Radiopharmaceutical pumping and delivering method and system

Abstract

The invention discloses a radiopharmaceutical pumping and feeding method and system, and relates to the field of radiopharmaceuticals, and the system comprises an automatic medicine pumping module, a pneumatic transmission system and a central control system; the central control system is in communication connection with the automatic medicine pumping module and the pneumatic transmission system and used for controlling the mechanical arm and the high-precision injection pump to cooperatively complete medicine pumping operation and controlling the pneumatic transmission system to convey the transmission carrier loaded with medicine to a target position. Through the automatic medicine pumping module, the automatic mechanical arm and the high-precision injection pump are integrated to complete the medicine pumping operation, through combination of physical shielding and automatic operation, an operator does not need to make direct contact with radioactive medicine in the whole process, direct exposure of medicine radiation to a human body is fundamentally isolated, and the safety of the operator is improved. And the radiation exposure risk of operators can be obviously reduced, and a solid guarantee is further provided for occupational health and safety, so that the occurrence possibility of radiation-related occupational diseases is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radiopharmaceuticals, and in particular to a radiopharmaceutical dispensing and delivering method and system. BACKGROUND

[0002] Positron emission tomography-computed tomography (PET-CT) technology has been widely used in early diagnosis of tumors, evaluation of cardiovascular and cerebrovascular diseases, and research on neurodegenerative diseases. As an important means of modern medical imaging diagnosis, the imaging effect thereof is highly dependent on the accurate administration of radiotracer.

[0003] As the most commonly used PET-CT tracer, fluorodeoxyglucose (FDG) has an irreplaceable role in the fields of tumor diagnosis and evaluation of nervous system diseases, because it can intuitively reflect the glucose metabolism level of tissues. However, the inherent properties of FDG impose extremely high requirements on the operation process: the high-energy gamma photons (maximum energy 511 keV) released during the decay process of FDG have strong radiation, and the half-life of FDG is only about 110 minutes, which means that the whole process from preparation to injection of the drug needs to be completed under strict time control and radiation protection. Any delay or error in any link may directly affect the imaging quality (such as the decrease of signal-to-noise ratio) or increase the risk of radiation exposure.

[0004] The current mainstream operation mode of FDG mainly relies on manual intervention. In the drug extraction stage, the operator usually manually punctures the drug bottle and extracts the drug liquid using a syringe with a lead shielding sleeve behind a lead glass shield. This way reduces the radiation exposure risk through physical shielding (lead sleeve) and controls the dose through the operator's visual scale line. In the drug delivery stage, the staff hand the shielding tank with a built-in syringe and transport the drug from the pharmacy to the scattered PET-CT scanning room by walking or taking the elevator. The manual transportation method relies on the planning of building passages and personnel lines to shorten the path and reduce the radiation impact on public areas.

[0005] Although the above-mentioned method has been widely adopted, it has significant defects. First, in the process of manual puncture, extraction and air bubble emptying, the operator's hands are in close proximity to the radioactive source, the shielding is not complete, resulting in a high annual cumulative dose of the hands and a potential occupational health and safety hazard. Second, manual operation relies on visual observation of the syringe scale, which is prone to visual errors, and the residue of the drug liquid in the syringe wall and the needle tube will lead to inaccurate dose, directly affecting the accuracy of the administered dose, and further causing the deviation of the standard uptake value (SUV), which is a quantitative analysis index of PET image, affecting the consistency and reliability of diagnosis.

[0006] Therefore, it is necessary to improve the prior art to solve the above problems. SUMMARY

[0007] The present application overcomes the deficiencies of the prior art and provides a radioactive drug dispensing and delivering method and system.

[0008] To achieve the above-mentioned purpose, the present application adopts the technical scheme as follows: In a first aspect, the present application provides a radioactive drug dispensing and delivering system, comprising: an automatic dispensing module, a pneumatic transmission system, and a central control system;

[0009] The automatic dispensing module comprises: a radiation shielding cavity, a mechanical arm arranged in the radiation shielding cavity, a high-precision syringe pump for performing a dispensing action, a vision and sensing unit for identification and detection, and an online activity meter for measuring the activity of the drug;

[0010] The pneumatic transmission system comprises: a sealed pipeline network, a transmission carrier capable of running in the pipeline network, a pneumatic power unit for providing power to the transmission carrier, and a reversing device for controlling the routing of the transmission carrier;

[0011] The central control system is in communication connection with the automatic dispensing module and the pneumatic transmission system, and is used for controlling the mechanical arm and the high-precision syringe pump to cooperatively complete the dispensing operation, and controlling the pneumatic transmission system to deliver the transmission carrier loaded with the drug to a target position.

[0012] In a preferred embodiment of the present application, the end effector of the mechanical arm is a force sensing effector for clamping and piercing a drug bottle.

[0013] In a preferred embodiment of the present application, the vision and sensing unit comprises a camera for identifying drug information, an optical sensor for detecting the liquid level and air bubbles, and a pressure sensor for monitoring the flow path pressure.

[0014] In a preferred embodiment of the present application, the online activity meter is a well-type gamma detector, which is arranged at a position for accommodating a syringe after dispensing and performing activity measurement.

[0015] In a preferred embodiment of the present application, the transmission carrier is a sealed container with a radiation shielding layer inside, and a passive RFID tag outside for storing identity and target information.

[0016] In a preferred embodiment of the present application, the inner wall of the sealed pipeline network is lined with a radiation shielding layer.

[0017] In a preferred embodiment of the present application, the central control system integrates a medicament management software, which is used for calculating the required drug dose according to patient information and generating a dispensing volume instruction after decay correction.

[0018] In a second aspect, the present application provides a dispensing and delivering method of the radioactive drug dispensing and delivering system, comprising the following steps:

[0019] S1, a radioactive drug bottle is placed in a shielding cavity of an automatic drug extraction module, and a central control system verifies drug information;

[0020] S2, the central control system controls a mechanical arm to grab a syringe and install a needle, then controls the mechanical arm to move to a position of the drug bottle to complete puncture, and controls a high-precision injection pump to extract a drug according to a calculated volume, while a vision and sensing unit monitors the extraction process;

[0021] S3, after the extraction is completed, the central control system controls the mechanical arm to move the syringe to an online activity meter for activity measurement verification;

[0022] S4, after verification, the central control system controls the mechanical arm to load the syringe into a transmission carrier of a pneumatic transmission system, then instructs the pneumatic transmission system to start, and transports the transmission carrier to a designated target position through a sealed pipeline network;

[0023] S5, the target position receives and takes out the syringe, and completes the drug delivery process.

[0024] In a preferred embodiment of the present application, in the step S2, the central control system calculates a required drug activity according to input patient weight and examination item parameters, and calculates a volume instruction to be extracted in combination with a drug concentration and a decay time.

[0025] In a preferred embodiment of the present application, in the step S3, a total activity value measured by the online activity meter is compared with a theoretically calculated value, and an alarm is issued if an error exceeds a predetermined range.

[0026] The present application solves the defects in the background art, and has the following beneficial effects:

[0027] (1) The present application provides a radioactive drug extraction and delivery method and system, an automatic drug extraction module adopts a double-layer shielding cavity, the inner layer is a tungsten alloy shielding layer, the outer layer is a stainless steel structure layer, and an automatic mechanical arm and a high-precision injection pump are integrated to complete drug extraction operation, through the combination of physical shielding and automatic operation, the operator does not need to directly contact the radioactive drug throughout the operation, which fundamentally isolates the direct exposure of drug radiation to the human body, compared with the manual operation of the medical staff through the lead sleeve behind the lead glass in the traditional manual lead shielding sleeve operation, the hands and the whole body are subjected to high-dose radiation for a long time, the radiation exposure risk of the operator can be significantly reduced, further solid protection is provided for occupational health and safety, thereby reducing the possibility of occurrence of radiation-related occupational diseases.

[0028] (2) The present application can ensure the accuracy of the volume and activity of the drug by executing the extraction instruction through the high-precision injection pump and verifying it with the online activity meter, can eliminate the human visual reading error and operation inconsistency, can make the radioactive drug dose injected into the patient highly accurate, and can further improve the reliability and consistency of the drug dose, can provide a basis for the standardized uptake value quantitative analysis of the PET-CT image, and can greatly enhance the comparability and reliability of the diagnostic results.

[0029] (3) The pneumatic transmission system in the present application adopts networked sealed pipelines and high-speed transmission carriers, provides power through a pneumatic power unit, and realizes the rapid transfer of the drug from the drug extraction module to the scanning room through the route control of the RFID tag, can greatly shorten the drug transit time, reduce the drug decay caused by long-time transfer, and further reduce the degree of drug activity attenuation, further improve the effective utilization rate of the drug, and at the same time, the drug concentration is more stable, thereby helping to improve the image signal-to-noise ratio and enhance the detection sensitivity of the small lesions. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description, and obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings;

[0031] Figure 1 is a structure block diagram of a radioactive drug extraction and delivery system according to a preferred embodiment of the present application;

[0032] Figure 2 is a flowchart of a radioactive drug extraction and delivery method according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application, and obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0034] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0035] As Figure 1As shown, a radiopharmaceutical dispensing and delivering system, in some embodiments, comprises an automatic dispensing module, a pneumatic transmission system, and a central control system.

[0036] It can be understood that the system is particularly suitable for handling short half-life radiopharmaceuticals such as fluorodeoxyglucose (FDG), and the modules will be described in detail below.

[0037] In some embodiments, the automatic dispensing module comprises a radiation shielding cavity, a mechanical arm arranged in the radiation shielding cavity, a high-precision syringe pump for performing the dispensing action, a vision and sensing unit for identification and detection, and an online activity meter for measuring the activity of the drug.

[0038] It should be noted that the radiation shielding cavity adopts a double-layer structure, the inner layer is tungsten alloy material for providing high-density shielding, and the outer layer is a stainless steel structure layer for providing mechanical support and sealing. A lead glass observation window and a mechanical hand interface are provided on the front surface for emergency intervention.

[0039] In this embodiment, the mechanical arm is preferably a six-axis collaborative robot, and the end effector is a force sensing effector for clamping and puncturing the drug bottle. The core is composed of a clamping module and a force sensing module. The clamping module adopts a double-finger arc-shaped clamp structure, the inside is lined with a silicone non-slip pad, and can adapt to different specifications of syringe barrels such as 1 mL, 3 mL, and 5 mL. The force sensing module is integrated at the joint connecting the clamp and the mechanical arm, and specifically adopts a strain gauge type force sensor (measurement range 0-50N, accuracy ±0.1N) to collect axial resistance data in real time during puncture.

[0040] The front end of the effector is provided with a guide positioning ring, which cooperates with the visual positioning mark (identified by the vision unit) at the center of the drug bottle rubber plug, to ensure that the puncture position deviation of the needle does not exceed ±0.5mm. The force sensing system has three pre-set resistance thresholds: the initial contact stage (0-5N) controls the mechanical arm to feed at a low speed of 5mm / s, the rubber plug penetration stage (5-20N) switches to a micro-speed of 2mm / s, and after penetration (resistance drops to <3N) immediately stops feeding to prevent the needle from penetrating too deeply into the bottom of the drug bottle and contacting the precipitate.

[0041] Specifically, during the process of the mechanical arm driving the syringe to puncture the drug bottle, the force sensor transmits the resistance signal to the central control system in real time, and the system dynamically adjusts the feeding speed and force of the mechanical arm according to the pre-set threshold to realize flexible puncture. It effectively avoids the problems of rubber plug breakage, liquid pollution or needle bending caused by excessive force in traditional manual puncture, and improves the puncture success rate and reduces drug waste caused by operation errors through precise force control and positioning.

[0042] In this embodiment, the high-precision syringe pump is driven by a servo motor, and the precision can reach microliter level. The syringe slot is designed to be quickly replaceable to adapt to various specifications of pre-set vacuum syringes such as 1 mL, 3 mL, and 5 mL.

[0043] In this embodiment, the vision and sensing unit includes a camera for identifying drug information, an optical sensor for detecting liquid level and bubbles, and a pressure sensor for monitoring flow path pressure; and data linkage is realized through a central control system.

[0044] Specifically, the camera uses a 2 million pixel industrial camera with a resolution of 1920x1080 and a frame rate of 30 fps, equipped with an 8mm fixed focus lens and a ring-shaped LED fill light, installed at the top of the shielding cavity, and can identify batch, concentration, and expiration date information on the drug bottle label through OCR algorithm; the optical sensor uses a transmission type infrared grating with a wavelength of 850 nm, installed on both sides of the syringe barrel, and judges the liquid level position and bubbles by detecting the change of light transmittance; the pressure sensor is a miniature strain pressure transmitter with a range of -100 kPa~200 kPa and a response time of <10 ms, connected in series in the flow path between the syringe pump and the syringe, and monitors the pressure fluctuation in the extraction / pushing process in real time.

[0045] In this embodiment, the online activity meter is a well-type gamma detector, and the core detection element is a NaI(Tl) scintillation crystal with a diameter of 50 mm and a length of 80 mm, which is matched with a photomultiplier tube and a multi-channel analyzer, with an energy resolution of ≤8% and a measurement range of 10 kBq~10 GBq, meeting the FDG activity measurement requirements.

[0046] In this embodiment, the automatic drug extraction module is physically isolated by the shielding cavity, and the mechanical arm and the force sensing actuator cooperate to complete precise puncture and grabbing, the high-precision syringe pump extracts quantitatively according to the instruction, the vision and sensing system monitors the whole process to ensure no bubbles and no leakage, and the online activity meter verifies the activity of the final product; so that the whole drug extraction process is completely automated and does not require human intervention, not only greatly reducing the radiation exposure risk of the operator, but also ensuring the high accuracy of the drug dose through multiple sensing and verification mechanisms, and providing a basis for subsequent quantitative analysis of PET-CT imaging.

[0047] In some specific embodiments, the pneumatic transmission system includes a sealed pipeline network, a transmission carrier that can run in the pipeline network, a pneumatic power unit that provides power for the transmission carrier, and a reversing device for controlling the routing of the transmission carrier; the central control system is communicatively connected with the automatic drug extraction module and the pneumatic transmission system, for controlling the mechanical arm and the high-precision syringe pump to cooperate to complete the drug extraction operation, and for controlling the pneumatic transmission system to deliver the transmission carrier loaded with the drug to the target position.

[0048] It should be noted that the sealed pipeline network is a hard PVC pipeline, the inner wall is lined with 1 mm thick lead as a radiation shielding layer, and all pipeline connections use sealing rings to ensure air tightness.

[0049] In this embodiment, the transmission carrier is a sealed container with a radiation shielding layer inside, which is cylindrical as a whole, uses an aluminum alloy shell, and has a 3 mm lead equivalent lead-tungsten alloy shielding layer embedded inside. The passive RFID tag is embedded in the side wall of the carrier, and the stored information includes task ID (16-bit code), drug activity (MBq), target scanning room number (such as CT-03), and preparation time (accurate to seconds).

[0050] For example, the pneumatic power unit is composed of a central air compressor and turbine fans distributed at each node, and the transmission speed can be controlled by adjusting the air pressure; the reversing device is located at the pipeline branch, and guides the carrier route according to the instructions of the central control system; the pipeline system can also integrate multiple RFID card readers for real-time tracking of carrier position.

[0051] In this embodiment, the transmission carrier in the pneumatic transmission system runs at high speed in the shielding pipeline under the action of pneumatic power, realizes intelligent routing through RFID identification and reversing device, and quickly and accurately delivers the carrier loaded with the syringe to the target scanning room; through the fully enclosed shielding pipeline network and the special carrier, radiation protection and pollution control of radioactive drugs during transportation are realized, at the same time, the high transmission speed greatly shortens the drug delivery time, effectively reduces the drug activity decay, and ensures the image quality and drug economy.

[0052] In some specific embodiments, the central control system integrates a medicament management software for calculating the required drug dose according to patient information and generating the extraction volume instruction after decay correction.

[0053] It should be noted that the medicament management software integrated in the central control system is developed based on the Windows Embedded operating system, uses C# programming language and SQL Server database, supports HL7 standard interface docking with hospital HIS (hospital information system) and PACS (image archiving and communication system); the industrial PC runs the customized control software, provides a graphical user interface for displaying system status, setting parameters and monitoring processes.

[0054] Specifically, the core function modules of the medicament management software include: patient information management (automatically import name, ID, weight, examination items, etc.), dose calculation (built-in formula: required activity = weight (kg) x 5.5 MBq / kg, support adjusting coefficient according to examination type, such as tumor diagnosis coefficient 5.5, heart examination coefficient 8.0), decay correction, extraction volume calculation (volume = required activity / current drug bottle concentration).

[0055] Exemplarily, the system can also generate operation logs and audit tracking reports to meet the requirements of quality management specifications.

[0056] In this embodiment, the central control system controls the automatic dispensing module and the pneumatic transmission system through integrated software and hardware to realize the automatic management and control of the whole process from prescription generation, dispensing operation to transportation routing, thereby improving the efficiency and reliability of the whole process, and eliminating human operation differences through digital management and traceability mechanism to provide guarantee for process standardization and compliance.

[0057] As shown in Figure 2 The present application provides a dispensing and delivering method of a radiopharmaceutical dispensing and delivering system, comprising the following steps:

[0058] S1, placing a radiopharmaceutical bottle in a shielding cavity of an automatic dispensing module, and verifying the drug information by a central control system;

[0059] S2, controlling a mechanical arm to grab a syringe and install a needle by the central control system, then moving the mechanical arm to the position of the bottle to complete puncture, and controlling a high-precision syringe pump to extract the drug according to the calculated volume, while monitoring the extraction process through a vision and sensing unit;

[0060] S3, after the extraction is completed, moving the syringe to an online activity meter by the central control system to measure and verify the activity by the mechanical arm;

[0061] S4, after the verification is passed, loading the syringe into a transmission carrier of a pneumatic transmission system by the central control system, then instructing the pneumatic transmission system to start, and transporting the transmission carrier to a specified target position through a sealed pipeline network;

[0062] S5, receiving and taking out the syringe at the target position to complete the delivering process.

[0063] In some specific embodiments, in step S2, the central control system calculates the required drug activity according to the input patient weight and examination item parameters, and calculates the required volume instruction in combination with the drug concentration and decay time.

[0064] Specifically, the patient information is input in two ways: one is automatically imported from the HIS system, and the other is manually input by a pharmacist, and the information includes weight, examination item, and allergy history; the drug concentration information is obtained by recognizing the bottle label through a vision unit (such as “initial concentration 20 MBq / mL, preparation time 2025-09-03 08:00”), and the decay time calculation starting point is the bottle preparation time, and the end point is the expected injection time.

[0065] Further, the extraction speed of the high-precision syringe pump adopts a gradient control strategy: in the initial stage (0-30% volume), the speed is low at 0.5 mL / s, in the middle stage (30%-80% volume), the speed is medium at 1.0 mL / s, and in the final stage (80%-100% volume), the speed is low at 0.3 mL / s. At the same time, the optical sensor monitors the liquid level in real time. If a bubble is detected, the system automatically starts the push-back-redraw program, i.e., after pushing back 0.2 mL, it is slowly extracted again to ensure that there is no bubble residue.

[0066] Further, for special patients such as children and obese people, the software supports manual adjustment of the dose coefficient (range 3.0-10.0 MBq / kg). The pharmacist can modify it according to the clinical needs under the authorization of the system and record the modification reason.

[0067] In some specific embodiments, in step S3, the total activity value measured by the online activity meter is compared with the theoretically calculated value, and an alarm is issued if the error exceeds the predetermined range.

[0068] Specifically, the comparison process is as follows: the mechanical arm vertically places the completed syringe into the activity meter well, the detector starts counting, and after the measurement is completed, the system automatically reads the activity value, compares it with the theoretically calculated value, calculates the relative error, and if the error is within ±2%, it is determined to be passed, otherwise an alarm is triggered.

[0069] Further, after the alarm, the system provides three processing options: re-extraction (automatically start step S2 to repeat the extraction), manual adjustment (pharmacist manually fine-tune the volume through the master-slave mechanical hand after lead shielding), and forced pass, to ensure that abnormal situations can be traced.

[0070] Further, to improve measurement reliability, the system adopts a double measurement and average strategy: after the first measurement is completed, the mechanical arm rotates the syringe by 180° and places it into the well again for measurement. When the deviation between the two results is >1%, a third measurement is automatically performed, and the median of the three is taken as the final result, reducing the measurement error caused by geometric position deviation.

[0071] Optionally, the software supports activity trend analysis, automatically calculates the activity measurement error distribution of each day / week, generates a quality control report, and provides data support for system calibration.

[0072] The above is based on the ideal embodiment of the present application, through the above description, for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0073] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A radiopharmaceutical dispensing and delivering system, characterized by, The application relates to an automatic medicine dispensing system, comprising an automatic medicine dispensing module, a pneumatic transmission system and a central control system. The automatic medicine dispensing module comprises a radiation shielding cavity, a mechanical arm arranged in the radiation shielding cavity, a high-precision injection pump used for performing a dispensing action, a vision and sensing unit used for identification and detection, and an online activity meter used for measuring the activity of medicine. The pneumatic transmission system comprises a sealed pipeline network, a transmission carrier capable of moving in the pipeline network, a pneumatic power unit for providing power for the transmission carrier, and a reversing device for controlling the routing of the transmission carrier. The central control system is in communication connection with the automatic medicine dispensing module and the pneumatic transmission system, and is used for controlling the mechanical arm and the high-precision injection pump to cooperatively complete a medicine dispensing operation and controlling the pneumatic transmission system to deliver the transmission carrier loaded with medicine to a target position. The end effector of the mechanical arm is a force sensing end effector used for clamping and puncturing a medicine bottle.

2. The radiopharmaceutical dispensing and administering system of claim 1, wherein: The vision and sensing unit comprises a camera used for identifying medicine information, an optical sensor used for detecting a liquid level and air bubbles, and a pressure sensor used for monitoring the pressure of a flow path.

3. The radiopharmaceutical dispensing and administering system of claim 1, wherein: The online activity meter is a well-type gamma detector, and is arranged at a position for accommodating a completed medicine dispensing syringe and performing activity measurement.

4. The radiopharmaceutical dispensing and administering system of claim 1, wherein: The transmission carrier is a sealed container internally provided with a radiation shielding layer, and externally provided with a passive RFID tag used for storing identity and target information.

5. The radiopharmaceutical dispensing and administering system of claim 1, wherein: The inner wall of the sealed pipeline network is lined with a radiation shielding layer.

6. The radiopharmaceutical dispensing and administering system of claim 1, wherein: The central control system is integrated with a medicine management software, which is used for calculating a required medicine dose according to patient information and generating a dispensing volume instruction after decay correction.

7. The radiopharmaceutical dispensing and administering system of claim 1, wherein: The application further discloses a medicine dispensing method, comprising the following steps:

8. A method of dispensing a radiopharmaceutical according to any one of claims 1 to 7, wherein S1, placing a radioactive medicine bottle in a shielding cavity of an automatic medicine dispensing module, and verifying medicine information by a central control system; S2, controlling the mechanical arm to grab a syringe and install a needle by the central control system, then moving the mechanical arm to a position of the medicine bottle to complete puncturing, and controlling a high-precision injection pump to dispense medicine according to a calculated volume, and monitoring a dispensing process by a vision and sensing unit; S3, after the dispensing is completed, moving the syringe to an online activity meter by the mechanical arm to perform activity measurement verification by the central control system; S4, after the verification is passed, loading the syringe into a transmission carrier of a pneumatic transmission system by the mechanical arm, and then instructing the pneumatic transmission system to start, and delivering the transmission carrier to a specified target position through a sealed pipeline network; S5, receiving and taking out the syringe at the target position to complete a medicine delivery process. In the step S2, the central control system calculates a required medicine activity according to input patient weight and examination item parameters, and calculates a volume instruction to be dispensed in combination with medicine concentration and decay time.

9. The method of claim 8, wherein the method further comprises: determining whether the radio-pharmaceutical is present in the radio-pharmaceutical container; and if the radio-pharmaceutical is not present in the radio-pharmaceutical container, generating an alert. In the step S3, comparing a total activity value measured by the online activity meter with a theoretically calculated value, and issuing an alarm if an error exceeds a predetermined range.

10. The method of claim 8, wherein the method further comprises: determining whether the radio-pharmaceutical is present in the radio-pharmaceutical container; and if the radio-pharmaceutical is not present in the radio-pharmaceutical container, generating an alert. ​

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