direction. Note that one cassette holding unit 23 may have three or more delivery cassette holding units 231 and three or more receiving cassette holding units 232.

In this way, multiple delivery cassette holding units 231 and multiple receiving cassette holding units 232 may be provided for one drug transfer unit 32. If multiple delivery cassette holding units 231 and multiple receiving cassette holding units 232 are provided, it is possible to hold more cassettes Ca to be transferred to the drug transfer unit 32 near the drug transfer unit 32. This enables efficient transfer of cassettes Ca to the drug transfer unit 32. However, one delivery cassette holding unit 231 and one receiving cassette holding unit 232 may be provided for one drug transfer unit 32.

In this specification, the cassette holding unit 23 is described as being provided in the main unit 2, but it may also be provided in the picking unit 3. If it is provided in the picking unit 3, the location of the cassette holding unit 23 of the main unit 2, indicated by reference numeral 6001 in Figure 6, functions as an insertion section into which the cassette holding unit 23 provided in the picking unit 3 is inserted. In other words, the cassette shelf 21, main unit cassette transfer unit 22, and cassette holding unit 23 may realize the basic configuration of the cassette handling device described above.

<Picking unit structure>
Next, a specific structure of the picking unit 3 will be described with reference to Figures 11 to 15. Figure 11 is a perspective view showing an example of the picking unit 3. Note that Figure 11 illustrates only a portion of the picking unit 3 where the medicine delivery section 32 is provided.

As shown in Figure 11, a picking cassette transport unit 35 is provided below the medicine transfer unit 32. Specifically, one picking cassette transport unit 35 is provided for one medicine transfer unit 32 (one opening 321 and a shutter 322 (see Figure 2) provided corresponding to that opening 321).

In this embodiment, the picking unit 3 is provided with a first drug transfer section 32a and a second drug transfer section 32b as the drug transfer section 32. Below the first drug transfer section 32a, a picking cassette transfer section 35 including a first picking cassette transfer section 35a and a second picking cassette transfer section 35b is provided. Below the second drug transfer section 32b, a picking cassette transfer section 35 including a first picking cassette transfer section 35a is provided.

In this embodiment, for example, when dispensing medicines based on dispensing data, the picking unit 3 uses the first medicine transfer section 32a and the picking cassette transport section 35 provided below the first medicine transfer section 32a. That is, in this embodiment, the first medicine transfer section 32a is a medicine transfer section to which a cassette Ca containing medicines to be dispensed based on the dispensing data is transferred. Note that the main unit 2 uses the first cassette holding section 23a provided corresponding to the picking cassette transport section 35.

As described above, the picking cassette transport unit 35 is provided with a first picking cassette transport unit 35a and a second picking cassette transport unit 35b. Furthermore, the first picking cassette transport unit 35a and the second picking cassette transport unit 35b are independently controlled by the picking cassette transport control unit 121 so that the first cassette gripper 351 and the second cassette gripper 355 (see FIG. 12) move without colliding with each other. This allows for more efficient dispensing of medications based on dispensing data than when the picking cassette transport unit 35 is composed of a single picking cassette transport unit.

On the other hand, the second drug transfer unit 32b, the picking cassette transport unit 35 provided below the second drug transfer unit 32b, and the second cassette holding unit 23b are used when dispensing drugs not included in the dispensing data. In other words, the second drug transfer unit 32b is used when dispensing individual drugs (for example, when performing interrupt processing on the dispensing data), and therefore only needs to be equipped with the first picking cassette transport unit 35a. In other words, the second drug transfer unit 32b is a drug transfer unit to which cassettes Ca other than the cassette Ca transferred to the first drug transfer unit 32a are transferred.

However, the second drug transfer unit 32b may be used when dispensing drugs based on dispensing data, and the first drug transfer unit 32a may be used when dispensing individual drugs. Furthermore, the second drug transfer unit 32b may be provided with a first picking cassette transport unit 35a and a second picking cassette transport unit 35b, or the first drug transfer unit 32a may be configured to include only the first picking cassette transport unit 35a. Providing multiple picking cassette transport units for one drug transfer unit 32 enables efficient drug dispensing.

Furthermore, when filling work is performed, either the first drug delivery unit 32a or the second drug delivery unit 32b may be used.

Furthermore, it is not necessarily necessary to provide multiple drug delivery and receiving sections 32 in the picking unit 3; a single drug delivery and receiving section 32 may be provided in the picking unit 3. Furthermore, a single picking unit 3 may be provided for the main unit 2. In this case, only a cassette holding section 23 corresponding to one picking unit 3 may be provided in the main unit 2.

(Structure of picking cassette transfer section)
The specific structure of the picking cassette transfer unit 35 will be described using FIG. 12 . FIG. 12 is a diagram illustrating an example of the picking cassette transfer unit 35. Reference numeral 12001 in FIG. 12 is a perspective view illustrating an example of the picking cassette transfer unit 35 as viewed from the main unit 2 side. Reference numeral 12002 in FIG. 12 is a perspective view illustrating an example of the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b constituting the picking cassette transfer unit 35. Reference numeral 12003 in FIG. 12 is a plan view illustrating an example of the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b as viewed from the workbench 40 side. Reference numeral 12004 in FIG. 12 is a diagram illustrating an example of the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b as viewed from the main unit 2 side. Note that, for ease of explanation, FIG. 12 only illustrates the picking cassette transfer unit 35 corresponding to the first medicine transfer unit 32a. Further, reference numeral 12001 in FIG. 12 illustrates only a portion of the picking unit 3 where the medicine delivery section 32 is provided.

As shown by reference numerals 12001 and 12002, the picking cassette transfer unit 35 corresponding to the first drug transfer unit 32a includes a first picking cassette transfer unit 35a and a second picking cassette transfer unit 35b.

The first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b are each transfer mechanisms that receive a cassette Ca placed on the delivery cassette holding unit 231 and transfer it to the first drug transfer unit 32a. Furthermore, the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b are each transfer mechanisms that transfer a cassette Ca present on the first drug transfer unit 32a side to the receiving cassette holding unit 232.

As shown by the reference numeral 12002, the first picking cassette transfer unit 35a includes a first cassette gripping unit 351 and a first cassette transfer mechanism 352.

The first cassette gripping portion 351 is a member that grips the cassette Ca. In this embodiment, the first cassette gripping portion 351 is configured as a frame body, and a side wall (longitudinal end) extending in the short direction (X-axis direction) of the frame body is provided with a protrusion 351a that hooks onto the claw receiving portion Ca12 (see FIG. 5) of the cassette Ca. The frame body has a hollow portion large enough to hook onto the protrusion 351a, allowing the bottom of the cassette Ca and the cassette holding portion 23 (here, the first cassette holding portion 23a) to pass through when the first cassette gripping portion 351 moves vertically. When the first cassette gripping portion 351 moves vertically upward in the cassette holding portion 23, the protrusion 351a hooks onto the claw receiving portion Ca12 placed on the cassette holding portion 23, thereby gripping the cassette Ca by the first cassette gripping portion 351.

The first cassette transfer mechanism 352 moves the first cassette gripper 351. The first cassette transfer mechanism 352 includes a first beam 353 and a first support 354. The first beam 353 extends in the depth direction (Y-axis direction) of the picking unit 3 and slidably supports the first cassette gripper 351. The first support 354 extends in the height direction (Z-axis direction) of the picking unit 3 and slidably supports the first beam 353. The picking cassette transfer control unit 121 moves the first beam 353 along the first support 354 and moves the first cassette gripper 351 along the first beam 353. This allows the desired cassette Ca to be moved between the cassette holding unit 23 and the drug delivery unit 32.

Furthermore, as indicated by the reference numeral 12002, the second picking cassette transfer unit 35b includes a second cassette gripping unit 355 and a second cassette transfer mechanism 356. Similar to the first cassette gripping unit 351, the side wall extending in the short direction of the second cassette gripping unit 355 is provided with a protrusion that hooks onto the claw receiving portion Ca12 of the cassette Ca. Furthermore, the second cassette transfer mechanism 356 includes a second beam portion 357 and a second support portion 358. The structure and function of the second cassette gripping unit 355 and the second cassette transfer mechanism 356 are similar to those of the first cassette gripping unit 351 and the first cassette transfer mechanism 352, respectively.

Furthermore, as shown by reference numerals 12003 and 12004, the first beam portion 353 and the second beam portion 357 are spaced apart enough to allow the first cassette gripping portion 351 and the second cassette gripping portion 355 to move along the depth direction of the picking unit 3.

In addition, the picking cassette transfer control unit 121 controls the movement (position) of the first cassette gripping unit 351 and the second cassette gripping unit 355 so that the first cassette gripping unit 351 and the second cassette gripping unit 355 do not collide with each other.

Specifically, the first cassette gripping portion 351 and the second cassette gripping portion 355 are supported in a cantilevered manner by the first beam portion 353 and the second beam portion 357, which are spaced apart as described above. The first cassette transfer mechanism 352 and the second cassette transfer mechanism 356 are controlled so as not to interfere with each other in the movable area of the first cassette transfer mechanism 352 and the second cassette transfer mechanism 356 (the area between the first beam portion 353 and the second beam portion 357). Therefore, the first cassette gripping portion 351 and the second cassette gripping portion 355 can move between the cassette holding portion 23 and the medicine delivery portion 32 without colliding with each other.

Therefore, multiple cassette gripping sections enable the transfer of cassettes Ca between the cassette holding section 23 and the drug transfer section 32. This improves the transfer efficiency of cassettes Ca.

Next, the operation of gripping cassette Ca by the first picking cassette transfer unit 35a will be described using Figure 13. Reference numerals 13001 to 13005 in Figure 13 show the operation of gripping cassette Ca by the first picking cassette transfer unit 35a.

First, with the cassette Ca placed on the delivery cassette holding section 231, the first beam section 353 moves vertically along the first support section 354 so that the first cassette gripping section 351 can be moved to a position directly below the delivery cassette holding section 231. Then, as shown by reference numeral 13001 in FIG. 13, the first cassette gripping section 351 moves horizontally toward the delivery cassette holding section 231 and stops at a position directly below the delivery cassette holding section 231 as shown by reference numeral 13002 in FIG. 13.

Next, as shown by reference numeral 13003 in Figure 13, the first beam portion 353 moves vertically upward along the first support portion 354, and after the delivery cassette holding portion 231 passes through the hollow portion of the first cassette gripping portion 351, the protrusion portion 351a of the first cassette gripping portion 351 catches on the claw receiving portion Ca12 of the cassette Ca and temporarily locks it in place. This allows the first cassette gripping portion 351 to grip the cassette Ca.

In this basic configuration, the first cassette gripping portion 351 is provided with two protrusions 351a that face the two claw receivers Ca12 when the first cassette gripping portion 351 is positioned opposite the cassette Ca. However, the first cassette gripping portion 351 may be configured with only one protrusion 351a. Even in this case, the first cassette gripping portion 351 can grip the cassette Ca by temporarily engaging one of the claw receivers Ca12. In other words, the first cassette gripping portion 351 may be configured to grip two opposing portions (both sides) of the cassette Ca, or may be configured to grip one side of the cassette Ca. The same applies to the second cassette gripping portion 355.

Next, the first cassette gripping portion 351, while holding the cassette Ca, moves along the first beam portion 353 so that it is positioned below the opening 321. Along with this movement, the first beam portion 353 moves vertically upward along the first support portion 354 so that the first cassette gripping portion 351 is positioned directly below the opening 321. This allows the first cassette gripping portion 351 to transport the cassette Ca to directly below the opening 321, as shown by reference numeral 13004 in FIG. 13 . The operator can then remove medication from the cassette Ca held by the first cassette gripping portion 351, or fill the cassette Ca with medication.

The position directly below the opening 321 (i.e., the position where an operator can remove medicine from the cassette Ca or fill medicine into the cassette Ca) is referred to as the medicine transfer position P1.

After the operator completes their work at the drug transfer position P1, the first beam 353 moves vertically downward along the first support 354 so that the first cassette gripping portion 351 can be moved directly above the receiving cassette holding portion 232. The first cassette gripping portion 351 also moves along the first beam 353 toward the receiving cassette holding portion 232. The operation then proceeds in the reverse direction to the operation indicated by reference numeral 13003 in FIG. 13 . In other words, as the first beam 353 moves vertically downward along the first support 354, the cassette Ca is placed on the receiving cassette holding portion 232. At this time, the protrusion 351a separates from the claw receiving portion Ca12, releasing the temporary locking state. Thereafter, the receiving cassette holding section 232 passes through the hollow section of the first cassette gripping section 351, allowing the first cassette gripping section 351 to move to the delivery cassette holding section 231.

Meanwhile, the second picking cassette transfer unit 35b can also move in the same way as the first picking cassette transfer unit 35a. For example, the second picking cassette transfer unit 35b grasps a cassette Ca containing the medication to be removed or filled next after the cassette Ca grasped by the first cassette gripping unit 351, and transports that cassette Ca to the medication transfer position P1.

However, as shown by reference numeral 13005 in FIG. 13, when the first cassette gripping unit 351 is located at the medicine transfer position P1, the second cassette gripping unit 355 moves to a standby position P2 located near the medicine transfer unit 32 (specifically, near the medicine transfer position P1). After that, the first cassette gripping unit 351 moves toward the receiving cassette holding unit 232, and the second cassette gripping unit 355 moves to the medicine transfer position P1. After returning the cassette Ca to the receiving cassette holding unit 232, the first cassette gripping unit 351 grips a new cassette Ca placed on the delivery cassette holding unit 231 and moves to the standby position P2. This operation is repeated.

As shown by reference numeral 13005 in Figure 13, in this embodiment, the standby position P2 is located below the medicine transfer position P1 and is located farther from the main unit 2 in the depth direction of the picking unit 3 than the medicine transfer position P1. This prevents the cassette gripping section located at the medicine transfer position P1 from colliding with the cassette gripping section located at the standby position P2 when it moves toward the receiving cassette holding section 232.

(Example of operation of the picking cassette transfer unit)
Next, an example of the operation of the picking cassette transport unit 35 will be described using FIG. 14. Reference numerals 14001 to 14008 in FIG. 14 illustrate an example of the operation of the first picking cassette transport unit 35a and the second picking cassette transport unit 35b. The shaded arrows in FIG. 14 indicate the movement direction of the first cassette gripper 351, the filled arrows indicate the movement direction of the second cassette gripper 355, and the hollow arrows indicate the movement direction of the cassette Ca by the main cassette transport unit 22. Here, an example of the operation will be described, starting from a state in which the first cassette gripper 351 is gripping the cassette Ca and is positioned at the drug transfer position P1, and the second cassette gripper 355 is gripping the cassette Ca and is positioned at the standby position P2.

In this embodiment, the first picking cassette transfer unit 35a (first cassette gripping unit 351 and first cassette transfer mechanism 352) is accessible to the upper delivery cassette holding unit 231 and receiving cassette holding unit 232, as indicated by reference numerals 14003 to 14006. Furthermore, the second picking cassette transfer unit 35b (second cassette gripping unit 355 and second cassette transfer mechanism 356) is accessible to the lower delivery cassette holding unit 231 and receiving cassette holding unit 232, as indicated by reference numerals 14003 and 14006 to 14008. In Figure 14, the upper delivery cassette holding unit 231 and receiving cassette holding unit 232 are referred to as the delivery cassette holding unit 231a and receiving cassette holding unit 232a, respectively. Similarly, the lower delivery cassette holding section 231 and receiving cassette holding section 232 are designated as delivery cassette holding section 231b and receiving cassette holding section 232b, respectively.

The positions of the delivery cassette holding section 231 and the receiving cassette holding section 232 in the cassette holding section 23 may be freely set. In other words, which position in the cassette holding section 23 functions as the delivery cassette holding section 231 or the receiving cassette holding section 232 may be freely set. This setting may also be switched at any time by the control device 10 depending on the operating status of the drug station 1 including the main unit 2 (e.g., the drug dispensing status).

In other words, the cassette Ca mounting table that constitutes the cassette holding unit 23 may be switched, under the control of the control device 10, between functioning as the delivery cassette holding unit 231 and functioning as the receiving cassette holding unit 232, depending on the operating status. In this case, the mounting table can be made to function as either the delivery cassette holding unit 231 or the receiving cassette holding unit 232, depending on the operating status. This allows the cassette holding unit 23 to efficiently hold the cassette Ca depending on the operating status. Note that the mounting table may also be switched between functioning as the delivery cassette holding unit 231 and functioning as the receiving cassette holding unit 232, regardless of the operating status (for example, based on an input operation).

Furthermore, the access positions of the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b relative to the cassette holding unit 23 may be freely set. This setting may also be switched at any time by the control device 10 depending on the above-mentioned operating conditions.

First, as shown by reference numeral 14001, as described above, the first cassette transfer mechanism 352 of the first picking cassette transfer unit 35a transfers the first cassette gripping unit 351 holding the cassette Ca to the drug transfer position P1. In this state, the shutter 322 opens, allowing the picking operation to be performed on the cassette Ca held by the first cassette gripping unit 351. Furthermore, the second cassette transfer mechanism 356 of the second picking cassette transfer unit 35b transfers the second cassette gripping unit 355 holding the cassette Ca to the standby position P2. In other words, the second cassette gripping unit 355 is waiting at the standby position P2 while holding the cassette Ca.

Also, while the above picking operation is being performed, as shown by reference numeral 14002, the main cassette transfer unit 22 places a new cassette Ca on the delivery cassette holding unit 231a.

When the picking operation for the cassette Ca held by the first cassette gripping unit 351 is completed and the tray close button 39 is pressed, for example, the shutter 322 closes. When the shutter 322 closes, as shown by reference numeral 14003, the first cassette transfer mechanism 352 moves the first cassette gripping unit 351 to the receiving cassette holding unit 232a and then places the cassette Ca held by the first cassette gripping unit 351 on the receiving cassette holding unit 232a. Furthermore, after the first cassette gripping unit 351 moves to free up the drug transfer position P1, the second cassette transfer mechanism 356 moves the second cassette gripping unit 355 to the drug transfer position P1. In this state, the shutter 322 opens, and the picking operation for the cassette Ca held by the second cassette gripping unit 355 is performed.

Next, as shown by reference numeral 14004, the main cassette transfer unit 22 returns the cassette Ca placed on the receiving cassette holding unit 232a by the first cassette transfer mechanism 352 to its storage position on the cassette shelf 21. The first cassette transfer mechanism 352 also moves the first cassette gripper 351 from the receiving cassette holding unit 232a to the delivery cassette holding unit 231a. The first cassette transfer mechanism 352 then causes the first cassette gripper 351 to grip the cassette Ca placed on the delivery cassette holding unit 231a.

Next, as indicated by reference numeral 14005, the first cassette transfer mechanism 352 moves the first cassette gripping unit 351, which is gripping the cassette Ca, to standby position P2, and waits until the picking operation for the cassette Ca gripped by the second cassette gripping unit 355 is completed. Furthermore, while the picking operation for the cassette Ca gripped by the second cassette gripping unit 355 is being performed, the main body cassette transfer unit 22 places a new cassette Ca on the delivery cassette holding unit 231b.

When the picking operation for the cassette Ca held by the second cassette gripping unit 355 is completed and the tray close button 39 is pressed, for example, the shutter 322 closes. When the shutter 322 closes, as shown by reference numeral 14006, the second cassette transfer mechanism 356 moves the second cassette gripping unit 355 to the receiving cassette holding unit 232b and then places the cassette Ca held by the second cassette gripping unit 355 on the receiving cassette holding unit 232b. Furthermore, after the second cassette gripping unit 355 moves to free up the drug transfer position P1, the first cassette transfer mechanism 352 moves the first cassette gripping unit 351 to the drug transfer position P1. In this state, the shutter 322 opens, enabling the cassette Ca held by the first cassette gripping unit 351 to be picked.

Next, as shown by reference numeral 14007, the main cassette transfer unit 22 returns the cassette Ca placed on the receiving cassette holding unit 232b by the second cassette transfer mechanism 356 to its storage position on the cassette shelf 21. The second cassette transfer mechanism 356 also moves the second cassette gripper 355 from the receiving cassette holding unit 232b to the delivery cassette holding unit 231b. Thereafter, the second cassette transfer mechanism 356 causes the second cassette gripper 355 to grip the cassette Ca placed on the delivery cassette holding unit 231b.

Next, as shown by reference numeral 14008, the second cassette transfer mechanism 356 moves the second cassette gripping unit 355, which is gripping the cassette Ca, to the standby position P2, and waits until the picking operation for the cassette Ca gripped by the first cassette gripping unit 351 is completed.

When the transfer process for cassette Ca is being performed based on the dispensing data, the above-described operations are repeated until the picking operation for all medications included in the dispensing data is completed. Furthermore, when medications are being filled sequentially, the above-described operations may be repeated until the filling operation for all medications is completed.

Note that, in reference numerals 14005 and 14006, if the second cassette gripping unit 355 is not present at the drug transfer position P1, the first cassette transfer mechanism 352 may transfer the first cassette gripping unit 351 directly to the drug transfer position P1. Similarly, in reference numeral 14008, if the first cassette gripping unit 351 is not present at the drug transfer position P1, the second cassette transfer mechanism 356 may transfer the second cassette gripping unit 355 directly to the drug transfer position P1.

In this way, the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b transfer the cassette Ca from which the drug sheet is to be removed or filled to the drug transfer position P1. Furthermore, when a cassette Ca is located at the drug transfer position P1, the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b transfer the next cassette Ca from which the drug sheet is to be removed or filled to the standby position P2, where it waits.

Specifically, the first cassette gripping unit 351 and the second cassette gripping unit 355 grip the cassette Ca pulled out from the cassette holding unit 23 and transport it between the cassette holding unit 23, the drug transfer position P1, and the standby position P2. Furthermore, the first cassette gripping unit 351 and the second cassette gripping unit 355 move so as not to collide with each other.

This allows work to be performed on the cassette Ca at the medicine transfer position P1, and the next cassette Ca to be worked on can be placed on standby near the medicine transfer position P1 at the standby position P2. Therefore, after work on the cassette Ca is completed at the medicine transfer position P1, the cassette Ca that was on standby at the standby position P2 can be moved to the medicine transfer position P1. This allows the user to efficiently work on multiple cassettes Ca.

Therefore, the picking unit 3 can efficiently provide the user with the cassette Ca from which the user can remove or fill the medication sheets.

(Example of operation of the first shutter)
Next, an example of the operation of the first shutter 322a will be described with reference to Fig. 15. Reference numerals 15001 to 15003 in Fig. 15 are diagrams showing an example of the operation of the first shutter 322a.

As described above, the first shutter 322a opens and closes under the control of the shutter control unit 122. Specifically, as indicated by reference numeral 15001, the shutter control unit 122 closes the first shutter 322a when the cassette Ca is not positioned in the drug delivery and reception unit 32 (specifically, at drug delivery and reception position P1). As indicated by reference numerals 15002 and 15003, the shutter control unit 122 opens the first shutter 322a after the picking cassette transport unit 35 stops the cassette Ca at drug delivery and reception position P1. The shutter control unit 122 also controls the opening and closing of the second shutter 322b in the same manner as the first shutter 322a. This allows the operator to pick or fill drugs into the cassette Ca.

The picking cassette transfer control unit 121 and shutter control unit 122 identify the type of cassette Ca and which type of medicine is to be stored in which storage position of the cassette Ca. Therefore, in the case of a cassette Ca without a partition, the picking cassette transfer control unit 121 and shutter control unit 122 can determine that only one type of medicine is to be stored. Therefore, after the picking cassette transfer control unit 121 transfers the cassette Ca so that the center of the cassette Ca is near the center of the opening 321, the shutter control unit 122 fully opens the first shutter 322a, as shown by reference numeral 15002. At this time, the shutter control unit 122 opens the second shutter 322b according to the width of the cassette Ca.

On the other hand, in the case of a cassette Ca with a partition, the picking cassette transport control unit 121 transports the cassette Ca so that the storage position of the medicine to be dispensed or filled is near the center of the opening 321. The shutter control unit 122 then opens the first shutter 322a by the width of the storage area in which the medicine is stored, as shown by reference numeral 15003. At this time, the shutter control unit 122 also opens the second shutter 322b according to the width of the cassette Ca.

In this way, the opening width of the first shutter 322a changes depending on the type of cassette Ca transported to the medicine transfer position P1.

Furthermore, if the next drug to be dispensed or filled is stored in the same cassette Ca as the drug currently being dispensed or filled, the cassette Ca need only be repositioned without changing cassette Ca. In this case, after the dispensing or filling of the drug currently being dispensed or filled is completed, the shutter control unit 122 closes the first shutter 322a and the second shutter 322b. The picking cassette transport control unit 121 then moves the cassette Ca so that the drug to be next dispensed or filled is stored near the center of the opening 321. The shutter control unit 122 then opens the first shutter 322a by the width of the storage area in which the drug is stored. At this time, the shutter control unit 122 also opens the second shutter 322b according to the width of the cassette Ca.

Therefore, by providing partitions in the cassette Ca to create multiple storage areas in a single cassette Ca, it is possible to store, for example, medications that are likely to be dispensed at the same time in the same cassette Ca. This makes it possible to dispense medication sheets even more efficiently.

[Embodiment 1]
In this embodiment, a configuration will be described in which the cassette Ca is automatically removed from the cassette shelf 21 or stored in the cassette shelf 21 under the control of the control device 10.

<Picking unit>
16 and 17 are perspective views showing an example of the picking unit 3 of this embodiment. Reference numeral 17001 in Fig. 17 indicates a perspective view seen from the front side of the picking unit 3 (the side where the worker stands), and reference numeral 17002 indicates a perspective view seen from the rear side of the picking unit 3 (the side of the main unit 2). For convenience, Fig. 17 illustrates only the members of the picking unit 3 that are necessary for explaining the cassette transfer section 41, and omits other members.

As shown in Figures 16 and 17, the picking unit 3 of this embodiment is equipped with a cassette transfer section 41 on the front section 45, which is the side where the worker stands. The cassette transfer section 41 allows cassettes Ca to be removed from the picking unit 3 or inserted into the picking unit 3 (allowing the worker to transfer cassettes Ca). The specific configuration of the cassette transfer section 41 will be described later.

In addition, in this embodiment, the main cassette transfer control unit 112 and the picking cassette transfer control unit 121, as described above, control the main cassette transfer unit 22 and the picking cassette transfer unit 35 to transfer cassette Ca between the drug delivery unit 32 and the cassette shelf 21. In addition, in this embodiment, the main cassette transfer control unit 112 and the picking cassette transfer control unit 121 control the main cassette transfer unit 22 and the picking cassette transfer unit 35 to transfer cassette Ca between the cassette delivery unit 41 and the cassette shelf 21. The main cassette transfer unit 22 and the picking cassette transfer unit 35 are examples of cassette transfer units that transfer cassette Ca.

When transferring a certain cassette Ca between the drug transfer unit 32 and the cassette shelf 21, the main cassette transfer unit 22 and the picking cassette transfer unit 35 may transfer another cassette Ca between the cassette transfer unit 41 and the cassette shelf 21. Furthermore, the main cassette transfer unit 22 and the picking cassette transfer unit 35 may not transfer the other cassette Ca while transferring the certain cassette Ca, or may not transfer the certain cassette Ca while transferring the other cassette Ca.

Consider the case where a cassette Ca to be removed is to be removed from the cassette shelf 21. In this case, the worker specifies the cassette Ca to be removed, for example, via the first touch panel 5. The cassette identification unit 111 identifies the cassette Ca to be removed based on the worker's input operation and identifies the storage location of the cassette Ca by referring to the memory unit 15. The main unit cassette transfer control unit 112 controls the main unit cassette transfer unit 22 to remove the cassette Ca to be removed from its storage location on the cassette shelf 21. The main unit cassette transfer control unit 112 transfers the removed cassette Ca to the cassette holding unit 23 and holds it there. The picking cassette transfer control unit 121 controls the picking cassette transfer unit 35 to transfer the cassette Ca held in the cassette holding unit 23 to the cassette delivery unit 41. In this embodiment, the picking cassette transfer control unit 121 controls the second cassette transfer mechanism 356 (second beam 357 and second support 358) of the second picking cassette transfer unit 35b to transfer the cassette Ca held in the cassette holding unit 23 to the cassette transfer unit 41. This allows the worker to remove the cassette Ca to be removed from the cassette shelf 21 via the cassette transfer unit 41.

Also consider the case where a cassette Ca to be stored (a cassette Ca to be newly stored, or a cassette Ca to be removed from the cassette shelf 21 and then returned to the cassette shelf 21) is stored on the cassette shelf 21. In this case, the worker performs an input operation to instruct the storage of the cassette Ca, for example, via the first touch panel 5. The picking cassette transfer control unit 121 controls the picking cassette transfer unit 35 (in this embodiment, the second picking cassette transfer unit 35b) to transfer the cassette Ca to be stored, which the worker placed on the cassette transfer unit 41, to the cassette holding unit 23. The main unit cassette transfer control unit 112 controls the main unit cassette transfer unit 22 to transfer the cassette Ca to be stored, which is held in the cassette holding unit 23, to the cassette shelf 21 and store it on the cassette shelf 21. This allows the worker to store the cassette Ca to be stored on the cassette shelf 21 via the cassette transfer unit 41.

A cassette Ca to be stored is provided with a barcode Ca14 (see Figure 5) containing cassette identification information, etc. The cassette gripping unit 221 provided in the main cassette transfer unit 22 and the second cassette gripping unit 355 provided in the second picking cassette transfer unit 35b are provided with barcode readers (not shown). In this embodiment, the cassette transfer unit 41 is also provided with a barcode reader 420 (see Figure 19). When a cassette Ca to be stored is inserted from the cassette transfer unit 41, the barcode reader of the cassette gripping unit 221, the second cassette gripping unit 355, or the cassette transfer unit 41 reads the barcode Ca14. The cassette identification unit 111 identifies the storage location of the cassette Ca based on the cassette identification information included in the read barcode Ca14 and data stored in the memory unit 15 that associates the cassette identification information with the storage location. In the case of a cassette Ca that is to be newly stored on the cassette shelf 21, the above data does not contain information indicating a storage location associated with the acquired cassette identification information. Therefore, the cassette identification unit 111 identifies a storage location that is not associated with cassette identification information (i.e., an empty space on the cassette shelf 21) as the storage location of the cassette Ca. When returning the cassette Ca to the cassette shelf 21, the cassette identification unit 111 references the above data to identify the storage location of the cassette Ca. This allows the main unit cassette transfer control unit 112 to store the cassette Ca to be stored on the cassette shelf 21.

When storing a new cassette Ca on the cassette shelf 21, for example, the operator uses the barcode reader 34 to read the barcode attached to the medication contained in the cassette Ca. In this case, the control device 10 associates the acquired medication identification information (i.e., the type of medication) with the cassette identification information of the cassette Ca and stores it in the memory unit 15.

At this point, workers (especially medical personnel) may wish to change the cassette Ca they are using, for example, by changing the size of the cassette Ca that contains the medication depending on the frequency of medication use. If the picking unit 3 does not have a cassette transfer section 41 and cassettes Ca cannot be transferred between the cassette shelf 21 and the cassette transfer section 41, the worker will perform the following tasks.

The worker opens the door 25, removes the cassette Ca they want to remove from the cassette shelf 21, and then replaces the medication stored in that cassette Ca in another cassette Ca. The cassette shelf 21 can store more than 1,000 cassettes Ca. Therefore, it may take the worker time and effort to find the cassette Ca they want to remove.

The operator then uses the barcode reader 34 to read the barcodes attached to the medications to be stored in the new cassette Ca, and inputs the cassette number of the new cassette Ca via the first touch panel 5. This allows the control device 10 to associate the cassette identification information of the new cassette Ca with the medication identification information of the medications stored therein, and store this in the memory unit 15. However, the operator must input the cassette number of the new cassette Ca in order to store the new cassette Ca. The control device 10 also controls the main cassette transfer unit 22 to read all barcodes (i.e., cassette identification information) of the cassettes Ca stored on the cassette shelf 21, and associates the read cassette identification information with the storage location. However, as mentioned above, the cassette shelf 21 can store more than 1,000 cassettes Ca, so this association may take some time.

Furthermore, when an operator wants to remove a cassette Ca from the cassette shelf 21 or store a cassette Ca on the cassette shelf 21, the door 25 must be opened to remove or store the cassette Ca. The control device 10 locks the door 25 while the drug station 1 is operating, and can unlock the door 25 when the drug station 1 is stopped. Therefore, when an operator wants to open the door 25, the control device 10 must temporarily stop the operation of the drug station 1. For example, if the control device 10 is executing a drug dispensing process based on dispensing data, the control device 10 must stop or interrupt the dispensing process.

Here, we will explain the reason for providing the cassette transfer unit 41 separately from the medicine transfer unit 32. Figure 18 is a diagram illustrating the relationship in size between the medicine transfer unit 32 and the cassette Ca. Reference numeral 18001 in Figure 18 is a diagram illustrating the case where a large cassette Ca1 is positioned in the medicine transfer unit 32. Reference numeral 18002 in Figure 18 is a diagram illustrating the case where a medium-sized cassette Ca2 is positioned in the medicine transfer unit 32. Reference numeral 18003 in Figure 18 is a diagram illustrating the case where a small cassette Ca3 is positioned in the medicine transfer unit 32.

If cassette Ca could be removed from the drug delivery and reception section 32, there would be no need to provide a cassette delivery and reception section 41 in the picking unit 3. However, as shown in FIG. 18 , the length L1 of the opening area Ar1 formed in the opening 321 when the shutters 322 (first shutter 322a and second shutter 322b) are open is smaller than the length L2 of the cassette Ca. The length L1 of the opening area Ar1 is the length in the longitudinal direction (±Y-axis direction) of the opening area Ar1. The length L2 of the cassette Ca is the length in the longitudinal direction (±Y-axis direction) of the cassette Ca when viewed from above after being transferred to the drug delivery and reception section 32, i.e., the length corresponding to the longitudinal length of the opening area Ar1 of the cassette Ca. As indicated by reference numerals 18001 to 18003, the length L1 of the opening area Ar1 is smaller than the longitudinal lengths L2 of the large cassette Ca1, medium cassette Ca2, and small cassette Ca3. Therefore, the operator cannot insert or remove cassette Ca from drug transfer section 32. For example, while drug station 1 is operating, the operator cannot insert or remove cassette Ca from drug transfer section 32. Note that a plan view means viewing opening 321 from above opening 321. The longitudinal direction of opening area Ar1 is an example of a predetermined direction.

Note that the length L1 of the opening region Ar1 and the length L2 of the cassette Ca do not necessarily have to be the lengths in the longitudinal direction of the opening region Ar1 and the cassette Ca, but may be, for example, the lengths in the lateral direction (±X-axis direction) of the opening region Ar1 and the cassette Ca. In other words, the length L1 of the opening region Ar1 and the length L2 of the cassette Ca positioned in the medicine delivery section 32 only need to be lengths in the corresponding directions.

The picking unit 3 of this embodiment transports cassettes Ca containing drugs designated as drugs to be dispensed based on dispensing data (prescription data) (drugs to be dispensed based on the dispensing data) to the drug transfer section 32, which does not allow cassettes Ca to be taken in or out. This allows the operator to remove the designated drugs from cassettes Ca through drug transfer section 32. Cassettes Ca can also be provided with partitions, allowing multiple types of drugs to be stored. By transporting cassettes Ca containing multiple types of drugs to drug transfer section 32, the picking unit 3 allows the operator to remove the designated drugs from cassettes Ca.

The picking unit 3 of this embodiment is equipped with a cassette transfer unit 41 that allows the transfer of cassettes Ca that can store multiple types of medicines, in addition to a medicine transfer unit 32 that does not allow the transfer of cassettes Ca. In the picking unit 3, the main cassette transfer control unit 112 and the picking cassette transfer control unit 121 control the main cassette transfer unit 22 and the picking cassette transfer unit 35 to transfer cassettes Ca between the cassette shelf 21 and the cassette transfer unit 41.

The control device 10 can therefore automatically remove a cassette Ca from the cassette shelf 21 by accepting an input operation that identifies the cassette Ca to be removed from the cassette shelf 21. Furthermore, when an operator wishes to remove a cassette Ca from the cassette shelf 21, they can do so via the cassette transfer unit 41. This reduces the time and effort required for an operator to open the door 25 and search for the cassette Ca to be removed from the cassette shelf 21, which can store a huge number of cassettes Ca.

The control device 10 can also automatically store cassettes Ca on the cassette shelf 21 by accepting an input operation to store cassettes Ca on the cassette shelf 21. Furthermore, when an operator wants to store cassettes Ca on the cassette shelf 21, they can do so via the cassette transfer unit 41. This reduces the time and effort required for the operator to open the door 25 and store the cassette on the cassette shelf 21.

In addition, the control device 10 automatically removes cassettes Ca from the cassette shelf 21 or stores them on the cassette shelf 21, and the operator can access the cassettes Ca via the cassette transfer unit 41. In other words, the operator can remove cassettes Ca from the cassette shelf 21 or store cassettes Ca on the cassette shelf 21 without opening the door 25. Therefore, the control device 10 does not need to temporarily halt the operation of the drug station 1 even while the drug station 1 is operating. For example, the control device 10 does not need to stop or interrupt the drug dispensing process even if the drug dispensing process based on the dispensing data is in progress. Furthermore, the control device 10 does not need to perform the above-mentioned association for all cassettes Ca.

In addition, even when storing a new cassette Ca, the control device 10 automatically stores the cassette Ca on the cassette shelf 21. Therefore, the operator does not need to input the cassette number of the new cassette Ca.

As such, the picking unit 3 of this embodiment allows workers to easily remove cassettes Ca from the cassette shelf 21 or store cassettes Ca on the cassette shelf 21. It also reduces the time required to remove or store cassettes Ca. It also reduces the processing load on the control device 10. Therefore, the picking unit 3 of this embodiment can improve the work efficiency and processing efficiency for removing cassettes Ca from the cassette shelf 21 or storing cassettes Ca on the cassette shelf 21.

Furthermore, with the picking unit 3 of this embodiment, the length L1 of the opening area Ar1 is smaller than the length L2 of the cassette Ca, so the operator cannot insert or remove the cassette Ca from the drug transfer section 32. However, with the picking unit 3 of this embodiment, the operator can insert or remove the cassette Ca through the cassette transfer section 41, even while the drug station 1 is operating, for example.

Examples of removing a cassette Ca include, but are not limited to, replacing or returning a cassette Ca, but also include discontinuing use of a cassette Ca containing a drug in order to discontinue use of that drug due to frequency of use. Also, examples include discontinuing use of at least one cassette Ca contained in a group cassette, which is a group (cassette group) of cassettes Ca containing the same type of drug, in order to reduce the number of drugs contained in the group due to frequency of use.

Also, as shown in FIG. 17, the transfer of cassette Ca to or from the cassette transfer unit 41 is performed by the second cassette gripping unit 355 and the second cassette transfer mechanism 356. In other words, the cassette transfer unit 41 is provided corresponding to the second picking cassette transfer unit 35b (second cassette transfer unit) which is equipped with the second cassette gripping unit 355 and the second cassette transfer mechanism 356.

As described above, the picking unit 3 includes a first picking cassette transfer section 35a (first cassette transfer section) that includes a first cassette gripping section 351 and a first cassette transfer mechanism 352 that are provided in correspondence with the first drug transfer section 32a. Furthermore, a second picking cassette transfer section 35b is provided in correspondence with the second drug transfer section 32b.

The first drug transfer unit 32a may function as a drug transfer unit to which a cassette Ca containing drugs to be dispensed based on the dispensing data is transferred. The second drug transfer unit 32b may, for example, function as a drug transfer unit to which a cassette Ca other than the cassette Ca to be transferred to the first drug transfer unit 32a is transferred. An example of this cassette Ca is a cassette containing drugs that an operator wishes to urgently dispense by interrupting the dispensing process of drugs included in the dispensing data. That is, this cassette Ca is, for example, a cassette Ca containing drugs that are to be dispensed by interrupt processing for the dispensing data. The interrupt processing may also be a process of interrupting the dispensing process of drugs included in the dispensing data and dispensing the drugs when an input operation to urgently add drugs to the cassette Ca is received.

In this way, when multiple types of medicine are dispensed based on dispensing data, cassettes Ca containing the medicines to be dispensed are transported sequentially to the first medicine transfer unit 32a. Meanwhile, cassettes Ca containing the medicines are transferred to the second medicine transfer unit 32b when medicines are removed from or added to cassettes Ca by interrupting the dispensing of medicines based on the dispensing data. Therefore, even when multiple types of medicines are being dispensed based on dispensing data, the control device 10 can execute the process of transferring cassettes Ca to the second medicine transfer unit 32b without stopping the transfer of cassettes Ca for that dispensing.

As described above, the cassette transfer unit 41 is provided in correspondence with the second picking cassette transport unit 35b, which is provided in correspondence with the second medication transfer unit 32b. Therefore, even when multiple types of medication are being dispensed based on dispensing data, the transfer process of the cassette Ca to the cassette transfer unit 41 can be executed without stopping the transfer of the cassette Ca for that dispensing.

The second picking cassette transfer unit 35b is also provided in common with the second drug transfer unit 32b and the cassette transfer unit 41. In this case, no separate mechanism for transferring cassettes Ca is provided for the cassette transfer unit 41, reducing the possibility that the provision of the cassette transfer unit 41 would complicate the picking unit 3.

If the cassette transfer unit 41 is provided in the main unit 2, a mechanism for transporting cassettes Ca for the cassette transfer unit 41 must be provided in the main unit 2. If the cassette transfer unit 41 is provided in the picking unit 3, as described above, the mechanism for transporting cassettes Ca for the medicine transfer unit 32 can also be used for the cassette transfer unit 41. Therefore, providing the cassette transfer unit 41 in the picking unit 3 reduces the possibility of the main unit 2 becoming complicated.

However, if the above-mentioned effects are not taken into consideration, the cassette transfer unit 41 may be provided corresponding to the first drug transfer unit 32a. That is, the cassette transfer unit 41 may be provided corresponding to the first picking cassette transfer unit 35a. Furthermore, a mechanism for transferring cassettes Ca may not be provided in common between the cassette transfer unit 41 and the first drug transfer unit 32a or the second drug transfer unit 32b. In this case, for example, a mechanism for transferring cassettes Ca between the cassette transfer unit 41 and the cassette holding unit 23 may be provided in the picking unit 3, separate from the first picking cassette transfer unit 35a and the second picking cassette transfer unit 35b.

<Cassette receiving section>
19 is a perspective view showing an example of the cassette transfer section 41 when viewed from the front side of the picking unit 3. Reference numeral 19001 in FIG. 19 indicates a state in which the cassette transfer section 41 is not pulled out from the picking unit 3, and reference numeral 19002 indicates a state in which the cassette transfer section 41 is pulled out from the picking unit 3.

Reference numerals 20001 and 20002 in Figure 20 are perspective views showing an example of the cassette transfer section 41 when viewed from the rear side of the picking unit 3. Reference numeral 20002 is a view in which the cassette loading table 412, barcode reader 420, and mirror 421 have been removed for ease of explanation.

As shown in Figures 19 and 20, the cassette transfer unit 41 includes a built-in handle 411, a cassette mounting table 412, a mounting table support 413, a rail 414, a cassette detection unit 415, a storage detection unit 416, a dog 417, a solenoid 418, and a locking unit 419. In this embodiment, the storage detection unit 416 and the solenoid 418 are disposed on a support table 422 installed below the cassette mounting table 412. The support table 422 is fixed to a support 47. The support 47 is fixed to a part of the picking unit 3.

The built-in handle 411 is the part that an operator places their hand on to insert or remove the cassette mounting table 412 into or from the picking unit 3. The built-in handle 411 is fixed to the mounting table support 413.

The cassette placement table 412 is a table on which a cassette Ca to be removed that has been transferred from the cassette shelf 21, or a cassette Ca to be stored that has been placed by an operator, is placed. The cassette placement table 412 is fixed to the placement table support part 413.

The mounting table support portion 413 supports the cassette mounting table 412. The mounting table support portion 413 is fixed to the first rail portion 414a.

The rail portion 414 moves the cassette placing table 412 in the ±Y-axis directions so that the cassette placing table 412 can be inserted into or removed from the picking unit 3 by an operator operating the recessed handle portion 411. In this embodiment, the rail portion 414 includes a first rail portion 414a, a second rail portion 414b, and a third rail portion 414c.

The first rail portion 414a is fixed to the mounting table support portion 413 and is provided so as to be slidable relative to the second rail portion 414b and the third rail portion 414c. The second rail portion 414b is provided between the first rail portion 414a and the third rail portion 414c and is provided so as to be slidable relative to the first rail portion 414a and the third rail portion 414c. The third rail portion 414c is fixed to the support portion 47.

In the state shown by reference numeral 19001, when the operator places their hand on the recessed handle portion 411 and pulls it toward them (in the -Y-axis direction), the cassette mounting table 412 slides toward them along the rail portion 414. Specifically, the cassette mounting table 412 slides along the first rail portion 414a, the second rail portion 414b, and the third rail portion 414c. The second rail portion 414b also slides along the third rail portion 414c. As a result, the cassette mounting table 412 is pulled out toward the operator, as shown by reference numeral 19002.

In the state shown by reference numeral 19002, when the operator places their hand on the recessed handle portion 411 and pushes it toward the picking unit 3 (in the +Y-axis direction), the cassette placing table 412 slides along the rail portion 414 toward the picking unit 3. Specifically, the cassette placing table 412 slides along the first rail portion 414a, the second rail portion 414b, and the third rail portion 414c. The second rail portion 414b also slides along the third rail portion 414c. As a result, the cassette placing table 412 is accommodated in the picking unit 3, as shown by reference numeral 19001.

In other words, the cassette transfer unit 41 functions as a drawer for pulling out the cassette Ca by including a built-in handle 411, a cassette mounting base 412, a mounting base support 413, and a rail 414. This simple configuration allows the operator to easily remove or insert a cassette Ca from or into the cassette transfer unit 41.

The cassette detection unit 415 detects a cassette Ca placed on the cassette placement table 412. The cassette detection unit 415 is, for example, a reflective optical sensor that includes an emission unit that emits light and a light receiving unit that receives light that is reflected from an object when the light emitted by the emission unit is reflected.

As shown by the reference numeral 19001, the cassette detection unit 415 may be positioned so as to detect a cassette Ca placed on the cassette placement table 412 when the cassette placement table 412 is not pulled out (the cassette transfer unit 41 is closed). In this embodiment, a through-hole 413a is formed in the placement table support portion 413. When the cassette placement table 412 is not pulled out, the cassette detection unit 415 detects a cassette Ca placed on the cassette placement table 412 via the through-hole 413a.

The storage detection unit 416 detects whether the cassette transfer unit 41 is inserted into the picking unit 3 (the cassette loading table 412 is not pulled out). In this embodiment, the storage detection unit 416 is a grooved optical sensor that has a roughly C-shaped insertion portion into which the dog 417 is inserted and detects the dog 417 inserted into the insertion portion. The grooved optical sensor is, for example, a transmission-type optical sensor that includes an emission portion that emits light and a light-receiving portion that receives the light.

The dog 417 is a moving part that moves in conjunction with the movement of the cassette mounting table 412. In this embodiment, the dog 417 is fixed to the mounting table support part 413 to which the cassette mounting table 412 is fixed. When the cassette mounting table 412 is not pulled out, the dog 417 is inserted into the insertion part of the storage detection part 416, causing the storage detection part 416 to detect the dog 417. As a result, the storage detection part 416 detects that the cassette mounting table 412 is inserted into the picking unit 3. The storage detection part 416 and the dog 417 only need to be located in a position where the storage detection part 416 can detect the dog 417 when the cassette mounting table 412 is not pulled out.

The solenoid 418 controls whether the cassette mounting table 412 can be moved. For example, when the cassette mounting table 412 is not pulled out, the solenoid 418 fixes the position of the cassette mounting table 412 so that the cassette mounting table 412 cannot be pulled out.

In this embodiment, a plate-shaped locking portion 419 is provided on the mounting table support portion 413. As indicated by the reference numeral 20002, the locking portion 419 has a through-hole 419a through which a locking pin 423 connected to a solenoid 418 can pass. The solenoid 418 is driven under the control of the control device 10 to insert the locking pin 423 into the through-hole 419a, thereby fixing the position of the cassette mounting table 412. In other words, in this case, the cassette mounting table 412 is locked, and the operator cannot pull out the cassette mounting table 412. In addition, the solenoid 418 is driven under the control of the control device 10 to remove the locking pin 423 from the through-hole 419a, allowing the cassette mounting table 412 to be moved. In other words, in this case, the cassette mounting table 412 is unlocked, and the operator can pull out the cassette mounting table 412.

For example, suppose that the control device 10 receives an instruction to remove a certain cassette Ca via the first touch panel 5 when the cassette mounting table 412 is not pulled out. Note that when the cassette mounting table 412 is not pulled out, the lock pin 423 is inserted into the through-hole 419a, preventing the cassette mounting table 412 from being pulled out.

When the main cassette transfer control unit 112 and the picking cassette transfer control unit 121 receive a removal instruction, they control the main cassette transfer unit 22 and the picking cassette transfer unit 35 to transfer the cassette Ca to be removed to the cassette transfer unit 41. When the picking cassette transfer unit 35 places the cassette Ca on the cassette loading table 412, the cassette detection unit 415 detects the cassette Ca. When the control device 10 receives a detection signal from the cassette detection unit 415 indicating that the cassette Ca has been detected, it drives the solenoid 418 to remove the lock pin 423 from the through-hole 419a. This allows the cassette loading table 412 to be withdrawn. At this time, for example, the touch panel control unit 14 may display an image on the first touch panel 5 indicating that the cassette loading table 412 can now be withdrawn. Instead of displaying this image, the control device 10 may notify the user that the cassette mounting table 412 can now be removed by, for example, outputting a sound.

Then, after the operator pulls out the cassette placing table 412, the cassette placing table 412 is pushed toward the picking unit 3 to store it in the picking unit 3 (the cassette transfer section 41 is closed), and the dog 417 is inserted into the storage detection section 416. When the control device 10 receives a detection signal from the storage detection section 416 indicating that the dog 417 has been detected, it drives the solenoid 418 to insert the lock pin 423 into the through-hole 419a. This prevents the cassette placing table 412 from being pulled out.

When a cassette Ca is placed on the cassette placement table 412, the cassette detection unit 415 detects the cassette Ca. When the main body cassette transfer control unit 112 and the picking cassette transfer control unit 121 receive a detection signal from the cassette detection unit 415 indicating that cassette Ca has been detected, they control the main body cassette transfer unit 22 and the picking cassette transfer unit 35 to transfer the cassette Ca to the cassette shelf 21. This allows the cassette Ca to be stored on the cassette shelf 21.

For example, suppose that the control device 10 receives an instruction to store the cassette Ca on the cassette shelf 21 via the first touch panel 5 while the cassette mounting table 412 is not pulled out. In this case, the control device 10 drives the solenoid 418 to remove the lock pin 423 from the through-hole 419a. This allows the cassette mounting table 412 to be pulled out.

Then, the worker pulls out the cassette loading table 412 and places the cassette Ca to be stored on the cassette loading table 412. The operator then pushes the cassette loading table 412 toward the picking unit 3 and stores it in the picking unit 3 (closing the cassette transfer section 41). The subsequent processing has been described above, so a detailed explanation will be omitted.

The cassette transfer unit 41 also includes a barcode reader 420 and a mirror 421. In this embodiment, the barcode reader 420 is mounted on a support base 422. The mirror 421 is provided on the wall 412a of the cassette mounting base 412 (i.e., at a position facing the barcode Ca14 affixed to the cassette Ca mounted on the cassette mounting base 412).

The barcode reader 420 reads the barcode Ca14 attached to the cassette Ca placed on the cassette mounting table 412. The mirror 421 reflects the light emitted from the barcode reader 420 and the light reflected from the barcode Ca14. Specifically, the mirror 421 reflects the light emitted from the barcode reader 420 and propagates it toward the barcode Ca14, and also propagates the light reflected from the barcode Ca14 toward the barcode reader 420. This allows the barcode reader 420 to read the barcode Ca14 via the mirror 421.

The barcode reader 420 and mirror 421 are positioned so that the barcode reader 420 can read the barcode Ca14 attached to the cassette Ca placed on the cassette placement table 412. Specifically, the side surface of the barcode reader 420, from which the barcode reader 420 emits light or receives reflected light, and the reflective surface of the mirror 421 are positioned so that the barcode Ca14 can be read.

In order for the barcode reader 420 to be able to read the barcode Ca14, the barcode reader 420 must be placed at a predetermined distance away from the barcode Ca14, taking into account the reading depth (focal length) of the barcode reader 420. In other words, the length of the optical path traveled by the light emitted by the barcode reader 420 and the reflected light received must be set to a predetermined distance that allows the barcode reader 420 to read the barcode Ca14. Here, due to the constraint of placing the barcode reader 420 in the cassette transfer unit 41, a relatively small barcode reader 420 must be used, and therefore the reading depth will be relatively long.

In this embodiment, the mirror 421 is provided to bend the light or reflected light. This allows the barcode reader 420 to be located in a position (support base 422 in this embodiment) that does not face the barcode Ca14 attached to the cassette Ca placed on the cassette placement base 412.

It is also possible to position the barcode reader 420, like the mirror 421, facing the barcode Ca14 affixed to the cassette Ca placed on the cassette placement table 412. However, in this case, to ensure the above-mentioned specified distance, the barcode reader 420 would be positioned farther away from the cassette Ca than the mirror 421. In other words, the cassette transfer section 41 would be longer in the Y-axis direction than if the mirror 421 were provided.

Therefore, by providing a mirror 421 and bending the light or reflected light, the possibility of the cassette transfer unit 41 becoming large can be reduced. Note that the cassette transfer unit 41 does not necessarily need to be equipped with a barcode reader 420 and a mirror 421.

<Modification>
In the above description, a configuration has been described in which the cassette transfer unit 41 is provided in the picking unit 3 separately from the medicine transfer unit 32 because the cassette Ca cannot be inserted into or removed from the medicine transfer unit 32. However, the medicine transfer unit may also have the function of the cassette transfer unit 41.

Figure 31 shows an example of a medicine transfer unit 320 that also functions as a cassette transfer unit 41. The sides of the medicine transfer unit 320 that define the opening 321 (the four sides of the opening 321) are made up of a first movable unit 325a and a second movable unit 325b. The first movable unit 325a is slidable in the +Y-axis direction relative to the workbench 40, and the second movable unit 325b is slidable in the -Y-axis direction relative to the workbench 40.

The state indicated by reference numeral 31001 in Figure 31 is a state in which it is possible to transfer medication to and from cassette Ca through medication transfer section 320. In this state, the longitudinal length L1 of opening 321 is smaller than the longitudinal length L2 of cassette Ca, just like medication transfer section 32, so cassette Ca cannot be transferred in or out.

On the other hand, the state indicated by reference numeral 31002 in Figure 31 is a state in which, from the state indicated by reference numeral 31001, the first movable part 325a has been slid in the +Y-axis direction, and the second movable part 325b has been slid in the -Y-axis direction. At this time, the length L1 of the opening area Ar1 is at its maximum, and is greater than the longitudinal length L2 of the cassette Ca. Therefore, in this state, it is possible to insert and remove the cassette Ca through the medicine transfer section 320.

Initially, the medicine transfer unit 320 may be in the state indicated by reference symbol 31001. For example, when the control device 10 receives an input operation to remove or store the cassette Ca, it opens the shutter 322. At the same time, the control device 10 drives the first movable part 325a and the second movable part 325b to change the size of the opening area Ar1 from the state indicated by reference symbol 31001 to the state indicated by reference symbol 31002.

Furthermore, the control device 10 may drive the first movable part 325a and the second movable part 325b to change to the state indicated by the symbol 31002, for example, after checking the authentication of the worker. The control device 10 authenticates the worker before the worker performs work at the drug station 1. For example, the control device 10 may permit the removal or storage of the cassette Ca only if, as a result of the worker authentication, it is determined that the worker is a medical professional. The same may be true when inserting or removing a cassette Ca in the cassette transfer unit 41.

When the control device 10 receives an input operation to return from the state indicated by reference numeral 31002 to the state indicated by reference numeral 31001, it may drive the first movable part 325a and the second movable part 325b to change the size of the opening area Ar1 from the state indicated by reference numeral 31002 to the state indicated by reference numeral 31001. For example, when the tray close button 39 is pressed, the control device 10 may close the shutter 322 and change the size of the opening area Ar1 from the state indicated by reference numeral 31002 to the state indicated by reference numeral 31001.

In this way, the medicine transfer unit 320 has a width change mechanism that can change the opening width of the opening 321 so that the longitudinal length L1 of the opening 321 is greater than the longitudinal length L2 of the cassette Ca. This allows the operator to insert and remove the cassette Ca through the medicine transfer unit 320. Note that the configuration in Figure 31 is just one example, and the medicine transfer unit 320 may be configured in any way as long as the opening width can be changed as described above. Note that one of the multiple medicine transfer units 32 provided in the picking unit 3 may be the medicine transfer unit 320.

[Embodiment 2]
In this embodiment, a configuration will be described in which, when a cassette Ca protrudes from the cassette shelf 21, the cassette Ca is automatically pushed back into the cassette shelf 21 under the control of the control device 10. Figure 21 is a diagram showing an example of the operation of the cassette gripper 221. In this embodiment, the first cassette gripper 221a and the first support 224a will be described as an example, but the second cassette gripper 221b and the second support 224b can also be described in the same manner.

Furthermore, in Figure 21, the first cassette gripping portion 221a and the first support portion 224a are shown as being spaced apart. However, in reality, the first cassette gripping portion 221a is connected to the first support portion 224a so that the first cassette gripping portion 221a can rotate around the first support portion 224a and slide along the first support portion 224a.

As shown in FIG. 21, the first cassette gripping portion 221a is equipped with a first cassette detection portion 2216 that detects the cassette Ca. The first cassette detection portion 2216 is provided at the corner of the first cassette gripping portion 221a opposite the first support portion 224a. This allows the first cassette detection portion 2216 to detect a cassette Ca that has popped out of the cassette shelf 21 when the first cassette gripping portion 221a is moving in the -X axis direction.

The first cassette detection unit 2216 may be any sensor capable of detecting an object located within a predetermined distance from the first cassette detection unit 2216. This allows the movement of the first support unit 224a in the -X axis direction to be stopped before the first cassette gripping unit 221a collides with the cassette Ca that has popped out of the cassette shelf 21.

The first support portion 224a is also equipped with a second cassette detector 2242 that detects the cassette Ca. The first cassette gripping portion 221a is connected to the first support portion 224a, and a slide portion 2241 is provided that slides in the ±Z axis direction (up and down direction) along the first support portion 224a, with the second cassette detector 2242 provided at a corner of the slide portion 2241. This allows the second cassette detector 2242 to detect a cassette Ca that has popped out of the cassette shelf 21 when the first cassette gripping portion 221a is moving in the +X axis direction. Note that the second cassette detector 2242 may be provided only at the corner of the slide portion 2241 opposite the first cassette gripping portion 221a.

The second cassette detection unit 2242 may be any sensor capable of detecting an object located within a predetermined distance from the second cassette detection unit 2242. This allows the movement of the first support unit 224a in the +X-axis direction to be stopped before it collides with a cassette Ca that has popped out of the cassette shelf 21.

As shown in Figure 21, consider the case where cassette Ca is protruding from the cassette shelf 21 and the first support portion 224a (i.e., the first cassette gripping portion 221a) is moving in the -X-axis direction. In this case, as shown by reference numeral 21001, the first cassette gripping portion 221a approaches the protruding cassette Ca, and when cassette Ca comes within a predetermined distance from the first cassette detection portion 2216, the first cassette detection portion 2216 detects cassette Ca. When the main unit cassette transfer control portion 112 receives a detection signal indicating that the first cassette detection portion 2216 has detected cassette Ca, it controls the main unit cassette transfer portion 22 to stop the movement of the first support portion 224a in the -X-axis direction.

Next, as shown by reference numeral 21002, the main body cassette transfer control unit 112 controls the rotation drive unit 2215 to rotate the first cassette gripping unit 221a toward the cassette Ca by a first predetermined angle. This allows the cassette Ca to be pushed back onto the cassette shelf 21. The main body cassette transfer control unit 112 may also move the first cassette gripping unit 221a a predetermined distance toward the cassette Ca (+Y axis direction). In this case, the cassette Ca can be smoothly pushed back onto the cassette shelf 21.

Next, as indicated by reference numeral 21003, the main body cassette transfer control unit 112 controls the rotation drive unit 2215 to rotate the first cassette gripping unit 221a by a first predetermined angle in the direction opposite to cassette Ca. In other words, the first cassette gripping unit 221a is returned to its state during movement. In this state, when the first cassette detection unit 2216 detects cassette Ca, it transmits a detection signal indicating that cassette Ca has been detected to the main body cassette transfer control unit 112.

When the main body cassette transfer control unit 112 receives this detection signal, it rotates the first cassette gripping unit 221a toward the cassette Ca by a second predetermined angle, which is greater than the first predetermined angle, as shown by the reference symbol 21004. This allows the cassette Ca to be pushed back to the cassette shelf 21 again. As described above, the main body cassette transfer control unit 112 may also move the first cassette gripping unit 221a a predetermined distance toward the cassette Ca. The first predetermined angle, the second predetermined angle, and the predetermined movement distance may be set through experiments or the like to an extent that allows the cassette Ca to be pushed back.

Then, the main body cassette transfer control unit 112 controls the rotation drive unit 2215 to rotate the first cassette gripper 221a by a second predetermined angle in the direction opposite to the cassette Ca. In other words, the first cassette gripper 221a is returned to its original state. In this state, if the first cassette detector 2216 does not detect the cassette Ca, the main body cassette transfer control unit 112 determines that the cassette Ca has returned to the cassette shelf 21 and ends the first cassette gripper 221a's push-back operation of the cassette Ca. The main body cassette transfer control unit 112 then resumes movement of the first support unit 224a (i.e., the first cassette gripper 221a) in the -X axis direction.

On the other hand, if the first cassette detection unit 2216 detects cassette Ca, the above-mentioned operation is repeated until the first cassette detection unit 2216 no longer detects cassette Ca. That is, the first cassette gripping unit 221a pushes cassette Ca into place, and the first cassette detection unit 2216 then detects the cassette again. The rotation angle of the first cassette gripping unit 221a increases with each push-in operation, so that cassette Ca can be reliably pushed into the cassette shelf 21.

Note that if the first support portion 224a (i.e., the first cassette gripping portion 221a) has moved in the +X-axis direction, the second cassette detection portion 2242 may detect the protruding cassette Ca instead of the first cassette detection portion 2216. As indicated by reference numeral 21005, in this case too, the cassette Ca can be pushed back into the cassette shelf 21 in the same manner as the operation described above.

However, the first cassette gripping unit 221a can be rotated 180 degrees by the rotation drive unit 2215. Therefore, the first cassette gripping unit 221a can also move in the +X-axis direction with the first cassette detector 2216 facing in the +X-axis direction. In this case, the first cassette detector 2216 will detect the protruding cassette Ca while the first cassette gripping unit 221a is moving in the +X-axis direction. The first cassette gripping unit 221a can also move in the -X-axis direction with the first cassette detector 2216 facing in the +X-axis direction. In this case, the second cassette detector 2242 may detect the protruding cassette Ca.

Let's consider a case where drug station 1 does not have the function to push back a cassette Ca that has protruded from the cassette shelf 21. Because it does not have the function to push back, if the first cassette detection unit 2216 or the second cassette detection unit 2242 detects a protruding cassette Ca, the control device 10 will stop the entire dispensing operation by drug station 1 and issue an error notification. If even one cassette Ca protrudes even slightly from the cassette shelf 21, the control device 10 will stop the dispensing operation. In this case, the operator will open the door 25, return the protruding cassette Ca to the cassette shelf 21, then clear the error and resume the dispensing operation.

As described above, if the drug station 1 is equipped with a push-back function, it can automatically push a protruding cassette Ca back into the cassette shelf 21. Therefore, even if a protruding cassette Ca is present, the dispensing operation can continue without being stopped. This reduces the occurrence of errors. It also reduces the hassle of the operator having to return a protruding cassette Ca to the cassette shelf 21.

[Embodiment 3]
In this embodiment, a configuration example will be described in which the first cassette gripper 351 has only one protrusion 351a and grips one side of the cassette Ca. Also, in this embodiment, the position of the barcode reader 351b will be described. Note that, although this embodiment will be described using the first picking cassette transporter 35a as an example, the same description can be applied to the second picking cassette transporter 35b.

Figure 22 is a perspective view showing an example of the configuration of the first picking cassette transfer unit 35a. Reference numeral 22001 in Figure 22 shows a state in which the first cassette gripping unit 351 is gripping a cassette Ca, and reference numeral 22002 shows a state in which the first cassette gripping unit 351 is not gripping a cassette Ca.

As shown in Figure 22, the first cassette gripping portion 351 has a protrusion 351a, a barcode reader 351b, and a mirror 351c. The protrusion 351a has been described above as a basic component, so its description will be omitted.

Barcode reader 351b reads barcode Ca14 attached to cassette Ca gripped by protrusion 351a. Mirror 351c reflects light emitted from barcode reader 351b and light reflected from barcode Ca14. Specifically, mirror 351c reflects light emitted from barcode reader 351b and propagates it toward barcode Ca14, and also propagates light reflected from barcode Ca14 toward barcode reader 351b. This allows barcode reader 351b to read barcode Ca14 via mirror 351c.

Barcode reader 351b and mirror 351c are positioned so that barcode reader 351b can read barcode Ca14 attached to cassette Ca gripped by protrusion 351a. Specifically, the side surface of barcode reader 351b, from which barcode reader 351b emits light or receives reflected light, and the reflective surface of mirror 351c are positioned so that barcode Ca14 can be read.

In order for barcode reader 351b to be able to read barcode Ca14, barcode reader 351b must be placed a predetermined distance away from barcode Ca14, taking into account the reading depth (focal length) of barcode reader 351b. In other words, the length of the optical path traveled by the light emitted by barcode reader 351b and the reflected light received must be set to a predetermined distance that allows barcode reader 351b to read barcode Ca14. Due to the constraint of placing barcode reader 351b on the first cassette gripping section 351, a relatively small barcode reader 351b must be used, resulting in a relatively long reading depth.

In this embodiment, the mirror 351c is provided to bend the light or reflected light. This allows the barcode reader 351b to be located in a position that does not face the barcode Ca14 affixed to the cassette Ca held by the first cassette holding unit 351. Therefore, the barcode reader 351b can be provided on the first cassette holding unit 351.

In this embodiment, mirror 351c is located at a position opposite the barcode Ca14 affixed to the cassette Ca held by the first cassette gripping unit 351, i.e., near the center of the first cassette gripping unit 351. Barcode reader 351b is located on the end side of the first cassette gripping unit 351, with its side surface facing mirror 351c. Furthermore, when mirror 351c is viewed in plan, the angle of mirror 351c with respect to the direction perpendicular to the side surface of the first cassette gripping unit 351 (±Y-axis direction) may be approximately 45 degrees. However, the angle of mirror 351c is adjusted appropriately depending on the installation position of barcode reader 351b or the emission direction of light emitted from barcode reader 351b (orientation of barcode reader 351b).

It is also possible to provide the barcode reader 351b at a location other than the first cassette gripping section 351 of the picking unit 3. For example, it is possible to provide the barcode reader 351b on the inside of the front section 45 of the picking unit 3, which corresponds to the standby position P2 (see Figure 13). In this case, however, all cassettes Ca transported from the cassette shelf 21 would have to be moved to the standby position P2 so that the barcode Ca14 could be read by the barcode reader 351b. Also, the barcode reader 351b would have to be stopped temporarily to read the barcode Ca14.

In this embodiment, the first cassette gripping unit 351 is provided with a barcode reader 351b, so the barcode Ca14 can be read by the barcode reader 351b while the cassette Ca is being transported by the first picking cassette transport unit 35a. This eliminates the need to transport the cassette Ca to the location of the barcode reader 351b and then stop it at that location. This allows the control device 10 to efficiently execute the drug dispensing process.

Note that when two first cassette gripping units 351 grip both sides of the cassette Ca, the barcode reader 351b and mirror 351c need only be provided on one of the two first cassette gripping units 351. However, the barcode reader 351b and mirror 351c may also be provided on both of the two first cassette gripping units 351.

[Embodiment 4]
In this embodiment, a configuration example will be described in which the first cassette gripping unit 351 can stably grip the cassette Ca. Note that, although this embodiment will be described using the first picking cassette transport unit 35a as an example, the same description can be given for the second picking cassette transport unit 35b.

As shown by reference numeral 22002 in FIG. 22, a pair of rollers 351d is provided on the protrusion 351a of the first cassette gripping portion 351. The pair of rollers 351d has a rotation axis that extends approximately perpendicular to the direction in which the first cassette gripping portion 351 moves when gripping the cassette Ca (the direction toward the cassette Ca). In this embodiment, the pair of rollers 351d has a rotation axis that extends approximately perpendicular (±X-axis direction) to the vertical direction (+Z-axis direction). The pair of rollers 351d is provided at the tip of the protrusion 351a, which is the first contact point when the first cassette gripping portion 351 grips the cassette Ca. The pair of rollers 351d is sized so that it can be inserted into the claw receiving portion Ca12 of the cassette Ca together with the protrusion 351a.

Figure 23 is a diagram illustrating the state in which the cassette Ca is gripped by the first cassette gripping portion 351. Reference numeral 23001 in Figure 23 illustrates the state in which the cassette Ca is gripped when a pair of rollers 351d is provided on the protrusion 351a, and reference numeral 23002 illustrates the state in which the cassette Ca is gripped when a pair of rollers 351d is not provided on the protrusion 351a.

As described above, when gripping the cassette Ca, the first cassette gripping portion 351 moves in the +Z-axis direction toward the cassette Ca. This movement causes the protrusion 351a to insert into the claw receiving portion Ca12 of the cassette Ca and catch on the claw receiving portion Ca12, temporarily locking the claw receiving portion Ca12. This allows the first cassette gripping portion 351 to grip the cassette Ca. Note that in Figure 22, one first cassette gripping portion 351 is provided for the first beam portion 353, so the cassette Ca is supported in a cantilevered state by the first cassette gripping portion 351. This improves the efficiency of transporting the cassette Ca to the drug transfer portion 32 and the cassette holding portion 23, as well as the efficiency of removing (gripping) the cassette Ca from the drug transfer portion 32 and the cassette holding portion 23.

However, if the pair of rollers 351d is not provided on the protrusion 351a, as shown by reference numeral 23002, depending on the positional relationship between the protrusion 351a and the claw receiving portion Ca12, the protrusion 351a may become caught midway on the claw receiving portion Ca12. For example, if the first cassette gripping portion 351 is slightly misaligned with respect to the cassette Ca when viewed from the direction in which the first cassette gripping portion 351 moves toward the cassette Ca (the +Z axis direction), the protrusion 351a may become caught midway on the claw receiving portion Ca12.

If the protrusion 351a gets caught midway on the claw receiving portion Ca12, the first cassette gripping unit 351 will transport the cassette Ca while it is tilted relative to the horizontal plane. As a result, there is a possibility that the cassette Ca may come into contact with a component within the picking unit 3 while being transported. In this case, the picking cassette transport control unit 121 may interrupt the transport of the cassette Ca by the first picking cassette transport unit 35a.

As shown by reference numeral 23001, when a pair of rollers 351d is provided on the protrusion 351a, the pair of rollers 351d rotate each time they come into contact with the claw receiving portion Ca12 as the protrusion 351a is inserted into the claw receiving portion Ca12. In other words, even if a force is applied from the protrusion 351a to the claw receiving portion Ca12 in the direction in which the protrusion 351a lifts the claw receiving portion Ca12 (in the +Z-axis direction) when the protrusion 351a is inserted into the claw receiving portion Ca12, at least a portion of that force is converted into a rotational force of the pair of rollers 351d.

As a result, compared to when the pair of rollers 351d is not provided on the protrusion 351a, the frictional resistance generated between the protrusion 351a and the claw receiving portion Ca12 when the protrusion 351a is inserted into the claw receiving portion Ca12 can be reduced. Therefore, regardless of the positional relationship between the protrusion 351a and the claw receiving portion Ca12, the possibility of the protrusion 351a getting caught midway on the claw receiving portion Ca12 and not being entirely inserted into the claw receiving portion Ca12 can be reduced. As a result, the first cassette gripping portion 351 can transport the cassette Ca in a stable state, reducing the possibility that the cassette Ca will come into contact with any component within the picking unit 3 during transport and interrupt the transport of the cassette Ca.

Here, it is also possible to make the size of the protrusion 351a somewhat smaller than the size of the internal space of the claw receiving portion Ca12. In other words, it is also possible to make the size of the protrusion 351a larger than the size of the internal space of the claw receiving portion Ca12. In this case, regardless of the positional relationship between the protrusion 351a and the claw receiving portion Ca12, it is possible to reduce the possibility of the protrusion 351a getting caught on the claw receiving portion Ca12 when the protrusion 351a is inserted into the claw receiving portion Ca12.

However, to ensure stable transfer of cassette Ca, the first cassette gripping portion 351 is required to stably hold cassette Ca in a substantially horizontal position, even though the weight of the cassette varies depending on the quantity and size of the medications stored inside. If the size of protrusion 351a were to be larger than the size of the internal space of claw receiving portion Ca12, the play would be large, which could result in cassette Ca tilting (rather than horizontal) or increasing vibrations during transfer, making it impossible to stably transfer cassette Ca. For this reason, the size of protrusion 351a is specified to match the size of the internal space of claw receiving portion Ca12 (but to the extent that it can be inserted into claw receiving portion Ca12). Therefore, when considering stable transfer of cassette Ca, it is not advisable to make the size of protrusion 351a somewhat smaller than the size of the internal space of claw receiving portion Ca12 in order to reduce the occurrence of the aforementioned snagging.

As shown in FIG. 22, when one first cassette gripping portion 351 grips one side of the cassette Ca, the first cassette gripping portion 351 grips the cassette Ca with one protrusion 351a. Therefore, to ensure stable transport of the cassette Ca, the size of the protrusion 351a and the size of the internal area of the claw receiving portion Ca12 must be specified more strictly than when the first cassette gripping portion 351 grips both sides of the cassette Ca. Therefore, in this case in particular, it is not advisable to make the size of the protrusion 351a somewhat smaller than the size of the internal area of the claw receiving portion Ca12 in order to reduce the occurrence of the above-mentioned snagging.

Therefore, in this embodiment, in order to reduce the occurrence of the above-mentioned snagging, the method of making the size of the protrusion 351a smaller than the size of the internal area of the claw receiving portion Ca12 is not adopted. Instead, a pair of rollers 351d is provided on the protrusion 351a.

Let us now consider a configuration in which the two first cassette gripping portions 351 grip both sides of the cassette Ca (i.e., a configuration in which the protrusions 351a of each first cassette gripping portion 351 grip both sides of the cassette Ca). In this case, the pair of rollers 351d may be provided on one of the two protrusions 351a. However, in order to reduce the occurrence of the aforementioned snagging, the pair of rollers 351d may also be provided on both of the two protrusions 351a.

In addition, in this embodiment, a pair of rollers 351d (i.e., two rollers) are provided on the protrusion 351a, but the protrusion 351a may be configured to have only one roller 351d. Even in this case, the occurrence of the above-mentioned snagging can be reduced compared to when no rollers are provided on the protrusion 351a.

[Embodiment 5]
In this embodiment, a configuration is described that reduces the possibility of drugs falling from the cassette Ca or moving from one storage area to another through a gap that occurs between the cassette Ca and the first shutter 322a.

Figure 24 is a diagram showing an example of the shape of the first shutter 322a. Reference numeral 24001 in Figure 24 is a partial perspective view of the medicine delivery and reception unit 32, and reference numeral 24002 is a cross-sectional view (A-A' cross-sectional view) showing the cross-sectional shape of the first shutter 322a when the first shutter 322a is cut along the A-A' cutting line parallel to the short side of the medicine delivery and reception unit 32. Figure 24 shows the state in which the medium-sized cassette Ca2 has reached the medicine delivery and reception unit 32, and one side of the pair of plate-like members that make up the first shutter 322a and the second shutter 322b are not shown.

Figure 25 is a diagram illustrating an example of the operation of the picking cassette transport unit 35 when cassette Ca arrives at the medicine delivery unit 32. Figure 25 is a cross-sectional view (B-B' cross-sectional view) showing the cross-sectional shape of the first shutter 322a when the first shutter 322a is cut along the B-B' cutting line parallel to the long side of the medicine delivery unit 32 in Figure 24. Reference numeral 25001 in Figure 25 indicates a state in which the first shutter 322a and cassette Ca are separated, and reference numeral 25002 indicates a state in which the first shutter 322a and cassette Ca are close to each other. Reference numeral 25003 in Figure 25 is an enlarged view of the area enclosed by the dotted line indicated by reference numeral 25002.

As shown by reference numeral 24001, a gap prevention portion 323 is provided at the end of the first plate-shaped member 322a1, which is one of a pair of plate-shaped members constituting the first shutter 322a, to reduce the possibility of a gap occurring between the partition (partition Ca21 is exemplified in Figure 24) and the first shutter 322a. The end of the first plate-shaped member 322a1 is the end that comes into contact with the end of the second plate-shaped member 322a2 (see Figure 25), which is the other of the pair of plate-shaped members. Note that, as shown in Figure 25, a gap prevention portion 323 is also provided at the end of the second plate-shaped member 322a2.

As shown in Figure 25, the gap prevention portion 323 has an extension portion 323c. The extension portion 323c is a plate-shaped member that extends substantially perpendicularly downward (in the -Z axis direction) from the surface of the first plate-shaped member 322a1 and the second plate-shaped member 322a2 so as to come into contact with the partition portion (partition portion Ca11 is shown as an example in Figure 25).

The upper end Ed of the partition has a convex shape to fit into the extension 323c. In this embodiment, the convex shape of the upper end Ed is formed so that when the extension 323c and the upper end Ed come into contact, the inner surface of the extension 323c and the surface of the partition are flush with each other. This reduces the possibility of the drug getting caught on the partition or extension 323c when an operator removes or places a drug in the storage area formed between the two partitions. However, it is sufficient that the extension 323c is arranged to come into contact with the upper end Ed of the partition when the first shutter 322a is in the open state. In other words, it is not necessary for the upper end Ed to have a convex shape, and it is not necessary for the extension 323c and the upper end Ed to come into contact so that the inner surface of the extension 323c and the surface of the partition are flush with each other.

As shown by the reference numeral 25002, when the first shutter 322a is in the open state, the extensions 323c of the first plate-shaped member 322a1 and the second plate-shaped member 322a2 each come into contact with the partition. This reduces the possibility of the medicine crossing the partition and entering another storage area when an operator removes or places a medicine in the storage area formed between the two partitions.

In addition, the height of the side walls (longitudinal ends) extending in the lateral direction of the cassette Ca is approximately the same as the height of the partition. Therefore, by providing the gap prevention portion 323 on the first shutter 322a, the possibility of medication falling out of the cassette Ca in the longitudinal direction of the cassette Ca (the length of the cassette Ca) can be reduced.

As indicated by reference numeral 24002, the extension portion 323c is provided with a first notch 323a and a second notch 323b. The first notch 323a provides a space that accommodates the upper end of the longitudinally extending side wall of the medium-sized cassette Ca2 when the medium-sized cassette Ca2 is placed at the drug transfer position P1 of the drug transfer unit 32 (a position where an operator can actually transfer drugs to and from the cassette Ca). The second notch 323b provides a space that accommodates the upper end of the longitudinally extending side wall of the small-sized cassette Ca3 when the small-sized cassette Ca3 is placed at the drug transfer position P1. In this embodiment, the drug transfer position P1 is a position where an operator can transfer drugs to and from the cassette Ca, and refers to the position when the cassette Ca approaches the workbench 40, as indicated by reference numeral 25002.

The height of the side wall extending in the longitudinal direction of the medium-sized cassette Ca2 or small-sized cassette Ca3 is approximately the same as the height of the partition. Therefore, if the gap prevention part 323 is provided on the first shutter 322a, when the medium-sized cassette Ca2 or small-sized cassette Ca3 is transported to the medicine transfer position P1, the extension part 323c will come into contact with the upper end of the side wall of the medium-sized cassette Ca2 or small-sized cassette Ca3. If this upper end comes into contact with the extension part 323c, the extension part 323c cannot come into contact with the upper end part Ed of the partition part, and medicine may be dropped into an adjacent storage area through the gap between the partition part and the first shutter 322a. Furthermore, medicine may fall through the gap between the cassette Ca and the first shutter 322a (the gap formed in the longitudinal direction of the cassette Ca). In other words, the function of the gap prevention part 323 may be impaired.

By providing the first notch 323a and the second notch 323b, the possibility of the medium-sized cassette Ca2 or small-sized cassette Ca3 coming into contact with the gap prevention part 323 when transported to the medicine transfer position P1 can be reduced. This allows the gap prevention part 323 to function as described above.

<Example of operation>
Assume that the picking cassette transport unit 35 transports the cassette Ca to the medicine delivery unit 32. At this time, as shown by reference numeral 25001, the picking cassette transport unit 35 transports the cassette Ca to a position away from the work table 40 so that the first shutter 322a does not come into contact with the partition even when the first shutter 322a performs an opening and closing operation. In this state, the shutter control unit 122 opens the first shutter 322a so as to open the storage area in which the medicines to be removed or stored are stored.

Next, as shown by reference numeral 25002, the picking cassette transfer unit 35 raises the cassette Ca toward the workbench 40 and places it at the drug transfer position P1. At this time, the extension portion 323c engages with the upper end portion Ed of the partition portion. This reduces the possibility of a gap occurring between the partition portion and the first shutter 322a, and reduces the possibility of drugs to be removed or stored entering an adjacent storage area.

[Embodiment 6]
Figure 26 is a side view illustrating an example of the operation of the first shutter 322a. Reference numeral 26001 in Figure 26 indicates an example of a state in which the first shutter 322a is opened by the width of one storage area for cassette Ca. Reference numeral 26002 in Figure 26 indicates an example of a state in which the first shutter 322a is opened by the width of two storage areas for cassette Ca. Reference numeral 26003 in Figure 26 indicates another example of a state in which the first shutter 322a is opened by the width of two storage areas for cassette Ca.

As described above, the first shutter 322a opens and closes under the control of the shutter control unit 122. In particular, in the case of a cassette Ca with a partition, the picking cassette transport control unit 121 transports the cassette Ca so that the storage position of the medicine to be dispensed or filled is near the center of the medicine delivery unit 32.

As an example, as shown by reference numeral 26001 in FIG. 26, cassette Ca has five storage areas Ar11, Ar12, Ar13, Ar14, and Ar15, each of which stores medications MDA, MDB, MDC, MDD, and MDE. When medication MDC is to be dispensed, the picking cassette transport control unit 121 transports cassette Ca so that storage area Ar13 of cassette Ca, which stores the medication MDC, is near the center of the medication transfer unit 32. Then, as shown by reference numeral 26001 in FIG. 26, the shutter control unit 122 opens the first shutter 322a by the width of the storage area in which the medication MDC is stored.

Medicines may come with corresponding accessories, such as instructions or light-shielding bags. Cassette Ca may contain both the medication and its corresponding accessories in the same storage area. When dispensing the medication, the shutter control unit 122 opens the first shutter 322a by the width of the storage area.

Specifically, as shown by reference numeral 26001 in FIG. 26, a cassette Ca may contain a drug MDC and an accessory At corresponding to the drug MDC in the same storage area Ar13. When dispensing a drug MDC, the shutter control unit 122 opens the first shutter 322a by the width of the storage area Ar13. This allows the operator to remove the drug MDC to be dispensed and the accessory At corresponding to the drug.

However, a drug and its corresponding accessories may be stored in two or more adjacent storage areas. In this case, the storage location information of the drug is stored in the memory unit 15 in association with the storage location information of the accessories corresponding to the drug. When identifying the storage location of the drug, the shutter control unit 122 refers to the memory unit 15 and acquires the storage location information of the drug. Here, the shutter control unit 122 determines whether the storage location information of the drug is associated with the storage location information of the accessories corresponding to the drug.

If the storage location information for the drug corresponds to the storage location information for the accessory corresponding to the drug, the shutter control unit 122 opens the first shutter 322a by the width of the storage area for the drug in addition to the width of the storage area for the accessory.

As an example, as shown by reference numeral 26002 in FIG. 26, the drug MDC and the accessory At corresponding to the drug MDC may be stored in adjacent storage areas Ar13 and Ar14. When dispensing the drug MDC, the picking cassette transport control unit 121 transports the cassette Ca so that the partition between storage areas Ar13 and Ar14 is near the center of the drug delivery unit 32. The shutter control unit 122 opens the first shutter 322a by the width of the storage area Ar14 that stores the drug MDC, as well as the width of the storage area Ar13 that stores the accessory At.

As another example, as shown by reference numeral 26003 in FIG. 26, the drug MDB and the accessory At corresponding to the drug MDB may be stored in adjacent storage areas Ar12 and Ar13. When dispensing the drug MDB, the picking cassette transfer control unit 121 transfers the cassette Ca so that the partition between storage areas Ar12 and Ar13 is near the center of the drug transfer unit 32. The shutter control unit 122 opens the first shutter 322a by the width of the storage area Ar12 that stores the drug MDB, as well as the width of the storage area Ar13 that stores the accessory At.

With the above configuration, by simply opening the first shutter 322a once, the worker can remove the medication to be dispensed and the corresponding accessories. This reduces the chance that the worker will forget to remove the accessories when removing the medication. Furthermore, with the configurations shown by reference numerals 26002 and 26003, the medication and accessories are stored in different storage areas, eliminating the need to separate and remove the medication and accessories as with the configuration shown by reference numeral 26001. This improves the ease of removing medication and accessories.

In the above example, the picking cassette transfer control unit 121 adjusts the position of the cassette Ca so that the center of the storage location of the medicines and accessories to be dispensed is near the center of the medicine delivery unit 32. Furthermore, the shutter control unit 122 opens the first shutter 322a by the required width, allowing the worker to remove the medicines and accessories.

However, the configuration that enables removal of medications and accessories is not limited to this. For example, the picking cassette transfer control unit 121 may transfer the cassette Ca to a predetermined position in the medication delivery unit 32 without adjusting the position of the cassette Ca as described above. In this case, the shutter control unit 122 appropriately adjusts the position at which the first shutter 322a is opened based on the storage position information of the medications and accessories to be dispensed.

Furthermore, if the same accessory corresponds to two types of medication, the accessory stored in one storage area can be shared for these medications. For example, such an accessory could be a bag that can store either of two types of eye drops.

In this case, the accessories may be stored in one storage area, and the two types of medication corresponding to the accessories may be stored in storage areas on either side of the first storage area. Furthermore, in the memory unit 15, the storage location information for each medication is associated with the storage location information for that accessory. When one of the two types of medication is dispensed, the shutter control unit 122 opens the first shutter 322a by the width of the storage area that stores the medication in addition to the width of the storage area that stores the accessory. With this configuration, it is not necessary to store the accessories corresponding to each medication in different storage areas, making it possible to make effective use of the storage area of the cassette Ca.

[Embodiment 7]
Figure 27 is a diagram showing a medicine placing table 37A, which is another example of the medicine placing table 37. Reference numeral 27001 in Figure 27 indicates a perspective view of the medicine placing table 37A, and reference numeral 27002 in Figure 27 is a cross-sectional view (cross-sectional view taken along the CC' arrow) showing the cross-sectional shape of the medicine placing table 37A when the medicine placing table 37A is cut along the CC' cutting line parallel to the short side of the medicine placing table 37A.

The medicine placing table 37A has a bottom 37bt, the placing surface on which medicine sheets (including remainder sheets) are placed, that forms a recess that smoothly slopes toward the center in the longitudinal direction (+Y-axis direction) of the medicine placing table 37A. In this embodiment, as shown in Figure 27, the cross-sectional shape of the placing surface is approximately elliptical. Note that the center refers to the center of the bottom 37bt in the short direction of the medicine placing table 37A in each cross section of the medicine placing table 37A when cut along a cutting line parallel to the short side.

At drug station 1, the imaging unit 371 captures an image of the medication sheet, and the medication determination unit 124 performs image analysis to count the number of medications. If the medication sheet is placed at an angle to the longitudinal direction on medication placement table 37, the image of the medication sheet will appear black when the imaging unit 371 captures the image of the medication sheet, and the medication determination unit 124 may not be able to correctly count the number of medications contained on the medication sheet.

As described above, when the placement surface forms a recess that slopes smoothly toward the center, no matter how the operator places the medicine sheet on the medicine placement table 37A, the medicine sheet slides along the placement surface and is positioned at the center of the bottom 37bt. Furthermore, because the medicine sheet moves along the shape of the placement surface, one side of the medicine sheet is positioned approximately parallel to the longitudinal direction of the medicine placement table 37A. In other words, the medicine sheet can be positioned straight along the longitudinal direction of the medicine placement table 37A.

Therefore, in a configuration including the medicine placing table 37A, the imaging unit 371 can accurately capture an image of the medicine sheet regardless of how the operator places the medicine sheet on the medicine placing table 37A. This allows the medicine determination unit 124 to reliably count the number of medicines contained in the medicine sheet placed on the medicine placing table 37A. This also reduces the likelihood that the operator will have to adjust the orientation of the medicine sheet so that the imaging unit 371 can accurately capture an image of the medicine sheet.

[Embodiment 8]
The touch panel control unit 14 displays information related to the drug dispensing operation (e.g., the number of drugs to be removed from cassette Ca, the number of drug sheets and remainder sheets, and the determination result by the drug determination unit 124 (whether the number of drugs removed is appropriate or not)) on the second touch panel 31. As shown in FIG. 2, the second touch panel 31 is provided on the back side of the drug transfer unit 32 (toward the main unit 2) when viewed from the side where the worker is standing, but it may also be located on the top surface of the workbench 40. For example, in the example of FIG. 2, the second touch panel 31 may be provided between the two drug transfer units 32 on the top surface of the workbench 40.

In this case, the worker can remove the medication from the cassette Ca without taking their eyes off the medication transfer unit 32, or if they do, for a shorter period of time. This makes it easier for the worker to concentrate on the medication transfer unit 32, i.e., on the task of removing the medication from the cassette Ca.

[Embodiment 9]
The control device 10 may start timing when the cassette Ca containing the medicines to be dispensed arrives at the medicine delivery unit 32 and the shutter 322 is opened. If the control device 10 determines that the shutter 322 is not closed when a predetermined time has elapsed since the start of timing, the control device 10 may notify the user that the predetermined time has elapsed. The touch panel control unit 14 may, for example, display an image on the second touch panel 31 indicating that the predetermined time has elapsed. The touch panel control unit 14 may notify the user that the predetermined time has elapsed by outputting a sound such as a buzzer.

At drug station 1, workers dispense various medications. Therefore, the total time required for dispensing medications at drug station 1 depends heavily on the time required for the workers to dispense the medications. By providing notifications as described above, workers can be made aware of the speed of their dispensing work, encouraging smooth dispensing. This also reduces the possibility of variations in dispensing efficiency depending on the worker. This reduces the possibility of wasted time caused by one worker's delay for the next worker to wait.

Here, the work time (dispensing time) required to remove medication from cassette Ca varies depending on the prescription content, i.e., the number of medications to be removed or whether or not there are any fractional sheets. Therefore, the control device 10 may calculate the specified time based on the prescription content, i.e., the number of medications to be removed from cassette Ca or whether or not there are any fractional sheets.

For example, the memory unit 15 stores information indicating the standard work time required to remove one medication, box, or package. The control device 10 calculates the specified time based on the number of medications, boxes, or packages to be removed and the standard work time. For medication sheets, the memory unit 15 also stores, for example, the standard work time required to remove one medication sheet and the standard work time required to cut out a medication sheet and create a remainder sheet. The control device 10 calculates the specified time based on the number of medication sheets and remainder sheets and the standard work time.

The control device 10 may also manage the work time required for each worker to dispense various medications. For example, the control device 10 measures the work time as the time from when the cassette Ca arrives at the medication delivery unit 32 and the shutter 322 is opened until the tray close button 39 is pressed and the shutter 322 is closed. The control device 10 stores the measured work time in the memory unit 15 for each type of medication dispensed.

Here, the touch panel control unit 14 displays a login image on the second touch panel 31 when the drug dispensing process begins. The control device 10 accepts input operations (input of login information) by the worker into the login image, and starts the drug dispensing process if the input login information matches the worker's login information registered in the memory unit 15. By starting the drug dispensing process in this manner, the control device 10 can manage work time for each worker.

As a result, the control device 10 can calculate, for example, the average work time (average work speed) for each worker over a predetermined period (e.g., one month), or the number of prescriptions filled during that period. Examples of the number of prescriptions include the number of medications dispensed, the number of types of medication dispensed, and the number of patients to whom the medications were prescribed. The touch panel control unit 14 displays the calculation results (analysis results) on, for example, the first touch panel 5, allowing the manager of drug station 1 to understand the dispensing work performance of each worker.

Note that the management of work time for each worker, calculation of average work time or number of prescriptions, and display of the calculation results may be performed, for example, by an information processing device for the administrator (e.g., a PC (Personal Computer)) connected to the drug station 1.

[Embodiment 10]
Figure 28 is a diagram showing an example of the structure of a cassette Ca4. Reference numeral 28001 in Figure 28 is a perspective view showing an example of a cassette Ca4 equipped with a storage container Ca41. Reference numeral 28002 in Figure 28 is a cross-sectional view (cross-sectional view taken along the arrow D-D') showing the cross-sectional shape of the cassette Ca4 equipped with a storage container Ca41 when the cassette Ca4 is cut along the D-D' cutting line parallel to the long side of the cassette Ca4. Reference numeral 28003 in Figure 28 is an enlarged view of the portion enclosed by the dotted line indicated by reference numeral 28002.

As shown in FIG. 28, cassette Ca4 differs from large cassette Ca1 in that it includes a protrusion Ca40 and a storage container Ca41. The protrusion Ca40 is a convex portion provided along the side surface of the long side of cassette Ca4, and there may be one protrusion on each side of the long side of cassette Ca4, or multiple protrusions on each side.

As shown in Figure 28, when multiple protrusions Ca40 are provided on each side of cassette Ca4, a gap Ca45 is formed between adjacent protrusions Ca40. By forming this gap Ca45, a divider Ca44 can be inserted inside cassette Ca4, as shown in Figure 28. In this case, as in the case described using Figure 5, multiple storage areas for storing drug sheets can be provided inside cassette Ca4. Note that divider Ca11 in Figure 5 may have the same shape as divider Ca44.

Storage container Ca41 is a container for storing leftover sheets, and as shown in FIG. 28, has a peripheral portion Ca411, at least one storage portion Ca412, and an inclined portion Ca413. Storage container Ca41 may be fixed to one short side of cassette Ca4, or may be removable. When a user removes leftover sheets, it is preferable that one of the long sides of storage container Ca41 is in contact with the longitudinal end of cassette Ca4.

The peripheral portion Ca411 is a plate-shaped portion provided along the short side of the storage container Ca41. If the storage container Ca41 is removable, the peripheral portion Ca411 is placed on the protruding portion Ca40 of the cassette Ca4, thereby supporting the storage container Ca41 on the cassette Ca4.

The storage section Ca412 is an area that can store leftover sheets. The storage section Ca412 only needs to be large enough to store the leftover sheets. The storage section Ca412 is also inclined in the short-side direction of the storage container Ca41. Specifically, the bottom Ca4121 of the storage section Ca412 is inclined in the short-side direction of the storage container Ca41. The side wall Ca4122 of the storage section Ca412 on the side that can abut against the short side of the cassette Ca4 is also inclined in the short-side direction of the storage container Ca41.

The inclined portion Ca413 is provided on the long side of the storage container Ca41 that does not abut the short side of the cassette Ca4. Together with the side wall Ca4122, it defines the storage portion Ca412 and has an inclined structure that slopes in the short direction of the storage container Ca41. When removing a medication sheet from the main body of the cassette Ca4, the operator can easily scrape out the medication sheet by sliding the medication sheet along the inclined portion Ca413.

As shown in FIG. 28, the divider Ca44 may include an inclined portion Ca441. The inclined portion Ca441 is provided on the long side of the divider Ca44 that abuts against the cassette Ca4, and has an inclined structure that inclines in the direction of the long side of the cassette Ca when attached to the cassette Ca. The inclined portion Ca441 also extends along the long side of the divider Ca44. When removing a medicine sheet from the main body of the cassette Ca4, the operator can easily scrape out the medicine sheet by sliding the medicine sheet along the inclined portion Ca441.

As shown in FIG. 28, the cassette Ca4 may be provided with a rib Ca46. The rib Ca46 is a structure that protrudes from the bottom surface of the cassette Ca4 and extends in the short direction of the cassette Ca4. The rib Ca46 is formed along the long side of the inclined portion Ca413 of the storage container Ca41 or the inclined portion Ca441 of the partition portion Ca44, which is closest to the bottom surface of the cassette Ca4.

With the above configuration, the gap between the inclined portion Ca413 or inclined portion Ca441 and the bottom surface of the cassette Ca4 is blocked by the rib Ca46. This reduces the possibility that the medication sheet will get stuck under the storage container Ca41 or partition Ca44 and become trapped between the inclined portion Ca413 or inclined portion Ca441 and the bottom surface of the cassette Ca4. This reduces the possibility that the medication sheet will be torn when the operator scrapes it out.

The rib Ca46 is provided at a height that does not interfere with the removal of the medication sheet from the cassette Ca4 using the inclined portion Ca413 or the inclined portion Ca441. The rib Ca46 may be provided anywhere on the bottom surface of the cassette Ca4 as long as the long sides of the inclined portion Ca413 or the inclined portion Ca441 are close to each other.

Furthermore, as shown in FIG. 28, the side of rib Ca46 may be inclined in the direction of the long side of cassette Ca. This reduces the possibility that rib Ca46 will obstruct the movement of the tablet sheet when an operator uses inclined portion Ca413 or inclined portion Ca441 to scrape the tablet sheet out of cassette Ca4.

Note that while cassette Ca4 in Figure 28 is the same size as large cassette Ca1, the configuration of cassette Ca4 may also be adopted for medium-sized cassette Ca2 and small-sized cassette Ca3. In other words, storage containers and partitions with functions similar to storage container Ca41 and partition Ca44 may be installed for medium-sized cassette Ca2 and small-sized cassette Ca3.

[Embodiment 11]
In this embodiment, an example of a method for transferring a group cassette will be described when the group cassette is stored on the cassette shelf 21. A group cassette refers to a cassette group consisting of a plurality of cassettes Ca that contain the same type of medicine.

The cassette shelf 21 may store at least one group cassette (cassette group). That is, the cassette shelf 21 may store only one group cassette (cassette group) composed of multiple cassettes Ca intended to store a certain type of drug. Alternatively, the cassette shelf 21 may store multiple group cassettes (cassette groups) intended to store different types of drugs. In the latter case, the multiple cassettes Ca constituting each group cassette contain the same type of drug, but the multiple cassettes Ca constituting one group cassette and the multiple cassettes Ca constituting another group cassette contain different types of drug. For example, if multiple cassettes Ca each contain drugs of type "A," drugs of type "B," and drugs of type "C," the cassette shelf 21 will store the following three group cassettes.
A group cassette consisting of multiple cassettes Ca intended to store drugs of type "A" (also referred to as drug A).
A group cassette consisting of multiple cassettes Ca intended to store drugs of type "B" (also referred to as drug B).
A group cassette consisting of multiple cassettes Ca intended to store drugs of type "C" (also referred to as drug C).

In addition, by providing a partition in the cassette Ca, multiple drug storage areas may be formed in the cassette Ca. If the drug stored in one of the storage areas of one cassette Ca and the drug stored in one of the storage areas of another cassette Ca are the same type of drug, these two cassettes Ca form a group cassette intended to store that drug.

For example, suppose a cassette Ca contains drug A in one storage area, and drug B in another storage area. Another cassette Ca contains drug B in one storage area, and drug C in another storage area. Another cassette Ca contains drug C in one storage area, and drug D (also referred to as drug D) in another storage area. In this case, the two cassettes Ca containing drug B constitute a group cassette containing drug B. The two cassettes Ca containing drug C constitute a group cassette containing drug C.

For example, suppose that one storage area of a cassette Ca contains drug A, and another storage area of the cassette Ca contains drug C. Similarly, another cassette Ca contains drug A in one storage area and drug C in another storage area. In this case, because these two cassettes Ca contain drug A, the two cassettes Ca form a group cassette containing drug A. Furthermore, because these two cassettes Ca contain drug C, the two cassettes Ca also form a group cassette containing drug C.

Furthermore, if the drug stored in one of the storage areas of a cassette Ca and the drug stored in another cassette Ca that does not have a partition are the same type of drug, these two cassettes Ca will form a group cassette that stores the drug. For example, suppose one storage area of a cassette Ca stores drug A, another storage area of that cassette stores drug B, and another cassette Ca stores drug A. In this case, since both cassettes Ca store drug A, these two cassettes Ca will form a group cassette that stores drug A.

In this way, when the same type of drug is to be stored in at least some of the areas of multiple cassettes Ca, those multiple cassettes Ca constitute a group cassette that stores that drug. Note that even if the same type of drug is stored in multiple storage areas formed in a certain cassette Ca, those multiple storage areas do not constitute a group cassette. In other words, a group cassette is made up of multiple cassettes Ca that store the same type of drug, not a single cassette Ca.

In this embodiment, it is assumed that multiple group cassettes (cassette groups) are stored on the cassette shelf 21. Furthermore, in this embodiment, it is assumed that the drugs removed from the drug delivery unit 32 and placed on the transport tray Tr (i.e., the drugs to be dispensed) are drug sheets (whole drug sheets or fractional sheets).

The cassette identification unit 111 identifies the cassette Ca to be removed from the cassette shelf 21, for example, based on the dispensing data. Specifically, the cassette identification unit 111 identifies the cassette Ca containing the drug to be dispensed, which is included in the dispensing data, by referencing the memory unit 15. At this time, if the drug to be dispensed is contained in multiple cassettes Ca, the cassette identification unit 111 identifies all cassettes Ca containing the drug to be dispensed. In other words, the cassette identification unit 111 determines whether the drug to be dispensed is contained in multiple cassettes Ca included in any of the multiple group cassettes. In other words, the cassette identification unit 111 determines whether the drug to be dispensed is contained in two or more cassettes Ca of the multiple cassettes Ca that make up any of the multiple group cassettes.

If the cassette identification unit 111 determines that the drug to be dispensed is contained in multiple cassettes Ca included in one of the group cassettes, the control device 10 performs the following processing. That is, when the drug to be dispensed is contained in multiple cassettes Ca included in one of the multiple group cassettes stored on the cassette shelf 21, the control device 10 performs the following processing.

The control device 10 compares the number of drugs to be dispensed with the number of drugs contained, which indicates the number of drugs (drugs of the same type as the drug to be extracted) contained in one of the multiple cassettes Ca. The number of drugs to be dispensed may be a specified number designated as the quantity of drugs to be extracted from one cassette Ca included in the group cassette that contains the drugs to be dispensed. For example, the control device 10 compares the largest number of drugs contained in the multiple cassettes Ca with the specified number.

If the control device 10 determines that the specified number exceeds the number of stored medications, the main cassette transfer control unit 112 controls the main cassette transfer unit 22 to transfer two or more of the multiple cassettes Ca containing the medications to be dispensed to the picking unit 3. For example, if the specified number is 42 tablets and the maximum number of stored medications is 40, it is not possible to dispense the specified number of medications from a single cassette Ca. Therefore, by also transferring other cassettes Ca containing the same type of medication to the picking unit 3, it becomes possible to dispense the specified number of medications from multiple cassettes Ca. Which cassettes Ca included in the group cassette containing the medications to be dispensed are to be transferred may be determined, for example, by the specified number, the number of medications contained in each cassette Ca, or by agreement (e.g., identifying the cassette Ca containing the largest number of medications as the one to be transferred first).

The picking cassette transfer control unit 121 controls the picking cassette transfer unit 35 to sequentially transfer cassettes Ca transferred from the cassette shelf 21 to the drug transfer unit 32. This allows the operator to sequentially check the drug storage status of the multiple cassettes Ca included in the group cassette, if one is present. Among the multiple cassettes Ca included in the group cassette transferred to the picking unit 3 (the multiple cassettes Ca transferred to the cassette holding unit 23), which cassette Ca is to be prioritized for transfer to the drug transfer unit 32 may be determined as follows. For example, the control device 10 may determine the order in which cassettes Ca are to be transferred to the drug transfer unit 32 based on the number of drugs to be dispensed specified in the dispensing data (the number of remainder sheets calculated from the number of drugs) and the number of remainder sheets stored in the cassette Ca.

In this embodiment, if the cassette identification unit 111 determines that the medication to be dispensed is contained in one of the group cassettes, the control device 10 also performs the following process. That is, even if the control device 10 determines that the specified number is equal to or less than the number of medications contained, the main cassette transfer control unit 112 controls the main cassette transfer unit 22 to transfer the two or more cassettes Ca to the picking unit 3. For example, if the specified number is 42 tablets and a certain cassette Ca contains 50 tablets of medication, the main cassette transfer control unit 112 will transfer two or more cassettes Ca containing the medication to be dispensed to the picking unit 3.

In other words, when medications contained in multiple cassettes Ca included in one of the multiple group cassettes become the target for removal, the control device 10 executes the following process. That is, the control device 10 transfers two or more of the multiple cassettes Ca included in the one group cassette to the picking unit 3, regardless of the number of medications contained in each of the multiple cassettes Ca. Note that the control device 10 may transfer all of the cassettes Ca that make up the one group cassette to the picking unit 3. However, the control device 10 does not have to consider cassettes Ca that are out of stock as targets for transport.

Here, generally, if the specified number is less than or equal to the number of stored medications, i.e., if one cassette Ca contains more than the specified number of medications, the medications can be removed from that one cassette Ca. Therefore, there is no need to transport multiple cassettes Ca containing the same type of medication from the cassette shelf 21 to the picking unit 3.

However, if there are rules regarding how medications are removed, even if the specified number is equal to or less than the number of medications stored, depending on the storage status of the medication sheets, it may not be possible to remove medications from the single cassette in accordance with those rules.

One example of such an agreement is that fractional sheets containing only one medication (fractional sheets containing one tablet) will not be dispensed, in order to prevent accidental ingestion, as described below. For example, consider a case where the specified number is 41 tablets, one medication sheet (full sheet) contains 10 tablets, and cassette Ca contains four medication sheets and a fractional sheet containing one tablet. In this case, it is possible to remove 41 tablets from cassette Ca, but this would violate the above agreement.

Another example of such a rule is that fractional sheets are dispensed in a division number that falls within the allowable range. For example, consider a case where the allowable division number is 2, cassette Ca contains fractional sheets for 9 tablets, and 9 tablets are to be dispensed. In this case, according to the rule, 9 tablets of medication can be dispensed using one fractional sheet or two fractional sheets (e.g., a fractional sheet for 4 tablets and a fractional sheet for 5 tablets). However, if cassette Ca transferred to medication delivery unit 32 contains only three fractional sheets for 3 tablets, it is possible to dispense fractional sheets for 9 tablets, but this would violate the rule.

In this embodiment, the main cassette transfer control unit 112 transfers two or more cassettes Ca containing the same type of medication to the picking unit 3, even if the specified number is less than the number of medications contained. Therefore, the control device 10 can have the operator decide how to remove the specified number of medications depending on the medication sheet storage status in each of the multiple cassettes Ca containing the same type of medication. Therefore, even if the above agreement exists, it is possible to increase the likelihood that the operator will be able to remove the medications in accordance with that agreement.

In addition, even if the specified number exceeds the number of stored medications, the main cassette transfer control unit 112 will transfer two or more cassettes Ca containing the same type of medication to the picking unit 3. Therefore, in this case too, the operator can decide how to remove the specified number of medications depending on the storage status of the medication sheets.

Also consider a case where the specified number is less than or equal to the number of stored medications, the dispensing data specifies a prescription that results in a fractional sheet worth one tablet, and the medication specified in the prescription is to be dispensed. In this case, the main cassette transfer control unit 112 also transfers two or more cassettes containing the same type of medication from the cassette shelf 21 to the picking unit 3. For example, consider a case where the specified number is less than or equal to the number of stored medications, and the number obtained by subtracting the specified number from the number of stored medications is 1. In this case, the main cassette transfer control unit 112 transfers two or more cassettes Ca of the multiple cassettes Ca included in the one group cassette from the cassette shelf 21 to the picking unit 3.

For example, consider a case where the specified number is 41 tablets and the number of stored medications is 42. In this case, if 41 tablets of medication are removed from cassette Ca, cassette Ca will contain a fractional sheet of one tablet. Therefore, the next time medication is removed from cassette Ca, a fractional sheet of one tablet will be removed.

For example, if a patient is prescribed a fractional sheet of one tablet, there is a possibility that the patient will not remove the medication from the fractional sheet, but will mistakenly think that the fractional sheet is medication and ingest it as is (i.e., the entire sheet). Therefore, if a fractional sheet of one tablet is placed into the transport tray Tr, there is a possibility that the patient will accidentally ingest the fractional sheet.

As described above, when the number of stored medications minus the specified number is 1, the main cassette transfer control unit 112 transfers two or more cassettes Ca containing the same type of medication from the cassette shelf 21 to the picking unit 3. This allows the operator to remove the specified number of medications from multiple cassettes Ca. Therefore, the operator can remove the specified number of medications without removing a fractional sheet of one tablet from a cassette Ca or storing a fractional sheet of one tablet into a cassette Ca. In other words, the possibility of generating a fractional sheet of one tablet is reduced. Therefore, since the possibility of dispensing a fractional sheet of one tablet is reduced, dispensing medication sheets can be done safely. Furthermore, the operator can perform the work of cutting off fractional sheets so as not to remove a fractional sheet of one tablet from a cassette Ca or store a fractional sheet of one tablet into a cassette Ca. In other words, the operator can perform the work of cutting off fractional sheets smoothly.

In addition, after transporting one cassette Ca included in one group cassette to the drug transfer unit 32, the control device 10 may transport another cassette Ca included in that group cassette to the drug transfer unit 32 if an input operation to replace the cassette Ca is received. This allows the operator to check the drug storage status in multiple cassettes Ca that store the same type of drug, and then decide which of the multiple cassettes Ca to remove the drug from. Furthermore, the control device 10 can transport another cassette Ca to the drug transfer unit 32 even if removal of the drug from the cassette Ca transported to the drug transfer unit 32 has not yet been completed.

For example, a single cassette Ca may contain multiple fractional sheets. Therefore, the remainder calculated by dividing the number of medications stored by the number of medications specified on a single medication sheet (full sheet) may not necessarily be contained in a single fractional sheet. For example, consider a case where a single medication sheet (full sheet) contains 10 tablets, the number of medications stored is 15, and the specified number is 15 tablets. In this case, the remaining five tablets may be contained in cassette Ca not as a single fractional sheet, but as multiple fractional sheets (e.g., a fractional sheet containing two tablets and a fractional sheet containing three tablets). If, due to an agreement or other reason, five tablets of medication need to be dispensed as a single fractional sheet, and a cassette Ca containing five tablets of medication as multiple fractional sheets is transported to the medication delivery/reception unit 32, the operator will not be able to dispense the medication from this cassette Ca. In such cases, as described above, by allowing cassettes Ca to be swapped within the same group of cassettes, workers can remove medications from cassettes Ca in accordance with arrangements, etc.

<Processing example>
29 is a flowchart showing an example of processing by the control device 10. The cassette identification unit 111 determines whether the drug to be dispensed is contained in one of the cassettes Ca included in any of the group cassettes (S1). If the cassette identification unit 111 determines that the drug to be dispensed is not contained in any of the group cassettes (NO in S1), this processing ends. That is, the drug to be dispensed is dispensed from one cassette Ca identified by the cassette identification unit 111. This processing may also end if, among the multiple cassettes Ca that make up the group cassette containing the drug to be dispensed, the drug is contained in only one cassette Ca and the other cassettes Ca are out of stock.

If the cassette identification unit 111 determines that the drug to be dispensed is contained in multiple cassettes Ca included in one of the group cassettes (YES in S1), the control device 10 determines whether the specified number is less than or equal to the number of drugs contained (S2). The control device 10 determines whether the specified number is less than or equal to the number of drugs contained, for example, by comparing the maximum number of drugs contained among the multiple cassettes Ca that make up the group cassette containing the drug to be dispensed with the specified number.

If the control device 10 determines that the specified number exceeds the number of stored medications (NO in S2), the main cassette transfer control unit 112 controls the main cassette transfer unit 22 to transfer two or more cassettes Ca containing medications included in the group cassette to the picking unit 3 (S4). This allows the operator to remove the specified number of medications from two or more cassettes Ca containing the same type of medication that are being transferred to the medication delivery unit 32.

If the control device 10 determines that the specified number is equal to or less than the number of stored medications (YES in S2), it determines whether the number obtained by subtracting the specified number from the number of stored medications is 1 (S3). If the control device 10 determines that the number obtained by subtracting the specified number from the number of stored medications is 1 (YES in S3), the main body cassette transfer control unit 112 transfers two or more cassettes Ca containing medications included in the group cassette to the picking unit 3 (S4). This reduces the possibility of generating fractional sheets worth one tablet, as described above.

If the control device 10 determines that the number obtained by subtracting the specified number from the number of stored medications is not 1 (NO in S3), this process ends. In other words, the medication to be dispensed is dispensed from one cassette Ca identified by the cassette identification unit 111.

However, even if the specified number is equal to or less than the number of stored medicines, the control device 10 may transfer two or more cassettes Ca containing medicines contained in the group cassette to the picking unit 3 without performing the process of S3. In other words, even if the specified number is equal to or less than the number of stored medicines, the control device 10 may transfer two or more cassettes Ca containing medicines to the picking unit 3, just as when the specified number exceeds the number of stored medicines. The control device 10 may also not perform the process of S2. In this case, if the control device 10 determines that the medicines to be dispensed are contained in multiple cassettes Ca contained in one of the multiple group cassettes, it may transfer two or more cassettes Ca containing medicines contained in that group cassette to the picking unit 3.

[Embodiment 12]
As described above, the drug determination unit 124 determines whether the drugs to be dispensed have been properly dispensed. For example, the drug determination unit 124 counts the number of drugs placed on the drug placement table 37 by the operator based on captured images of the drugs. The drug determination unit 124 also counts the number of drugs based on the weight of the drugs placed on the transport tray Tr placed on the tray placement table 38 by the operator. Then, the drug determination unit 124 determines whether the drugs to be dispensed have been properly removed from the cassette Ca based on the counting result.

For example, the drug determination unit 124 counts the number of drugs placed on the drug placement table 37 and/or tray placement table 38 and determines whether the counted number of drugs matches the specified number designated as the quantity of drugs to be removed from the cassette Ca. If the number of drugs placed is less than the specified number, the drug determination unit 124 stores the number of drugs placed in the memory unit 15 until the specified number of drugs is placed or until a number of drugs exceeding the specified number is placed. If the drug determination unit 124 determines that the number of drugs placed (i.e., the number of drugs continuously stored in the memory unit 15) matches the specified number, it determines that the drugs to be dispensed have been properly removed from the cassette Ca. On the other hand, if the drug determination unit 124 determines that the number of drugs placed exceeds the specified number, it determines that the drugs to be dispensed have not been properly removed from the cassette Ca.

When medications are placed on both the medication placement table 37 and the tray placement table 38, the medication determination unit 124 may separately determine whether the appropriate quantity of medications is placed on the medication placement table 37 and whether the appropriate quantity of medications is placed on the tray placement table 38. In this case, for example, the medication determination unit 124 determines whether the number of medications included in the fractional sheet placed on the medication placement table 37 matches the quantity to be dispensed as the fractional sheet. Also, for example, the medication determination unit 124 determines whether the number of medications included in the medication sheet (full sheet) placed on the tray placement table 38 matches the quantity to be dispensed as the medication sheet. If the medication determination unit 124 determines in these two determinations that the quantity to be dispensed has been removed from the cassette Ca, it determines that the medications to be dispensed have been appropriately removed from the cassette Ca. On the other hand, if the drug determination unit 124 determines in at least one of these two determinations that the quantity to be dispensed has not been taken out, it determines that the drug to be dispensed has not been properly taken out from the cassette Ca.

The drug determination unit 124 associates the results of the determination indicating whether the drug to be dispensed was properly removed from the cassette Ca with information indicating the type of drug to be dispensed (e.g., drug identification information) and stores this information in the memory unit 15 as determination log information. Hereinafter, information indicating that the drug to be dispensed was not properly removed from the cassette Ca will be referred to as NG information.

When the control device 10 receives dispensing data, it references the determination log information in the memory unit 15 and obtains information indicating the results of previous determinations made on drugs of the same type as the drug included in the dispensing data. If NG information is associated with information indicating the type of drug in the determination log information, the control device 10 notifies the worker that the drug to be dispensed is a drug that is likely to cause dispensing errors. This makes it possible to prompt the worker to be careful when dispensing the drug before dispensing it.

As one example, in order to make the above-mentioned notification, the touch panel control unit 14 may display, for example, on the second touch panel 31, information indicating that the drug to be dispensed is a drug that is likely to cause removal errors. As another example, the control device 10 may light up an LED (light-emitting device) (not shown) or issue a sound notification.

In addition, the control device 10 may notify the operator that the drug is likely to cause a dispensing error only if there is a predetermined number or more of NG information in the determination log information for the information indicating the type of drug to be dispensed.

In addition, in the determination log information, information indicating the worker who performed the dispensing work may be further associated with information indicating the results of the above determination. With this configuration, the control device 10 can identify drugs that are likely to cause dispensing errors for each worker, and therefore can issue warnings to each worker individually.

[Embodiment 13]
Figure 30 is a diagram showing an example of the structure of the holder 6. The drug station 1 includes a holder 6 that holds a rubber band X for bundling the drug sheets removed from the cassette Ca. The holder 6 may be provided at any position in the drug station 1. As an example, the holder 6 may be provided in a position that is easily reachable by an operator removing the drug, such as on the top surface of the workbench 40. As shown in Figure 30, the holder 6 includes a base 60, a support portion 61, and a rubber band holding portion 62.

The base 60 is the part that supports the support part 61 and the rubber band holding part 62, and is the part that is attached to or placed on the drug station 1. Specifically, the support part 61 is supported by the base 60, and the rubber band holding part 62 is supported by the support part 61. In this embodiment, the support part 61 is a rod-shaped member that protrudes from the base 60, and the rubber band holding part 62 is a rod-shaped member that is supported at the end of the support part 61 opposite the end that is connected to the base 60.

The rubber band holding portion 62 is a rod-shaped member onto which one or more rubber bands X can be hung. This allows the holder 6 to hold one or more rubber bands X. In this embodiment, the worker can remove the rubber band X from the end (open end) of the rubber band holding portion 62 opposite the end connected to the support portion 61.

The rubber band holding portion 62 also has a plurality of grooves 63. The grooves 63 are provided on the surface of the rubber band holding portion 62, extending in the circumferential direction of the central axis 621 parallel to the extension direction of the rubber band holding portion 62, and are recessed toward the central axis 621. In this embodiment, the grooves 63 are provided on the end side of the rubber band holding portion 62 opposite the end connected to the support portion 61 (the side from which the rubber band X is removed).

For example, consider the case where an operator removes one rubber band X from a storage container, such as a box, that contains multiple rubber bands X in order to bundle together medication sheets removed from a cassette Ca. In this case, there is a possibility that the rubber band X to be removed will become tangled with other rubber bands X, making it difficult to remove just that rubber band X. In contrast, when removing rubber bands X from the holder 6, rubber bands X other than the rubber band X to be removed will be caught in one of the multiple grooves 63 and will not easily come off the holder 6. Therefore, the operator can easily remove just one rubber band X.

The rubber band holding part 62 is rotatably supported at the end where it connects to the support part 61 via a rotation shaft 622. This allows the worker to orient the rubber band holding part 62 in a direction that makes it easier to remove the rubber band X. This makes it possible to remove the rubber band X more efficiently.

[Embodiment 14]
In this embodiment, an example of the operation of the drug station 1 will be described in which pre-prepared medicines, each containing multiple types of medicine in a single package, are stored in a cassette Ca and the cassette Ca is stored on the cassette shelf 21. The pre-prepared medicines are prepared in advance before being stored in the cassette Ca. The preparation of the pre-prepared medicines may be performed using a dedicated device (e.g., a tablet packaging machine 300).

Prepared medicines are provided with identification information corresponding to the type and number of medicines packaged. A barcode containing the identification information of the prepared medicine is printed on the package of the prepared medicine. The memory unit 15 stores, in association with each other, the identification information of the prepared medicine, information indicating the type and number of medicines contained in the prepared medicine, information indicating the total weight of the prepared medicine, and cassette identification information (or storage location information) of the cassette Ca that contains the prepared medicine.

An example of the operation of the drug station 1 when filling prepared medications will be described below. First, the operator uses the barcode reader 34 to input identification information from the barcode attached to the package of the prepared medication to be filled. The control device 10 controls the main cassette transport unit 22 and the picking cassette transport unit 35 to remove the cassette Ca containing the prepared medication to be filled from the cassette shelf 21 based on the identification information read by the barcode reader 34 and transport it to the medication delivery unit 32. After that, when the operator again uses the barcode reader 34 to input the identification information of the prepared medication, the control device 10 opens the shutter 322. This allows the user to fill the prepared medication into the cassette Ca containing the prepared medication.

Next, an example of the operation of the drug station 1 when dispensing pre-prepared medications will be described. First, when the control device 10 receives dispensing data, it identifies the cassette Ca that contains the medication to be dispensed, which is included in the dispensing data. Here, the control device 10 determines whether the pre-prepared medication, which includes multiple types of medications included in the dispensing data and is to be taken at a certain time (e.g., morning), is stored on the cassette shelf 21. For each pre-prepared medication, the control device 10 determines, for example, whether information indicating the type of each of the multiple types of medications matches information indicating the type of each of the multiple types of medications included in the pre-prepared medication. As a result, the control device 10 determines whether the multiple types of medications included in the dispensing data are stored on the cassette shelf 21 as pre-prepared medications. If it determines that the pre-prepared medication containing the multiple types of medications is stored on the cassette shelf 21, the control device 10 identifies the pre-prepared medication as a medication to be dispensed and identifies the cassette Ca that contains the pre-prepared medication.

The control device 10 then transfers the identified cassette Ca to the medication transfer unit 32 and opens the shutter 322. This allows the operator to remove the pre-prepared medications from the cassette Ca. The removal of the multiple types of medications is completed when the operator removes the required number of pre-prepared medications. The medication determination unit 124 determines whether the specified number of medications specified by the dispensing data have been placed on the tray loading platform 38 based on the weight of the medications weighed by the weighing unit 382. Here, when the pre-prepared medications have been removed, the medication determination unit 124 makes a determination based on information indicating the total weight of the pre-prepared medications stored in the memory unit 15.

In this embodiment, the set of medications to be prepared is, for example, a set of medications that are likely to be prescribed to patients with a particular disease, or a set of medications that are regularly prescribed to a particular patient. Specifically, it is a set of medications that are prescribed to patients with influenza, or a set of medications that are regularly prescribed to patients with a chronic disease.

With the above configuration, for example, a set of medications prescribed for a patient with a specific disease is packaged in advance, and the prepared medications are stored in a cassette Ca. When the dispensing data includes multiple types of medications packaged in a single package that correspond to the prepared medications, the control device 10 can transport the cassette Ca containing the prepared medications to the medication delivery unit 32. Therefore, an operator can retrieve the multiple types of medications all at once by simply removing the prepared medications from one cassette Ca.

In other words, in this embodiment, for multiple types of drugs that can be grouped together as pre-prepared drugs, the control device 10 does not need to sequentially transfer multiple cassettes Ca containing these drugs to the drug delivery unit 32. This improves the efficiency of dispensing operations.

[Embodiment 15]
For example, if a drug with a relatively high dispensing frequency is stored in a small cassette Ca3, the number of times the drug is filled will be greater than if the drug is stored in a large cassette Ca1 or a medium-sized cassette Ca2. For drugs with a relatively low dispensing frequency, there is no need to store a large number of drugs in the cassette Ca. If such drugs are stored in the large cassette Ca1, there is a possibility that the usage efficiency (storage rate) of the cassette Ca will increase, resulting in a decrease in the usage efficiency (storage rate) of the cassette Ca. Furthermore, if such drugs are stored in a way that minimizes empty space, there is a possibility that the drug will not be dispensed before its expiration date. Thus, if the type of cassette Ca is not selected according to the dispensing frequency, the above-mentioned inconveniences may occur.

In this embodiment, the control device 10 determines the type of cassette Ca that contains the medication (e.g., large cassette Ca1, medium cassette Ca2, small cassette Ca3) depending on the medication dispensing frequency. The touch panel control unit 14 may also display the determined type of cassette Ca on the first touch panel 5.

The memory unit 15 stores, for example, the number of medications dispensed (number of medications removed) for each type of medication. For example, when a medication to be dispensed is removed from cassette Ca and the tray close button 39 is pressed, the control device 10 adds the current number of medications dispensed to the number of medications dispensed for that medication stored in the memory unit 15.

For example, when the control device 10 receives an input operation to confirm the suitability of a cassette Ca containing medication, it calculates the cumulative number of medications dispensed for each type of medication. The cumulative number of medications dispensed may be the cumulative number of medications dispensed over a predetermined period up to the time the input operation is received, or the cumulative number of medications dispensed from the first time medication is dispensed until the time the input operation is received. The control device 10 compares the cumulative number of medications dispensed with a preset threshold value and, based on the comparison result, determines the type of cassette Ca to use for each type of medication.

For example, for a drug whose cumulative dispensed number is less than the first threshold, the control device 10 assigns type information indicating a small cassette Ca3 to the drug identification information of that drug. For a drug whose cumulative dispensed number is equal to or greater than the first threshold and less than a second threshold (> first threshold), the control device 10 assigns type information indicating a medium cassette Ca2 to the drug identification information of that drug. For a drug whose cumulative dispensed number is equal to or greater than the second threshold, the control device 10 assigns type information indicating a large cassette Ca1 to the drug identification information of that drug.

The control device 10 determines whether the type information assigned to each type of drug matches the type information associated with each type of drug stored in the memory unit 15. If the two types of information do not match, the touch panel control unit 14 displays, via the first touch panel 5, the type of cassette Ca indicated by the type information (assigned type information) suitable for storing the drug. This allows the operator to store drugs in a cassette Ca that corresponds to the dispensing frequency. This reduces the likelihood of the above-mentioned inconvenience occurring.

The memory unit 15 may store information indicating the number of medications contained in a box, the number of medications contained in pillow-packaged packages, and the number of medications contained in one medication sheet (full sheet) for each type of medication. In this case, the control device 10 can determine whether the medication will be dispensed in a box, package, or medication sheet (including fractional sheets) based on the number of medications dispensed each time. Therefore, the control device 10 can determine the form and number of medications dispensed each time.

For example, when the control device 10 receives an input operation to confirm the suitability of the form to be stored in the cassette Ca, it identifies the form that has been dispensed most frequently as the form to be stored in the cassette Ca. The memory unit 15 may store cassette identification information and information indicating the drug storage form (e.g., box, package, drug sheet) in association with each other. This allows the control device 10 to determine whether the identified form matches the storage form stored in the memory unit 15. If the control device 10 determines that the identified form does not match the storage form stored in the memory unit 15, the touch panel control unit 14 displays, via the first touch panel 5, a form suitable for storing the drug. This allows the operator to store drugs in the cassette Ca according to the frequency of dispensing of the form.

[Embodiment 16]
The control device 10 acquires the lot number and expiration date (use-by date) of the drug from the barcode information (e.g., GS1 code) read by the barcode reader 34 when the drug is filled into the cassette Ca. The lot number is a number that can identify the manufacturing location and manufacturing date of the drug. If the cassette Ca has partitions, different types of drugs can be stored in each storage area separated by the partitions. That is, the same type of drug is stored in each storage area. On the other hand, if the cassette Ca does not have partitions, the cassette Ca will store the same type of drug. Therefore, the control device 10 manages the acquired lot number and expiration date of the drug in the memory unit 15 for each cassette Ca or storage area to which the drug is to be filled (i.e., in association with cassette identification information or storage position information). The lot number and expiration date may be input, for example, via the first touch panel 5 or the second touch panel 31.

<Lot list>
In this embodiment, the control device 10 can manage multiple combinations of lot numbers and expiration dates for each cassette Ca or storage area that contains the same type of medicine. Figure 32 shows an example of a lot list LI1 managed for each cassette Ca or storage area that contains the same type of medicine. The lot list LI1 is managed in the memory unit 15. In this embodiment, an example is described in which combinations of lot numbers and expiration dates are managed in the lot list LI1, but the combinations do not necessarily need to be managed in list format in the memory unit 15.

The lot list LI1 shown in FIG. 32 can manage up to five combinations of lot numbers and expiration dates. In other words, a cassette Ca or storage area that typically stores the same type of medication can store up to five medications with different lot numbers and expiration dates. Note that the maximum number of combinations of lot numbers and expiration dates that the lot list LI1 can manage is not limited to five, as long as it is multiple. Furthermore, while this embodiment describes the lot list LI1 as being capable of managing multiple combinations of lot numbers and expiration dates, in other embodiments, only one combination of lot number and expiration date may be managed for one cassette Ca or storage area.

Furthermore, as shown in FIG. 32, the control device 10 may manage combinations of lot numbers and expiration dates in the lot list LI1 in ascending order of lot numbers, i.e., in ascending order of expiration dates closest to the current time (oldest expiration dates). In other words, in the lot list LI1, combinations of smallest lot numbers and expiration dates closest to the current time may be assigned starting with the smallest reference number.

Figure 32 shows an example of a lot list LI1 when a cassette Ca or storage area contains three medications of the same type but with different lot numbers and expiration dates. As shown in Figure 32, the control device 10 assigns the combination of the smallest lot number "0001" and the expiration date "October 2021" to reference number "1." The control device 10 assigns the combination of the lot number "0002," which is the next largest after lot number "0001," and the expiration date "November 2021" to reference number "2." The control device 10 assigns the combination of the lot number "0003," which is the next largest after lot number "0002," and the expiration date "December 2021" to reference number "3." However, the management order of the combinations of lot numbers and expiration dates in the lot list LI1 is not limited to this; the control device 10 may manage the lot numbers in the lot list LI1 in descending order, or in the order in which they were acquired.

Here, drugs may be determined to be defective after they have been manufactured and sold. A drug determined to be defective refers to a drug that requires recall due to emergency safety information (yellow letter) or safety bulletin (blue letter) issued by the Ministry of Health, Labor and Welfare. Drug station 1 manages the type of drug contained in cassette Ca or storage area in association with its lot number. Therefore, when a drug is determined to be defective, a pharmacist or other personnel can identify whether the drug determined to be defective was dispensed from drug station 1 and from which cassette Ca or storage area it was dispensed. Furthermore, by managing the drug dispensing history, pharmacists or other personnel can track which patient a drug determined to be defective was given. The dispensing history may, for example, associate the type of drug dispensed from drug station 1, the dispensing date and time, etc., with each patient to whom the drug was prescribed. The dispensing history may be managed, for example, by drug station 1 or the dispensing control device 800 (see Figure 1).

<Display lot list>
The control device 10 can display a lot list LI1 on the first touch panel 5 or the second touch panel 31 when the operator fills the cassette Ca with drugs. The method of displaying the lot list LI1 will be described with reference to FIGS. 33 to 36. FIG. 33 is a diagram showing an example of a filling image (filling screen) IM11 displayed on the first touch panel 5. FIG. 34 is a diagram showing an example of a lot list image 3401 including information from the lot list LI1 displayed on the filling image IM11. FIG. 35 is a diagram showing an example of an individual dispensing image (individual dispensing screen) IM12 displayed on the first touch panel 5. Reference numeral 36001 in FIG. 36 is a diagram showing an example of a filling operation image (filling operation screen) IM13 displayed on the second touch panel 31. Reference numeral 36002 in FIG. 36 is a diagram showing an example of a lot list image (lot list screen) IM14 displayed on the second touch panel 31.

The filling image IM11 shown in FIG. 33 is displayed on the first touch panel 5 in filling mode by the touch panel control unit 14 of the control device 10. The filling mode is a mode in which an operator can fill the drug station 1 with medication, and is selected by an input operation by the operator. As shown in FIG. 33, the filling image IM11 includes, for example, a filled medication list 3301, a tray movement button 3302, a lot list button 3303, an expiration display area 3304, and a confirmation button 3305.

The refilling drug list 3301 is a list of records associated with various information related to drugs selected for refilling. The refilling drug list 3301 includes information such as drug name, inventory quantity, lot number, and expiration date, associated with the cassette number and branch number. The branch number indicates each storage area in the cassette Ca if the cassette Ca is divided by partitions. If the cassette Ca is not divided by partitions, the branch number is assigned "1." The lot number and expiration date displayed in the refilling image IM11 are selected by the control device 10 from the lot list LI1, which is managed in association with each cassette Ca or storage area. The control device 10 selects, for example, the expiration date closest to the current time (oldest expiration date) in the lot list LI1 and the lot number corresponding to that expiration date as the expiration date and lot number to be displayed. It is possible to set which lot number and expiration date from the lot list LI1 to display by default.

The tray movement button 3302 is a button that can accept an input operation to start transporting a cassette Ca selected in the filled drug list 3301. When the cassette identification unit 111 of the control device 10 accepts an input operation on the tray movement button 3302, it executes the following process. Specifically, the cassette identification unit 111 identifies the cassette Ca to be filled with drugs, or the cassette Ca having the storage area to be filled with drugs, based on the drug identification information (information indicating the type of drug) contained in the barcode information read by the barcode reader 34. The main cassette transfer control unit 112 and picking cassette transfer control unit 121 of the control device 10 then control the main cassette transfer unit 22 and picking cassette transfer unit 35 to transport the identified cassette Ca from the cassette shelf 21 to the drug delivery unit 32. The control device 10 also causes the barcode reader 34 to read the barcode information again and determines whether the drug identification information contained in the barcode information matches the drug identification information associated with the identified cassette Ca or storage area. If these two pieces of drug identification information match, the shutter control unit 122 of the control device 10 opens the shutter 322 to match the width of the cassette Ca or storage area into which the drugs will be loaded. This allows the operator to load drugs into the cassette Ca or storage area.

The lot list button 3303 is a button that can accept input operations to display the lot list LI1 on the first touch panel 5. The lot list button 3303 becomes ready to accept input operations when the drug identification information contained in the barcode information attached to the drug, read by the barcode reader 34, matches the drug identification information of the drug managed as a storage target in the cassette Ca or storage area. At this time, the control device 10 also transports the cassette Ca, which is the destination for drug filling, from the cassette shelf 21 to the drug transfer unit 32. When the touch panel control unit 14 receives an input operation on the lot list button 3303, it displays the lot list LI1 managed in association with the cassette Ca or the storage area of the cassette Ca, on the first touch panel 5. The touch panel control unit 14 displays, for example, a lot list image 3401 shown in FIG. 34 on the first touch panel 5.

The expiration date display area 3304 is an area where the lot number and expiration date of the cassette Ca to be transported to the drug delivery unit 32 or the drug stored in the storage area of the cassette Ca are displayed. The control device 10 selects, for example, the expiration date closest to the current date in the lot list LI1 to be displayed on the first touch panel 5 and the lot number corresponding to that expiration date as the expiration date and lot number to be displayed in the expiration date display area 3304. It is possible to set as appropriate which lot number and expiration date from the lot list LI1 to display by default.

The confirmation button 3305 is a button that can accept an input operation to transport the cassette Ca that has been transported to the medicine transfer unit 32 to the cassette shelf 21. When the control device 10 receives an input operation to the confirmation button 3305, it transports the cassette Ca to the cassette shelf 21 and adds the lot number and expiration date read by the barcode reader 34 to the lot list LI1.

The individual dispensing image IM12 shown in Figure 35 is an image that can accept input operations to individually dispense medications separately from the sequential dispensing of medications based on prescription data, and is displayed on the first touch panel 5 by the control device 10.

The individual dispensing image IM12 includes, for example, an extraction result display area 3501, an add dispensing list button 3502, a refilling list display area 3503, a tray movement button 3504, a lot list button 3505, and a confirmation button 3506.

The extraction result display area 3501 is a list of records associated with various information about drugs to be individually dispensed that have been extracted (selected) from the drug database by the operator. The extraction result display area 3501 includes information such as drug name, inventory quantity, lot number, and expiration date, associated with the cassette number and branch number. As with the filling image IM11 in Figure 33, the extraction result display area 3501 may also display, for example, the lot number and expiration date closest to the current time selected from the lot list LI1.

The Add Dispense List button 3502 is a button that can accept input operations to add information selected by the worker from the information displayed in the extraction result display area 3501 to the refill list display area 3503.

The filling list display area 3503 is an area that displays a list of cassettes Ca that will be filled with medicine. The tray movement button 3504 is a button that can receive input operations to transport the cassette Ca that will be filled with medicine to the medicine transfer unit 32. When an input operation is received for the tray movement button 3504 while one cassette Ca is selected in the filling list display area 3503, the control device 10 executes processing to transport the cassette Ca from the cassette shelf 21 to the medicine transfer unit 32. After transporting the cassette Ca to the medicine transfer unit 32, the control device 10 also executes processing to open the shutter 322. These processes are the same as when the control device 10 receives input operations for the tray movement button 3302.

The lot list button 3505 has the same function as the lot list button 3303 shown in FIG. 33. That is, when the touch panel control unit 14 receives an input operation to the lot list button 3505 while the individual dispensing image IM12 is being displayed (when performing individual dispensing of medication), it can display the lot list image 3401 shown in FIG. 34. Furthermore, the confirmation button 3506 has the same function as the confirmation button 3305 shown in FIG. 33.

The filling operation image IM13 shown by reference numeral 36001 in Figure 36 is an image that enables the filling operation of a cassette Ca with drugs during the picking operation for the cassette Ca placed in the drug transfer unit 32 during the sequential dispensing of drugs based on prescription data. The filling operation image IM13 is displayed on the second touch panel 31 by the touch panel control unit 14 when an input operation to enable the filling operation of the cassette Ca is acquired via the second touch panel 31 while the cassette Ca is placed in the drug transfer unit 32. Furthermore, when this input operation is acquired, the control device 10 causes the barcode reader 34 to read the barcode information and determines whether the drug identification information contained in the information matches the drug identification information associated with the cassette Ca or storage area identified as the filling destination. If these two pieces of drug identification information match, the control device 10 permits the filling of drugs into the cassette Ca or storage area that is the filling destination. For example, if the two pieces of drug identification information do not match, the shutter control unit 122 of the control device 10 closes the open shutter 322.

The filling operation image IM13 also includes a lot list button 3601 that has the same function as the lot list button 3303 in FIG. 33. Therefore, when the touch panel control unit 14 acquires an input operation on the lot list button 3601 during a picking operation, it can display the lot list image IM14 shown by reference numeral 36002 in FIG. 36.

The filling operation image IM13 also includes a fill button 3602 that accepts an input operation to confirm the filling quantity, lot number, and expiration date entered in the filling operation image IM13. When the control device 10 receives an input operation on the fill button 3602, it updates the filling quantity managed in association with the destination cassette Ca or storage area. The control device 10 also adds the lot number and expiration date to the lot list LI1 that is managed in association with the destination cassette Ca or storage area.

<Deleting information from the lot list>
34 , the lot list image 3401 includes information on a lot list LI1 managed in association with the cassette Ca or storage area into which the drug will be filled, and a delete button 3402. The delete button 3402 is provided for each combination of lot number and expiration date managed in the lot list LI1, and is a button that can accept an input operation to delete the combination of lot number and expiration date from the lot list LI1. When the control device 10 receives an input operation on the delete button 3402, it deletes the combination of lot number and expiration date corresponding to the delete button 3402 from the lot list LI1.

The lot list image 3401 includes a cancel button 3403 and an approve button 3404. The cancel button 3403 and the approve button 3404 are buttons that can accept input operations to display the original image. However, if an input operation is received for the cancel button 3403, the control device 10 invalidates the input operation for the delete button 3402 and adds the deleted combination of lot number and expiration date back to the lot list LI1.

In addition, the lot list image IM14 indicated by reference numeral 36002 in Figure 36 includes a delete button 3603 that has the same function as the delete button 3402 in Figure 34. Therefore, when the control device 10 acquires an input operation on the delete button 3603, it can delete the combination of lot number and expiration date corresponding to the delete button 3603 from the lot list LI1.

Furthermore, the lot list image IM14 includes a cancel button 3604 and an approve button 3605, which have the same functions as the cancel button 3403 and approve button 3404, respectively, in FIG. 34. Therefore, when the control device 10 receives an input operation for the cancel button 3604 or the approve button 3605, it switches the display to the filling operation image IM13. However, when the control device 10 receives an input operation for the cancel button 3604, it invalidates the input operation for the delete button 3603 and adds the deleted combination of lot number and expiration date back to the lot list LI1.

<Adding information to the lot list>
The control device 10 can also add a new combination of lot number and expiration date to the lot list LI1. Adding a new combination of lot number and expiration date to the lot list LI1 will be described with reference to FIGS. 37 to 39. FIG. 37 is a flowchart showing an example of processing for adding a new combination of lot number and expiration date. FIG. 38 is a diagram showing an example of the lot list LI1 when a new combination of lot number and expiration date is added. FIG. 39 is a diagram showing another example of the lot list LI1 when a new combination of lot number and expiration date is added. Note that in FIG. 37, the combination of lot number and expiration date is abbreviated as "lot number."

As shown in FIG. 37, when the refilling image IM11 of FIG. 33 is displayed, the control device 10 determines whether or not an input operation has been acquired for the confirmation button 3305 (S11). In S11, when the individual dispensing image IM12 of FIG. 35 is displayed, the control device 10 determines whether or not an input operation has been acquired for the confirmation button 3506. Also, when the refilling operation image IM13 of reference numeral 36001 of FIG. 36 is displayed, the control device 10 determines whether or not an input operation has been acquired for the refill button 3602.

When the control device 10 receives an input operation for the Confirm button 3305, Confirm button 3506, or Fill button 3602 (YES in S11), it executes the following process. That is, the control device 10 determines whether the combination of lot number and expiration date read by the barcode reader 34 matches any of the combinations of lot number and expiration date managed in the lot list LI1 corresponding to the cassette Ca or storage area into which the medicine will be filled (S12). Note that the control device 10 may also determine whether the lot number and expiration date input in the filling operation image IM13 matches any of the combinations of lot number and expiration date managed in the lot list LI1. When the control device 10 does not receive an input operation for the Confirm button 3305, Confirm button 3506, or Fill button 3602 (NO in S11), it waits for the input operation to be received.

Consider the case where the control device 10 determines that the combination of lot number and expiration date read by the barcode reader 34 matches one of the combinations of lot number and expiration date managed in the lot list LI1 (YES in S12). In this case, because the combination of lot number and expiration date read by the barcode reader 34 is already managed in the lot list LI1, the control device 10 does not store that combination in the lot list LI1 as a new combination of lot number and expiration date.

On the other hand, consider the case where the control device 10 determines that the combination of lot number and expiration date read by the barcode reader 34 does not match any of the combinations of lot number and expiration date managed in the lot list LI1 (NO in S12). In this case, the control device 10 determines whether the combination of lot number and expiration date read by the barcode reader 34 can be managed in the lot list LI1 as a new combination of lot number and expiration date. In other words, the control device 10 determines whether the maximum number of combinations of lot number and expiration date (five in this embodiment) are managed in the lot list LI1 corresponding to the cassette Ca or storage area into which the medicine will be filled (S13).

If the number of combinations of lot numbers and expiration dates managed in the lot list LI1 is less than the maximum number, there is free space in the lot list LI1 to which new combinations of lot numbers and expiration dates can be added. Therefore, if the control device 10 determines that the maximum number of combinations of lot numbers and expiration dates is not being managed in the lot list LI1 (NO in S13), it adds the combination of lot number and expiration date read by the barcode reader 34 to the lot list LI1.

In this embodiment, the control device 10 determines that a new combination of lot number and expiration date can be added to the lot list LI1 if there are four or fewer combinations of lot number and expiration date managed in the lot list LI1. In the example shown in FIG. 38, there are three combinations of lot number and expiration date managed in the lot list LI1. Therefore, the control device 10 adds the combination of lot number "0004" and expiration date "January 2022" read by the barcode reader 34 to the lot list LI1 as a new combination of lot number and expiration date.

In this embodiment, the lot list LI1 manages combinations of lot numbers and expiration dates in ascending order of lot numbers. Therefore, when adding a new combination of lot numbers and expiration dates to the lot list LI1, the control device 10 compares that combination with the combinations of lot numbers and expiration dates managed in the lot list LI1. Based on the comparison results, the control device 10 determines the position in the lot list LI1 where to add the new combination of lot numbers and expiration dates. In the example of Figure 38, the lot number "0004" read by the barcode reader 34 is larger than any of the lot numbers managed in the lot list LI1. Therefore, the control device 10 assigns the combination of lot number "0004" read by the barcode reader 34 and expiration date "January 2022" to the reference number "4."

If the control device 10 determines in S13 that the maximum number of combinations of lot numbers and expiration dates have been managed in the lot list LI1 (YES in S13), it notifies the operator of this fact. The control device 10 also requests the operator to delete one of the combinations of lot numbers and expiration dates managed in the lot list LI1 (S14). If the number of combinations of lot numbers and expiration dates managed in the lot list LI1 is the maximum, there is no free space in the lot list LI1 to add a new combination of lot numbers and expiration dates, so the control device 10 makes the above request. The above notification and request are made, for example, by the touch panel control unit 14 displaying an image on the first touch panel 5 or the second touch panel 31. At this time, the touch panel control unit 14 may display the lot list LI1 on the first touch panel 5 or the second touch panel 31. This allows the operator to delete one combination of lot numbers and expiration dates from the displayed lot list LI1.

Here, the operator can arbitrarily select the combination of lot number and expiration date to delete. For example, the operator may decide which combination of lot number and expiration date to delete after checking (visually inspecting) the lot number and expiration date attached to the medication contained in the cassette Ca or storage area into which the medication will be filled. For example, if the operator is able to identify the lot number and expiration date of a medication that is out of stock in the cassette Ca or storage area as a result of checking, they may decide that combination of lot number and expiration date to delete. The operator can also delete the combination of lot number and expiration date of a stored medication from the lot list LI1. In this case, however, the operator will remove the medication from the cassette Ca or storage area.

If the operator deletes a combination of lot number and expiration date from the displayed lot list LI1, the control device 10 deletes that combination from the lot list LI1 managed in the memory unit 15. That is, the control device 10 deletes that combination from the lot list LI1 in accordance with the user input (S15). This creates free space in the lot list LI1 into which a new combination of lot number and expiration date can be added. After processing S15, the control device 10 adds the combination of lot number and expiration date read by the barcode reader 34 to the lot list LI1 (S16).

When an operator fills a cassette Ca or storage area with medication, the control device 10 must manage the combination of lot number and expiration date read from the medication by the barcode reader 34 in the lot list LI1. In this embodiment, as described above, if the lot list LI1 manages the maximum number of combinations of lot number and expiration date, the control device 10 deletes one combination of lot number and expiration date from the lot list LI1 based on user input. Therefore, even if the lot list LI1 manages the maximum number of combinations of lot number and expiration date, the control device 10 can manage the combination of lot number and expiration date of a newly filled medication in the lot list LI1.

Note that if the maximum number of combinations of lot numbers and expiration dates are managed in the lot list LI1, the control device 10 may automatically select one of those combinations from the lot list LI1 and overwrite it with the new lot number and expiration date combination. However, in this case, the overwriting process is performed without the operator checking the lot number and expiration date attached to the medication contained in the cassette Ca or storage area. Therefore, it is possible that the lot number and expiration date may be deleted from the lot list LI1 even though they are actually the lot number and expiration date of the medication contained in the cassette Ca or storage area. If the lot number and expiration date of the medication contained in the cassette Ca or storage area are deleted from the lot list LI1, there is a possibility that the pharmacist or other personnel may not be able to identify the source of the medication.

For this reason, as described above, when deleting a combination of lot number and expiration date from lot list LI1, the control device 10 prompts the operator to select the combination to be deleted. This allows the operator to confirm the drug storage status in cassette Ca or the storage area before deleting the lot number and expiration date combination from lot list LI1, making it possible to match the information in lot list LI1 to the actual drug storage status.

In the example shown in FIG. 39, five combinations of lot numbers and expiration dates are stored in the lot list LI1, so the control device 10 displays an image for making the above notification and request on the first touch panel 5 or the second touch panel 31. To store a new combination of lot numbers and expiration dates in the lot list LI1, the operator deletes one of the combinations of lot numbers and expiration dates managed in the lot list LI1. Here, the operator selects the combination of lot number "0001" and expiration date "October 2021" and touches the confirm button 3305, the confirm button 3506, or the fill button 3602. This causes the control device 10 to delete the combination of lot number "0001" and expiration date "October 2021" from the lot list LI1 and make the lot list LI1 ready for the input of a new combination of lot numbers and expiration dates. The control device 10 adds the combination of lot number "0006" and expiration date "April 2022" read by the barcode reader 34 as a new combination of lot number and expiration date to the lot list LI1 for which free space has been created.

<Lot list management when stockouts occur>
The control device 10 may be able to set the following deletion modes. The deletion mode is a mode in which, when the number of drugs stored in the cassette Ca or storage area becomes zero (when the cassette Ca or storage area becomes out of stock), all information in the lot list LI1 corresponding to the cassette Ca or storage area is deleted. When the deletion mode is set in the control device 10, the control device 10 deletes all information in the lot list LI1 corresponding to the cassette Ca or storage area when the cassette Ca or storage area becomes out of stock. The deletion mode can be set or canceled by user input.

If cassette Ca or the storage area is out of stock, there will be no medication in cassette Ca or the storage area, and so there will be no lot number or expiration date to manage in lot list LI1. Therefore, when cassette Ca or the storage area is out of stock, the control device 10 automatically deletes all information in lot list LI1 corresponding to that cassette Ca or storage area. This allows lot list LI1 to reflect the out-of-stock state when an item is out of stock, without requiring the operator to check the information managed in lot list LI1.

On the other hand, if the deletion mode is not set in the control device 10, the control device 10 will not delete the information in the lot list LI1 corresponding to the cassette Ca or storage area even when the cassette Ca or storage area is out of stock, but will maintain it as is. The operator will determine whether or not to delete the information in the lot list LI1, for example, when notified by the control device 10 that the cassette Ca or storage area is out of stock.

As described in embodiment 1, in drug station 1, control device 10 counts the number of drugs placed on drug placement table 37 based on captured images of the drugs. Control device 10 also counts the number of drugs placed on tray placement table 38 based on the results of weighing the drugs. Control device 10 can manage the number of drugs contained in cassette Ca or the storage area after the drugs have been removed, using the counting result as an indication of the number of drugs removed from cassette Ca or the storage area. Control device 10 can also manage the number of drugs contained in cassette Ca or the storage area after filling by adding the number of drugs input by the operator when the drugs are filled into cassette Ca or the storage area to the number of drugs contained in cassette Ca or the storage area before filling.

In this way, the control device 10 estimates the number of medications contained in the cassette Ca or storage area by subtracting the number removed from the current storage number or adding the number filled to the current storage number. In other words, the control device 10 does not manage the number of medications in the cassette Ca or storage area by installing a detection unit (e.g., an imaging unit) that detects medications in the cassette Ca or storage area and analyzing the detection results of the detection unit. In other words, the control device 10 does not directly count the number of medications actually contained. Therefore, for example, if an operator does not return excess medications to the cassette Ca or storage area, or if the operator enters a number different from the actual filled number, there is a slight possibility that the actual storage number will differ from the storage number managed by the control device 10. Some users are aware of this possibility and may not want automatic deletion when medications are out of stock.

Therefore, only when the deletion mode is set based on user input, if a cassette Ca or storage area is out of stock, the control device 10 automatically deletes the information in the lot list LI1 corresponding to that cassette Ca or storage area.

<About lot numbers and expiration dates>
In this embodiment, the lot list LI1 is described as managing the lot number and expiration date, but this is not limited to this. Either the lot number or the expiration date may be managed in the lot list LI1. In other words, the item to be deleted from or added to the lot list LI1 may be either the lot number or the expiration date.

The control device 10 may also manage the combination of lot number and expiration date in the lot list LI1 by calculating the expiration date from the acquired lot number or by calculating the lot number from the acquired expiration date.

[Software implementation example]
The control block provided in the control device 10 of the drug station 1 may be realized by a logic circuit (hardware) formed on an integrated circuit (IC chip) or the like, or may be realized by software. Also, the control block provided in the control unit 801 of the dispensing control device 800 may be realized by a logic circuit formed on an integrated circuit or the like, or may be realized by software.

In the latter case, the drug station 1 and the dispensing control device 800 each include a computer that executes instructions from a software program that implements each function. This computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. The object of the present invention is achieved when the processor in the computer reads and executes the program from the recording medium. The processor may be, for example, a CPU (Central Processing Unit). The recording medium may be a "non-transitory tangible medium," such as a ROM (Read Only Memory), tape, disk, card, semiconductor memory, or programmable logic circuit. The computer may also include a RAM (Random Access Memory) for expanding the program. The program may also be supplied to the computer via any transmission medium capable of transmitting the program (such as a communications network or broadcast waves). One aspect of the present invention may also be realized when the program is embodied in the form of a data signal embedded in a carrier wave, embodied by electronic transmission.

〔others〕
A medicine handling device according to one aspect of the present disclosure is a medicine handling device comprising: a medicine transfer unit that enables a medicine to be removed from a cassette containing the medicine or to be introduced into the cassette; a cassette transfer unit that enables the cassette to be removed from the medicine handling device or to be introduced into the medicine handling device; and a cassette transfer unit that transfers the cassette between at least one of the medicine transfer unit and the cassette transfer unit and a cassette shelf that can store a plurality of cassettes, wherein the cassette transfer unit is provided at a position different from a position where the medicine transfer unit is provided, and the medicine transfer unit comprises: a first medicine transfer unit to which a cassette containing medicines to be dispensed based on prescription data is transferred, and a second medicine transfer unit to which cassettes other than the cassette transferred to the first medicine transfer unit are transferred, The cassette transfer unit comprises a first cassette transfer unit provided corresponding to the first drug transfer unit and a second cassette transfer unit provided corresponding to the second drug transfer unit, and the cassette transfer unit is provided corresponding to the second cassette transfer unit, and when a cassette containing the drug to be dispensed is transferred to the first drug transfer unit based on the prescription data and the drug to be dispensed can be removed from the cassette, the cassette transfer unit comprises a control unit that (i) transfers a cassette other than the cassette from the cassette shelf to the cassette transfer unit and permits the removal of the other cassette from the cassette transfer unit, or (ii) permits the introduction of another cassette not stored on the cassette shelf into the cassette transfer unit and transfers the introduced yet another cassette from the cassette transfer unit to the cassette shelf.

In a medicine handling device according to one aspect of the present disclosure, the medicine transfer unit includes an opening that allows the medicine to be taken out or put in, and an opening/closing unit that opens and closes the opening, and the length in a predetermined direction of the opening area formed in the opening when the opening/closing unit is in the open state may be smaller than the length corresponding to the length in the predetermined direction of the cassette when viewed in plan after being transferred to the medicine transfer unit.

In a medicine handling device according to one aspect of the present disclosure, the cassette transfer section may be provided as a drawer section on the front surface of the medicine handling device.

A medicine dispensing device according to one aspect of the present disclosure includes a medicine handling device capable of removing all or part of a medicine sheet from a cassette containing a plurality of medicines or loading all or part of the medicine sheet into the cassette, and a cassette shelf capable of storing a plurality of the cassettes. When at least one cassette group consisting of a plurality of cassettes containing the same type of medicine is stored in the cassette shelf, and medicines contained in multiple cassettes included in one of the cassette groups are to be removed, the medicine dispensing device includes a transfer control unit that transfers two or more of the multiple cassettes included in the one cassette group from the cassette shelf to the medicine handling device, regardless of the number of medicines contained in each of the multiple cassettes included in the one cassette group.

In a medicine dispensing device according to one aspect of the present disclosure, the transfer control unit may transfer two or more of the cassettes included in one cassette group from the cassette shelf to the medicine handling device even if the specified number designated as the quantity of medicines to be removed from one cassette included in one cassette group is equal to or less than the number of medicines contained in any one of the cassettes included in the one cassette group.

In a medicine dispensing device according to one aspect of the present disclosure, the transfer control unit may transfer two or more cassettes of the cassettes included in one cassette group from the cassette shelf to the medicine handling device when the number obtained by subtracting the specified number from the number of stored medicines is 1.

[Additional Notes]
The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

1. Drug station (drug dispensing device)
3. Picking unit (medicine handling device)
21 Cassette shelf 22 Main body cassette transfer section (cassette transfer section)
32 Medicine transfer unit 32a First medicine transfer unit 32b Second medicine transfer unit 35a First picking cassette transfer unit (first cassette transfer unit)
351 First cassette gripping unit (first cassette transfer unit)
352 First cassette transfer mechanism (first cassette transfer unit)
35b Second picking cassette transfer unit (second cassette transfer unit)
355 Second cassette gripping unit (second cassette transfer unit)
356 Second cassette transfer mechanism (second cassette transfer unit)
41 Cassette receiving section (drawing section)
35 Picking cassette transfer unit (cassette transfer unit)
112 Main body cassette transfer control unit (transfer control unit)
321 Opening 322 Shutter (opening and closing part)
Ar1 Opening area Ca Cassette MDA-MDE Drug

Claims (2)

A drug handling device, comprising:
a medicine delivery unit that allows the medicine to be taken out of a cassette containing the medicine or the medicine to be put into the cassette;
a cassette transfer unit having a function of enabling the cassette to be removed from the medicine handling device and a function of enabling the cassette to be inserted into the medicine handling device;
a cassette transfer unit that transfers the cassette between the medicine transfer unit, the cassette transfer unit, and a cassette shelf that can store a plurality of the cassettes;
the cassette transfer unit has a function of transferring the cassette taken out from the cassette shelf to the cassette transfer unit, and a function of transferring the cassette inserted into the cassette transfer unit to the cassette shelf,
A cassette containing medicines to be dispensed is transferred to the medicine transfer unit based on prescription data, and the medicines to be dispensed can be taken out from the cassette.
A drug handling device comprising a control unit that (i) transports a cassette other than the cassette in question from the cassette shelf to the cassette transfer unit and allows the other cassette to be removed from the cassette transfer unit, or (ii) allows a further cassette not stored on the cassette shelf to be inserted into the cassette transfer unit and transports the inserted further cassette from the cassette transfer unit to the cassette shelf. The drug handling device of claim 1, wherein the cassette transfer unit is located at a position separate from the position where the drug transfer unit is located.