Full-automatic sterile connection type precise blood subpackaging system and method

Abstract

The invention provides a full-automatic sterile connection type blood precise subpackaging system and method.The system comprises a first track, a second track, a sterile tube receiving machine, a peristaltic pump, a blood bag heat sealing machine, a cutting machine, a mechanical arm and a controller, the first track and the second track are arranged in parallel, and a mother bag platform is slidably connected to the first track; a secondary bag platform is connected to the second track in a sliding manner; the secondary bag platform and the primary bag platform are respectively provided with a shaking assembly and a weighing device; the sterile tube receiving machine, the peristaltic pump, the blood bag heat sealing machine and the cutting machine are sequentially arranged between the first track and the second track; the controller is electrically connected with the hydraulic driving mechanism, the mechanical arm, the sterile tube receiving machine, the peristaltic pump, the blood bag heat sealing machine, the cutting machine, the shaking-up assembly and the weighing device. According to the invention, automatic sterile operation in the whole subpackaging process can be realized, the problem of bacterial pollution caused by manual operation is avoided, the labor cost can be saved, and the subpackaging blood volume can be accurately controlled.

Description

Technical Field

[0001] This invention relates to the field of blood dispensing technology, and in particular to a fully automated aseptic connection-type precise blood dispensing system and method. Background Technology

[0002] Blood bags come in various sizes, and are typically prepared into blood products of the same size by rotating the mother bag and dispensing it evenly. Blood banks have some methods for dispensing blood, but these methods involve dispensing blood directly during the blood collection and preparation process. Medical institutions need to pre-order blood, which is not suitable for emergency clinical needs. Furthermore, literature indicates that the instrument-based averaging dispensing method produces the largest volume deviation at 0.5U. Therefore, a refined, standardized, and fully automated dispensing device is lacking.

[0003] Existing technologies disclose a switch clip that requires manual valve opening and closing to control blood flow, making automatic dispensing according to preset parameters and unable to precisely control the amount of blood dispensed. When hospitals dispense blood themselves, they need to puncture the blood bag with a needle, further increasing the probability of contamination. Furthermore, existing technologies all require manual switching of dispensing blood bags, connection of dispensing bags, and heat sealing of catheters, making the process cumbersome, non-standardized, and prone to errors. Moreover, existing technologies lack leakage detection and connection failure alarm systems; if the catheter breaks or the interface becomes loose during dispensing, the process cannot be interrupted in time, leading to blood waste. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention provide a fully automated, aseptic, and precise blood dispensing system and method, achieving automated dispensing, precise control of the dispensed blood volume, and ensuring no blood contamination during the dispensing process.

[0005] One embodiment of the present invention proposes a fully automated aseptic connection-type precise blood dispensing system, comprising: a first track, a second track, an aseptic connector, a peristaltic pump, a blood bag heat sealer, a cutting machine, a robotic arm, and a controller. The first track and the second track are arranged in parallel. A mother bag platform is slidably connected to the first track, and the mother bag platform is suitable for placing a mother bag. A daughter bag platform is slidably connected to the second track, and the daughter bag platform is suitable for placing a daughter bag. The mother bag platform and the daughter bag platform are respectively connected to a hydraulic drive mechanism. The hydraulic drive mechanism drives the mother bag platform to slide on the first track and drives the daughter bag platform to slide synchronously on the second track. The daughter bag platform and the mother bag platform are respectively equipped with a shaking component and a weighing device. The aseptic connector, the peristaltic pump, the blood bag heat sealer, and the cutting machine are arranged sequentially between the first track and the second track. The robotic arm is connected to and drives the clamp to move. The controller is electrically connected to the hydraulic drive mechanism, the robotic arm, the aseptic connector, the peristaltic pump, the blood bag heat sealer, the cutting machine, the shaking component, and the weighing device.

[0006] In some embodiments, the fully automated aseptic connection-type blood precision dispensing system also includes an RFID reader located downstream of the blood bag heat sealer.

[0007] In some embodiments, the fully automated aseptic connection-type blood precision dispensing system further includes an infrared monitoring device and an alarm device. The infrared monitoring device is located near the interface of the sub-bag to monitor whether there is blood at the interface of the sub-bag. The infrared monitoring device is electrically connected to the alarm device through a controller.

[0008] In some embodiments, the fully automated aseptic connection-type precise blood dispensing system further includes a number of humidity sensors, which are respectively arranged on the daughter bag platform, the mother bag platform, and the leak-prone points between the first track and the second track. The humidity sensors are electrically connected to an alarm device through a controller.

[0009] In some embodiments, the weighing device of the sub-bag platform and the weighing device of the mother bag platform each have a weighing sensor, and the weighing sensor is electrically connected to an alarm device through a controller.

[0010] Another embodiment of the present invention proposes a fully automated aseptic connection-type precise blood dispensing method, which utilizes the above-mentioned fully automated aseptic connection-type precise blood dispensing system and includes the following steps:

[0011] S1. Fix the mother bag on the mother bag platform and the daughter bag on the daughter bag platform. Control the robotic arm to put the tubing of the mother bag and the tubing of the daughter bag into the sterile connector machine to connect the tubing of the mother bag and the tubing of the daughter bag to form a delivery tube.

[0012] S2. Drive the mother bag platform and the daughter bag platform to move synchronously along the track to the peristaltic pump, control the robotic arm to put the delivery tube into the peristaltic pump, and drive the shaking component to tilt and swing the mother bag platform and the daughter bag platform to shake the blood in the mother bag and the daughter bag before dispensing.

[0013] S3. Start the peristaltic pump to transfer the blood in the mother bag to the daughter bag. At the same time, the weighing device monitors the decrease in weight of the mother bag and the increase in weight of the daughter bag until the preset dispensing weight is reached.

[0014] S4. After the packaging is completed, drive the mother bag platform and the daughter bag platform to move synchronously along the track to the blood bag heat sealing machine. Control the robotic arm to put the delivery tube into the blood bag heat sealing machine. The blood bag heat sealing machine heat seals the delivery tube. Then, the cutting machine cuts at the heat seal point to form the conduit of the mother bag and the conduit of the daughter bag.

[0015] In some embodiments, in step S3, when the sub-bag reaches the set dispensing weight, the mother bag platform is tilted so that the interface of the mother bag faces upward, the peristaltic pump is started, and the gas in the mother bag is sent into the delivery tube. The remaining blood in the delivery tube enters the sub-bag. During the blood delivery process, an infrared monitoring device is used to monitor whether there is air at the interface of the sub-bag. When air is detected, it indicates that the remaining blood in the delivery tube has been emptied.

[0016] In some embodiments, in step S3, during the dispensing process, when the infrared monitoring device detects air at the interface of the sub-bag and / or the weighing device detects no change in the weight of the sub-bag and the mother bag, it indicates that there is a blockage of clotting at the interface of the mother bag or in the delivery pipe. The mother bag platform is tilted so that the interface of the mother bag faces upward, the peristaltic pump runs in reverse to squeeze out the clotting and let it fall into the mother bag, and then the mother bag platform is driven to tilt so that the interface of the mother bag faces downward and the clotting is moved away from the interface. Subsequently, the peristaltic pump runs in the forward direction. When the infrared monitoring device detects blood passing through the interface of the sub-bag, the weighing device monitors whether the weight of the sub-bag and the mother bag changes simultaneously. If a change occurs, it indicates that the clotting has been cleared.

[0017] In some embodiments, during step S4, when the cutting machine cuts at the heat-sealed area, the distance between the cutting point and the daughter bag is less than the distance between the cutting point and the mother bag.

[0018] In some embodiments, in step S4, after heat sealing and cutting are completed, the robotic arm is controlled to attach information labels to the sub-bag or the sub-bag and the mother bag. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings.

[0020] in:

[0021] Figure 1 This is a schematic diagram of the structure of the fully automated aseptic connection-type blood precision dispensing system according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram showing the connection between the mother bag platform, the first track, the weighing device, the shaking component and the hydraulic drive mechanism in an embodiment of the present invention.

[0023] Figure 3 This is a flowchart of a fully automated aseptic connection-type precise blood dispensing method according to an embodiment of the present invention;

[0024] Figure 4 A flowchart for draining the remaining blood from the delivery tube after dispensing;

[0025] Figure 5 A flowchart for cleaning blood clots during the dispensing process;

[0026] Figure label:

[0027] 1. Sub-bag platform; 2. Second track; 3. Mother bag platform; 301. Tray; 302. Slider; 4. First track; 5. Aseptic connector machine; 6. Peristaltic pump; 7. Blood bag heat sealing machine; 8. Cutting machine; 9. RFID reader; 10. Hydraulic drive mechanism; 11. Cylinder; 12. Weighing device. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] The fully automated aseptic connection-type blood precision dispensing system and method of the present invention are described below with reference to the accompanying drawings.

[0030] like Figure 1-5 As shown, one embodiment of the present invention proposes a fully automated aseptic connection-type precise blood dispensing system, comprising: a first track 4, a second track 2, an aseptic connector 5, a peristaltic pump 6, a blood bag heat sealing machine 7, a cutting machine 8, a robotic arm, and a controller. The first track 4 and the second track 2 are arranged parallel to each other. A mother bag platform 3 is slidably connected to the first track 4, and the mother bag platform 3 is suitable for placing a mother bag. A daughter bag platform 1 is slidably connected to the second track 2, and the daughter bag platform 1 is suitable for placing a daughter bag. The mother bag platform 3 and the daughter bag platform 1 are respectively connected to a hydraulic drive mechanism 10, which is hydraulically driven. Mechanism 10 drives the mother bag platform 3 to slide on the first track 4 and drives the daughter bag platform 1 to slide synchronously on the second track 2. The daughter bag platform 1 and the mother bag platform 3 are respectively equipped with a shaking component and a weighing device 12. The aseptic pipe fitting machine 5, the peristaltic pump 6, the blood bag heat sealing machine 7 and the cutting machine 8 are arranged sequentially between the first track 4 and the second track 2. The robotic arm is connected to and drives the clamp to move. The controller is electrically connected to the hydraulic drive mechanism 10, the robotic arm, the aseptic pipe fitting machine 5, the peristaltic pump 6, the blood bag heat sealing machine 7, the cutting machine 8, the shaking component and the weighing device 12 respectively.

[0031] The embodiments of the present invention, by setting up a first track 4, a second track 2, a sterile connector 5, a peristaltic pump 6, a blood bag heat sealing machine 7, a cutting machine 8, a robotic arm and a controller, can realize fully automated aseptic operation of the dispensing process, avoid bacterial contamination problems caused by manual operation, save labor costs, accurately control the dispensing blood volume, and keep the dispensing blood volume error within ±2%.

[0032] The robotic arm is used to move the mother bag, daughter bag, the tubing from the mother bag, the tubing from the daughter bag, and the connected delivery tube to the working positions of the aseptic connection machine 5, the peristaltic pump 6, the blood bag heat sealing machine 7, and the cutting machine 8. The clamps are used to grip the mother bag, daughter bag, the tubing from the mother bag, the tubing from the daughter bag, and the connected delivery tube.

[0033] It should be noted that the principle of the aseptic connection machine 5 is to put the tubing of the daughter bag and the mother bag into the aseptic connection machine 5, and the aseptic connection machine 5 automatically performs the cutting of the tubing, connecting the tubing, and heating to connect the tubing.

[0034] The embodiments of the present invention, by setting a shaking component, can mix the blood before and during the dispensing process, thereby preventing blood coagulation.

[0035] Furthermore, such as Figure 2 As shown, the mother bag platform 3 includes a tray 301 and a slider 302. The tray 301 is located above the slider 302. The weighing device 12 is fixedly connected to the bottom of the tray 301. The slider 302 is slidably engaged with the first track 4. The end of the telescopic rod of the hydraulic drive mechanism 10 is fixedly connected to the slider 302 to drive the mother bag platform 3 to slide along the first track 4 in a horizontal direction. The shaking assembly includes at least four cylinders 11, which are evenly arranged on the upper edge of the slider 302. The cylinder body of the cylinder 11 is fixedly connected to the slider 302, and the cylinder rod of the cylinder 11 is connected to the bottom of the weighing device 12 via a universal joint. The cylinders 11 are connected to a controller, which controls the lifting and lowering of each cylinder rod. The daughter bag platform 1 has the same structure as the mother bag platform 3. The shaking assembly of the daughter bag platform 1 has the same structure as the shaking assembly of the mother bag platform 3, and the weighing device 12 of the daughter bag platform 1 has the same structure as the weighing device 12 of the mother bag platform 3.

[0036] For example, there are four cylinders 11, which can be arranged in four positions: front, back, left, and right on the upper edge of the slider 302. When it is necessary to shake the mother bag evenly, the controller drives the cylinder rods of the four cylinders 11 to extend by different distances. By adjusting the extension of the cylinder rods of different cylinders 11, the tray 301 can be swung clockwise, counterclockwise, left and right, front and back, or in other ways.

[0037] When movement is required on the first track 4, since the conveying pipe connecting the sub-bag and the mother bag needs to avoid the devices between the first track 4 and the second track 2, the cylinder rods of all cylinders 11 on the sub-bag platform 1 and the mother bag platform 3 must simultaneously extend to their maximum length to raise the two trays 301 synchronously. Then, the hydraulic drive mechanism 10 is activated to drive the sub-bag platform 1 and the mother bag platform 3 to slide on their respective tracks to the next device. After sliding to the position of the next device, the cylinder rods of all cylinders 11 are simultaneously retracted to lower the two trays 301 synchronously, so that the robotic arm can install the conveying pipe into the corresponding device (peristaltic pump 6, blood bag heat sealing machine 7, cutting machine 8).

[0038] When it is necessary to drain the remaining blood in the delivery tube after the dispensing is completed, the cylinder 11 located at the interface of the mother bag is driven so that the cylinder rod extends higher than the other cylinder rods, tilting the mother bag platform 3. The purpose is to make the height of the mother bag interface higher, so that the gas in the mother bag reaches the interface and the blood flows to the bottom of the mother bag. Then, the peristaltic pump 6 delivers the blood in the delivery tube to the daughter bag.

[0039] When clots cause blockage at the interface of the mother bag or in the delivery pipe, the cylinder 11 located at the interface of the mother bag is driven so that the cylinder rod extends higher than other cylinder rods, tilting the mother bag platform 3. The purpose is to raise the height of the mother bag interface, allowing the gas in the mother bag to reach the interface and the blood to flow to the bottom of the mother bag. Then, the peristaltic pump 6 is reversed to deliver the gas in the delivery pipe into the mother bag, squeezing out the clots and causing them to fall to the bottom of the mother bag. Afterward, normal operation is performed, and the tray 301 is swung clockwise or counterclockwise by adjusting the extension of the cylinder rods of different cylinders 11.

[0040] Furthermore, the peristaltic pump 6 can dynamically adjust the flow rate.

[0041] In some embodiments, such as Figure 1 As shown, the fully automated aseptic connection-type precise blood dispensing system also includes an RFID reader / writer 9, located downstream of the blood bag heat sealer 7. The RFID reader / writer 9 prints out information labels and then uses a robotic arm to attach the labels to the sub-bags or the sub-bag and the mother bag, ensuring information traceability.

[0042] In some alternative embodiments, the RFID reader 9 can be replaced with other information marking methods, such as inkjet printing, laser marking, etc.

[0043] In some embodiments, the fully automated aseptic connection-type precise blood dispensing system further includes an infrared monitoring device and an alarm device. The infrared monitoring device is located near the interface of the sub-bag to monitor whether there is blood at the interface of the sub-bag. The infrared monitoring device is electrically connected to the alarm device via a controller. It can be used to determine whether there is any remaining blood in the delivery tube after dispensing.

[0044] In some embodiments, the fully automated aseptic connection-type blood precision dispensing system further includes a humidity sensor. Several humidity sensors are provided and are respectively arranged on the sub-bag platform 1, the mother bag platform 3, and the leak-prone points between the first track 4 and the second track 2. The humidity sensors are electrically connected to an alarm device through a controller.

[0045] By installing humidity sensors at multiple leak-prone locations, blood leaks can be detected promptly and an alarm can be issued.

[0046] In some embodiments, the weighing device 12 of the sub-bag platform 1 and the weighing device 12 of the mother bag platform 3 each have a weighing sensor, and the weighing sensor is electrically connected to an alarm device through a controller. This is to monitor the weight difference during dispensing. For example, if |the amount of decrease in the mother bag - the amount of increase in the new bag| > 3g, the controller will determine that there is blood leakage and issue an alarm.

[0047] like Figure 3 As shown, another embodiment of the present invention proposes a fully automated aseptic connection-type precise blood dispensing method, which utilizes the above-mentioned fully automated aseptic connection-type precise blood dispensing system and includes the following steps:

[0048] S1. Fix the mother bag on the mother bag platform 3 and the daughter bag on the daughter bag platform 1. Control the robotic arm to put the tubing of the mother bag and the tubing of the daughter bag into the sterile connector 5, and connect the tubing of the mother bag and the tubing of the daughter bag to form a delivery tube.

[0049] S2. Drive the mother bag platform 3 and the daughter bag platform 1 to move synchronously along the track to the peristaltic pump 6, control the robotic arm to put the delivery tube into the peristaltic pump 6, drive the shaking component to tilt and swing the mother bag platform 3 and the daughter bag platform 1 to shake the blood in the mother bag and daughter bag before dispensing.

[0050] S3. Start the peristaltic pump 6 to transfer the blood in the mother bag to the daughter bag. At the same time, the weighing device 12 monitors the decrease in weight of the mother bag and the increase in weight of the daughter bag until the preset dispensing weight is reached.

[0051] S4. After the packaging is completed, drive the mother bag platform 3 and the daughter bag platform 1 to move synchronously along the track to the blood bag heat sealing machine 7. Control the robotic arm to put the delivery tube into the blood bag heat sealing machine 7. The blood bag heat sealing machine 7 heat seals the delivery tube. Then, the cutting machine 8 cuts at the heat seal point to form the tube of the mother bag and the tube of the daughter bag.

[0052] The method of this invention can realize fully automated aseptic operation of dispensing, avoid bacterial contamination caused by manual operation, save labor costs, and accurately control the blood volume of dispensing, so that the blood volume error of dispensing is controlled within ±2%.

[0053] Furthermore, the mother bag and daughter bag can be secured by straps, clamps, slots, etc., to prevent the mother bag or daughter bag from slipping off the platform when the platform swings.

[0054] Furthermore, in step S3, before starting the peristaltic pump 6, the drive cylinder 11 tilts the mother bag interface downwards, bringing the blood closer to the interface and the air away from the interface, so as to prevent the gas in the mother bag from being transported to the daughter bag.

[0055] Furthermore, in step S4, after cutting, if the mother bag continues to be packaged, the robotic arm is controlled to remove the packaged daughter bags, and the hydraulic drive mechanism 10 drives the mother bag platform 3 and daughter bag platform 1 back to the aseptic connector 5 on the track, placing the new daughter bag on the daughter bag platform 1, and repeating steps S1-S4. If the mother bag stops packaging, the packaging process ends.

[0056] Furthermore, in step S1, when connecting the tubing of the mother bag to the tubing of the daughter bag, if the aseptic connection machine 5 has the function of opening the tubing, then the aseptic connection machine 5 can be used directly. If the aseptic connection machine 5 does not have the function of opening the tubing, then a tubing opening device needs to be added. This is because the delivery tube after being connected by the aseptic connection machine 5 is in a closed state at the connection point, and the connection point needs to be opened again to achieve unobstructed flow in the delivery tube. The tubing opening device can have various structural forms, for example: using two opposing cylindrical silicone rollers to reciprocate and squeeze the connection point of the delivery tube at a small angle until the closed point is opened, thus opening the delivery tube.

[0057] In some embodiments, such as Figure 4 As shown, in step S3, when the sub-bag reaches the set dispensing weight, the mother bag platform 3 is tilted so that the interface of the mother bag faces upwards. The gas inside the mother bag reaches the interface, and the blood flows to the bottom of the mother bag. The peristaltic pump 6 is then activated to send the gas from the mother bag into the delivery tube. The remaining blood in the delivery tube enters the sub-bag. During the blood delivery process, an infrared monitoring device monitors whether there is air at the interface of the sub-bag. When air is detected, it indicates that the remaining blood in the delivery tube has been emptied, and the peristaltic pump 6 stops working. This ensures that the amount of residual blood in the delivery tube is <0.5ml, reducing blood waste.

[0058] Furthermore, the tilt angle of the mother bag platform 3 is 45°.

[0059] Furthermore, the peristaltic pump 6 can be preset to empty the remaining blood.

[0060] In some embodiments, such as Figure 5As shown, in step S3, during the dispensing process, if the infrared monitoring device detects air at the interface of the sub-bag or the weighing device 12 detects no change in the weight of the sub-bag and the mother bag, it indicates that there is a blockage of clots at the interface of the mother bag or in the delivery pipe. The mother bag platform 3 is tilted so that the interface of the mother bag faces upwards, the gas in the mother bag reaches the interface, and the blood flows to the bottom of the mother bag. The peristaltic pump 6 reverses its rotation, squeezing out the clots and letting them fall into the mother bag. Then, the mother bag platform 3 is driven to tilt so that the interface of the mother bag faces downwards and the clots are moved away from the interface. Subsequently, the peristaltic pump 6 runs in the forward direction. When the infrared monitoring device detects blood passing through the interface of the sub-bag, the weighing device 12 further monitors whether the weight of the sub-bag and the mother bag changes simultaneously. If a change occurs, it indicates that the clot removal is complete. If the infrared monitoring device does not detect blood passing through the interface of the sub-bag or the weighing device 12 does not detect a change in the weight of the sub-bag and the mother bag, the mother bag platform is adjusted again, and the above steps are repeated.

[0061] In some embodiments, during step S4, when the cutting machine 8 cuts at the heat-sealed area, the distance between the cutting point and the daughter bag is less than the distance between the cutting point and the mother bag. For example, the cutting point is 3cm from the daughter bag and 8cm from the mother bag. The purpose is to retain a longer length of the tube in the mother bag for repackaging.

[0062] In some embodiments, in step S4, after heat sealing and cutting are completed, the robotic arm is controlled to attach information tags to the sub-bag or the sub-bag and the mother bag to ensure that the information is traceable.

[0063] Furthermore, after cutting, the mother bag platform 3 and the daughter bag platform 1 are driven to move synchronously along the track to the RFID reader 9, and the robotic arm is controlled to attach the printed information label to the daughter bag. The information label can record barcode, type of blood product to be packaged, blood type of blood product to be packaged, packaging time, blood volume to be packaged, expiration date, etc.

[0064] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0067] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0068] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A fully automated aseptic connection-type precise blood dispensing system, characterized in that, include: A first track and a second track are arranged parallel to each other. A mother bag platform is slidably connected to the first track, and the mother bag platform is suitable for placing a mother bag. A daughter bag platform is slidably connected to the second track, and the daughter bag platform is suitable for placing a daughter bag. The mother bag platform and the daughter bag platform are respectively connected to a hydraulic drive mechanism. The hydraulic drive mechanism drives the mother bag platform to slide on the first track and drives the daughter bag platform to slide synchronously on the second track. The daughter bag platform and the mother bag platform are respectively equipped with a shaking component and a weighing device. The aseptic connector, the peristaltic pump, the blood bag heat sealing machine, and the cutting machine are arranged sequentially between the first track and the second track. A robotic arm, which is connected to and drives the gripper to move; The controller is electrically connected to the hydraulic drive mechanism, the robotic arm, the aseptic pipe fitting machine, the peristaltic pump, the blood bag heat sealing machine, the cutting machine, the shaking assembly, and the weighing device.

2. The fully automated aseptic connection-type precise blood dispensing system according to claim 1, characterized in that, It also includes an RFID reader / writer located downstream of the blood bag heat sealing machine.

3. The fully automated aseptic connection-type precise blood dispensing system according to claim 1, characterized in that, It also includes an infrared monitoring device and an alarm device. The infrared monitoring device is located near the interface of the sub-bag to monitor whether there is blood at the interface of the sub-bag. The infrared monitoring device is electrically connected to the alarm device through the controller.

4. The fully automated aseptic connection-type precise blood dispensing system according to claim 3, characterized in that, It also includes a number of humidity sensors, which are respectively arranged on the sub-bag platform, the mother bag platform, and the leak-prone points between the first track and the second track. The humidity sensors are electrically connected to the alarm device through the controller.

5. The fully automated aseptic connection-type precise blood dispensing system according to claim 3, characterized in that, The weighing device of the sub-bag platform and the weighing device of the mother bag platform each have a weighing sensor, and the weighing sensor is electrically connected to the alarm device through the controller.

6. A fully automated, aseptic, and precise blood dispensing method, characterized in that, The fully automated aseptic connection-type blood precision dispensing system according to any one of claims 1-5 includes the following steps: S1. Fix the mother bag on the mother bag platform and the daughter bag on the daughter bag platform. Control the robotic arm to put the tubing of the mother bag and the tubing of the daughter bag into the sterile connector machine to connect the tubing of the mother bag and the tubing of the daughter bag to form a delivery tube. S2. Drive the mother bag platform and the daughter bag platform to move synchronously along the track to the peristaltic pump, control the robotic arm to put the delivery tube into the peristaltic pump, and drive the shaking component to tilt and swing the mother bag platform and the daughter bag platform to shake the blood in the mother bag and the daughter bag before dispensing. S3. Start the peristaltic pump to deliver the blood in the mother bag to the daughter bag. At the same time, the weighing device monitors the decrease in weight of the mother bag and the increase in weight of the daughter bag until the preset dispensing weight is reached. S4. After the packaging is completed, drive the mother bag platform and the daughter bag platform to move synchronously along the track to the blood bag heat sealing machine. Control the robotic arm to put the delivery tube into the blood bag heat sealing machine. The blood bag heat sealing machine heat seals the delivery tube. Then, the tube is cut at the heat seal by the cutting machine to form the conduit of the mother bag and the conduit of the daughter bag.

7. The fully automated aseptic connection-type precise blood dispensing method according to claim 6, characterized in that, In step S3, when the sub-bag reaches the set dispensing weight, the mother bag platform is tilted so that the interface of the mother bag faces upward, and the peristaltic pump is started to send the gas in the mother bag into the delivery tube. The remaining blood in the delivery tube enters the sub-bag. During the blood delivery process, an infrared monitoring device is used to monitor whether there is air at the interface of the sub-bag. When air is detected, it indicates that the remaining blood in the delivery tube has been emptied.

8. The fully automated aseptic connection-type precise blood dispensing method according to claim 6, characterized in that, In step S3, during the dispensing process, when the infrared monitoring device detects air at the interface of the sub-bag and / or the weighing device detects no change in the weight of the sub-bag and the mother bag, it indicates that there is a blockage of clots at the interface of the mother bag or in the delivery pipe. The mother bag platform is tilted so that the interface of the mother bag faces upward, and the peristaltic pump runs in reverse to squeeze out the clots and let them fall into the mother bag. Then, the mother bag platform is driven to tilt so that the interface of the mother bag faces downward and the clots are moved away from the interface. Subsequently, the peristaltic pump runs in the forward direction. When the infrared monitoring device detects blood passing through the interface of the sub-bag, the weighing device is used to monitor whether the weight of the sub-bag and the mother bag changes simultaneously. If a change occurs, it indicates that the clot removal is complete.

9. The fully automated aseptic connection-type precise blood dispensing method according to claim 6, characterized in that, In step S4, when the cutting machine cuts at the heat-sealed area, the distance between the cutting point and the daughter bag is less than the distance between the cutting point and the mother bag.

10. The fully automated aseptic connection-type precise blood dispensing method according to claim 6, characterized in that, In step S4, after heat sealing and cutting are completed, the robotic arm is controlled to attach the information label to the sub-bag or the sub-bag and the mother bag.

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