Radioactive drug weighing system and its control method

Abstract

The present invention discloses a radioactive drug weighing system, comprising: a main controller capable of sending control program instructions; a programmable logic controller electrically connected to the main controller and capable of receiving and processing the control program instructions sent by the main controller; a peristaltic pump servo driver electrically connected to the programmable logic controller and used for controlling a peristaltic pump motor to drive a pump head to inject a radioactive drug mother liquor or a diluent into a medicine bottle multiple times; a weighing module electrically connected to the programmable logic controller and capable of detecting the weights of the medicine bottle before and after liquid injection placed at the dispensing position; and a manipulator electrically connected to the programmable logic controller and capable of transporting the medicine bottle to the weighing module and covering the medicine bottle with a wind shield before liquid injection weighing, or removing the wind shield and the medicine bottle after liquid injection weighing. The present invention also discloses a control method based on the radioactive drug weighing system, which adds functions of automatically calibrating the peristaltic pump and calibrating the dispensing weighing.

Description

Technical Field

[0001] The present invention relates to a radioactive drug weighing system and a control method thereof.

Background Art

[0002] Radioactive drugs refer to a special type of drugs containing radionuclides for medical diagnosis and treatment, which are used for medical diagnosis or treatment in the body. At present, peristaltic pumps are mostly used in the dispensing of radioactive drugs. The rollers in the pump head of the peristaltic pump alternately squeeze and release the elastic delivery hose to pump radioactive liquid medicine. Due to certain errors that may exist in each batch of delivery hoses, and due to reasons such as the wear of the peristaltic pump motor and the deformation of the delivery hose, the amount of liquid delivered per revolution of the peristaltic pump will change. Also, because the dispensing of radioactive drugs is carried out in a closed environment, affected by environmental limitations, the dispensed drugs cannot be weighed in real time, and the dispensing accuracy of each batch of products cannot be guaranteed.

[0003] Therefore, the present invention is precisely generated based on the above deficiencies.

Summary of the Invention

[0004] The object of the present invention is to overcome the deficiencies of the prior art, and provide a radioactive drug weighing system with automatic liquid injection and weighing and a control method thereof, which increases the functions of automatically correcting the peristaltic pump and calibrating the dispensing weighing.

[0005] The present invention is realized by the following technical solutions:

[0006] A radioactive drug weighing system, characterized by comprising:

[0007] A main controller, capable of sending control program instructions;

[0008] A programmable logic controller, which is electrically connected to the main controller and capable of receiving and processing the control program instructions sent by the main controller;

[0009] A peristaltic pump servo driver, which is electrically connected to the programmable logic controller and used to control the peristaltic pump motor to drive the pump head to inject radioactive drug mother liquor or diluent into the medicine bottle multiple times;

[0010] A weighing module, which is electrically connected to the programmable logic controller and capable of detecting the weight of the medicine bottle before and after liquid injection placed at the dispensing position;

[0011] A manipulator, which is electrically connected to the programmable logic controller and capable of transporting the medicine bottle to the weighing module before liquid injection and weighing and covering the medicine bottle with a wind shield that can cover the outside of the medicine bottle, or taking away the wind shield and the medicine bottle after liquid injection and weighing.

[0012] The radioactive drug weighing system described above is characterized in that: the peristaltic pump motor includes a mother liquor shaft servo motor for driving the pump head to convey the mother liquor and a diluent shaft servo motor for driving the pump head to convey the diluent.

[0013] The radioactive drug weighing system described above is characterized in that: the weighing module is a weighing sensor.

[0014] A control method based on the above radioactive drug weighing system is characterized by including performing peristaltic pump calibration, and the peristaltic pump calibration includes the following specific steps:

[0015] S1. The manipulator grabs the medicine bottle for calibration to the dispensing position, and the peristaltic pump injects Q1 turns of liquid with a known density into the medicine bottle;

[0016] S2. The robot grabs the wind shield to the dispensing position and covers the medicine bottle;

[0017] S3. The weighing module weighs and records the data therein to obtain the weight G1 of the medicine bottle when filled with liquid;

[0018] S4. The robot removes the wind shield from the dispensing position;

[0019] S5. Perform secondary liquid injection. At this time, the number of injection turns is Q2, and record the current weight G2,

[0020] Calculate the proportional value K = (G2 - G1) / Q2;

[0021] S6. The manipulator removes the wind shield from the dispensing position;

[0022] S7. The manipulator removes the medicine bottle for calibration from the dispensing position, and the calibration is completed.

[0023] S8. The manipulator grabs the medicine bottle to be injected with the mother liquor of the radioactive drug for dispensing.

[0024] The control method of the radioactive drug weighing system described above is characterized in that: the dispensing in step S8 includes the following specific steps:

[0025] S9. The manipulator grabs the medicine bottle to the dispensing position;

[0026] S10. The manipulator grabs the wind shield to the dispensing position and covers the medicine bottle;

[0027] S11. The weighing module weighs and records the weight G of the empty medicine bottle 10 ;

[0028] S12. The manipulator removes the wind shield from the dispensing position;

[0029] S13. The peristaltic pump injects a set volume V 10, a radioactive drug mother liquor with a density of ρ1;

[0030] S14. The manipulator grabs the wind shield and moves it to the dispensing position to cover the medicine bottle. The weighing module weighs the medicine bottle and records the weight G of the medicine bottle containing the radioactive drug mother liquor. 11 ;

[0031] S15. The manipulator removes the wind shield from the dispensing position.

[0032] S16. Calculate V 11 =(G 11 -G 10 ) / ρ1 is equal to V 10 . If the error between V 11 and V 10 is within the allowable range, encapsulation is performed. If the error between V 11 and V 10 is not within the allowable range, a difference is filled in.

[0033] The control method of the radioactive drug weighing system as described above is characterized in that: before encapsulation in step S16, a peristaltic pump injects diluent into the medicine bottle.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] 1. When the present invention works, the main controller sets and sends control program instructions to the programmable controller. The programmable controller controls the manipulator to transport the medicine bottle and the wind shield to the dispensing position or remove the medicine bottle and the wind shield from the dispensing position according to the set control program. The programmable controller also controls the peristaltic pump servo driver to control the peristaltic pump motor to drive the pump head to inject the radioactive drug mother liquor or diluent into the medicine bottle, and controls the weighing module to detect the weight of the medicine bottle placed at the dispensing position in real time. The overall degree of automation is high, which is beneficial to reducing the labor intensity and improving the work efficiency. It can also perform real-time feedback control of liquid injection and weighing, so as to improve the accuracy of dispensing nuclear medicine liquid and improve the consistency and stability of the dispensed products.

[0036] 2. The present invention ensures the accuracy of radioactive drug dispensing by adding the function of automatically correcting the peristaltic pump and the calibration function of dispensing weighing.

Description of the Drawings

[0037] Figure 1 is the system diagram of the present invention;

[0038] Figure 2 is the flow chart of the peristaltic pump calibration method of the present invention;

[0039] Figure 3 is the flow chart of the weighing and dispensing method of the present invention.

Detailed Embodiments

[0040] The present invention will be further described below in conjunction with the accompanying drawings:

[0041] As Figures 1 to 3 shown, a main controller capable of sending control program instructions; a programmable logic controller electrically connected to the main controller and capable of receiving and processing the control program instructions sent by the main controller; a peristaltic pump servo driver electrically connected to the programmable logic controller and used to control the peristaltic pump motor to drive the pump head to inject the radioactive drug mother liquor or diluent into the medicine bottle multiple times; a weighing module electrically connected to the programmable logic controller, capable of detecting the weight of the medicine bottle before and after liquid injection placed at the dispensing position; a manipulator electrically connected to the programmable logic controller, capable of transporting the medicine bottle to the weighing module before liquid injection weighing and covering the medicine bottle with a wind shield that can block the wind outside the medicine bottle, or removing the wind shield and the medicine bottle after liquid injection weighing. In this system, the wind shield is a cylindrical structure with one end open, which can cover the outside of the medicine bottle, block the laminar flow of air, but does not contact the weighing module and the medicine bottle, and does not affect the weighing of the medicine bottle by the weighing module. During operation, the main controller sets and sends control program instructions to the programmable logic controller, and the programmable logic controller controls the manipulator to transport the medicine bottle and the wind shield to the dispensing position or remove the medicine bottle and the wind shield from the dispensing position according to the set control program. The programmable logic controller also controls the peristaltic pump servo driver to control the peristaltic pump motor to drive the pump head to inject the radioactive drug mother liquor or diluent into the medicine bottle, and controls the weighing module to detect the weight of the medicine bottle placed at the dispensing position in real time. The overall degree of automation is high, which is conducive to reducing the labor intensity and improving work efficiency. It can also perform real-time feedback control of weighing while injecting liquid, improving the accuracy of dispensing nuclear medicine liquid, and enhancing the consistency and stability of the dispensed products.

[0042] In this embodiment, the peristaltic pump motor includes a mother liquor shaft servo motor for driving the pump head to transport the mother liquor and a diluent shaft servo motor for driving the pump head to transport the diluent. In this system, the peristaltic pump includes a mother liquor pump and a diluent peristaltic pump. The mother liquor pump has a mother liquor shaft servo motor, and the mother liquor shaft servo motor can drive the peristaltic pump head, so that the pump head alternately squeezes and releases the elastic hose filled with the radioactive drug mother liquor through the roller to pump the radioactive drug mother liquor. Similarly, the diluent shaft servo motor in the diluent peristaltic pump can drive the peristaltic pump head to pump out a fixed amount of diluent or water. Both the diluent shaft servo motor and the mother liquor shaft servo motor are connected to the peristaltic pump servo driver through signal lines and are controlled by the peristaltic pump servo driver.

[0043] In this embodiment, the weighing module is a weighing sensor, and the weighing sensor can sense the weight change of the medicine bottle placed at the dispensing position.

[0044] As Figures 2 - 3 shown, the present invention also provides a control method based on the above radioactive drug weighing system, including performing peristaltic pump calibration, such asFigure 2 As shown in the figure, the calibration of the peristaltic pump includes the following specific steps:

[0045] S1. The manipulator grabs the medicine bottle and moves it to the dispensing position, and the peristaltic pump injects Q1 turns of liquid with a known density into the medicine bottle; In a specific implementation, the liquid with the known density is water, and the density of water is 1 g / cm3. Injecting this liquid is to fill the injection pipeline with liquid.

[0046] S2. The robot grabs the wind shield and moves it to the dispensing position to cover the medicine bottle, removing the laminar flow wind speed to cause an error in the weighing data;

[0047] S3. The weighing module weighs and records the data therein to obtain the weight G1 of the medicine bottle when it contains liquid;

[0048] S4. The robot removes the wind shield from the dispensing position;

[0049] S5. Perform secondary liquid injection. At this time, the number of injection turns is Q2, record the current weight G2, and calculate the ratio value K = (G2 - G1) / Q2;

[0050] S6. The manipulator removes the wind shield from the dispensing position;

[0051] S7. The manipulator removes the calibration bottle from the dispensing position, and the calibration is completed;

[0052] S8. The manipulator grabs the medicine bottle to be injected with the radioactive drug mother liquor for dispensing.

[0053] The calibration of the peristalsis is completed by the PLC. The peristaltic pump head is driven by a servo motor, and the PLC controls the servo motor through the SSCNET network; The volume K pumped out by the peristaltic pump per revolution, that is, the ratio of the volume to the number of turns, can pump out a fixed dilution or water. By calculation, the relationship between the rotation angle of the servo motor and the volume of the pumped-out liquid can be established.

[0054] Such as Figure 3 As shown in the figure, the dispensing in step S8 includes the following specific steps:

[0055] S9. The manipulator grabs the medicine bottle and moves it to the dispensing position;

[0056] S10. The manipulator grabs the wind shield and moves it to the dispensing position to cover the medicine bottle;

[0057] S11. The weighing module weighs and records the weight G of the empty medicine bottle 10 ;

[0058] S12. The manipulator removes the wind shield from the dispensing position;

[0059] S13. The peristaltic pump injects a set volume V 10 of radioactive drug mother liquor with a density of ρ1;

[0060] S14. The manipulator grabs the wind shield and moves it to the dispensing position to cover the medicine bottle. The weighing module weighs the medicine bottle and records the weight G of the medicine bottle containing the radioactive drug mother liquor. 11 ;

[0061] S15. The manipulator removes the wind shield from the dispensing position.

[0062] S16. Calculate whether V 11 =(G 11 -G 10 ) / ρ1 is equal to V 10 . If the error between V 11 and V 10 is within the allowable range, encapsulation is performed. If the error between V 11 and V 10 is not within the allowable range, the difference is filled in.

[0063] In addition to encapsulating the radioactive drug mother liquor with V 11 within the allowable range as in step S16, a program can also be set as needed. Before encapsulation in step S16, the dilution liquid peristaltic pump is controlled to inject dilution liquid into the medicine bottle, and after obtaining the diluted radioactive drug product, encapsulation is performed.

[0064] In the present invention, the main controller is a PC, and the programmable controller is a PLC. The entire control system adopts the control mode of the PLC. The PLC uses the latest generation of medium and large-sized programmable controller of the R series of Mitsubishi, with the model number R04EN, having a program memory of 160K bytes, the fastest instruction processing time of 0.98 ns, and three RJ45 interfaces at the same time, having industrial bus functions such as Ethernet and CC-Link IE; by adding an expansion module, the input / output interface functions of analog and digital quantities are realized. The PLC communicates with the manipulator using the CC-Link industrial bus. CC-Link has a high-speed data transmission speed, up to 10 Mb / s at most, and the communication is stable and reliable, ensuring that the actions of the manipulator will not be delayed.

[0065] The manipulator is equipped with a fixture that can clamp the weighing bottle and the wind shield; the robot arm uses the Staubli TX240stericlean manipulator, the maximum load of which is 2 kg and the working radius is 515 mm. The sterile manipulator adopts special joints and a fully enclosed structure, with an IP65 protection level, and can cope with the disinfection process in the VHP environment. The manipulator controller CS9 provides communication ports that support EtherCAT, Modbus TCP, and Ethernet Socket protocols.

[0066] This radioactive drug weighing system uses a PLC as its controller, which well handles the relationship between data operation and equipment logic control, ensuring the stable, safe and reliable operation of the equipment. During the production process, a manipulator that complies with GMP specifications is used for material handling. The mechanism is small in size, convenient for cleaning and operation, and ensures the accuracy of radioactive drug dispensing.

Claims

1. A radioactive drug weighing system, characterized in that, Including: A main controller capable of sending control program instructions; A programmable controller electrically connected to the main controller and capable of receiving and processing the control program instructions sent by the main controller; A peristaltic pump servo driver electrically connected to the programmable controller and used to control the peristaltic pump motor to drive the pump head to inject the radioactive drug mother liquor or diluent into the medicine bottle multiple times; A weighing module electrically connected to the programmable controller, capable of detecting the weight of the medicine bottle before and after liquid injection placed at the dispensing position; A manipulator electrically connected to the programmable controller, capable of transporting the medicine bottle to the weighing module before liquid injection weighing and covering the medicine bottle with a wind shield that can block the wind outside the medicine bottle, or removing the wind shield and the medicine bottle after liquid injection weighing; It also includes calibrating the peristaltic pump, and the specific steps are as follows: S1. The manipulator grabs the medicine bottle for calibration to the dispensing position, and the peristaltic pump injects Q1 turns of liquid with a known density into the medicine bottle; S2. The robot grabs the wind shield to the dispensing position and covers the medicine bottle; S3. The weighing module weighs and records the data therein to obtain the weight G1 of the medicine bottle when filled with liquid; S4. The robot removes the wind shield from the dispensing position; S5. Perform secondary liquid injection. At this time, the number of injection turns is Q2, record the current weight G2, and calculate the ratio value K = (G2 - G1) / Q2; S6. The manipulator removes the wind shield from the dispensing position; S7. The manipulator removes the medicine bottle for calibration from the dispensing position, and the calibration is completed; S8. The manipulator grabs the medicine bottle to be injected with the radioactive drug mother liquor for dispensing.

2. The radioactive drug weighing system according to claim 1, wherein: The peristaltic pump motor includes a mother liquor shaft servo motor for driving the pump head to transport the mother liquor and a diluent shaft servo motor for driving the pump head to transport the diluent.

3. The radioactive drug weighing system according to claim 1, wherein: The weighing module is a weighing sensor.

4. A control method for a radioactive drug weighing system according to any one of claims 1-3, characterized in that: The dispensing in step S8 includes the following specific steps: S9. The manipulator grabs the medicine bottle to the dispensing position; S10. The manipulator grabs the wind shield to the dispensing position and covers the medicine bottle; S11. The weighing module weighs and records the weight G10 of the empty medicine bottle; S12. The manipulator removes the wind shield from the dispensing position; S13. The peristaltic pump injects the radioactive drug mother liquor with a set volume V10 and a density of ρ1; S14. The manipulator grabs the wind shield to the dispensing position and covers the medicine bottle, and the weighing module weighs and records the weight G11 of the medicine bottle filled with the radioactive drug mother liquor; S15. The manipulator removes the wind shield from the dispensing position; S16. Calculate whether V11 = (G11 - G10) / ρ1 is equal to V10. If the error between V11 and V10 is within the allowable range, perform encapsulation. If the error between V11 and V10 is not within the allowable range, make up the difference.

5. The control method of the radioactive drug weighing system according to claim 4, characterized in that: Before encapsulation in step S16, the peristaltic pump injects diluent into the medicine bottle.

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