Multi-path based dispensing systems, methods, devices, media, and products

Abstract

This application discloses a multi-path-based drug dispensing system, method, device, medium, and product. The system includes a main unit, a control device, and a robotic arm. The control device automatically matches intravenous or subcutaneous micro-dose dispensing paths based on dispensing information. Based on different control strategies, it sends corresponding signals to the same robotic arm, causing the robotic arm to grasp different consumables along different trajectories. The robotic arm drives the injection mechanism to push the piston rod of the micro-dose syringe, causing the syringe to draw a preset dose of medication from the drug container into the syringe at a preset speed, thus completing the preparation of intravenous infusions or the aspiration and automatic cap replacement of subcutaneous micro-dose injections. This application achieves dual-purpose functionality and full-process automation, reducing occupational exposure risks and improving dispensing accuracy.

Description

Technical Field

[0001] This application relates to the field of medical device and drug preparation technology, and in particular to a multi-pathway drug preparation system, method, device, medium and product. Background Technology

[0002] Chemotherapy is one of the core methods of cancer treatment, and the efficient and precise preparation of chemotherapy drugs directly affects the treatment effect and medication safety of patients. However, many chemotherapy drugs are cytotoxic, and traditional manual drug preparation methods expose medical staff to occupational risks for a long time, resulting in high occupational exposure risks, low efficiency, and a high risk of errors. Therefore, the development of automated drug preparation technology has become an important direction for clinical needs.

[0003] Various intravenous drug preparation robots and their operating systems have been developed, enabling the preparation of some intravenous medications through robotic arms and automated control. These intravenous drug preparation robots are typically designed for large-volume infusion bags / bottles (e.g., 50ml-500ml), using peristaltic pumps or conventional injection mechanisms to extract, transfer, and mix the medication. Their control logic and robotic arm motion trajectories are optimized for large-volume infusion containers and their associated dissolving agents. While these technologies have made some progress in the automated preparation of intravenous infusion chemotherapy drugs, their preparation pathways are limited, covering only intravenous infusion scenarios and failing to meet the preparation needs of subcutaneous injections.

[0004] On the other hand, with the development of biomedical technology, subcutaneous monoclonal antibody drugs, represented by pertuzumab and trastuzumab, are becoming increasingly popular. These drugs are characterized by small dosages (usually 0.5ml-5ml), high precision requirements, and high prices. Clinically, the preparation of subcutaneous monoclonal antibody drugs still mainly relies on manual operation by nurses, including manually grasping the micro-dose syringe, manually aspirating the drug solution, and manually recapping the syringe. This manual preparation method is not only inefficient but also carries the risk of dosage errors. More seriously, the manual capping operation may cause needlestick injuries, directly exposing medical staff to the risk of drug contamination. In addition, the micro-dose syringes (usually 1ml-5ml in volume) required for subcutaneous injections differ fundamentally from the infusion bags / dissolving containers required for intravenous infusions in terms of physical structure, container specifications, and operating methods. The robotic arms and control logic of existing intravenous drug preparation robots cannot be adapted to the grasping and precise operation of such micro-dose consumables.

[0005] In summary, the relevant technologies have the following technical defects: the existing automated drug dispensing devices have a single functional path, either designed only for intravenous large-volume infusions or relying solely on manual labor to prepare subcutaneous micro-dose injections. There is currently no drug dispensing system that can integrate intravenous and subcutaneous drug dispensing paths and use the same robotic arm to coordinate and control the different drug dispensing consumables and different operating trajectories required for different paths.

[0006] In view of this, there is an urgent clinical need for a new type of drug preparation system that can simultaneously cover both intravenous large-volume drug preparation and subcutaneous micro-dose drug preparation needs, and has intelligent environmental adaptability, so as to achieve full automation, precision and safety of chemotherapy drug preparation. Summary of the Invention

[0007] The embodiments of this application adopt the following technical solutions: This application provides a multi-path-based drug dispensing system, the system comprising: The main body integrates a control device and a robotic arm, and the control device is communicatively connected to the robotic arm. The control device is used to acquire medication information and match the corresponding intravenous or subcutaneous medication path according to the drug name and administration route in the medication information to obtain a matching result. The intravenous medication path corresponds to a first medication consumable and a first motion trajectory, and the subcutaneous medication path corresponds to a second medication consumable and a second motion trajectory. The first medication consumable and the second medication consumable are different, and the first motion trajectory and the second motion trajectory are different. If the matching result is the intravenous medication dispensing route, the control device sends a first control signal to the robotic arm based on the first control strategy; If the matching result is the subcutaneous medication dispensing path, the control device sends a second control signal to the robotic arm based on the second control strategy; The robotic arm is configured to receive the first control signal sent by the control device, grasp the first medication consumable according to the first motion trajectory and perform intravenous medication preparation until the preparation of intravenous medication is completed; and to receive the second control signal sent by the control device, grasp the second medication consumable according to the second motion trajectory and perform subcutaneous medication preparation until the preparation of subcutaneous medication is completed.

[0008] In some embodiments, the system further includes: The operating compartment is located within the main unit. A micro-dose syringe, which is the second drug dispensing consumable, is used to draw liquid medicine from a drug container containing medicine; A consumables compartment for storing the micro-dose syringes; A syringe fixture is disposed within the operating chamber and is used to fix the micro-dose syringe. An injection mechanism, located inside the operating chamber and linked to the robotic arm, is used to inject the piston rod of the micro-dose injector; The robotic arm is used to receive the second control signal sent by the control device, grasp the second medication consumable according to the second motion trajectory, and perform subcutaneous medication preparation until the preparation of the subcutaneous medication is completed, including: According to the received second control signal, the robotic arm grasps the micro-dose syringe according to the second motion trajectory. The robotic arm fixes the grasped micro-dose syringe to the syringe fixture. The robotic arm moves the micro-dose syringe mounted on the syringe fixture to the drug container containing the drug. The robotic arm controls the needle of the micro-dose syringe to pierce the piston of the drug container. The robotic arm drives the injection mechanism to push the piston rod of the micro-dose syringe so that the micro-dose syringe draws a preset dose of drug solution from the drug container into the micro-dose syringe at a preset speed.

[0009] In some embodiments, the system further includes an automatic cap-returning mechanism disposed within the operating bay, and the robotic arm is further configured to: After the micro-dose syringe has drawn a preset dose of medication from the drug container, the needle of the micro-dose syringe is pulled out from the piston of the drug container. Move the micro-dose injector to the automatic cap-returning mechanism and fasten the needle of the micro-dose injector with the cap of the automatic cap-returning mechanism; The packaged micro-dose syringe is transferred to a sterile dispensing chamber to complete the preparation of subcutaneous medication.

[0010] In some embodiments, the system further includes: A special fixture is detachably fixed inside the operating chamber and is used to fix the medicine container under the drive of the robotic arm. The medicine container is matched with the special fixture.

[0011] In some embodiments, the control device is further configured to: During the intravenous or subcutaneous drug preparation process, drug characteristic information corresponding to the drug name is acquired, and an adjustment signal for adjusting the operating environment parameters within the operating chamber is generated and sent based on the drug characteristic information.

[0012] In some embodiments, the drug characteristic information includes light-protected storage information, and the system further includes: A light sensor is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm. An infrared light source emitting component is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm. An infrared imaging device is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm; The step of generating and sending adjustment signals based on the drug characteristic information to regulate the operating environment parameters within the operating chamber includes: Based on the light-avoidance storage information, the control device generates a visible light source shutdown signal for shutting off visible light sources in the operating chamber and sends it to the light sensor, so that the light sensor performs a visible light source shutdown operation according to the visible light source shutdown signal; The control device generates an infrared light source activation signal for activating the infrared light source in the operating chamber and sends it to the infrared light source emitting component, so that the infrared light source emitting component performs an infrared light source emitting operation according to the infrared light source activation signal. The control device generates an infrared image acquisition signal for acquiring infrared visual images inside the operating chamber and sends it to the infrared imaging device, so that the infrared imaging device performs an infrared visual image acquisition operation according to the infrared image acquisition signal. The control device acquires the infrared visual images collected by the infrared imaging device; The control device generates an infrared guidance signal based on the infrared visual image and the infrared light source, and sends the infrared guidance signal to the robotic arm so that the robotic arm performs the intravenous drug preparation operation or the subcutaneous drug preparation operation under the guidance of the infrared guidance signal.

[0013] In some embodiments, the drug characteristic information includes cold chain preservation information, and the system further includes: A temperature sensor is installed inside the operating chamber and is communicatively connected to the control device and the robotic arm; A refrigeration device is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm; The step of generating and sending adjustment signals based on the drug characteristic information to regulate the operating environment parameters within the operating chamber includes: Based on the cold chain preservation information, the control device generates a sampling signal for collecting the temperature inside the operating chamber and sends it to the temperature sensor, so that the temperature sensor performs a temperature sampling operation according to the sampling signal. The control device acquires the temperature value collected by the temperature sensor, generates a cooling signal based on the temperature value to reduce the temperature inside the operating chamber, and sends it to the cooling device so that the cooling device performs a cooling operation according to the cooling signal to adjust the temperature inside the operating chamber to a preset storage temperature.

[0014] In some embodiments, the system further includes a barcode scanner disposed within the operating compartment, and the control device is further configured to: When the matching result is the intravenous medication dispensing path, the scanner is controlled to scan the first consumable identification code of the first medication dispensing consumable and the first drug container code of the corresponding drug container grasped by the robotic arm; the first consumable identification code and the first drug container code are compared with the medication dispensing information, and after the comparison is successful, the first control signal is sent to the robotic arm based on the first control strategy. When the matching result is the subcutaneous medication dispensing path, the scanner is controlled to scan the second consumable identification code of the second medication dispensing consumable and the second drug container code of the corresponding drug container grasped by the robotic arm; the second consumable identification code and the second drug container code are compared with the medication dispensing information, and after the comparison is successful, the second control signal is sent to the robotic arm based on the second control strategy.

[0015] In some embodiments, the system further includes: An image acquisition device is installed inside the operating compartment and is communicatively connected to the control device for acquiring images inside the operating compartment. The sorting and recycling containers are set up in the operation chamber, including recycling chambers corresponding to different types of waste; The control device is also used for: After the intravenous or subcutaneous medication preparation operation is completed, the characteristic data of the waste are extracted based on the image acquired by the image acquisition device. Based on the characteristic data of the waste, the waste type of the waste is identified; According to the type of waste, a recycling signal is sent to the robotic arm, so that the robotic arm puts the waste into the corresponding recycling bin according to the type of waste.

[0016] In some embodiments, the system further includes: The storage module is integrated into the host body and electrically connected to the control device. The storage module stores a built-in consumable library, which includes three-dimensional models, specifications, environmental adaptability attributes, and corresponding drug lists of various preset medication consumables.

[0017] This application also provides a multi-path-based drug dispensing method, executed by a control device in any of the above-mentioned multi-path-based drug dispensing systems, the method comprising: The control device acquires medication information and matches the corresponding intravenous or subcutaneous medication path according to the drug name and administration route in the medication information to obtain a matching result. The intravenous medication path corresponds to a first medication consumable and a first movement trajectory, and the subcutaneous medication path corresponds to a second medication consumable and a second movement trajectory. The first medication consumable and the second medication consumable are different, and the first movement trajectory and the second movement trajectory are different. If the matching result is the intravenous medication preparation path, the control device sends a first control signal to the robotic arm based on the first control strategy, so that the robotic arm grabs the first medication preparation consumable according to the first motion trajectory and performs the intravenous medication preparation operation until the preparation of intravenous medication is completed. If the matching result is the subcutaneous medication dispensing path, the control device sends a second control signal to the robotic arm based on the second control strategy, so that the robotic arm grabs the second medication consumable according to the second motion trajectory and performs the subcutaneous medication dispensing operation until the preparation of the subcutaneous medication is completed.

[0018] This application also provides a control device applied to any of the systems described above, comprising: One or more processors; Storage device, on which one or more programs are stored, When the one or more programs are executed by the one or more processors, the control device performs the method as described above.

[0019] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by one or more processors, causes the one or more processors to implement the method described above.

[0020] This application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, cause the processor to implement the above-described method.

[0021] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects: This application provides a multi-path-based drug dispensing system, method, device, medium, and product. The system includes a main body, which integrates a control device and a robotic arm. The control device is communicatively connected to the robotic arm. The control device can automatically match the corresponding intravenous or subcutaneous drug dispensing path based on the drug name and administration route in the drug dispensing information. The intravenous drug dispensing path corresponds to a first drug dispensing consumable and a first motion trajectory, while the subcutaneous drug dispensing path corresponds to a second drug dispensing consumable and a second motion trajectory. The first drug dispensing consumable and the second drug dispensing consumable are different, and the first motion trajectory and the second motion trajectory are different. Therefore, there is no need for manual judgment and selection of the drug dispensing path, nor is it necessary to configure separate drug dispensing devices for different administration routes.

[0022] Because the same robotic arm can grab different medication consumables and perform corresponding medication operations according to different motion trajectories based on the corresponding control signals sent by the control equipment according to different control strategies, the same set of robotic arms and control systems can perform intravenous large-volume infusion preparation and subcutaneous micro-dose injection preparation at different times, realizing "one machine for both intravenous and subcutaneous drug preparation", reducing equipment procurement costs and space occupation.

[0023] Because intravenous and subcutaneous medication preparation operations differ fundamentally in terms of consumables, drug containers, and operational steps, and the control equipment sends different control signals to the robotic arm based on either a first or second control strategy for different matching results, the robotic arm can execute different action sequences, grasp different consumables and drug containers, and complete medication preparation with different operational precisions. This overcomes the control logic conflicts and motion planning interference problems caused by integrating two completely different medication preparation operations onto the same robotic arm, and achieves coordinated control of the two paths by the same robotic arm at different times, avoiding mutual interference between the robotic arm's actions.

[0024] Since the entire process, from matching the medication route and picking up consumables to completing the medication preparation, is automatically controlled by the control equipment and executed automatically by the robotic arm until the preparation of intravenous or subcutaneous medication is completed, medical staff do not need to manually handle chemotherapy drugs or operate medication preparation consumables. Therefore, the occupational risks of long-term exposure to cytotoxic drug environment for medical staff in traditional manual medication preparation methods are avoided, thus significantly reducing occupational exposure risks and ensuring the health and safety of medical staff.

[0025] Because the robotic arm automatically performs the medication dispensing operation according to the preset motion trajectory and control strategy, it avoids dosage errors or operational mistakes caused by fatigue, experience differences or distraction in manual operation, thus improving the accuracy and consistency of the medication dispensing process, thereby ensuring the safety and effectiveness of patient medication. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This application provides a schematic diagram of the structure of a multi-path-based drug dispensing system. Figure 2 This application provides a flowchart illustrating a multi-path-based drug dispensing method. Figure 3 This is a flowchart illustrating the process of preparing intravenous chemotherapy drugs according to an embodiment of this application. Figure 4 This is a flowchart illustrating the subcutaneous microdose monoclonal antibody drug preparation process provided in this application embodiment. Figure 5 A flowchart illustrating a multi-path-based drug dispensing method provided in this application embodiment; Figure 6 This is a schematic diagram of the structure of a control device provided in an embodiment of this application.

[0027] Reference numerals: 1. Main body; 11. Operating chamber; 12. Control equipment; 13. Robotic arm; 31. Temperature sensor; 32. Light sensor; 33. Infrared light source emitting assembly; 34. Infrared imaging equipment; 35. Cooling equipment; 4. Micro-dose injector; 41. Injector fixture; 42. Injection mechanism; 43. Automatic cap return mechanism; 44. Consumables chamber; 5. Special fixture; 51. Medicine container; 6. Barcode scanner; 7. Image acquisition equipment; 8. Sorting and recycling container; 81. Recycling chamber; 9. Storage module; 10. Display screen. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0030] See Figure 1 , Figure 1 This is a schematic diagram of a multi-path-based drug dispensing system provided in an embodiment of this application. The system includes: The main body 1 integrates a control device 12 and a robotic arm 13. The control device 12 is communicatively connected to the robotic arm 13 and is used to send control signals to the robotic arm 13 and receive feedback information from the robotic arm 13. The control device 12 is used to acquire medication information and match the corresponding intravenous or subcutaneous medication path according to the drug name and administration route in the medication information to obtain the matching result. The intravenous medication path corresponds to the first medication consumable and the first motion trajectory, and the subcutaneous medication path corresponds to the second medication consumable and the second motion trajectory. The first medication consumable and the second medication consumable are different, and the first motion trajectory and the second motion trajectory are different. If the matching result is an intravenous medication dispensing route, the control device 12 sends a first control signal to the robotic arm 13 based on the first control strategy; If the matching result is a subcutaneous medication dispensing path, the control device 12 sends a second control signal to the robotic arm 13 based on the second control strategy; The robotic arm 13 is used to receive a first control signal sent by the control device 12, grasp a first medication consumable according to a first motion trajectory and perform intravenous medication preparation until the preparation of intravenous medication is completed; and to receive a second control signal sent by the control device 12, grasp a second medication consumable according to a second motion trajectory and perform subcutaneous medication preparation until the preparation of subcutaneous medication is completed.

[0031] Optionally, the medication information acquired by the control device 12 typically comes from the Hospital Information System (HIS) and may also include patient information, drug name, route of administration, dosage requirements, etc.

[0032] Optionally, the intravenous drug preparation route corresponds to a first drug preparation consumable and a first movement trajectory, while the subcutaneous drug preparation route corresponds to a second drug preparation consumable and a second movement trajectory. The first and second drug preparation consumables are different, and the first and second movement trajectories are different. For example, when the drug name is "dacarbazine" and the route of administration is "intravenous infusion," the matching result is an intravenous drug preparation route, and the corresponding first drug preparation consumables include a light-protected infusion bag and a drug dissolving device; when the drug name is "pertuzumab trastuzumab" and the route of administration is "subcutaneous injection," the matching result is a subcutaneous drug preparation route, and the corresponding second drug preparation consumables include a micro-dose syringe 4.

[0033] Optionally, the first control strategy is designed for large-volume infusion preparation, including controlling the robotic arm 13 to grasp the dissolving agent according to the first motion trajectory, puncture the piston of the drug container 51 (for example, the drug container 51 can be a vial), draw out the dissolving solution, inject it into the infusion bag, and shake and mix the solution.

[0034] Optionally, the second control strategy is designed for the preparation of micro-dose injections, including controlling the robotic arm 13 to grasp the micro-dose syringe 4 according to the second motion trajectory, installing the micro-dose syringe 4 onto the syringe fixture 41, inserting the needle of the micro-dose syringe 4 into the piston of the drug container 51, precise aspiration, and automatic cap retraction, among other action sequences. Since the first and second control strategies are optimized for different drug preparation paths, the robotic arm 13 can accurately execute different action sequences based on different received control signals. This achieves coordinated control of both intravenous and subcutaneous drug preparation paths on the same robotic arm and control system, avoiding control logic conflicts between paths.

[0035] This application's embodiments cover both intravenous and subcutaneous drug preparation. The control device can automatically match different drug preparation routes based on the drug name and administration route, eliminating the need for manual judgment and selection. Furthermore, different control signals are sent to the robotic arm based on either a first or second control strategy for different matching results. Therefore, the same robotic arm can perform intravenous large-volume infusion preparation and subcutaneous micro-dose injection preparation at different times, without requiring separate drug preparation equipment for different administration routes. Since the same robotic arm grasps different drug preparation consumables and performs corresponding drug preparation operations according to different motion trajectories based on the corresponding control signals sent by the control device based on different control strategies, the same robotic arm and control system can perform intravenous large-volume infusion preparation and subcutaneous micro-dose injection preparation at different times. This fills the gap in existing drug preparation robots that can only handle intravenous large-volume infusions and cannot handle subcutaneous micro-dose injections, achieving "dual-purpose" drug preparation for both intravenous and subcutaneous administration, reducing equipment procurement costs and space occupation.

[0036] Because intravenous and subcutaneous medication preparation operations differ fundamentally in terms of consumables, drug containers, and operational steps, and because the control equipment sends different control signals to the robotic arm based on either a first or second control strategy for different matching results, the robotic arm can execute different action sequences, grasp different drug containers, and complete medication preparation with varying operational precision. This overcomes the control logic conflicts and motion planning interference problems caused by integrating two completely different medication preparation operations onto the same robotic arm, and achieves coordinated control of the two paths by the same robotic arm at different times, avoiding mutual interference between the robotic arm's actions.

[0037] Since the entire process, from matching the medication route and picking up consumables to completing the medication preparation, is automatically controlled by the control equipment and executed automatically by the robotic arm until the preparation of intravenous or subcutaneous medication is completed, medical staff do not need to manually handle chemotherapy drugs or operate medication preparation consumables. Therefore, the occupational risks of long-term exposure to cytotoxic drug environment for medical staff in traditional manual medication preparation methods are avoided, thus significantly reducing occupational exposure risks and ensuring the health and safety of medical staff.

[0038] Because the robotic arm automatically performs the medication dispensing operation according to the preset motion trajectory and control strategy, it avoids dosage errors or operational mistakes caused by fatigue, experience differences or distraction in manual operation, thus improving the accuracy and consistency of the medication dispensing process, thereby ensuring the safety and effectiveness of patient medication.

[0039] In some embodiments, the system further includes: The operation compartment 11 is located inside the main body 1; Micro-dose injector 4 is installed in the operation chamber 11. Micro-dose injector 4 is a second drug preparation consumable used to draw drug liquid from a drug container containing drugs. Consumables compartment 44 is used to store micro-dose syringes 4; A syringe fixture 41 is disposed in the operating chamber 11 and is used to fix the micro-dose syringe 4. The injection mechanism 42 is located inside the operating chamber 11 and is linked with the robotic arm 13. It is used to inject the piston rod of the micro-dose injector 4. The robotic arm 13 is used to receive a second control signal sent by the control device 12, grasp a second medication consumable according to a second motion trajectory, and perform a subcutaneous medication preparation operation until the preparation of the subcutaneous medication is completed, including: According to the received second control signal, the robotic arm 13 grasps the micro-dose syringe 4 according to the second motion trajectory. The robotic arm 13 fixes the grasped micro-dose syringe 4 on the syringe fixture 41. The robotic arm 13 moves the micro-dose syringe 4 mounted on the syringe fixture 41 to the drug container containing the drug. The robotic arm 13 controls the needle of the micro-dose syringe 4 to pierce the piston of the drug container. The robotic arm 13 drives the injection mechanism 42 to push the piston rod of the micro-dose syringe 4 so that the micro-dose syringe 4 draws the preset dose of drug solution from the drug container into the micro-dose syringe 4 at a preset speed.

[0040] Optionally, the operating chamber 11 can provide a closed physical space for drug preparation operations to avoid external contamination and prevent drug (e.g., chemotherapy drugs) leakage from causing harm to operators.

[0041] In the subcutaneous medication dispensing operation, the robotic arm 13 receives a second control signal from the control device 12, grasps the micro-dose injector 4 according to the second motion trajectory, and fixes the grasped micro-dose injector 4 onto the syringe fixture 41. The syringe fixture 41 stably positions the micro-dose injector 4 to prevent it from shaking or shifting during subsequent aspiration operations. Then, the robotic arm 13 moves the micro-dose injector 4 mounted on the syringe fixture 41 to the drug container 51 (e.g., a vial) containing the medication, and controls the needle of the micro-dose injector 4 to pierce the piston of the drug container 51. Then, the robotic arm 13 drives the injection mechanism 42 to push the piston rod of the micro-dose injector 4, so that the micro-dose injector 4 aspirates a preset dose of medication from the drug container into the micro-dose injector 4 at a preset speed. The preset speed can be set according to the characteristics of the medication, for example, 0.5 ml / min, to avoid air bubbles or medication splashing; the preset dose is determined according to the doctor's order, for example, 3.00 ml, with an accuracy of ±0.01 ml.

[0042] The system in this embodiment includes a syringe fixture 41 for fixing the micro-dose syringe 4. The injection mechanism 42 is linked with the robotic arm 13 to achieve precise injection. Therefore, the micro-dose syringe 4 remains stable during aspiration, allowing for precise control of the injection speed and displacement of the piston rod. This achieves high-precision (error controlled within ±0.01ml) micro-dose drug aspiration, meeting the clinical needs of small doses and high precision requirements for subcutaneous monoclonal antibody drugs, and ensuring the accuracy of expensive monoclonal antibody drug dosages. Furthermore, since the entire aspiration process is automatically completed by the robotic arm 13 and the injection mechanism 42, no manual operation of the micro-dose syringe 4 is required. This avoids dosage errors caused by hand tremors and experience differences during manual aspiration, improving the consistency and reliability of drug preparation.

[0043] In some embodiments, the system further includes an automatic cap-returning mechanism 43 disposed within the operating chamber 11, and the robotic arm 13 is further used for: After the micro-dose syringe 4 has drawn the preset dose of medicine from the medicine container, the needle of the micro-dose syringe 4 is pulled out from the piston of the medicine container. Move the micro-dose injector 4 to the automatic cap-returning mechanism and fasten the needle of the micro-dose injector 4 with the needle cap of the automatic cap-returning mechanism 43; The packaged micro-dose syringe 4 is transferred to the sterile dispensing chamber to complete the preparation of subcutaneous medication.

[0044] In this embodiment, after the micro-dose syringe 4 has drawn a preset dose of medication from the drug container 51, the robotic arm 13 removes the needle of the micro-dose syringe 4 from the piston of the drug container 51. Subsequently, the robotic arm 13 moves the micro-dose syringe 4 to the automatic cap-returning mechanism 43. The automatic cap-returning mechanism 43 includes a fixing seat and a needle cap guide groove, with the needle cap pre-fixed in the guide groove. The robotic arm 13 applies downward pressure to the micro-dose syringe 4, causing the needle to engage with the needle cap, completing the automatic cap-returning operation. Finally, the robotic arm 13 transfers the packaged micro-dose syringe 4 to the sterile dispensing chamber, completing the preparation of the subcutaneous medication.

[0045] In this embodiment, after aspiration, the automatic capping mechanism 43 automatically engages the needle and cap, eliminating the need for manual contact with the needle. This completely avoids needlestick injuries that may occur during manual capping, eliminates the risk of direct exposure of medical personnel to drug contamination, and significantly improves the safety and reliability of subcutaneous injection preparation. Simultaneously, the automatically capped micro-dose syringe 4 is directly transferred to the sterile dispensing chamber, preventing secondary contamination, ensuring the sterility of the subcutaneous injection, and guaranteeing patient medication safety.

[0046] In some embodiments, the system further includes: A special fixture 5 is detachably fixed inside the operating chamber 11 and is used to fix the medicine container 51 under the drive of the robotic arm 13. The medicine container 51 is matched with the special fixture 5.

[0047] In this embodiment, the shape of the special fixture 5 matches the shape of the drug container 51 (e.g., a vial or a pre-filled syringe) and is used to fix the drug container 51 under the drive of the robotic arm 13. For example, when the drug container 51 is a vial, the special fixture 5 has a groove that matches the bottom contour of the vial. After the drug container 51 is placed in, it is fixed by the robotic arm 13 or an elastic buckle to prevent it from tipping or shaking during the dispensing process. Because the shape of the special fixture 5 matches the drug container, it can firmly fix drug containers 51 of different shapes and prevent the container from shaking or tilting during the dispensing process. Therefore, it ensures the precise docking of the robotic arm 13 and the micro-dose syringe 4, as well as the accurate puncture of the needle into the piston of the drug container 51, further improving the success rate and stability of micro-dose aspiration. At the same time, since the special fixture 5 is detachably fixed in the operating chamber 11, it facilitates the quick replacement of containers of different sizes, improving the flexibility and operational efficiency of the system.

[0048] In some embodiments, the control device 12 is further configured to: During intravenous or subcutaneous drug preparation, drug characteristic information corresponding to the drug name is obtained, and adjustment signals are generated and sent based on the drug characteristic information to regulate the operating environment parameters within the operating chamber.

[0049] Optionally, the drug characteristic information includes, but is not limited to, requirements such as light protection and cold chain storage. This drug characteristic information can be pre-stored in the built-in consumables library and automatically retrieved by the control device 12 based on the drug name.

[0050] In this embodiment, the control device 12 actively generates adjustment signals based on drug characteristic information, automatically adjusting the environmental parameters within the operating chamber 11. Therefore, there is no need for manual judgment or setting of environmental conditions, realizing intelligent adaptive adjustment of the operating environment, providing full protection for photosensitizing or thermally unstable drugs, effectively preventing drug degradation, and expanding the application scope of automated drug dispensing.

[0051] In some embodiments, the drug characteristic information includes light-protected storage information, and the system further includes: The light sensor 32 is installed inside the operating compartment 11 and is communicatively connected to the control device 12 and the robotic arm 13. An infrared light source emitting component 33 is installed inside the operating compartment 11 and is communicatively connected to the control device 12 and the robotic arm 13. Infrared imaging device 34 is installed in the operating compartment 11 and is communicatively connected to control device 12 and robotic arm 13; Based on drug characteristic information, adjustment signals are generated and sent to regulate the operating environment parameters within the operating chamber, including: Based on the light-avoidance storage information, the control device 12 generates a visible light source shutdown signal for shutting down visible light sources in the operation chamber 11 and sends it to the light sensor 32, so that the light sensor 32 performs a visible light source shutdown operation according to the visible light source shutdown signal; The control device 12 generates an infrared light source activation signal for activating the infrared light source inside the operation chamber 11 and sends it to the infrared light source emitting component 33, so that the infrared light source emitting component 33 performs an infrared light source emitting operation according to the infrared light source activation signal. The control device 12 generates an infrared image acquisition signal for acquiring infrared visual images inside the operating chamber and sends it to the infrared imaging device 34, so that the infrared imaging device 34 performs an infrared visual image acquisition operation according to the infrared image acquisition signal. The control device 12 acquires infrared visual images collected by the infrared imaging device 34; The control device 12 generates an infrared guidance signal based on the infrared visual image and infrared light source, and sends the infrared guidance signal to the robotic arm 13 so that the robotic arm 13 performs intravenous drug preparation or subcutaneous drug preparation under the guidance of the infrared guidance signal.

[0052] Alternatively, the infrared imaging device 34 may be an infrared imaging camera.

[0053] In this embodiment, the visible light source is automatically shut off and the infrared light source emitting component 33 and infrared imaging device 34 are activated in a light-shielding mode. The robotic arm 13 completes subsequent operations under infrared visual guidance. Therefore, while meeting the requirements for light-shielding drug preparation, the visual guidance of the robotic arm 13 is ensured to be uninterrupted, realizing a light-shielding operating environment of "no visible light, infrared available". This effectively prevents the photodegradation of photosensitive drugs such as dacarbazine and methotrexate during the preparation process, ensuring the stability of drug efficacy. At the same time, since infrared visual guidance replaces conventional visible light vision, there is no need for manual operation in a dark environment, avoiding human error and occupational exposure risks.

[0054] In some embodiments, the drug characteristic information includes cold chain storage information, and the system further includes: Temperature sensor 31 is installed in the operating chamber 11 and is communicatively connected to control device 12 and robotic arm 13; The refrigeration unit 35 is installed in the operating compartment 11 and is communicatively connected to the control unit 12 and the robotic arm 13. Based on drug characteristic information, a regulation signal is generated and sent to adjust the operating environment parameters within the operating chamber 11, including: Based on cold chain preservation information, control device 12 generates a sampling signal for collecting the temperature inside operation chamber 11 and sends it to temperature sensor 31, so that temperature sensor 31 performs temperature sampling operation according to the sampling signal. The control device 12 acquires the temperature value collected by the temperature sensor 31, generates a cooling signal based on the temperature value to reduce the temperature inside the operating chamber 11, and sends it to the cooling device 35 so that the cooling device 35 performs a cooling operation according to the cooling signal to adjust the temperature inside the operating chamber 11 to the preset storage temperature.

[0055] In this embodiment of the application, when the drug characteristic information includes cold chain storage information, the system activates the cold chain mode. The refrigeration device 35 performs a refrigeration operation according to the refrigeration signal to adjust the temperature inside the operating chamber 11 to a preset storage temperature (e.g., 2-8°C). The control device 12 controls the start and stop of the refrigeration device 35 in a closed loop through real-time feedback from the temperature sensor 31, so that the local ambient temperature inside the operating chamber 11 is stably maintained at 2-8°C.

[0056] This embodiment uses a temperature sensor 31 to detect the ambient temperature in real time and controls the refrigeration device 35 through closed-loop feedback control of the control device 12 to maintain the local ambient temperature within the operating chamber 11 at 2-8°C. This provides a stable cold chain preparation environment for heat-labile drugs such as docetaxel and carboplatin, effectively preventing drug denaturation or degradation due to excessively high temperatures, thus ensuring the drug's bioactivity and therapeutic efficacy. Simultaneously, because the closed-loop control automatically adjusts the refrigeration power based on real-time temperature feedback, excessive temperature fluctuations are avoided, improving temperature control accuracy and energy efficiency.

[0057] In some embodiments, the system further includes a barcode scanner 6 disposed within the operating compartment 11, and the control device 12 is further configured to: When the matching result is an intravenous medication preparation route, the control device 12 controls the barcode scanner 6 to scan the first consumable identification code (e.g., the QR code on the dissolving agent packaging) of the first medication preparation consumable grasped by the robotic arm 13 and the first drug container code of the corresponding drug container 51 (e.g., vial or infusion bag); the first consumable identification code and the first drug container code are compared with the medication preparation information. If the comparison is successful, the control device 12 sends a first control signal to the robotic arm 13 based on the first control strategy. The robotic arm 13 then performs subsequent intravenous medication preparation operations according to the first control signal. If the comparison fails, the control device 12 issues an alarm and stops the operation.

[0058] When the matching result is a subcutaneous medication dispensing path, the control device 12 controls the barcode scanner 6 to scan the second consumable identification code (e.g., the QR code on the packaging of the micro-dose syringe 4) and the corresponding second drug container code of the drug container 51, which are grabbed by the robotic arm 13. The control device 12 compares the second consumable identification code and the second drug container code with the medication dispensing information. After the comparison is successful, the control device 12 sends a second control signal to the robotic arm 13 based on the second control strategy to execute the subsequent subcutaneous medication dispensing operation.

[0059] This embodiment adds a secondary barcode scanning and verification step after the robotic arm 13 grasps the medication consumables before performing the medication dispensing action, constructing a triple verification mechanism of "doctor's order - medicine bottle - consumables". Therefore, it can promptly detect problems such as incorrect use of consumables or medicine bottles before the medication dispensing operation begins, completely eliminating medical accidents caused by incorrect use of consumables or medicine bottles, providing double protection for medication dispensing safety, and significantly reducing the medication dispensing error rate. At the same time, since the verification process is automatically completed by the barcode scanner 6 and the control device 12, there is no need for manual item-by-item verification, thus improving verification efficiency and accuracy and reducing human intervention.

[0060] In some embodiments, the system further includes: Image acquisition device 7 is installed inside the operation chamber 11 and is communicatively connected to control device 12, used to acquire images inside the operation chamber 11; The sorting and recycling container 8 is set inside the operation chamber 11, including recycling chambers 81 corresponding to different types of waste; Control device 12 is also used for: After intravenous or subcutaneous medication preparation is completed, the feature data of the waste is extracted based on the image acquired by image acquisition device 7. Identify waste types based on waste characteristic data; According to the type of waste, a recycling signal is sent to the robotic arm 13 so that the robotic arm 13 can put the waste into the corresponding recycling bin 81 according to the type of waste.

[0061] For example, the recycling bin 81 includes a dissolving device recycling bin, a needle recycling bin (sharpware box), a medicine container recycling bin (e.g., a vial recycling bin, an ampoule recycling bin), and a micro-dose syringe outer casing recycling bin, etc.

[0062] In this embodiment, after the intravenous or subcutaneous medication preparation operation is completed, the control device 12 extracts the characteristic data (e.g., shape, color, size, texture, etc.) of the waste based on the image acquired by the image acquisition device 7, and identifies the waste type based on the characteristic data. For example, the robotic arm 13 puts the used dissolving device into the dissolving device recycling bin, the needle into the needle recycling bin, the sorting and recycling container 8 into the recycling bin 81, and the micro-dose syringe outer casing into the micro-dose syringe outer casing recycling bin.

[0063] After medication preparation, the system automatically identifies, sorts, and recycles waste, eliminating the need for manual contact with sharps and chemotherapy residues. This not only reduces the chances of medical staff directly handling these materials, lowering the occupational exposure risks of needlestick injuries and drug contamination, but also complies with regulations for medical waste classification and management. It achieves fully automated operation from medication preparation to recycling, further enhancing the system's safety and compliance. Furthermore, because waste is disposed of in corresponding recycling bins according to its type, subsequent medical waste sorting and processing are facilitated, improving the standardization and efficiency of waste management.

[0064] In some embodiments, the system further includes: Storage module 9 is integrated into the main body 1 and electrically connected to the control device 12. Storage module 9 stores a built-in consumable library, which includes three-dimensional models, specifications, environmental compatibility attributes, and corresponding drug lists of various preset medication consumables.

[0065] For example, the built-in consumables library stores matching relationships such as "dacarbazine-light-protected infusion bag-drug dissolving device-light-protected" and "pertuzumab-trastuzumab-1ml micro-dose syringe-syringe-cold chain". After obtaining the medication information, the control device 12 queries the built-in consumables library and automatically matches the corresponding medication consumables, environmental adaptability attributes, and the operating trajectory of the robotic arm 13 according to the drug name.

[0066] This embodiment of the application stores 3D models, specifications, and environmental compatibility attributes of various medication consumables in a built-in consumables library and establishes a correspondence with the drug list. Therefore, the control device 12 can automatically match the required consumable type, specifications, and environmental requirements according to the drug name, eliminating the need for manual searching and selection. This significantly reduces the workload of manual searching, verification, and programming, and prevents medication errors caused by misuse of consumables or improper operation from the source. Simultaneously, since the built-in consumables library also includes 3D model data, the path planning unit can automatically generate the grasping and operation trajectory of the robotic arm 13 based on the 3D model, improving the accuracy and efficiency of trajectory planning.

[0067] See Figure 2 , Figure 2 This application provides a flowchart illustrating a multi-path-based drug dispensing method. The application also provides a multi-path-based drug dispensing method executed by the control device 12 in the aforementioned multi-path-based drug dispensing system. This method includes the following steps: S101. The control device 12 acquires the medication information and matches the corresponding intravenous or subcutaneous medication path according to the drug name and administration route in the medication information to obtain the matching result. The intravenous medication path corresponds to the first medication consumable and the first motion trajectory, and the subcutaneous medication path corresponds to the second medication consumable and the second motion trajectory. The first and second medication consumables are different, and the first and second motion trajectories are different. If the matching result is an intravenous medication path, then step S102 is executed; if the matching result is a subcutaneous medication path, then step S103 is executed.

[0068] S102. If the matching result is an intravenous medication preparation path, the control device 12 sends a first control signal to the robotic arm 13 based on the first control strategy, so that the robotic arm 13 grabs the first medication preparation consumable according to the first motion trajectory and performs the intravenous medication preparation operation until the preparation of intravenous medication is completed.

[0069] S103. If the matching result is a subcutaneous medication path, the control device 12 sends a second control signal to the robotic arm 13 based on the second control strategy, so that the robotic arm 13 grabs the second medication consumable according to the second motion trajectory and performs the subcutaneous medication operation until the preparation of the subcutaneous medication is completed.

[0070] The control device 12 and the robotic arm 13 are integrated inside the main body 1, and the control device 12 is communicatively connected to the robotic arm 13.

[0071] This embodiment of the application automatically determines the drug administration route based on the doctor's order before medication preparation and dynamically executes the corresponding intravenous or subcutaneous medication preparation process. Therefore, it achieves full automation from route selection to precise operation, eliminating the need for manual judgment and switching of operation modes, and significantly improving the overall efficiency and safety of daytime chemotherapy medication preparation. At the same time, since the control device 12 and the robotic arm 13 are integrated into the same main body 1 and achieve collaborative control through communication connection, the system structure is compact, the operation response is rapid, and the continuity and reliability of the medication preparation process are improved.

[0072] See Figure 3 , Figure 3 This paper illustrates an operation flowchart for preparing intravenous chemotherapy drugs in an embodiment of this application. The intravenous chemotherapy drug preparation method provided in this embodiment is uniformly scheduled by the control device 12 according to a first control strategy, and the robotic arm 13 sequentially performs the following operations according to a first motion trajectory: S301. Begin intravenous medication preparation.

[0073] The control device 12 obtains medical order information through the hospital's HIS (Hospital Information System) interface, matches the intravenous medication preparation route according to the drug name and administration route, and initiates the intravenous medication preparation process. Based on the first control strategy, the control device 12 sends a first control signal to the robotic arm 13, preparing to execute the intravenous medication preparation operation.

[0074] S302, robotic arm 13 grasps the dissolving device.

[0075] The robotic arm 13 receives a first control signal from the control device 12, moves to the consumable storage area according to a first motion trajectory, identifies and grabs the first medication consumable—a dissolving device—corresponding to the intravenous medication preparation path. The dissolving device is a 50ml unit used for extracting dissolving solution and transferring medication.

[0076] S303. Scan the QR code on the medicine container and infusion bag.

[0077] After the robotic arm 13 grabs the dissolving device, it moves to the barcode scanner 6 and controls the barcode scanner 6 to scan the drug container code on the drug container (e.g., vial) containing drug powder and the first consumable identification code on the light-proof infusion bag to obtain the identity information of both.

[0078] S304. Determine whether the second verification passes. The control device 12 compares the drug container code on the vial and the first consumable identification code on the light-proof infusion bag obtained by scanning in step S303 with the doctor's order information, and performs a secondary verification operation of the consumables.

[0079] If the comparison passes ("Yes" branch): confirm that the medicine container and consumables are consistent with the doctor's order information, then proceed to step S305; if the comparison fails ("No" branch): confirm that the medicine container or consumables have been mistakenly taken, misused, or the information is inconsistent, then proceed to step S311.

[0080] S305. Draw out the dissolving solution and inject it into a vial.

[0081] After the second verification is passed, the robotic arm 13 controls the dissolving device to pierce the basic infusion bag containing physiological saline, draw an appropriate amount of dissolving solution (for example, draw 10 ml), and then moves the dissolving device to the vial and injects the dissolving solution into the vial so that the drug powder comes into contact with the dissolving solution.

[0082] S306. Shake well to dissolve the powder.

[0083] The robotic arm 13 gently shakes or rotates the vial to fully dissolve the drug powder inside, forming a homogeneous solution. The shaking action is controlled by the control device 12 according to a first control strategy to ensure complete drug dissolution without precipitation.

[0084] S307, withdraw the medicine.

[0085] After the drug powder has completely dissolved, the robotic arm 13 controls the dissolving device to re-insert into the vial, drawing all the dissolved drug solution back into the dissolving device. During the retraction process, the control device 12 monitors the volume of the drug solution in the dissolving device to ensure no residue remains.

[0086] S308, Insert into the light-proof infusion bag.

[0087] The robotic arm 13 moves the dissolving device to the light-proof infusion bag and controls the dissolving device needle to accurately pierce the drug inlet of the light-proof infusion bag. The light-proof infusion bag is a light-proof infusion bag made of light-proof material that is used in conjunction with photosensitizing drugs (such as dacarbazine), and has been confirmed by scanning the code in step S303.

[0088] S309: Inject all the medicine.

[0089] The robotic arm pushes the piston of the dissolving device, injecting all the medication into the light-proof infusion bag. After injection, the robotic arm pulls the dissolving device out of the infusion port of the light-proof infusion bag. At this point, the medication has been mixed with the basic infusion solution (e.g., 500ml of 0.9% normal saline) in the infusion bag.

[0090] S310, output infusion bag.

[0091] The robotic arm 13 transfers the prepared and sealed light-proof infusion bag to the sterile output chamber or designated output location. At this point, the intravenous medication preparation process is complete, and medical staff can directly use the light-proof infusion bag for the patient's intravenous infusion treatment.

[0092] S311, alarm and stop.

[0093] When the second verification in step S304 fails, the control device 12 triggers an alarm mechanism (e.g., displays an error message on the display screen 10, or issues an audible and visual alarm signal), and immediately stops the current medication preparation operation to prevent incorrect medications or consumables from entering the subsequent medication preparation process. The medication preparation process can only be restarted after medical personnel intervene and resolve the abnormality.

[0094] Optionally, the display screen 10 is located outside the main unit 1 and is used to display medication information, operating status, and alarm prompts.

[0095] In this embodiment of the application, firstly, the system initiates the intravenous medication preparation process (step S301), and the robotic arm 13 grasps the dissolving device corresponding to the intravenous medication preparation path (step S302); then, the robotic arm 13 drives the barcode scanner 6 to scan the QR codes of the vial and the light-proof infusion bag to identify the consumables and drug containers (step S303); the control device 12 performs a second verification of the scanning results and the doctor's order information (step S304). If the verification passes, the dissolving and preparation stage begins; if the verification fails, an alarm is triggered and the process stops (step S311). If the verification is successful, the robotic arm 13 controls the dissolving device to extract the dissolving solution and inject it into the vial containing the drug powder (step S305), and then shakes it to fully dissolve the drug powder (step S306); after dissolution is complete, the robotic arm 13 draws all the drug solution in the vial back to the dissolving device (step S307); then, the robotic arm 13 inserts the dissolving device into the light-proof infusion bag (step S308) and injects all the drug solution into the infusion bag (step S309); finally, the robotic arm 13 transfers the prepared light-proof infusion bag to the output position (step S310), completing the entire intravenous drug preparation operation.

[0096] The entire process is completed within the operating chamber 11. If the drug characteristics require light protection (e.g., dacarbazine), the control device 12 will simultaneously activate the light protection mode when step S301 is started: turn off the visible light source in the operating chamber 11, turn on the infrared light source and infrared imaging device 34, and the robotic arm 13 will complete all operations from step S302 to step S310 under the guidance of infrared vision, ensuring that the photosensitive drug is not decomposed by light during the preparation process.

[0097] This application discloses the preparation of intravenous light-protected chemotherapy drugs (e.g., dacarbazine), and the specific process is as follows: Medical staff placed vials containing dacarbazine powder and basic infusion bags containing normal saline (which should be kept away from light) into operating chamber 11 and closed the chamber door.

[0098] Step 1: Intelligent Matching. Upon device startup, control device 12 retrieves the medical order through the hospital management information system interface: "Patient Zhang, dacarbazine 400mg + 0.9% NS 500ml, IV drip, medication properties: light-protected." Control device 12 queries its built-in consumables library, automatically matching the light-protected infusion bag, 50ml dissolving agent, and light-protected tubing, and locks the corresponding consumables' locations within the operating chamber 11. Simultaneously, it calculates the gripping sequence and movement trajectory (first motion trajectory) of the robotic arm 13.

[0099] Step 2: Environmental Adaptation (Light Avoidance Mode). Upon detecting the "light avoidance" requirement, control device 12 immediately issues an adjustment signal: turning off all visible light sources within the operating chamber 11 (e.g., turning off high-brightness LED lighting), while simultaneously activating the infrared light source emitting component 33 and the infrared imaging device 34. At this time, the area within the operating chamber 11 is invisible to the naked eye, but the infrared imaging device 34 (e.g., an infrared imaging camera) can clearly capture the outlines and positions of all objects, providing infrared visual guidance for subsequent operations of the robotic arm 13.

[0100] Step 3: Secondary verification of consumables. The robotic arm 13 grasps the barcode scanner 6 and scans the QR codes on the vials and infusion bags. The control device 12 compares the scanning results with the medical order information. After verification, it sends the first control signal to the robotic arm 13.

[0101] Step 4: Intravenous medication preparation. Under infrared visual guidance, the robotic arm 13 grasps the dissolving device, precisely inserts it into the vial, draws out the dissolving solution, injects it into the vial to dissolve the powder, then draws back the medication, and finally inserts it into the light-proof infusion bag to inject all the medication. The control device 12 controls the robotic arm 13 to complete the above actions according to the first motion trajectory through the first control strategy. The entire process is completed under light-free conditions, effectively preventing the photodegradation of dacarbazin.

[0102] Step 5: Waste Recycling. After the medication is prepared, the control device 12 identifies the type of waste based on the image acquired by the image acquisition device 7, and controls the robotic arm 13 to put the used dissolving apparatus, vials, and packaging into the corresponding recycling bins.

[0103] See Figure 4 , Figure 4 The flowchart illustrates the operation of dispensing subcutaneous micro-dose monoclonal antibody drugs. This process is uniformly scheduled by the control device 12 according to the second control strategy, and the robotic arm 13 performs the following operations sequentially according to the second motion trajectory: S401, Begin subcutaneous medication preparation.

[0104] The control device 12 acquires the medical order information, matches the drug name and route of administration to a subcutaneous medication dispensing path, and initiates the subcutaneous medication dispensing process. Based on the second control strategy, the control device 12 sends a second control signal to the robotic arm 13, preparing to execute the subcutaneous medication dispensing operation.

[0105] S402. Place the medicine container 51 into the special fixture 5.

[0106] Healthcare workers place a drug container 51 (e.g., a vial) containing a monoclonal antibody drug (such as pertuzumab or trastuzumab) into a special fixture 5 within the operating chamber 11. The special fixture 5 is shaped to match the bottom contour of the drug container 51 and is securely fixed in place by elastic clips or a robotic arm 13 to prevent shaking or tipping during subsequent needle insertion and aspiration.

[0107] S403, robotic arm 13 grasps micro-dose syringe 4.

[0108] The robotic arm 13 receives the second control signal sent by the control device 12, moves to the consumable storage area according to the second motion trajectory, identifies and grabs the second drug preparation consumable corresponding to the subcutaneous drug preparation path - the micro-dose syringe 4. The capacity of the micro-dose syringe 4 can be 1ml-5ml, which matches the needs of subcutaneous micro-dose injection preparation.

[0109] S404, Installed into syringe fixture 41.

[0110] The robotic arm 13 secures the grasped micro-dose injector 4 onto the syringe fixture 41. The syringe fixture 41 stably positions the micro-dose injector 4, aligning its syringe barrel with the pushing direction of the injection mechanism 42 (e.g., a precision plunger), ensuring that the micro-dose injector 4 does not shift or shake during subsequent precision injection.

[0111] S405, injection mechanism 42 docking piston.

[0112] The robotic arm 13 drives the injection mechanism 42 to move, so that its front end aligns with the end of the piston rod of the micro-dose injector 4. The displacement sensor of the injection mechanism 42 detects the alignment status in real time. After confirming successful alignment, the control device 12 records the current piston position as the zero point.

[0113] S406, robotic arm 13 assists in inserting into the medicine container 51.

[0114] The robotic arm 13 moves the micro-dose injector 4, which is already mounted on the syringe fixture 41, to the drug container 51 (e.g., a vial) fixed on the special fixture 5, and controls the needle of the micro-dose injector 4 to pierce the piston (rubber stopper) of the vial. The piercing depth is controlled by the torque sensor of the robotic arm 13 to ensure that the needle penetrates the rubber stopper without touching the bottom of the vial.

[0115] S407, injection mechanism 42, uniform suction.

[0116] The control device 12 issues a command, and the injection mechanism 42 pulls the piston rod of the micro-dose injector 4 backward at a preset speed (e.g., 0.5 ml / min) to draw the drug solution from the vial into the micro-dose injector 4. The injection mechanism 42 has a built-in displacement sensor that provides real-time feedback on the aspirated volume, and stops immediately when the preset dose (e.g., 3.00 ml) is reached, with a control accuracy of ±0.01 ml.

[0117] S408, Aspiration complete, remove the needle.

[0118] After aspiration is complete, the robotic arm 13 pulls the micro-dose syringe 4 out of the plunger of the vial. The pulling action is controlled by the robotic arm 13 to ensure that the needle is pulled out vertically, avoiding dripping of the medication or bending of the needle.

[0119] S409, Move to the automatic cap return mechanism 43.

[0120] The robotic arm 13 moves the micro-dose syringe 4 with a needle to the automatic cap-returning mechanism 43 in the operating chamber 11. The automatic cap-returning mechanism 43 includes a fixing base and a needle cap guide groove, with the needle cap pre-fixed in the guide groove, waiting for the needle to be inserted.

[0121] S410, needle tip snaps onto needle cap.

[0122] The robotic arm 13 drives the micro-dose injector 4 to apply downward pressure, causing the needle tip to precisely align and engage with the needle cap in the guide groove of the automatic cap retraction mechanism 43. After engagement, the needle cap securely encases the needle tip, preventing it from protruding and completely eliminating the risk of needlestick injury.

[0123] S411, The robotic arm 13 takes out the packaged micro-dose syringe 4 and places it into the sterile output chamber.

[0124] The robotic arm 13 removes the packaged micro-dose syringe 4 from the automatic cap-returning mechanism 43 and the syringe fixture 41, and transfers it to the sterile output chamber within the operating chamber 11. The sterile output chamber is a sub-area within the operating chamber 11. The sterile output chamber is a closed sterile environment to ensure that the prepared subcutaneous injection is not contaminated before output.

[0125] S412. Complete the preparation of the subcutaneous injection.

[0126] At this point, the preparation of the subcutaneous micro-dose injection is complete. Medical staff can directly retrieve the packaged micro-dose syringe 4 from the sterile dispensing compartment and administer the medication subcutaneously to the patient.

[0127] This application discloses the preparation of a subcutaneous microdose monoclonal antibody drug (pertuzumab-trastuzumab combination preparation), and the specific process is as follows: Medical staff placed a vial of pertuzumab-trastuzumab combination preparation into the special treatment device 5 in the operation chamber 11, and then placed a 1ml sterile micro-dose syringe 4 inside.

[0128] Step 1: Intelligent Matching. The doctor's order is: "Patient Li, pertuzumab trastuzumab 600mg (3ml), subcutaneous injection." Control device 12 queries its built-in consumables library, matches the "subcutaneous micro-dose dispensing path," and specifies the use of a "1ml micro-dose syringe." The path planning unit calculates the second motion trajectory.

[0129] Step 2: Secondary verification of consumables. The robotic arm 13 picks up the barcode scanner 6 and scans the QR codes on the medicine container 51 (vial) and the micro-dose syringe 4. After the control device 12 verifies the codes, it sends a second control signal.

[0130] Step 3: Precise Micro-Dose Aspiration. The robotic arm 13 grasps the micro-dose injector 4 and mounts it onto the syringe fixture 41. The injection mechanism 42 engages with the piston rod of the micro-dose injector 4. The robotic arm 13 secures the vial to the dedicated fixture 5 and inserts the needle of the micro-dose injector 4 into the piston of the vial. The control device 12 issues a command, and the injection mechanism 42 pulls backward at a uniform speed of 0.5 ml / min. The displacement sensor provides real-time feedback, and the pusher immediately stops when the aspirated volume reaches 3.00 ml ± 0.01 ml.

[0131] Step 4: Automatic Cap Retraction and Dispensing. After aspiration, the robotic arm 13 moves the syringe with the needle to the automatic cap retraction mechanism 43. The automatic cap retraction mechanism 43 secures the needle cap, and the robotic arm 13 applies downward pressure to the syringe body, safely locking the needle tip inside the needle cap. Finally, the robotic arm 13 picks up the packaged micro-dose syringe 4 and places it into the sterile dispensing chamber. Medical personnel can then directly use it for subcutaneous injection into patients.

[0132] Step 5: Environmental Adaptation. If the drug characteristics require cold chain preservation, then while the above steps are being performed, the control device 12 activates the refrigeration device 35 (e.g., a thermoelectric cooler), and maintains the local ambient temperature in the operating chamber 11 at 2-8°C through closed-loop feedback control via the temperature sensor 31.

[0133] Step 6: Waste Recycling. After the medication is prepared, the control device 12 identifies the type of waste and controls the robotic arm 13 to put the used vials, the outer casing and needle cap of the micro-dose syringe 4, and other waste into the corresponding recycling bins 81.

[0134] The embodiments of this application can intelligently switch working modes according to different drug characteristics and administration routes, realizing fully automated, precise and harmless drug preparation operations, which greatly improves the safety and efficiency of day chemotherapy and complex targeted drug preparation.

[0135] See Figure 5 , Figure 5This paper illustrates an overall flowchart of a multi-path-based drug preparation method according to an embodiment of this application. The process uses control device 12 as the core scheduling unit and follows a logical architecture of "path decision → parallel execution of dual paths → environmental adaptation → waste recycling" to automate the entire process of chemotherapy drug preparation. Specifically, it includes the following steps: S1: Medical order acquisition and path matching.

[0136] Control device 12 acquires medical order information from the hospital information system (HIS), which includes patient information, drug name, route of administration, dosage requirements, etc. Based on the drug name and route of administration in the medical order information, control device 12 automatically matches the corresponding intravenous or subcutaneous micro-dose preparation route. This step is the decision-making starting point for all subsequent operations, determining whether the system will execute step S2a (intravenous preparation route) or step S2b (subcutaneous micro-dose preparation route).

[0137] S2a: Intravenous medication dispensing route.

[0138] When the matching result of step S1 is "intravenous" administration, the system enters the intravenous preparation pathway. This pathway includes the following sub-steps: (1) Matching intravenous infusion bags and dissolving devices: The control device 12 queries the built-in consumables library, automatically matches the light-proof infusion bags and dissolving devices (first drug preparation consumables) corresponding to intravenous administration, and locks the corresponding consumables position in the operation chamber 11; (2) Robotic arm 13 grasps consumables: Robotic arm 13 grasps the matching dissolving device and light-proof infusion bag according to the first motion trajectory; (3) Drug transfer and mixing: The robotic arm 13 controls the dissolving device to pierce the vial containing drug powder, extracts the dissolving solution and injects it into the vial to dissolve the drug powder, shakes it well and then extracts the drug solution, and then pierces the light-proof infusion bag to inject all the drug solution, thus completing the drug transfer and mixing.

[0139] S2b: Subcutaneous microdose dispensing route.

[0140] When the matching result of step S1 is "subcutaneous micro-dose" administration route, the system enters the subcutaneous micro-dose preparation path. This path includes the following sub-steps: (1) Matching micro-dose aspiration consumables: The control device 12 queries the built-in consumables library and automatically matches the micro-dose syringe 4 and matching consumables (second drug preparation consumables) corresponding to subcutaneous micro-dose drug delivery. (2) The robotic arm 13 grasps and installs the micro-dose aspiration module: The robotic arm 13 grasps the micro-dose syringe 4 according to the second motion trajectory and installs it onto the syringe fixture 41 of the micro-dose aspiration module; (3) Precision aspiration of drug solution (±0.01ml accuracy): The injection mechanism 42 is connected to the piston rod of the micro-dose injector 4 and is pulled backward at a preset speed to draw the drug solution from the vial into the micro-dose injector 4. The displacement sensor provides real-time feedback and the control accuracy reaches ±0.01ml. (4) Automatic cap retraction mechanism completes cap retraction: After aspiration is completed, the robotic arm 13 moves the micro-dose syringe 4 to the automatic cap retraction mechanism 43, and the needle tip and needle cap automatically snap together to complete the sealing.

[0141] S3: Environmental adaptive adjustment.

[0142] Regardless of whether it's the intravenous medication preparation route (S2a) or the subcutaneous micro-dose medication preparation route (S2b), the system enters an environmental adaptive adjustment phase during or after the medication preparation operation. Control device 12 automatically adjusts the environmental parameters within the operating chamber 11 based on the drug's characteristic information (e.g., light protection, cold chain, or standard). (1) If the drug requires protection from light: turn off the high-brightness LED lighting in the operation chamber 11, start the infrared light source emitting component 33 and the infrared imaging device 34, and the robotic arm 13 continues or completes the subsequent operation under the guidance of infrared vision. (2) If the drug requires a cold chain: start the miniature refrigeration device 35 (e.g., a semiconductor refrigeration chip), and use the temperature sensor 31 for closed-loop feedback control to maintain the local ambient temperature in the operating chamber 11 at 2-8°C; (3) If the drug is required to be normal: maintain the normal temperature and light mode in the operating chamber 11, and there is no need to start special environmental adjustment.

[0143] S4: Intelligent sorting and recycling of waste.

[0144] After intravenous or subcutaneous micro-dose medication preparation is completed, the system enters the intelligent waste sorting and recycling stage. Based on images captured by image acquisition device 7 within the operation chamber 11, control device 12 extracts characteristic data of the waste (such as shape, color, and size), identifies the waste type (such as dissolving containers, vials, micro-dose syringe covers, needles, etc.), and sends a recycling signal to robotic arm 13. According to the recycling signal, robotic arm 13 places the identified waste into the corresponding recycling bins 81 (such as sharps containers, vial recycling bins, syringe cover recycling bins, etc.) according to waste type, achieving a fully automated closed-loop operation from medication preparation to recycling, reducing the occupational exposure risk for medical personnel.

[0145] It should be noted that the execution subject of each step of the method provided in this application embodiment can be the same device, or the method can be executed by different devices. For example, the execution subject of steps S101 and S102 can be device 1, and the execution subject of step S103 can be device 2; or the execution subject of step S101 can be device 1, and the execution subject of steps S102 and S103 can be device 2; and so on.

[0146] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] Therefore, this application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by one or more processors, causes the one or more processors to perform the method as described in any embodiment of this application.

[0148] Furthermore, this application also proposes a control device 12, applied to a system as described in any embodiment of this application, comprising: One or more processors; Storage device, on which one or more programs are stored, When one or more programs are executed by one or more processors, the control device 12 causes the control device 12 to perform the method as described in any embodiment of this application.

[0149] Furthermore, this application also proposes a computer program product comprising a computer program / instructions that, when executed by a processor, cause the processor to perform the method described in any embodiment of this application.

[0150] Figure 6 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Figure 6 As shown, this embodiment provides a control device 12, which includes: one or more processors 120; and a storage device 110 for storing one or more programs. When the one or more programs are run by the one or more processors 120, the one or more processors 120 implement the multi-path-based drug dispensing method provided in this application embodiment.

[0151] Figure 6The control device 12 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0152] like Figure 6 As shown, the control device 12 includes a processor 120, a storage device 110, an input device 130, and an output device 140; the number of processors 120 in the control device 12 can be one or more. Figure 6 Taking a processor 120 as an example; the processor 120, storage device 110, input device 130 and output device 140 in the control device can be connected via bus or other means. Figure 6 Taking the connection between China and Israel via bus 150 as an example.

[0153] The storage device 110, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and module units, such as the program instructions corresponding to the multi-path-based drug dispensing method in the embodiments of this application.

[0154] Storage device 110 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on terminal usage. Furthermore, storage device 110 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 110 may further include memory remotely located relative to processor 120, and these remote memories can be connected via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0155] Input device 130 can be used to receive input digital, character, or voice information, and to generate key signal inputs related to user settings and function control of the control device. Output device 140 may include control devices such as a display screen and a speaker.

[0156] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0157] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0158] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0159] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0160] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0161] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0162] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0163] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A multi-path-based drug dispensing system, characterized in that, The system includes: The main body integrates a control device and a robotic arm, and the control device is communicatively connected to the robotic arm. The control device is used to acquire medication information and match the corresponding intravenous or subcutaneous medication path according to the drug name and administration route in the medication information to obtain a matching result. The intravenous medication path corresponds to a first medication consumable and a first motion trajectory, and the subcutaneous medication path corresponds to a second medication consumable and a second motion trajectory. The first medication consumable and the second medication consumable are different, and the first motion trajectory and the second motion trajectory are different. If the matching result is the intravenous medication dispensing route, the control device sends a first control signal to the robotic arm based on the first control strategy; If the matching result is the subcutaneous medication dispensing path, the control device sends a second control signal to the robotic arm based on the second control strategy; The robotic arm is configured to receive the first control signal sent by the control device, grasp the first medication consumable according to the first motion trajectory and perform intravenous medication preparation until the preparation of intravenous medication is completed; and to receive the second control signal sent by the control device, grasp the second medication consumable according to the second motion trajectory and perform subcutaneous medication preparation until the preparation of subcutaneous medication is completed.

2. The multi-path-based drug dispensing system according to claim 1, characterized in that, The system also includes: The operating compartment is located within the main unit. A micro-dose syringe, which is the second drug dispensing consumable, is used to draw liquid medicine from a drug container containing medicine; A consumables compartment for storing the micro-dose syringes; A syringe fixture is disposed within the operating chamber and is used to fix the micro-dose syringe. An injection mechanism, located inside the operating chamber and linked to the robotic arm, is used to inject the piston rod of the micro-dose injector; The robotic arm is used to receive the second control signal sent by the control device, grasp the second medication consumable according to the second motion trajectory, and perform subcutaneous medication preparation until the preparation of the subcutaneous medication is completed, including: According to the received second control signal, the robotic arm grasps the micro-dose syringe according to the second motion trajectory. The robotic arm fixes the grasped micro-dose syringe to the syringe fixture. The robotic arm moves the micro-dose syringe mounted on the syringe fixture to the drug container containing the drug. The robotic arm controls the needle of the micro-dose syringe to pierce the piston of the drug container. The robotic arm drives the injection mechanism to push the piston rod of the micro-dose syringe so that the micro-dose syringe draws a preset dose of drug solution from the drug container into the micro-dose syringe at a preset speed.

3. The multi-path-based drug dispensing system according to claim 2, characterized in that, The system also includes an automatic cap-returning mechanism located within the operating compartment, and the robotic arm is further used for: After the micro-dose syringe has drawn a preset dose of medication from the drug container, the needle of the micro-dose syringe is pulled out from the piston of the drug container. Move the micro-dose injector to the automatic cap-returning mechanism and fasten the needle of the micro-dose injector with the cap of the automatic cap-returning mechanism; The packaged micro-dose syringe is transferred to a sterile dispensing chamber to complete the preparation of subcutaneous medication.

4. The multi-path-based drug dispensing system according to claim 2, characterized in that, The system also includes: A special fixture is detachably fixed inside the operating chamber and is used to fix the medicine container under the drive of the robotic arm. The medicine container is matched with the special fixture.

5. The multi-path-based drug dispensing system according to claim 2, characterized in that, The control device is also used for: During the intravenous or subcutaneous drug preparation process, drug characteristic information corresponding to the drug name is acquired, and an adjustment signal for adjusting the operating environment parameters within the operating chamber is generated and sent based on the drug characteristic information.

6. The multi-path-based drug dispensing system according to claim 5, characterized in that, The drug characteristic information includes information on light-protected storage; the system also includes: A light sensor is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm. An infrared light source emitting component is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm. An infrared imaging device is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm; The step of generating and sending adjustment signals based on the drug characteristic information to regulate the operating environment parameters within the operating chamber includes: Based on the light-avoidance storage information, the control device generates a visible light source shutdown signal for shutting off visible light sources in the operating chamber and sends it to the light sensor, so that the light sensor performs a visible light source shutdown operation according to the visible light source shutdown signal; The control device generates an infrared light source activation signal for activating the infrared light source in the operating chamber and sends it to the infrared light source emitting component, so that the infrared light source emitting component performs an infrared light source emitting operation according to the infrared light source activation signal. The control device generates an infrared image acquisition signal for acquiring infrared visual images inside the operating chamber and sends it to the infrared imaging device, so that the infrared imaging device performs an infrared visual image acquisition operation according to the infrared image acquisition signal. The control device acquires the infrared visual images collected by the infrared imaging device; The control device generates an infrared guidance signal based on the infrared visual image and the infrared light source, and sends the infrared guidance signal to the robotic arm so that the robotic arm performs the intravenous drug preparation operation or the subcutaneous drug preparation operation under the guidance of the infrared guidance signal.

7. The multi-path-based drug dispensing system according to claim 5, characterized in that, The drug characteristic information includes cold chain storage information, and the system further includes: A temperature sensor is installed inside the operating chamber and is communicatively connected to the control device and the robotic arm; A refrigeration device is installed inside the operating compartment and is communicatively connected to the control device and the robotic arm; The step of generating and sending adjustment signals based on the drug characteristic information to regulate the operating environment parameters within the operating chamber includes: Based on the cold chain preservation information, the control device generates a sampling signal for collecting the temperature inside the operating chamber and sends it to the temperature sensor, so that the temperature sensor performs a temperature sampling operation according to the sampling signal. The control device acquires the temperature value collected by the temperature sensor, generates a cooling signal based on the temperature value to reduce the temperature inside the operating chamber, and sends it to the cooling device so that the cooling device performs a cooling operation according to the cooling signal to adjust the temperature inside the operating chamber to a preset storage temperature.

8. The multi-path-based drug dispensing system according to claim 2, characterized in that, The system also includes a barcode scanner, which is disposed within the operating compartment, and the control device is further used for: When the matching result is the intravenous medication dispensing path, the scanner is controlled to scan the first consumable identification code of the first medication dispensing consumable and the first drug container code of the corresponding drug container grasped by the robotic arm; the first consumable identification code and the first drug container code are compared with the medication dispensing information, and after the comparison is successful, the first control signal is sent to the robotic arm based on the first control strategy. When the matching result is the subcutaneous medication dispensing path, the scanner is controlled to scan the second consumable identification code of the second medication dispensing consumable and the second drug container code of the corresponding drug container grasped by the robotic arm; the second consumable identification code and the second drug container code are compared with the medication dispensing information, and after the comparison is successful, the second control signal is sent to the robotic arm based on the second control strategy.

9. The multi-path-based drug dispensing system according to claim 2, characterized in that, The system also includes: An image acquisition device is installed inside the operating compartment and is communicatively connected to the control device for acquiring images inside the operating compartment. The sorting and recycling containers are set up in the operation chamber, including recycling chambers corresponding to different types of waste; The control device is also used for: After the intravenous or subcutaneous medication preparation operation is completed, the characteristic data of the waste are extracted based on the image acquired by the image acquisition device. Based on the characteristic data of the waste, the waste type of the waste is identified; According to the type of waste, a recycling signal is sent to the robotic arm, so that the robotic arm puts the waste into the corresponding recycling bin according to the type of waste.

10. The multi-path-based drug dispensing system according to claim 1, characterized in that, The system also includes: The storage module is integrated into the host body and electrically connected to the control device. The storage module stores a built-in consumable library, which includes three-dimensional models, specifications, environmental adaptability attributes, and corresponding drug lists of various preset medication consumables.

11. A multi-path-based drug dispensing method, executed by a control device in a multi-path-based drug dispensing system as described in any one of claims 1 to 10, characterized in that, The method includes: Obtain medication information and match the corresponding intravenous or subcutaneous medication path according to the drug name and administration route in the medication information to obtain the matching result. The intravenous medication path corresponds to a first medication consumable and a first movement trajectory, and the subcutaneous medication path corresponds to a second medication consumable and a second movement trajectory. The first medication consumable and the second medication consumable are different, and the first movement trajectory and the second movement trajectory are different. If the matching result is the intravenous medication preparation path, the control device sends a first control signal to the robotic arm based on the first control strategy, so that the robotic arm grabs the first medication preparation consumable according to the first motion trajectory and performs the intravenous medication preparation operation until the preparation of intravenous medication is completed. If the matching result is the subcutaneous medication dispensing path, the control device sends a second control signal to the robotic arm based on the second control strategy, so that the robotic arm grabs the second medication consumable according to the second motion trajectory and performs the subcutaneous medication dispensing operation until the preparation of the subcutaneous medication is completed.

12. A control device, applied to the system as described in any one of claims 1-10, characterized in that, include: One or more processors; Storage device, on which one or more programs are stored, When the one or more programs are executed by the one or more processors, the control device performs the method as described in claim 11.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by one or more processors, the one or more processors cause the one or more processors to perform the method as described in claim 11.

14. A computer program product, characterized in that, Includes a computer program / instruction that, when executed by a processor, causes the processor to perform the method as described in claim 11.

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