Monitoring system and monitoring method for monitoring waste amount of liquid medicine

Abstract

The invention discloses a monitoring system and a monitoring method for monitoring the waste amount of liquid medicine. The monitoring system comprises an acquisition module, a recovery device and a controller, the acquisition module is configured to acquire a reference weight value for the residual liquid medicine based on the usage amount of the liquid medicine and the total amount of the liquid medicine; the recovery device comprises a containing cavity, a receiving part, a first weight sensing unit arranged on the receiving part and a second weight sensing unit arranged in the containing cavity. The first weight sensing unit is configured to obtain a first weight value of a single waste medicine, and the second weight sensing unit is configured to obtain a total weight value of the waste medicines in the accommodating chamber; the controller is configured to acquire a second weight value of the single waste drug based on a change amount of the total weight value, and acquire a waste amount based on the first weight value, the second weight value, a standard weight value, and a reference weight value. As a result, a monitoring system capable of performing multiple checks to improve the accuracy of acquiring the waste amount of a chemical solution is provided.

Description

Technical Field

[0001] The present disclosure generally relates to the field of medical device technology, and more particularly to a monitoring system and a monitoring method for monitoring the waste amount of liquid medicine. Background Art

[0002] A dispensing robot (also known as an automated dispensing system) is a dispensing system that uses multiple robotic arms to work together to automatically dispense drugs according to a prescription list, replacing the manual dispensing process.

[0003] In the process of dispensing medicine by the dispensing robot, especially when the medicine is quantitatively prepared, the waste (such as discarded medicine bottles) generated by the dispensing robot usually includes a large amount of residual medicine liquid (that is, the amount of waste medicine liquid). Statistics and recording of the amount of waste medicine liquid are of great practical significance for the dispensing robot. For example, the amount of waste medicine liquid for each prescription in the prescription list can be documented. In particular, for controlled drugs (such as narcotic drugs), by counting and recording the amount of waste medicine liquid of controlled drugs, the controlled drugs can be better controlled, thereby reducing the risk of outflow of controlled drugs.

[0004] In the prior art, when counting the amount of waste liquid medicine of the dispensing robot, usually only one check is performed. Specifically, the dispensing robot uses the target medicine to dispense medicine and generates waste medicine, the target medicine includes a medicine bottle and a liquid medicine, and the waste medicine includes a medicine bottle and residual liquid medicine. An electronic scale can be installed at the bottom of the recycling device of the dispensing robot. When a bottle of waste medicine is discarded to the recycling device, the change in the total weight of the waste medicine in the recycling device is monitored by the electronic scale, and the first weight of the residual liquid medicine for the bottle of waste medicine can be obtained by combining the weight of the medicine bottle itself; the amount of residual liquid medicine can be obtained according to the amount of liquid medicine used and the total amount of liquid medicine during dispensing, so as to obtain the second weight of the residual liquid medicine, and finally the first weight and the second weight are checked once to confirm the amount of waste liquid medicine. In this case, since the electronic scale is used to measure the total weight of the waste in the recycling device, its measurement accuracy is usually relatively low, which may result in the result of obtaining the amount of waste liquid medicine is not accurate, and cannot meet the demand for accurate statistics of the amount of waste liquid medicine. In addition, if a weighing platform is added to the dispensing area of ​​the dispensing robot to weigh the discarded medicines to obtain the corresponding amount of discarded liquid medicine, on the one hand, it will take up space in the dispensing area, and on the other hand, it will add a weighing link to the dispensing process (that is, the robotic arm needs to move the medicine bottle to the weighing platform for placement, and after weighing, the medicine bottle is moved to a recycling device for disposal). This will increase the time of the entire automated dispensing process, thereby reducing the efficiency of dispensing. Summary of the invention

[0005] The present disclosure is proposed in view of the above situation, and aims to provide a monitoring system and a monitoring method for monitoring the waste amount of liquid medicine, which can perform multiple checks to improve the accuracy of obtaining the waste amount of liquid medicine and does not affect the efficiency of dispensing.

[0006] To this end, the first aspect of the present disclosure provides a monitoring system for monitoring the amount of waste liquid, which is a system for monitoring residual liquid in waste drugs generated after the target drug is dispensed, wherein the target drug includes a medicine bottle and a liquid, and the waste drug includes a medicine bottle and residual liquid, wherein the medicine bottle has a standard weight value, and the monitoring system includes an acquisition module, a recovery device and a controller; the acquisition module is configured to acquire the amount of residual liquid based on the usage amount of the liquid and the total amount of the liquid to obtain a reference weight value for the residual liquid; the recovery device includes a accommodating chamber for storing the waste drugs, a receiving part connected to the accommodating chamber and used to receive the waste drugs, a first weight sensing unit arranged in the receiving part, and a second weight sensor unit arranged at the bottom of the accommodating chamber; the first weight sensing unit is configured to acquire a first weight value of a single waste drug, and the second weight sensing unit is configured to acquire a total weight value of the waste drugs in the accommodating chamber; the controller is configured to acquire a second weight value of a single waste drug based on a change in the total weight value of the waste drugs, and acquire the waste amount based on the first weight value, the second weight value, the standard weight value and the reference weight value.

[0007] In the first aspect of the present disclosure, compared to the method of adding a weighing device in the dispensing area to measure a single discarded medicine, by setting a first weight sensing unit in the receiving part, it is possible to measure the weight of a single discarded medicine in the recovery device, which neither occupies the operating space of the dispensing area nor adds a weighing link in the dispensing process, so that weighing a single discarded medicine does not affect the efficiency of automated dispensing. In addition, since the first weight sensing unit is used to measure the weight of a single discarded medicine, its measurement accuracy is usually relatively high, which can improve the accuracy of obtaining the weight of a single discarded medicine, thereby helping to improve the accuracy of obtaining the waste amount of liquid medicine. In addition, by obtaining a reference weight value for the residual medicine liquid, a standard weight value of the medicine bottle, a first weight value of the discarded medicines, and a second weight value of the discarded medicines, in the process of obtaining the waste amount of the medicine liquid, the controller can respectively compare the first weight value minus the standard weight value with the reference weight value, compare the second weight value minus the standard weight value with the reference weight value, and compare the first weight value with the second weight value. That is, the controller determines the waste amount of the medicine liquid after multiple checks, thereby improving the accuracy of obtaining the waste amount of the medicine liquid.

[0008] In addition, in the monitoring system involved in the first aspect of the present disclosure, optionally, the controller is configured to obtain a first residual weight value for the residual liquid medicine based on the first weight value and the standard weight value, obtain a second residual weight value for the residual liquid medicine based on the second weight value and the standard weight value, and determine the waste amount based on the difference between the first residual weight value and the second residual weight value being no greater than a preset ratio of a reference weight value. In this case, by limiting the comparison result of the first residual weight value and the second residual weight value using a preset ratio of the reference weight value, a reference basis can be provided for eliminating abnormal values ​​in the first residual weight value or the second residual weight value, thereby reducing the influence of abnormal values ​​on determining the waste amount of the liquid medicine.

[0009] In addition, in the monitoring system involved in the first aspect of the present disclosure, optionally, the controller is configured to obtain a first difference based on the difference between the first residual weight value and the reference weight value, and obtain a second difference based on the difference between the second residual weight value and the reference weight value, and in response to the first difference being less than the second difference, determine that the waste amount is the first residual weight value; in response to the second difference being less than the first difference, determine that the waste amount is the second residual weight value. In this case, by comparing the first difference with the second difference, a value closer to the reference weight value can be selected from the first residual weight value and the second residual weight value as the waste amount of the liquid medicine, thereby improving the accuracy of obtaining the waste amount of the liquid medicine.

[0010] In addition, in the monitoring system of the first aspect of the present disclosure, optionally, the recovery device includes a waste container for storing the waste medicines and arranged on the second weight sensing unit. In this case, the waste medicines in the containing chamber can be gathered together by collecting the waste medicines through the waste container, and the accuracy of the measurement result can be improved when the second weight sensing unit measures the total weight of the waste medicines.

[0011] In addition, in the monitoring system involved in the first aspect of the present disclosure, optionally, a single discarded drug enters the recovery device under the action of its own gravity, and the first weight sensing unit delays a preset time after receiving the single discarded drug and then obtains the first weight value. In this case, by making the first weight sensing unit delay a preset time after receiving the single discarded drug and then measure the single discarded drug, the influence of the gravitational potential energy of the discarded drug on the measurement result can be reduced, thereby improving the accuracy of obtaining the first weight value.

[0012] In addition, in the monitoring system involved in the first aspect of the present disclosure, optionally, the receiving portion includes a first opening, a second opening, and a hollow channel connecting the first opening and the second opening, the hollow channel is prism-shaped, and at least one inner side of the hollow channel is an inclined surface. In this case, when the discarded medicine enters the recovery device under the action of its own gravity, the discarded medicine can first abut the inclined surface and then slide down to the first weight sensing unit through the inclined surface. The inclined surface provides a buffering effect for the discarded medicine, which can reduce the possibility of residual liquid spilling out of the medicine bottle, thereby improving the accuracy of obtaining the first weight value.

[0013] In addition, in the monitoring system involved in the first aspect of the present disclosure, optionally, the receiving part includes a driving mechanism and a guide groove arranged on the inclined surface and extending toward the accommodating chamber, the guide groove includes a first guide rail and a second guide rail arranged in parallel, and the output shaft of the driving mechanism is connected to the first guide rail or the second guide rail. In this case, the guide groove extending toward the accommodating chamber can provide a guiding effect for the discarded medicines sliding down the inclined surface, so that the discarded medicines can slide more smoothly to the first weight sensing unit, thereby further reducing the possibility of residual liquid medicine spilling out of the medicine bottle.

[0014] In addition, in the monitoring system involved in the first aspect of the present disclosure, optionally, the driving mechanism is electrically connected to the controller, and the controller controls the driving mechanism to adjust the distance between the first guide rail and the second guide rail based on the size of the medicine bottle so that the distance fits the medicine bottle. In this case, the guide groove can adapt to different sizes of medicine bottles (such as different ring diameters), that is, the guide groove can provide guidance for different medicine bottles, so that the guide groove can have better universality.

[0015] A second aspect of the present disclosure provides a monitoring method for monitoring the amount of waste medicine liquid, which is a method for monitoring residual medicine liquid in waste medicine generated after the target medicine is dispensed, wherein the target medicine includes a medicine bottle and medicine liquid, and the waste medicine includes the medicine bottle and residual medicine liquid, wherein the medicine bottle has a standard weight value, and the monitoring method includes: obtaining the amount of residual medicine liquid based on the total amount of medicine liquid and the amount of medicine liquid used to obtain a reference weight value for the residual medicine liquid, obtaining a first weight value of a single waste medicine, obtaining a second weight value of a single waste medicine based on a change in the total weight of the waste medicine, obtaining a first residual weight value for the residual medicine liquid based on the first weight value and the standard weight value, obtaining a second residual weight value for the residual medicine liquid based on the second weight value and the standard weight value, obtaining a weight deviation value for the first residual weight value and the second residual weight value based on the first residual weight value and the second residual weight value, and comparing the weight deviation value with a preset ratio of the reference weight value to determine the waste amount.

[0016] In the second aspect of the present disclosure, by obtaining a reference weight value, a first residual weight value, and a second residual weight value for the residual medicine liquid, in the process of determining the waste amount of the medicine liquid, the first residual weight value is first compared with the second residual weight value to obtain a weight deviation value, and then the weight deviation value is compared with a preset ratio of the reference weight value to determine the waste amount of the medicine liquid, that is, the waste amount of the medicine liquid is determined after multiple checks, thereby improving the accuracy of obtaining the waste amount of the medicine liquid.

[0017] In addition, in the monitoring method involved in the second aspect of the present disclosure, optionally, a first difference is obtained based on the difference between the first residual weight value and the reference weight value, and a second difference is obtained based on the difference between the second residual weight value and the reference weight value, and in response to the weight deviation value not being greater than a preset ratio of the reference weight value and the first difference being less than the second difference, the waste amount is determined to be the first residual weight value; in response to the weight deviation value not being greater than a preset ratio of the reference weight value and the second difference being less than the first difference, the waste amount is determined to be the second residual weight value. In this case, by limiting the weight deviation value by the preset ratio of the reference weight value, a reference basis can be provided for eliminating abnormal values ​​in the first residual weight value or the second residual weight value, thereby reducing the influence of abnormal values ​​on determining the waste amount of the liquid medicine. In addition, under the condition that the weight deviation value meets the requirements, by comparing the first difference with the second difference, a value closer to the reference weight value can be selected from the first residual weight value and the second residual weight value as the waste amount of the liquid medicine, thereby improving the accuracy of obtaining the waste amount of the liquid medicine.

[0018] According to the present disclosure, a monitoring system and a monitoring method for monitoring the waste amount of liquid medicine can be provided, which can perform multiple checks to improve the accuracy of obtaining the waste amount of liquid medicine and do not affect the efficiency of dispensing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present disclosure will now be explained in further detail by way of examples with reference to the accompanying drawings, in which:

[0020] Figure 1 is a schematic diagram showing the framework of the medication dispensing robot involved in the example of the present disclosure.

[0021] Figure 2 Detailed description of the invention is given in detail below.

[0022] Figure 3 It is a schematic diagram showing an application scenario of the robot arm controlling the syringe to dispense medicine involved in the example of the present disclosure.

[0023] Figure 4A is a schematic diagram showing a recovery device involved in an example of the present disclosure.

[0024] Figure 4B It shows that along Figure 4A A schematic cross-sectional view of AA' is shown.

[0025] Figure 5 is a schematic diagram showing a first weight sensing unit involved in an example of the present disclosure.

[0026] Figure 6 is a schematic diagram showing a guide groove involved in an example of the present disclosure.

[0027] Figure 7 is a schematic diagram showing the electrical connections of a monitoring system involved in examples of the present disclosure.

[0028] Figure 8 is a flow chart showing a monitoring method involved in the examples of the present disclosure.

[0029] Fig. 9 is a flow chart showing the process of determining waste volume in accordance with an example of the present disclosure.

[0030] Description of reference numerals:

[0031] 1...dispensing robot, 12...dispensing area, 14...recovery area, 100...monitoring system, 20...recovery device, 30...acquisition module, 40...controller, 22...first weight sensing unit, 220...tray, 222...weight sensor, 24...second weight sensing unit, 26...receiving part, 261...first opening, 262...second opening, 263...hollow channel, 264...inclined surface, 265...guide groove, 2651...first guide rail, 2652...second guide rail, 266...driving mechanism, 28...accommodating chamber, 282...waste container, 32...robot arm, 34...injector, 36...target drug, 38...liquid bag. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0033] It should be noted that the terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the following description, the same symbols are given to the same components, and repeated descriptions are omitted. In addition, the drawings are only schematic diagrams, and the ratio of the sizes of the components to each other or the shapes of the components may be different from the actual ones.

[0034] The present disclosure relates to a monitoring system, which is a monitoring system for monitoring the amount of waste liquid medicine. Specifically, the monitoring system involved in the present disclosure can be used to monitor the amount of waste liquid medicine generated by a dispensing robot. In some examples, the monitoring system involved in the present disclosure can count and record the amount of residual liquid medicine in waste (such as discarded medicine bottles) generated by the dispensing robot.

[0035] The present disclosure also relates to a monitoring method, which is a method for monitoring the waste amount of liquid medicine by the monitoring system involved in the present disclosure. In some examples, monitoring the waste amount of liquid medicine may mean counting and recording the waste amount of liquid medicine.

[0036] The monitoring system for monitoring the waste amount of liquid medicine involved in the present disclosure may be simply referred to as a monitoring system, and the monitoring method for monitoring the waste amount of liquid medicine may be simply referred to as a monitoring method.

[0037] The monitoring system and monitoring method involved in the present disclosure are described below in conjunction with the accompanying drawings.

[0038] Figure 1 is a schematic diagram showing the framework of the medication dispensing robot 1 according to the example of the present disclosure.

[0039] In some examples, the monitoring system 100 may be a system for monitoring residual drug solution in waste drugs generated after the target drug 36 is dispensed.

[0040] In some examples, the monitoring system 100 can be used to monitor the amount of waste liquid generated by the dispensing robot 1. Specifically, the dispensing robot 1 can use the target drug 36 to dispense medicine and generate waste medicine, and the monitoring system 100 can be configured to obtain the weight of the residual liquid medicine in the waste medicine as the waste amount of the liquid medicine. In other words, the waste amount of the liquid medicine can represent the weight of the residual liquid medicine in the waste medicine. In some examples, the waste amount of the liquid medicine can also be simply referred to as the waste amount.

[0041] In some examples, the target medicine 36 may include a medicine bottle and a medicine solution, and the discarded medicine may include a medicine bottle and a residual medicine solution, wherein the medicine bottle may have a standard weight value.

[0042] For some examples, see Figure 1 The interior of the dispensing robot 1 may include a dispensing area 12 and a recycling area 14 arranged in an upper and lower manner. In some examples, the dispensing area 12 may represent an area where an automated dispensing process is performed, and a plurality of robotic arms 32 may be arranged in the dispensing area 12 and cooperate in the dispensing area 12 to complete automated dispensing. The recycling area 14 may represent an area for collecting discarded drugs generated during the dispensing process. In some examples, the recycling area 14 may be located below the dispensing area 12 (see Figure 1 ).

[0043] Figure 2 is a block diagram showing the structure of a monitoring system 100 involved in the example of the present disclosure.

[0044] For some examples, see Figure 2 The monitoring system 100 may include an acquisition module 30 and a recovery device 20. The recovery device 20 may be disposed in the recovery area 14 (see Figure 1 In some examples, the acquisition module 30 may be used to acquire the usage of the liquid medicine of the target medicine 36 in the dispensing process. The recovery device 20 may be used to receive and store discarded medicines.

[0045] For some examples, see Figure 2 The monitoring system 100 may include a controller 40. The controller 40 may be used to calculate the weight of the residual liquid medicine in the discarded medicine as the discarded amount of the liquid medicine. In some examples, the controller 40 and the acquisition module 30 may be two relatively independent modules, and the controller 40 may be electrically connected to the acquisition module 30. In other examples, the acquisition module 30 may be a sub-processing module of the controller 40.

[0046] In some examples, the acquisition module 30 may be configured to acquire a reference weight value for the residual liquid medicine. Specifically, the acquisition module 30 may acquire the amount of the residual liquid medicine based on the amount of liquid medicine used and the total amount of liquid medicine to obtain a reference weight value for the residual liquid medicine. In some examples, the reference weight value may also represent the weight of the remaining liquid medicine after the liquid medicine of the target drug 36 in the dispensing process is sucked out of the preset amount of liquid medicine used.

[0047] In some examples, the acquisition module 30 may acquire the usage amount of the drug solution. That is, the acquisition module 30 may acquire the preset usage amount of the drug solution of the target drug 36 that is absorbed during the dispensing process.

[0048] Figure 3 It is a schematic diagram showing an application scenario in which the robot arm 32 involved in the example of the present disclosure controls the syringe 34 to dispense medicine.

[0049] The following describes the process of obtaining the usage amount of the drug solution.

[0050] In some examples, the medication dispensing process may represent a process of transferring the liquid of the target drug 36 to the liquid bag 38 using the syringe 34 (eg, a syringe). The liquid bag 38 may be loaded with a solvent.

[0051] For some examples, see Figure 3 The target drug 36 can be controlled by the mechanical arm 32 to control the aspirator 34 to absorb a preset volume of the liquid, and then the aspirator 34 is controlled by the mechanical arm 32 to inject the liquid into the liquid bag 38 to complete the dispensing. In some examples, the amount of liquid used can represent the amount of liquid absorbed by the aspirator 34.

[0052] In some examples, the aspirator 34 may include a syringe and a piston rod, wherein the piston rod is movably placed in the syringe. In some examples, a motor may be utilized to drive the piston rod to move relative to the syringe to absorb the medicinal liquid. The amount absorbed by the aspirator 34 may be positively correlated with the distance that the piston rod moves relative to the syringe (also referred to as the aspiration range). That is, the amount of medicinal liquid used may be positively correlated with the aspiration range. In this case, by utilizing a motor to drive the piston rod, it is convenient to more accurately obtain the distance that the piston rod moves relative to the syringe (also referred to as the aspiration range), and when the aspiration range is utilized to calculate the amount of medicinal liquid used, the accuracy and convenience of obtaining the amount of medicinal liquid used can be improved.

[0053] In some examples, the acquisition module 30 can obtain the amount aspirated by the aspirator 34 based on the aspiration range, the specifications of the medicine bottle, and the size parameters of the aspirator 34.

[0054] In some examples, the medicine bottle may be cylindrical. The specification of the medicine bottle may be expressed by the amount of liquid medicine loaded in the medicine bottle. For example, a medicine bottle with a specification of 10 ml may indicate that the amount of liquid medicine loaded in the medicine bottle is 10 ml (milliliters).

[0055] In some examples, the liquid medicine loaded in the medicine bottle may have a liquid level height, and the liquid level height may be related to the specifications of the medicine bottle. The liquid level height may be different depending on the specifications of the medicine bottle. For example, for a medicine bottle with a specification of 10 ml, the diameter may be 22 mm (millimeter), the height of the medicine bottle may be 50 mm, and the liquid level height may be 36 mm. In some examples, the specifications of the medicine bottle may include the liquid level height of the liquid medicine.

[0056] In some examples, the size parameters of the aspirator 34 may include the length and diameter of the syringe. The process of the acquisition module 30 acquiring the amount of liquid medicine used may be: for example, a 100mm-long and 22mm-diameter aspirator 34 may be used to aspirate liquid medicine from a medicine bottle with a specification of 10ml. Since the diameter of the syringe is the same as the diameter of the medicine bottle, when the aspiration range is 18mm, the amount aspirated by the aspirator 34 may be considered to be 5ml, that is, the amount of liquid medicine used is 5ml. The acquisition module 30 may acquire the size parameters of the aspirator 34 and the specifications of the medicine bottle in advance (for example, before the start of dispensing).

[0057] However, the present disclosure is not limited to this. In the case where the diameter of the syringe is different from the diameter of the medicine bottle, the acquisition module 30 can still obtain the amount of medicine used through the positive correlation between the suction range and the amount of medicine used, combined with the size parameters of the aspirator 34 and the specifications of the medicine bottle.

[0058] In some examples, the acquisition module 30 may calculate the difference between the total amount of the liquid medicine and the used amount as the amount of the residual liquid medicine, wherein the amount of the residual liquid medicine may represent the volume of the residual liquid medicine in ml (milliliter).

[0059] In some examples, before the automated dispensing begins, the total amount of the target drug 36 liquid used for dispensing can be obtained, that is, the total amount of the liquid can be data pre-stored in the acquisition module 30. In some examples, the total amount of the liquid can represent the total volume of the target drug 36 liquid, in ml (milliliter).

[0060] In some examples, after obtaining the volume of the residual liquid medicine, the acquisition module 30 may obtain a reference weight value for the residual liquid medicine according to the correspondence between the volume of the liquid medicine and the weight of the liquid medicine. For example, the acquisition module 30 may obtain a reference weight value for the residual liquid medicine according to the density of the liquid medicine and the volume of the residual liquid medicine. In some examples, the density of the liquid medicine may be data pre-stored in the acquisition module 30.

[0061] It should be noted that in the process of dispensing medicine, after the preset amount of liquid medicine in the medicine bottle is sucked, the medicine bottle needs to be scanned by a line scan camera to obtain the character information on the medicine bottle in order to verify the target medicine 36. In this process, the residual liquid medicine may evaporate and cause the amount of the residual liquid medicine to decrease. Therefore, the reference weight value of the residual liquid medicine cannot accurately represent the amount of waste liquid medicine actually received by the recovery device 20.

[0062] In addition, the tolerance range of the total amount of liquid medicine loaded in the medicine bottle of the target medicine 36 produced by different manufacturers often varies greatly. For example, for the target medicine 36 produced by manufacturer A and with a medicine bottle specification of 10ml, the actual total amount of liquid medicine may be greater than 10ml (for example, 11ml); for the target medicine 36 produced by manufacturer B and with a medicine bottle specification of 10ml, the actual total amount of liquid medicine may be less than 10ml (for example, 9ml). In this case, when the acquisition module 30 obtains the amount of residual liquid medicine by calculating the difference between the total amount of liquid medicine and the amount used, there may be a large error between the numerical value of the amount of residual liquid medicine and the true value, so that the reference weight value of the residual liquid medicine cannot accurately represent the amount of waste liquid medicine actually received by the recovery device 20.

[0063] Figure 4A is a schematic diagram showing a recovery device 20 according to an example of the present disclosure. Figure 4B It shows that along Figure 4A A schematic cross-sectional view of AA' is shown. Figure 5 is a schematic diagram showing the first weight sensing unit 22 involved in the example of the present disclosure. Figure 6 is a schematic diagram showing a guide groove 265 involved in an example of the present disclosure.

[0064] For some examples, see Figure 4A The recycling device 20 may include a receiving chamber 28 and a receiving portion 26. The receiving chamber 28 may be used to store waste medicines, and the receiving portion 26 may be used to receive waste medicines. In some examples, the receiving portion 26 may be in communication with the receiving chamber 28.

[0065] In some examples, the recycling device 20 may include a first weight sensing unit 22 and a second weight sensing unit 24. The first weight sensing unit 22 may be disposed on the receiving portion 26 (see Figure 4B), the second weight sensing unit 24 can be disposed at the bottom of the accommodating chamber 28 (see Figure 4A ).

[0066] In some examples, the first weight sensing unit 22 can be configured to obtain a first weight value of a single waste drug. Specifically, a single waste drug can enter the recovery device 20 under its own gravity, that is, a single waste drug can reach and stay in the first weight sensing unit 22 through the receiving part 26 under its own gravity, and enter the containing chamber 28 after being measured (i.e. weighed) by the first weight sensing unit 22.

[0067] In some examples, when a single waste drug enters the containing chamber 28, the first weight sensing unit 22 can obtain a first weight value for the single waste drug by measuring the single waste drug separately. After obtaining the first weight value, the first weight sensing unit 22 can release the single waste drug so that the single waste drug enters the containing chamber 28 under its own gravity. In this case, since the first weight sensing unit 22 is used to measure the weight of a single waste drug, its measurement accuracy is usually relatively high, so that the accuracy of obtaining the weight of the single waste drug (that is, the first weight value) can be improved, thereby helping to improve the accuracy of obtaining the waste amount of the liquid medicine.

[0068] In some examples, the first weight sensing unit 22 may delay a preset time after receiving a single waste drug before obtaining the first weight value. In this case, by delaying a preset time after receiving a single waste drug before measuring the single waste drug, the influence of the gravitational potential energy of the waste drug on the measurement result can be reduced, thereby improving the accuracy of obtaining the first weight value.

[0069] In some examples, before receiving a single discarded drug, the first weight sensor unit 22 can automatically reset to zero, that is, the first weight sensor unit 22 can receive and measure a single discarded drug after the reset, thereby improving the accuracy of obtaining the first weight value.

[0070] In some examples, the second weight sensing unit 24 can be configured to obtain the total weight value of the waste medicines stored in the receiving chamber 28. Specifically, since the second weight sensing unit 24 is disposed at the bottom of the receiving chamber 28, the waste medicines entering the receiving chamber 28 can be piled on the second weight sensing unit 24, and the second weight sensing unit 24 can measure the waste medicines in the receiving chamber 28 to obtain the total weight value of the waste medicines.

[0071] In some examples, the measurement accuracy of the first weight sensing unit 22 may be higher than that of the second weight sensing unit 24. In this case, the first weight sensing unit 22 can be adapted to measure a single discarded medicine to improve the accuracy of obtaining the first weight value; in addition, the second weight sensing unit 24 can be adapted to measure the total weight value of the discarded medicines to obtain a larger total weight value.

[0072] For some examples, see Figure 4A The recycling device 20 may include a waste container 282, which may be used to store discarded medicines.

[0073] In some examples, the waste container 282 can be disposed above the second weight sensing unit 24. Figure 4A , the waste container 282 may be located in the receiving chamber 28, and the waste container 282 located in the receiving chamber 28 may be disposed above the second weight sensing unit 24. In this case, the waste medicines in the receiving chamber 28 can be gathered together by collecting the waste container 282, and the accuracy of the measurement result can be improved when the second weight sensing unit 24 measures the total weight of the waste medicines. In some examples, the waste container 282 may be, for example, a waste barrel or a waste box.

[0074] As described above, the discarded medicine can enter the waste container 282 after passing through the receiving portion 26. In some examples, see Figure 4B , the receiving portion 26 may include a first opening 261, a second opening 262, and a hollow passage 263 connecting the first opening 261 and the second opening 262. The first opening 261 may face the dispensing area 12, and the second opening 262 may face the accommodating chamber 28. In this case, the discarded medicine can enter the receiving portion 26 from the first opening 261 and enter the waste container 282 after leaving the receiving portion 26 from the second opening 262.

[0075] In some examples, the hollow channel 263 may be prism-shaped, and at least one inner side surface of the prism-shaped hollow channel 263 is an inclined surface 264 .

[0076] Specifically, see Figure 4B , any inner side surface of the hollow channel 263 can be away from the central axis L of the hollow channel 263 near the first opening 261 and can be close to the central axis L of the hollow channel 263 near the second opening 262 to form an inclined surface 264. In other words, the inclined surface 264 can have a preset angle with the central axis L of the hollow channel 263, and the inclined surface 264 can make the size of the first opening 261 larger than the size of the second opening 262.

[0077] In some examples, after the waste medicine enters the receiving portion 26 from the first opening 261, it may first abut against the inclined surface 264 and then slide down along the inclined surface 264 to leave the receiving portion 26 from the second opening 262 to reach the first weight sensing unit 22. In this case, when the waste medicine enters the recovery device 20 under the action of its own gravity, the inclined surface 264 provides a buffering effect for the waste medicine, which can reduce the possibility of residual liquid medicine spilling out of the medicine bottle, thereby improving the accuracy of obtaining the first weight value.

[0078] In some examples, the receiving portion 26 may be a quadrangular pyramid funnel, and the quadrangular pyramid funnel may be gradually tapered from the first opening 261 to the second opening 262 .

[0079] In some examples, the first weight sensing unit 22 may be disposed at the second opening 262. Figure 4B , the first weight sensing unit 22 may be disposed between the second opening 262 and the receiving chamber 28. In some examples, the first weight sensing unit 22 may be disposed between the second opening 262 and the waste container 282. In this case, after the waste medicine enters the receiving portion 26 under the action of its own gravity, it is first weighed and measured by the first weight sensing unit 22 before entering the receiving chamber 28 or the waste container 282 for storage.

[0080] For some examples, see Figure 4B or Figure 5 The first weight sensing unit 22 may include a tray 220 and a weight sensor 222. The tray 220 may be used to receive waste medicines, and the weight sensor 222 may measure the waste medicines on the tray 220 to obtain a first weight value.

[0081] In some examples, the tray 220 may be an openable and closable tray 220. That is, the tray 220 may have two states, open and closed. When the tray 220 is in the open state, the second opening 262 and the receiving chamber 28 may communicate, and the discarded medicine may enter the receiving chamber 28 from the second opening 262 under the action of its own gravity. In addition, when the tray 220 is in the closed state, a blockage may be formed between the second opening 262 and the receiving chamber 28, and the discarded medicine may stay on the tray 220 after coming out of the second opening 262 under the action of its own gravity (that is, the tray 220 may receive the discarded medicine).

[0082] In some examples, by switching the tray 220 between the closed state and the open state, the first weight sensing unit 22 can complete the process of receiving waste drugs, measuring and weighing, and emptying the waste drugs. Specifically, when the tray 220 is in the closed state, the tray 220 can receive waste drugs, and the weight sensor 222 can measure the waste drugs; after obtaining the first weight value, the tray 220 can be switched from the closed state to the open state, and the waste drugs can fall from the tray 220 into the containing chamber 28. In this case, it is convenient for the tray 220 to receive a single waste drug for weighing measurement, and after the weighing measurement is completed, the waste drugs on the tray 220 can be emptied in time so as to weigh and measure the next waste drug.

[0083] In the first weight sensor unit 22 involved in the present disclosure, compared with the method of adding a weighing device in the dispensing area 12 to measure a single discarded drug, by setting the first weight sensor unit 22 in the receiving part 26, it is possible to weigh and measure the weight of a single discarded drug in the recovery device 20, which neither occupies the operating space of the dispensing area 12 nor adds a weighing link in the dispensing process, so that the weighing of a single discarded drug does not affect the efficiency of automated dispensing.

[0084] In some examples, the receiving portion 26 may include a guide groove 265 , and the discarded medicines entering the receiving portion 26 may slide down in the guide groove 265 .

[0085] For some examples, see Figure 6 , the guide groove 265 can be provided on the inclined surface 264 and extend toward the receiving chamber 28. In this case, the guide groove 265 extending toward the receiving chamber 28 can provide a guide for the discarded medicine sliding down the inclined surface 264, so that the discarded medicine can slide more smoothly to the first weight sensing unit 22, thereby further reducing the possibility of residual medicine spilling out of the medicine bottle. In some examples, the number of the guide grooves 265 can be multiple ( Figure 6 One of the guide grooves 265 is shown schematically).

[0086] For some examples, see Figure 6 The guide groove 265 may include a first guide rail 2651 and a second guide rail 2652 arranged in parallel. That is, the first guide rail 2651 and the second guide rail 2652 arranged in parallel extend toward the accommodating chamber 28 to form the guide groove 265. In some examples, the spacing between the first guide rail 2651 and the second guide rail 2652 is adjustable.

[0087] In some examples, the receiving portion 26 may include a driving mechanism 266. The driving mechanism 266 may be used to adjust the distance between the first guide rail 2651 and the second guide rail 2652.

[0088] For some examples, see Figure 6 , the output shaft of the driving mechanism 266 can be connected to the second guide rail 2652. Specifically, the first guide rail 2651 can be fixedly arranged on the inclined surface 264, and the second guide rail 2652 can be movably arranged on the inclined surface 264 in a manner of approaching or moving away from the first guide rail 2651. In this case, the driving mechanism 266 can drive the second guide rail 2652 to move through the output shaft so that the second guide rail 2652 approaches or moves away from the first guide rail 2651, thereby adjusting the distance between the first guide rail 2651 and the second guide rail 2652. In this way, the width of the guide groove 265 can be adjusted.

[0089] Figure 7 is a schematic diagram showing the electrical connections of the monitoring system 100 involved in the example of the present disclosure.

[0090] For some examples, see Figure 7 , the drive mechanism 266 can be electrically connected to the controller 40, and the controller 40 can adjust the distance between the first guide rail 2651 and the second guide rail 2652 based on the size of the medicine bottle (for example, the ring diameter of the medicine bottle). Specifically, the controller 40 can control the drive mechanism 266 to adjust the distance between the first guide rail 2651 and the second guide rail 2652 based on the size of the medicine bottle so that the distance is adapted to the size of the medicine bottle. In this case, the guide groove 265 can adapt to different sizes of medicine bottles (for example, different ring diameters), that is, the guide groove 265 can provide a guiding effect for different medicine bottles, so that the guide groove 265 can have better universality.

[0091] Return to see Figure 2 The monitoring system 100 may include a controller 40. In some examples, the controller 40 may be configured to obtain a second weight value of a single discarded drug based on a change in the total weight value of the discarded drugs. That is, the second weight value may represent a change in the total weight value of the discarded drugs caused by a single discarded drug entering the containing chamber 28.

[0092] For some examples, see Figure 7 The second weight sensing unit 24 can be electrically connected to the controller 40, and the total weight value of the discarded medicines obtained by the second weight sensing unit 24 can be transmitted to the controller 40 via wired communication (such as serial communication).

[0093] In some examples, the process of obtaining the second weight value may be: for example, the controller 40 may obtain the total weight value of the discarded drugs before the single discarded drug enters the containing chamber 28 (also referred to as the first total weight value), and after the single discarded drug enters the containing chamber 28, the controller 40 may obtain the total weight value of the discarded drugs (also referred to as the second total weight value). The controller 40 may obtain the change in the total weight value by calculating the difference between the first total weight value and the second total weight value, thereby obtaining the second weight value for the single discarded drug.

[0094] For some examples, see Figure 7 The first weight sensing unit 22 can be electrically connected to the controller 40, and the first weight value of a single discarded medicine obtained by the first weight sensing unit 22 can be transmitted to the controller 40 through wired communication.

[0095] In some examples, the controller 40 may obtain the waste amount based on the first weight value, the second weight value, the standard weight value, and the reference weight value. The first weight value and the second weight value may be weight values ​​for a single discarded medicine, the standard weight value may represent the weight value of the medicine bottle itself, and the reference weight value may be a weight value for the residual liquid medicine.

[0096] In some examples, before the automated dispensing begins, the medicine bottle information of the target medicine 36 used in the dispensing may be obtained, and the medicine bottle information may include the size of the medicine bottle and its own weight value. The own weight value of the medicine bottle may be pre-stored in the controller 40, that is, the standard weight value may be data pre-stored in the controller 40.

[0097] Figure 8 is a flow chart showing a monitoring method involved in the examples of the present disclosure. Fig. 9 is a flow chart showing the process of determining waste volume in accordance with an example of the present disclosure.

[0098] The following describes the process of the controller 40 obtaining the waste amount in combination with the monitoring method involved in the present disclosure.

[0099] For some examples, see Figure 8 The monitoring method may include: obtaining a reference weight value for the residual liquid medicine (step S110), obtaining a first residual weight value and a second residual weight value for the residual liquid medicine (step S120), obtaining a weight deviation value for the first residual weight value and the second residual weight value (step S130), and determining the waste amount based on a preset ratio of the weight deviation value to the reference weight value (step S140).

[0100] For some examples, see Figure 8In step S110, the controller 40 may obtain a reference weight value for the residual liquid medicine. Specifically, when the acquisition module 30 is electrically connected to the controller 40, the reference weight value for the residual liquid medicine obtained by the acquisition module 30 may be transmitted to the controller 40 by wired communication; in addition, when the acquisition module 30 is a sub-processing module of the controller 40, the controller 40 may directly obtain the reference weight value for the residual liquid medicine from the acquisition module 30. In addition, the acquisition module 30 may obtain the reference weight value for the residual liquid medicine by referring to the relevant description of the acquisition module 30.

[0101] For some examples, see Figure 8 In step S120, the controller 40 may obtain a first residual weight value and a second residual weight value for the residual liquid medicine.

[0102] In some examples, the controller 40 may be configured to obtain a first residual weight value based on the first weight value and the standard weight value. Specifically, the first weight value of a single discarded medicine may include the standard weight value of the medicine bottle and the weight value of the residual liquid medicine, and the controller 40 may obtain the weight value of the residual liquid medicine (i.e., the first residual weight value) by calculating the difference between the first weight value of the single discarded medicine and the standard weight value of the medicine bottle. In addition, the process of obtaining the first weight value may refer to the relevant description of the first weight sensing unit 22 described above.

[0103] In addition, the controller 40 may be configured to obtain a second residual weight value for the residual liquid medicine based on the second weight value and the standard weight value. Specifically, the second weight value of a single discarded medicine may include the standard weight value of the medicine bottle and the weight value of the residual liquid medicine, and the controller 40 may obtain the weight value of the residual liquid medicine (i.e., the second residual weight value) by calculating the difference between the second weight value of the single discarded medicine and the standard weight value of the medicine bottle. In addition, the process of obtaining the second weight value may refer to the relevant description of the second weight sensing unit 24 and the controller 40 described above.

[0104] For some examples, see Figure 8 In step S130, the controller 40 may obtain a weight deviation value for the first residual weight value and the second residual weight value. Specifically, the controller 40 may obtain a weight deviation value (hereinafter referred to as a weight deviation value) for the first residual weight value and the second residual weight value based on the first residual weight value and the second residual weight value. That is, the controller 40 may calculate a difference between the first residual weight value and the second residual weight value, and the difference may be used as the weight deviation value.

[0105] For some examples, see Figure 8In step S140, the controller 40 may determine the waste amount based on a preset ratio of the weight deviation value to the reference weight value. Specifically, the controller 40 may compare the weight deviation value with the preset ratio of the reference weight value and obtain a comparison result, and then determine the waste amount as the first residual weight value or the second residual weight value according to the comparison result.

[0106] Hereinafter, a process of determining the waste amount by the controller 40 will be described.

[0107] For some examples, see Fig. 9 The step of determining the waste amount based on a preset ratio of a weight deviation value to a reference weight value may include: obtaining a first difference value based on a first residual weight value and a reference weight value (step S141), obtaining a second difference value based on a second residual weight value and a reference weight value (step S142), determining whether the weight deviation value is not greater than a preset ratio of a reference weight value (step S143), in response to the weight deviation value being not greater than a preset ratio of a reference weight value, determining the waste amount based on a comparison result of the first difference value and the second difference value (step S144), and in response to the weight deviation value being greater than a preset ratio of a reference weight value, confirming an abnormal result (step S145).

[0108] For some examples, see Fig. 9 In step S141, the controller 40 may obtain a first difference based on the first residual weight value and the reference weight value. Specifically, the controller 40 may obtain the first difference by calculating the difference between the first residual weight value and the reference weight value, that is, the first difference may be the difference between the first residual weight value and the reference weight value.

[0109] In some examples, a smaller first difference value may indicate that the first residual weight value is closer to the reference weight value, and a larger first difference value may indicate that the first residual weight value is more different from the reference weight value.

[0110] For some examples, see Fig. 9 In step S142, the controller 40 may obtain a second difference based on the second residual weight value and the reference weight value. Specifically, the controller 40 may obtain the second difference by calculating the difference between the second residual weight value and the reference weight value, that is, the second difference may be the difference between the second residual weight value and the reference weight value.

[0111] In some examples, a smaller second difference value may indicate that the second residual weight value is closer to the reference weight value, and a larger second difference value may indicate that the second residual weight value is more different from the reference weight value.

[0112] For some examples, see Fig. 9In step S143, the controller 40 may determine whether the weight deviation value is not greater than a preset ratio of the reference weight value. Specifically, the controller 40 may compare the weight deviation value with the reference weight value and obtain a comparison result, and then determine whether the weight deviation value is not greater than the reference weight value based on the comparison result.

[0113] For some examples, see Fig. 9 In step S144, in response to the weight deviation value being less than a preset ratio of the reference weight value, the controller 40 may determine the waste amount based on the comparison result of the first difference value and the second difference value. In addition, in response to the weight deviation value being equal to a preset ratio of the reference weight value, the controller 40 may determine the waste amount based on the comparison result of the first difference value and the second difference value.

[0114] In some examples, the preset ratio may be 3% to 5%, that is, the weight deviation value may be no greater than 3% to 5% of the reference weight value. For example, the weight deviation value may be no greater than 3%, 4%, or 5% of the reference weight value.

[0115] In some examples, in response to the weight deviation value being not greater than a preset ratio of the reference weight value, and the first difference being less than the second difference, the controller 40 may determine that the waste amount is the first residual weight value. Specifically, under the condition that the weight deviation value is less than or equal to a preset ratio of the reference weight value, the controller 40 may compare the first difference with the second difference. When the comparison result is that the first difference is less than the second difference, it means that the first residual weight value is closer to the reference weight value than the second residual weight value. The controller 40 may regard the first residual weight value as the waste amount, and record and store the first residual weight value.

[0116] In some examples, in response to the weight deviation value being not greater than a preset ratio of the reference weight value, and the second difference being less than the first difference, the controller 40 may determine that the waste amount is the second residual weight value. Specifically, under the condition that the weight deviation value is less than or equal to a preset ratio of the reference weight value, the controller 40 may compare the first difference with the second difference. When the comparison result is that the second difference is less than the first difference, it indicates that the second residual weight value is closer to the reference weight value than the first residual weight value. The controller 40 may regard the second residual weight value as the waste amount, and record and store the second residual weight value.

[0117] In step S144, by limiting the comparison result of the first residual weight value and the second residual weight value using the preset ratio of the reference weight value, a reference basis can be provided for eliminating abnormal values ​​in the first residual weight value or the second residual weight value, thereby reducing the influence of abnormal values ​​on determining the waste amount of the liquid medicine. In addition, by comparing the first difference value with the second difference value, a value closer to the reference weight value can be selected from the first residual weight value and the second residual weight value as the waste amount of the liquid medicine, thereby improving the accuracy of obtaining the waste amount of the liquid medicine.

[0118] For some examples, see Fig. 9 In step S145, in response to the weight deviation value being greater than a preset ratio of the reference weight value, the controller 40 may confirm an abnormal result.

[0119] In some examples, the reason why the weight deviation value is greater than a preset proportion of the reference weight value may include an abnormality in the weight deviation value.

[0120] For example, after the discarded medicine enters the receiving part 26 under the action of its own gravity, the residual liquid medicine spills out due to the tipping of the medicine bottle (for example, the residual liquid medicine spills on the inclined surface 264 of the receiving part 26), so that the first weight value obtained by the first weight sensor unit 22 does not include (or only partially includes) the weight of the residual liquid medicine. In this case, when the controller 40 obtains the first residual weight value based on the first weight value and the standard weight value, the first residual weight value has a large deviation from the actual value; in addition, when the spilled residual liquid medicine enters the containing chamber 28 under the action of its own gravity, the second weight value obtained by the second weight sensor unit 24 includes the weight of the residual liquid medicine, and when the controller 40 obtains the second residual weight value based on the second weight value and the standard weight value, the second residual weight value can be close to the actual value. As a result, the weight deviation value obtained by the controller 40 based on the first residual weight value and the second residual weight value is abnormal.

[0121] In some examples, in response to confirming the abnormal result, the controller 40 may treat the second residual weight value as the waste amount. That is, when the residual liquid medicine is spilled due to the tipping of the medicine bottle in the receiving part 26, the first residual weight value has no reference value for determining the waste amount. At this time, the controller 40 may treat the second residual weight value as the waste amount, and record and store the second residual weight value.

[0122] In the process of determining the waste amount involved in the present disclosure, by obtaining a reference weight value for the residual medicine liquid, a standard weight value of the medicine bottle, a first weight value of the discarded medicines, and a second weight value of the discarded medicines, in the process of obtaining the waste amount of the medicine liquid, the controller 40 can compare the first weight value minus the standard weight value with the reference weight value, compare the second weight value minus the standard weight value with the reference weight value, and compare the first weight value with the second weight value, that is, the controller 40 determines the waste amount of the medicine liquid after multiple checks, thereby improving the accuracy of obtaining the waste amount of the medicine liquid.

[0123] As described above, the dispensing robot 1 can automatically prepare drugs according to the prescription list to complete the dispensing process. In some examples, the prescription list can be a list consisting of multiple prescriptions sorted in order. In addition, one prescription can include multiple target drugs 36. That is, in the dispensing process, multiple target drugs 36 can be used to dispense one prescription.

[0124] In some examples, the controller 40 can obtain a waste volume list corresponding to the prescription list based on the waste volume. Specifically, the controller 40 can obtain the prescription waste volume corresponding to each prescription, and can sort the prescription waste volumes corresponding to multiple prescriptions according to the prescription list to obtain a waste volume list. Among them, the prescription waste volume can represent the waste volume of residual liquid medicine corresponding to multiple target drugs 36 included in the prescription. In this case, the waste volume list can make the waste volume have a one-to-one correspondence with the prescriptions in the prescription list, so that the waste volume of the residual liquid medicine corresponding to each prescription in the dispensing process can be obtained more conveniently. As a result, the monitoring of the waste volume of the residual liquid medicine can be refined.

[0125] Although the present disclosure is specifically described above in conjunction with the accompanying drawings and examples, it is to be understood that the above description does not limit the present disclosure in any form. Those skilled in the art may modify and change the present disclosure as needed without departing from the essential spirit and scope of the present disclosure, and these modifications and changes all fall within the scope of the present disclosure.

Claims

1. A monitoring system for monitoring the amount of waste liquid medicine, which is a system for monitoring the residual liquid medicine in the waste medicine generated after the target medicine is dispensed, wherein the target medicine includes a medicine bottle and a liquid medicine, and the waste medicine includes a medicine bottle and the residual liquid medicine, wherein: Medicine bottles have standard weight values, characterized by: The monitoring system includes an acquisition module, a recovery device and a controller; The acquisition module is configured to acquire the amount of residual liquid medicine based on the amount of liquid medicine used and the total amount of liquid medicine to obtain a reference weight value for the residual liquid medicine; The recycling device includes a containing chamber for storing the waste medicine, a receiving portion connected to the containing chamber and for receiving the waste medicine, a first weight sensor unit disposed in the receiving portion, and a second weight sensor unit disposed at the bottom of the containing chamber; The first weight sensing unit is configured to obtain a first weight value of a single discarded medicine, and the second weight sensing unit is configured to obtain a total weight value of the discarded medicines in the containing chamber; The controller is configured to obtain a second weight value of a single discarded medicine based on a change in a total weight value of the discarded medicines, and to obtain the discard amount based on the first weight value, the second weight value, the standard weight value, and the reference weight value.

2. The monitoring system according to claim 1, characterized in that: The controller is configured to obtain a first residual weight value for the residual liquid medicine based on the first weight value and the standard weight value, obtain a second residual weight value for the residual liquid medicine based on the second weight value and the standard weight value, and determine the waste amount based on a difference between the first residual weight value and the second residual weight value being no greater than a preset ratio of a reference weight value, wherein the preset ratio of the reference weight value is a preset ratio of the reference weight value.

3. The monitoring system according to claim 2, characterized in that: The controller is configured to obtain a first difference value based on a difference between the first residual weight value and the reference weight value, obtain a second difference value based on a difference between the second residual weight value and the reference weight value, and determine that the waste amount is the first residual weight value in response to the first difference value being less than the second difference value; In response to the second difference being less than the first difference, the waste amount is determined to be the second residual weight value.

4. The monitoring system according to claim 1, characterized in that: The recycling device includes a waste container for storing the discarded medicines and arranged on the second weight sensing unit.

5. The monitoring system according to claim 1, characterized in that: The single discarded medicine enters the recycling device under the action of its own gravity, and the first weight sensing unit delays a preset time after receiving the single discarded medicine and then obtains the first weight value.

6. The monitoring system according to claim 1, characterized in that: The receiving portion includes a first opening, a second opening, and a hollow channel connecting the first opening and the second opening. The hollow channel is prism-shaped, and at least one inner side surface of the hollow channel is an inclined surface.

7. The monitoring system according to claim 6, characterized in that: The receiving portion includes a driving mechanism and a guide groove disposed on the inclined surface and extending toward the accommodating chamber, the guide groove includes a first guide rail and a second guide rail disposed in parallel, and the output shaft of the driving mechanism is connected to the first guide rail or the second guide rail.

8. The monitoring system according to claim 7, characterized in that: The driving mechanism is electrically connected to the controller, and the controller controls the driving mechanism to adjust the distance between the first guide rail and the second guide rail based on the size of the medicine bottle so that the distance fits the medicine bottle.

9. A method for monitoring the amount of waste drug solution, which is a method for monitoring residual drug solution in waste drugs generated after the target drug is dispensed, wherein the target drug includes a drug bottle and drug solution, and the waste drug includes the drug bottle and the residual drug solution, wherein: The medicine bottle has a standard weight value, characterized in that, The monitoring method comprises: The amount of residual liquid medicine is obtained based on the total amount of liquid medicine and the amount of liquid medicine used to obtain a reference weight value for the residual liquid medicine. Obtaining a first weight value of a single discarded medicine, Based on the change in the total weight of the discarded medicines, a second weight value of a single discarded medicine is obtained; acquiring a first residual weight value for the residual liquid medicine based on the first weight value and the standard weight value, acquiring a second residual weight value for the residual liquid medicine based on the second weight value and the standard weight value, obtaining weight deviation values ​​for the first residual weight value and the second residual weight value based on the first residual weight value and the second residual weight value, and The weight deviation value is compared with a preset ratio of the reference weight value to determine the waste amount.

10. The monitoring method according to claim 9, characterized in that: obtaining a first difference value based on a difference value between the first residual weight value and the reference weight value, obtaining a second difference value based on a difference value between the second residual weight value and the reference weight value, In response to the weight deviation value being not greater than a preset proportion of the reference weight value and the first difference value being less than the second difference value, determining the waste amount to be the first residual weight value; In response to the weight deviation value being not greater than a preset proportion of the reference weight value and the second difference being less than the first difference, the waste amount is determined to be the second residual weight value.

Images