Automatic liquid medicine dispensing system and tracing method thereof

Abstract

The invention provides an automatic liquid medicine dispensing system and a tracing method thereof. The system comprises a frame, a track platform, a mechanical arm system and a medicine pretreatment system. On the basis of automatic liquid medicine preparation, a tracing function is added, and when a problem occurs, the step of solving the problem can be accurately traced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medicine configuration and traceability, and in particular to an automatic medicine configuration system and a traceability method thereof. BACKGROUND

[0002] In the medical field, medicine configuration is an extremely important work, which is directly related to the treatment effect and medication safety of patients. With the continuous development of medical technology, the accuracy, efficiency and traceability of medicine configuration are increasingly required. Accurate medicine configuration can ensure that patients receive the correct drug dosage, improve the effectiveness of treatment; efficient configuration process can save time and meet the medication needs of a large number of patients; and traceability can help to identify the cause in time when problems occur, ensuring medical quality and safety. This is of great significance to improve the overall medical level of the hospital and enhance the patient's medical experience. In the traditional medicine configuration work, manual operation is usually used. The operator needs to manually take the medicine from the medicine bottle and inject it into the liquid bag, and also manually paste a label on the liquid bag. For different types of medicine bottles, such as ampoule bottles and vial bottles, different opening methods need to be used. When opening the ampoule bottle, the operator needs to use tools for cutting and breaking; when opening the vial bottle, the bottle cap needs to be removed through a specific operation. In addition, in order to realize the traceability of the medicine configuration process, the image of the medicine preparation environment, the mechanical arm motion trajectory, the medicine batch information and the operation log data need to be recorded manually, and the binding relationship between the medicine and the liquid bag needs to be established manually. However, the traditional manual medicine configuration method has many defects. Manual operation is easily affected by the skill level, working state and other factors of the operator, making it difficult to guarantee the accuracy of medicine configuration, and may cause problems such as inaccurate drug dosage, thereby affecting the treatment effect of patients. Moreover, manual operation is low in efficiency and difficult to meet the large-scale medicine configuration demand. In terms of traceability, manual data recording is not only tedious, but also prone to recording errors or omissions, which affects the accuracy and integrity of the data and makes it impossible to effectively realize the whole-process traceability of the medicine configuration process. SUMMARY

[0003] The present application solves the problem of being unable to effectively realize the whole-process traceability of the medicine configuration process, and proposes an automatic medicine configuration system and a traceability method.

[0004] To achieve the above-mentioned purpose, the following technical scheme is proposed: An automatic medicine configuration system, characterized in that it comprises: a frame provided with a labeler at the bottom for labeling liquid bags, for providing support for other devices; a track platform provided with an annular conveyor belt, the alternating annular conveyor belt being provided with a clamping jaw and a liquid bag clamp, for providing an operation platform to realize medicine configuration; The mechanical arm system comprises a liquid bag transfer mechanical arm group, a pretreatment mechanical arm group and a liquid injection mechanical arm group, and is used for completing the movement of objects. The medicine pretreatment system comprises an ampoule floating cutting mechanism provided with a cutter, a vial opening mechanism provided with a gripper and a pushing piece, and an ampoule bottle breaking mechanism provided with a breaking rod, and is used for opening the medicine bottle when the medicine bottle is delivered out of the warehouse, so as to facilitate the configuration of the liquid medicine.

[0005] By adopting the technical scheme, the labeler at the bottom of the frame can label the liquid bag, and the frame provides support for other devices; the annular conveying belt of the track platform and the gripper and the liquid bag clamp provide an operation platform, so that the liquid medicine is configured; the mechanical arm groups of the mechanical arm system complete the movement of objects; and the mechanisms of the medicine pretreatment system perform opening operation when the medicine bottle is delivered out of the warehouse, so as to facilitate the configuration of the liquid medicine.

[0006] Preferably, the frame is provided with a liquid bag warehouse and a medicine bottle warehouse, and the liquid bag warehouse is provided with a liquid bag hanger for placing the liquid bag.

[0007] Preferably, the liquid bag hanger is provided with a plurality of left side supporting plates and right side supporting plates parallel to the left side supporting plates.

[0008] Preferably, the upper portion of the annular track platform is provided with a supporting platform, and the liquid injection mechanical arm group is installed on the upper surface of the supporting platform.

[0009] Preferably, the gripper is internally provided with a medicine box, and the medicine box is provided with a plurality of grooves adapted to the shapes of ampoules and vials.

[0010] A traceability method comprises the following steps: S1, storing key data in a liquid medicine preparation process through a blockchain distributed database, wherein the key data comprises real-time image data of a liquid medicine preparation environment, mechanical arm motion trajectory parameters, medicine batch information and operation logs; S2, synchronously acquiring a two-dimensional code identifier of a liquid bag and RFID tag information of a raw medicine container through a double-channel identifier verification system, and establishing a binding relationship between the medicine and the liquid bag; S3, monitoring a mechanical arm actual motion trajectory deviation in real time through an optical positioning compensation module, and triggering a path correction instruction when the deviation exceeds a preset threshold; S4, analyzing preparation process data in real time through an abnormal operation monitoring module, automatically generating a mark when an abnormal operation is detected, and saving associated data to a blockchain, wherein the blockchain database adopts a hash chain structure, each data block contains a hash value of a previous data block, a timestamp of current data and digest information after data encryption.

[0011] By adopting the technical scheme, the key data of liquid preparation is stored by using a blockchain distributed database, so that the safety and non-tamperability of the data are guaranteed, and subsequent tracing is facilitated; the double-channel identification verification system establishes a binding relationship between the medicine and the liquid bag, so that the flow direction of the medicine can be accurately tracked; the optical positioning compensation module monitors the deviation of the motion trajectory of the mechanical arm in real time and triggers a correction instruction, so that the accuracy of the medicine dispensing process can be improved; the abnormal operation monitoring module analyzes data in real time and marks and saves abnormal associated data, so that abnormalities in the medicine dispensing process can be discovered and handled in a timely manner; and the blockchain database with a hash chain structure includes a previous data block hash value, a current data timestamp and encrypted summary information, so that the safety and traceability of the data are further enhanced.

[0012] Preferably, the double-channel identification verification system comprises a high-frequency RFID reader embedded in the end of the mechanical arm and a CCD camera integrated in the end of the mechanical arm, the high-frequency RFID reader is used to read the electronic tag information of the raw medicine container, and the CCD camera is used to scan the two-dimensional code information on the surface of the liquid bag; and the identification data of the high-frequency RFID reader and the CCD camera are synchronously transmitted to the central controller for binding verification.

[0013] Preferably, the optical positioning compensation module comprises a laser displacement sensor array installed at the joints of the mechanical arm, the sensor array measures the axial offset and angular acceleration parameters of each joint of the mechanical arm in real time, and when the axial offset exceeds 2 mm, the optical positioning compensation module triggers a path correction instruction.

[0014] Preferably, an artificial intelligence analysis module is further included, the artificial intelligence analysis module is based on a deep learning model trained based on historical data and is used to predict the demand for medicine and dynamically adjust the acquisition frequency of medicine batch information; and the artificial intelligence analysis module analyzes text information in the operation log by using a natural language processing technology, converts the text information into structured data and automatically associates the structured data with other node data in the blockchain database.

[0015] Preferably, when the path correction instruction fails to be triggered, the abnormal operation monitoring module immediately freezes the current operation of the mechanical arm, saves a video clip of the last 5 seconds to the blockchain, and sends a three-level alarm signal to the operation terminal.

[0016] The beneficial effects of the present application are: On the basis of the automatic liquid dispensing system which can automatically take medicine bottles, dispense liquid medicine and place liquid medicine bags, the present application further increases a tracing function, so that the solving steps of problems can be accurately traced when the problems occur. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The system device diagram of the present application.

[0018] Figure 2 The system device diagram of the present application.Figure 1 Partial enlarged view of the middle rail platform.

[0019] Figure 3 For Figure 1 Partial enlarged view of the middle liquid bag warehouse.

[0020] Figure 4 For Figure 1 Partial enlarged view of the middle medicine pretreatment system.

[0021] Figure 5 Method flowchart of the present application.

[0022] Wherein: 1, frame; 2, rail platform; 3, mechanical arm system; 4, medicine pretreatment system; 5, liquid bag warehouse; 6, medicine bottle warehouse; 21, clamping jaw; 22, liquid bag clamp; 31, liquid bag transfer mechanical arm group; 32, pretreatment mechanical arm group; 33, liquid injection mechanical arm group; 41, ampoule floating cutting mechanism; 42, penicillin bottle opening mechanism; 43, ampoule bottle breaking mechanism; 51, left side supporting plate; 52, right side supporting plate; 211, medicine box. DETAILED DESCRIPTION

[0023] Example 1: The technical solutions in the embodiments of the present application will be further described in detail below with reference to the drawings. The described embodiments are only possible technical implementations of the present application, but are not limited thereto, and other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present application are also within the protection scope of the present application.

[0024] The present application mainly adopts an automatic medicine liquid preparation system and a traceability method, which achieves the effects of improving the accuracy, efficiency and traceability of medicine liquid preparation. The present application will be further described in detail as follows.

[0025] The automatic medicine liquid preparation system provided by the embodiments of the present application comprises a frame 1, a rail platform 2, a mechanical arm system 3 and a medicine pretreatment system 4. The frame 1 is provided with a label machine at the bottom for labeling liquid bags, which is used to provide support for other devices. The rail platform 2 is provided with a ring-shaped conveying belt, and the ring-shaped conveying belt is alternately provided with clamping jaws 21 and liquid bag clamps 22, which are used to provide an operation platform to realize the preparation of medicine liquid. The mechanical arm system 3 is used to complete the movement of objects, and comprises a liquid bag transfer mechanical arm group 31, a pretreatment mechanical arm group 32 and a liquid injection mechanical arm group 33. The medicine pretreatment system 4 comprises an ampoule floating cutting mechanism 41 provided with a knife wheel, a penicillin bottle opening mechanism 42 provided with a clamping jaw 21 and a push piece, and an ampoule bottle breaking mechanism 43 provided with a breaking rod, which are used to open the medicine bottle when it is taken out of the warehouse, so as to facilitate the preparation of medicine liquid. Through the cooperative work of each part, the automation of medicine liquid preparation can be realized, and the accuracy and efficiency of preparation are improved.

[0026] Specifically, the frame 1 is the basic support structure of the entire system. The frame 1 can be made of metal materials such as stainless steel or aluminum alloy, which have high strength and corrosion resistance. The shape of the frame 1 can be designed according to actual needs, generally as a cuboid structure to provide stable support. The label machine at the bottom of the frame 1 can use a thermal transfer label machine, which can quickly and accurately paste labels on liquid bags. The label machine can also use an inkjet label machine, which has the advantages of fast printing speed and can print complex patterns and text. The label machine is fixed on the bottom of the frame 1 by bolts or welding to ensure that it does not shake during work.

[0027] The loop conveyor belt of the track platform 2 is a key component of the liquid preparation operation platform. The loop conveyor belt can be made of rubber or plastic, which has good flexibility and wear resistance. The clamping jaw 21 is arranged on the loop conveyor belt and is used to grab and fix the medicine. The clamping jaw 21 can use an electric clamping jaw 21 driven by a motor to achieve clamping action; or use a pneumatic clamping jaw 21 to control the clamping force by air pressure. The clamping jaw 21 is provided with a medicine box 211, and the medicine box 211 is provided with a plurality of grooves suitable for the shape of ampoule bottles and vials. The medicine box 211 can be made of plastic, and the shape and size of the grooves are designed according to the actual shape of the ampoule bottles and vials to ensure that the medicine can be stably placed in the medicine box 211. The liquid bag clamp 22 is used to fix the liquid bag, and the liquid bag clamp 22 can use an elastic clamp to clamp the liquid bag by elastic force.

[0028] The liquid bag transfer mechanical arm group 31 in the mechanical arm system 3 is used to transfer the liquid bag from the liquid bag library 5 to the loop conveyor belt. The liquid bag transfer mechanical arm group 31 can use a multi-joint mechanical arm, which has high flexibility and motion accuracy. The end of the mechanical arm can be installed with a suction cup or a clamping jaw 21 for grabbing the liquid bag. The pretreatment mechanical arm group 32 is used to transfer the medicine bottle from the medicine bottle library 6 to the loop conveyor belt. The pretreatment mechanical arm group 32 also can use a multi-joint mechanical arm, and the end of the mechanical arm can be installed with a clamping jaw 21 suitable for grabbing the medicine bottle. The liquid injection mechanical arm group 33 is used to inject the liquid in the medicine bottle into the liquid bag. The liquid injection mechanical arm group 33 is installed on the upper surface of the support platform above the loop track platform 2. The support platform can be made of metal materials and fixed on the frame 1 by bolts or welding. The liquid injection mechanical arm group 33 can use a high-precision syringe pump mechanical arm, which can accurately control the injection amount of the liquid.

[0029] The ampoule floating cutting mechanism 41 in the drug pretreatment system 4 is equipped with a cutting wheel, which can be a diamond cutting wheel with a sharp cutting edge. The cutting wheel is driven by a motor to rotate, thus cutting the ampoule. The ampoule floating cutting mechanism 41 can be mounted on the frame 1 and floats up and down via guide rails to accommodate ampoules of different heights. The vial opening mechanism 42 is equipped with a gripper 21 and a lever. The gripper 21 is used to fix the vial, and the lever is used to remove the vial cap. The gripper 21 can be an electric gripper, and the lever can be made of metal or plastic. The vial opening mechanism 42 is fixed to the frame 1 by bolts or welding. The ampoule breaking mechanism 43 is equipped with a breaking rod, which can be made of metal and is driven by a motor to break the ampoule. The ampoule breaking mechanism 43 is also mounted on the frame 1.

[0030] The implementation principle of this embodiment is as follows: Frame 1 provides stable support for the entire system, ensuring the normal operation of all components. The circular conveyor belt and the grippers 21 and liquid bag clamps 22 of the track platform 2 enable the orderly transport and fixation of medicines and liquid bags. Different robotic arm groups of the robotic arm system 3 work together to complete the transfer operations of liquid bags, medicine bottles, and medicine solutions. The medicine pretreatment system 4 opens the medicine bottles to prepare for medicine solution preparation. The coordinated work of all parts improves the accuracy and efficiency of medicine solution preparation, avoids the errors and inefficiencies caused by manual operation, and also provides a foundation for subsequent traceability work.

[0031] Frame 1 includes a liquid bag storage unit 5 and a medicine bottle storage unit 6. The liquid bag storage unit 5 is equipped with a liquid bag hanger for placing liquid bags. The liquid bag hanger has several left-side trays 51 and right-side trays 52 parallel to the left-side trays 51. The liquid bag hanger can be made of metal or plastic. The left-side trays 51 and right-side trays 52 are fixed to the liquid bag hanger by welding or bolting. The left-side trays 51 and right-side trays 52 can be rectangular in shape, and their spacing is designed according to the size of the liquid bags. A clamping method is used to ensure that the liquid bags can be stably hung on the liquid bag hanger.

[0032] The implementation principle of this embodiment is as follows: the setup of the liquid bag storage 5 and the medicine bottle storage 6 facilitates the storage and management of liquid bags and medicine bottles. The left side tray 51 and right side tray 52 of the liquid bag rack can better support and fix the liquid bags, preventing them from shaking or being damaged during storage. This helps improve the overall stability and reliability of the system, providing sufficient liquid bag resources for medicine preparation.

[0033] A support platform is provided above the annular track platform 2, and the liquid injection robotic arm assembly 33 is mounted on the upper surface of the support platform. The support platform is designed above the annular track platform 2 to provide installation space for the liquid injection robotic arm assembly 33. Placing the liquid injection robotic arm assembly 33 directly above the annular track platform 2 facilitates the adjustment of the liquid picking and injection angle, while also reducing the length of the robotic arm and reducing material costs.

[0034] The gripper 21 has a medicine box 211 inside. The medicine box 211 has several grooves that are adapted to the shape of ampoules and vials. When working, the ampoules and vials are placed in the grooves. The gripper head of the gripper 21 is designed to be elastic, which can stably fix the medicine bottle while avoiding excessive gripping force that could crush the medicine bottle.

[0035] The traceability method provided in this application includes the following steps: S1. Key data from the drug preparation process is stored in a blockchain-based distributed database. This key data includes real-time image data of the drug preparation environment, robotic arm motion trajectory parameters, drug batch information, and operation logs. The blockchain distributed database is decentralized and tamper-proof, ensuring data security and integrity. A professional blockchain platform can be used to build the distributed database, connecting various nodes through a network to achieve distributed data storage.

[0036] S2. A dual-channel identification verification system synchronously acquires the QR code on the liquid medicine bag and the RFID tag information on the raw material container to establish a binding relationship between the medicine and the liquid medicine bag. The dual-channel identification verification system includes a high-frequency RFID reader embedded in the end effector of the robotic arm and a CCD camera integrated into the end effector. The high-frequency RFID reader reads the electronic tag information of the raw material container, and the CCD camera scans the QR code information on the surface of the liquid medicine bag. The identification data from the high-frequency RFID reader and the CCD camera are synchronously transmitted to the central controller for binding verification. The central controller can use a high-performance computer, programmed to implement data reception, processing, and verification functions.

[0037] S3. The optical positioning compensation module monitors the actual movement trajectory deviation of the robotic arm in real time and triggers a path correction command when the deviation exceeds a preset threshold. The optical positioning compensation module includes a laser displacement sensor array installed at the joints of the robotic arm. The sensor array measures the axial offset and angular acceleration parameters of each joint of the robotic arm in real time. When the axial offset exceeds 2mm or the rate of change of angular acceleration is greater than 5rad / s², the optical positioning compensation module triggers a path correction command. The laser displacement sensor array can consist of multiple laser displacement sensors, which achieve real-time monitoring of the robotic arm's movement trajectory by accurately measuring the motion parameters of the robotic arm joints.

[0038] S4. The abnormal operation monitoring module analyzes the preparation process data in real time. When an abnormal operation is detected, a flag is automatically generated and the associated data is saved to the blockchain. The abnormal operation monitoring module can use data analysis algorithms to analyze the data in the preparation process in real time. When an abnormal operation is detected, such as abnormal movement of the robotic arm or inconsistent drug information, a flag is automatically generated and the relevant data is saved to the blockchain for subsequent traceability and analysis.

[0039] When the abnormal operation monitoring module fails to trigger the path correction command, it immediately freezes the current robotic arm operation and saves the most recent 5 seconds of video footage to the blockchain, while sending a level 3 alarm signal to the operation terminal.

[0040] The blockchain database employs a hash chain structure, where each data block contains the hash value of the preceding data block, the timestamp of the current data, and an encrypted digest of the data. This hash chain structure ensures the immutability and traceability of the data. The hash value of each data block is calculated based on the hash values ​​of the preceding data blocks and the current data; if the data is tampered with, the hash value will change, making it detectable.

[0041] The implementation principle of this embodiment is as follows: Key data is stored through a blockchain distributed database, ensuring data security and traceability. A dual-channel identification verification system establishes an accurate binding relationship between the medicine and the medicine bag, facilitating the tracking of the medicine's flow. An optical positioning compensation module monitors the robotic arm's movement trajectory in real time, ensuring the accuracy of the robotic arm's operation. An abnormal operation monitoring module can promptly detect and handle abnormal situations during the preparation process. The hash chain structure of the blockchain database further enhances data security and reliability. This entire traceability method improves the transparency and controllability of the medicine preparation process, helping to ensure medical quality and safety.

[0042] This application also includes an artificial intelligence analysis module, which is based on a deep learning model trained on historical data to predict drug demand and dynamically adjust the collection frequency of drug batch information. The artificial intelligence analysis module uses natural language processing technology to parse the text information in the operation log, convert it into structured data, and automatically associate it with the data of other nodes in the blockchain database.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automated medicine dispensing system, characterized in that, include: The frame provides support for other equipment and has a labeling machine at the bottom for labeling liquid bags. The track platform is equipped with a circular conveyor belt, and the alternating circular conveyor belt is equipped with grippers and liquid bag clamps to provide an operating platform for the preparation of medicines; The robotic arm system, including a liquid bag transfer robotic arm assembly, a pretreatment robotic arm assembly, and a liquid injection robotic arm assembly, is used to move objects. The drug pretreatment system includes a floating ampoule cutting mechanism with a blade wheel, a vial opening mechanism with grippers and a lever, and an ampoule opening mechanism with a lever, which are used to open the vials when they leave the warehouse to facilitate the preparation of the drug solution.

2. The automatic drug dispensing system according to claim 1, characterized in that, The frame is equipped with a liquid bag storage and a medicine bottle storage, and the liquid bag storage is equipped with a liquid bag rack for placing liquid bags.

3. The automatic drug dispensing system according to claim 2, characterized in that, The liquid bag hanger is provided with several left side trays and right side trays parallel to the left side trays.

4. The automatic drug dispensing system according to claim 1, characterized in that, A support platform is provided above the circular track platform, and the liquid injection robotic arm assembly is installed on the upper surface of the support platform.

5. The automatic drug dispensing system according to claim 1, characterized in that, The gripper contains a medicine box, which has several grooves adapted to the shape of ampoules and vials.

6. A traceability method applicable to the automated dispensing system according to any one of claims 1-5, characterized in that, Includes the following steps: S1. Key data in the drug preparation process is stored in a blockchain distributed database. The key data includes real-time image data of the drug preparation environment, robotic arm motion trajectory parameters, drug batch information, and operation logs. S2. Simultaneously acquire the QR code of the liquid medicine bag and the RFID tag information of the raw material container through the dual-channel identification verification system to establish the binding relationship between the medicine and the liquid medicine bag; S3. The optical positioning compensation module monitors the actual movement trajectory deviation of the robotic arm in real time and triggers a path correction command when the deviation exceeds a preset threshold. S4. The abnormal operation monitoring module analyzes the preparation process data in real time. When an abnormal operation is detected, a mark is automatically generated and the associated data is saved to the blockchain. The blockchain database adopts a hash chain structure. Each data block includes the hash value of the previous data block, the timestamp of the current data, and the encrypted digest information of the data.

7. The traceability method according to claim 6, characterized in that, The dual-channel identification verification system includes a high-frequency RFID reader embedded at the end of a robotic arm and a CCD camera integrated at the end of the robotic arm. The high-frequency RFID reader is used to read the electronic tag information of the raw material container, and the CCD camera is used to scan the QR code information on the surface of the liquid medicine bag. The identification data of the high-frequency RFID reader and the CCD camera are synchronously transmitted to the central controller for binding and verification.

8. The traceability method according to claim 6, characterized in that, The optical positioning compensation module includes a laser displacement sensor array installed at the joints of the robotic arm. The sensor array measures the axial offset and angular acceleration parameters of each joint of the robotic arm in real time. When the axial offset exceeds 2mm, the optical positioning compensation module triggers a path correction command.

9. The traceability method according to claim 6, characterized in that, It also includes an artificial intelligence analysis module, which is based on a deep learning model trained on historical data to predict drug demand and dynamically adjust the collection frequency of drug batch information. The artificial intelligence analysis module uses natural language processing technology to parse the text information in the operation log, convert it into structured data, and automatically associate it with the data of other nodes in the blockchain database.

10. The traceability method according to claim 6, characterized in that, When the abnormal operation monitoring module fails to trigger the path correction command, it immediately freezes the current robotic arm operation and saves the most recent 5-second video clip to the blockchain, while sending a level 3 alarm signal to the operation terminal.

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