A liquid preparation robot for chemotherapy drugs

Abstract

The application discloses a liquid preparation robot for chemotherapy drugs, which comprises a rack, a hatch hingedly arranged on the rack, a mechanical arm assembly fixedly arranged in the rack, a bottle opening assembly fixedly arranged on one side of the mechanical arm assembly, a transfusion bottle clamp fixedly arranged on the other side of the mechanical arm assembly, a needle cylinder clamping seat movably arranged below the transfusion bottle clamp, and a push rod clamping seat movably arranged on the side of the needle cylinder clamping seat; and a driving assembly is arranged on the rack and used for driving the needle cylinder clamping seat and the push rod clamping seat to perform a liquid preparation operation. The whole liquid preparation operation is completed in the rack, so that the medicine liquid is prevented from being polluted by environment particles; meanwhile, the mechanical arm assembly is sequentially cooperated with the bottle opening assembly and a needle tube to realize automatic operation and "man-machine separation", cross contamination caused by contact is completely avoided, the incidence of adverse reactions of intravenous transfusion is greatly reduced, and the purity and safety of clinical medication are ensured.

Description

Technical Field

[0001] This invention relates to the field of solution preparation equipment technology, and more particularly to a solution preparation robot for chemotherapy drugs. Background Technology

[0002] Currently, the preparation of a large number of intravenous infusion drugs in clinical practice still relies primarily on manual operation by nursing staff. The traditional method typically involves first opening and sterilizing the bottle cap, then manually drawing the solvent to dilute the powdered drug using a sterile syringe in one hand and the infusion bottle in the other. The solvent is then injected into the powdered drug bottle, and after the drug dissolves, the dissolved solution or injectable drug is drawn into the syringe and finally injected into the infusion bottle to complete the preparation. However, this traditional manual drug preparation method has significant technical defects and safety hazards in practical application, mainly in the following aspects: I. There is a serious risk of particulate and bacterial contamination in the medication solution. During manual medication preparation, the syringe needs to be frequently pierced between the medication bottle and the infusion bottle. The degree of particulate contamination is directly proportional to the number of times the rubber stopper is pierced. Furthermore, the hands of the person preparing the solution are easily exposed to and can contaminate the syringe plunger, further increasing the risk of contamination. If the particulate matter in the intravenous infusion solution enters the body, it can cause serious harm, increase the incidence of adverse reactions to intravenous infusions, and negatively impact clinical medication safety.

[0003] Second, nursing staff face extremely high occupational exposure risks. This is particularly pronounced when dealing with the preparation of chemotherapy and radioactive drugs. As is well known, many chemotherapy drugs are cytotoxic and can harm personnel through inhalation, ingestion, and skin contact. In practice, when nursing staff manually prepare these drugs (including radioactive drugs), there is a high risk of drug aerosol diffusion or liquid splashing. Long-term exposure to these chemotherapy drugs can damage normal cells and DNA, leading to reproductive toxicity and potentially inducing cancer; for pregnant staff, it can also cause birth defects.

[0004] Third, the work is inefficient and labor-intensive. Nursing staff need to perform a large number of manual operations such as dissolving, drawing up, and injecting medication every day. This is not only time-consuming and labor-intensive, but also easily leads to hand fatigue, affecting the accuracy of the operations.

[0005] In summary, to improve the quality and efficiency of intravenous infusion drug preparation, reduce drug contamination, and ensure the occupational safety of medical staff, there is an urgent need for a pollution-free, high-efficiency, and intelligent drug preparation robot to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a solution preparation robot for chemotherapy drugs, in order to solve the problems mentioned in the background art, that existing methods for preparing chemotherapy drugs are mostly done manually, resulting in high labor intensity for preparation personnel, low preparation efficiency, drug contamination, and the risk of illness for preparation personnel.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a chemotherapy drug dispensing robot, comprising a frame, a door hinged to the frame, a robotic arm assembly fixedly disposed within the frame, a bottle opening assembly fixedly disposed on one side of the robotic arm assembly, an infusion bottle clamp fixedly disposed on the other side of the robotic arm assembly, a syringe holder movably disposed below the infusion bottle clamp, and a push rod holder movable on the side of the syringe holder. The frame is provided with a drive assembly for driving the syringe holder and the push rod holder to perform dispensing operations.

[0008] Preferably, the drive assembly includes a lifting module fixedly mounted on the frame, a motor base fixedly mounted on the output end of the lifting module, a rotary motor fixedly mounted on the motor base, an electric cylinder connecting plate connected to the output end of the rotary motor, a liquid dispensing electric cylinder fixedly mounted on the electric cylinder connecting plate, a syringe holder fixedly connected to the fixed end of the liquid dispensing electric cylinder, and a push rod holder fixedly connected to the telescopic end of the liquid dispensing electric cylinder.

[0009] Preferably, the infusion bottle clamp includes a bottle body clamp, a bottle mouth clamp fixedly disposed at the bottom of the bottle body clamp, and a bracket fixedly disposed on the bottle body clamp for supporting and limiting the bottle mouth clamp.

[0010] Preferably, the bottle neck clamp includes a connecting part and a snap-fit ​​part symmetrically fixed on the connecting part. Both sides of the snap-fit ​​part have a bottle neck slot facing one side, and a guide platform is provided on the side of the bottle neck slot.

[0011] Preferably, the infusion bottle clamp is detachably equipped with an infusion bottle, and the needle tube connector is detachably equipped with a needle tube, the central axis of the needle tube coinciding with the central axis of the infusion bottle opening.

[0012] Preferably, the frame has a container tray at the bottom of the needle tube, and the central axis of the container tray coincides with the central axis of the needle tube.

[0013] Preferably, the bottle opening assembly includes a bottle rack fixedly mounted on the frame, vial bottle necks and ampoule bottle necks opened on the bottle rack, a bottle opening plate movable at the bottom of the vial bottle neck, a guide cap groove of the vial bottle neck opened on the bottle opening plate, and a bottle opening electric cylinder fixedly mounted on the frame with its telescopic end fixedly connected to the bottle opening plate.

[0014] Preferably, a glass cutting blade is rotatably mounted inside the frame, a cutting motor is fixedly mounted on the frame for driving the glass cutting blade to rotate, and a coupling is sleeved on the output end of the cutting motor and fixedly connected to the glass cutting blade.

[0015] Preferably, a protective cover is fixedly installed outside the glass cutter, with a cutting opening on the side wall of the protective cover that connects to the glass cutter, and a chip discharge port on the bottom of the protective cover that connects to the glass cutter.

[0016] As a preferred feature, a waste bin is detachably mounted on the frame below the waste discharge port, a handle is fixedly mounted on the waste bin, and a limiting plate is fixedly mounted on the frame for positioning the waste bin during installation.

[0017] Preferably, the robotic arm assembly includes a robotic arm body fixedly disposed within the frame, a camera bracket fixedly disposed at the output end of the robotic arm body, a data acquisition camera fixedly disposed on the camera bracket, a gripper bracket connected to the camera bracket, and a gripper fixedly disposed on the gripper bracket.

[0018] Preferably, a 3D acquisition camera is provided on the top of the frame, and video cameras are fixed on both sides of the 3D acquisition camera.

[0019] As a preferred feature, the bottom of the frame is provided with a medicine tray, a posture adjustment table, and at least one medicine bottle rack.

[0020] Preferably, the bottom of the frame is also provided with a barcode scanning platform and a barcode scanning mounting bracket located on the side of the barcode scanning platform. The barcode scanning platform is provided with a servo motor, and the barcode scanning mounting bracket is provided with a barcode scanning camera and a photoelectric sensor.

[0021] Preferably, the frame is provided with a UV lamp holder, and the UV lamp is fixedly mounted in the UV lamp holder.

[0022] Preferably, the top of the frame is equipped with a lighting lamp.

[0023] Preferably, the frame is provided with a partition that divides the interior of the frame into a liquid preparation chamber and a control chamber. The liquid preparation chamber is used for the robotic arm assembly to perform liquid preparation operations, and the control chamber is provided with an electrical control unit for ensuring the normal operation of the liquid preparation operations.

[0024] Preferably, the frame is provided with at least one exhaust fan connecting the liquid preparation chamber and the control chamber, and the exhaust fans connecting the liquid preparation chamber and the control chamber are connected to an external waste gas treatment system through pipes. The frame is provided with at least one door hinged to the side wall of the control chamber.

[0025] Preferably, the rack is also equipped with an industrial computer, a power socket and multiple switches, all of which are electrically connected to the electrical control unit.

[0026] Preferably, the multiple switches include a power switch, a start switch, an emergency switch, and a status control switch.

[0027] Preferably, the electrical control unit is integrated with existing electronic components, including servo drive, PLC controller, switching power supply, ultraviolet lamp power supply, motor drive, circuit breaker, etc., and the normal operation status of the liquid dispensing robot is regulated through the electrical control unit.

[0028] The beneficial effects of this invention are: This invention eliminates contamination from environmental particles and personnel contact. It employs a closed, automated dispensing structure, centralizing the entire dispensing operation within the machine frame. This cuts off the pathways for airborne dust, fibers, bacteria, and viruses to enter the medication solution, ensuring it remains uncontaminated by environmental particles. Simultaneously, a robotic arm component works in conjunction with the bottle-opening component and syringe to automatically dispense the medication from the vial into the infusion bottle. This automated operation achieves "human-machine separation," completely preventing the dispensing personnel's hands from contacting the syringe plunger, syringe barrel, or vial opening. This thoroughly avoids cross-contamination caused by hand contact, significantly reducing the incidence of adverse reactions to intravenous infusions and ensuring the purity and safety of clinical medication use.

[0029] Human-machine isolation and protection ensure zero-contact occupational safety. This invention automates the preparation of chemotherapy drugs within a rack. Personnel preparing the drugs only need to issue instructions via an industrial control computer outside the rack, without direct contact with the drugs. This completely blocks the pathways through which toxic drugs can harm the human body via inhalation, ingestion, and skin contact, thus avoiding harm to the physical and mental health of the personnel preparing the drugs.

[0030] Automated, efficient, and high-precision drug preparation operations. This invention utilizes a robotic arm assembly to automate drug preparation operations within a frame, replacing the traditional manual labor of tedious and repetitive actions such as dissolving, drawing up, and injecting drugs. This frees preparation personnel from heavy physical labor, eliminates hand fatigue, and improves the accuracy of drug preparation operations.

[0031] The quick-release assembly and disassembly of infusion bottles and syringes within the machine frame offers high convenience. This invention utilizes a quick-release structure for the infusion bottle clamp, employing a bottle mouth clamp to achieve self-aligning clamping and fixation of the infusion bottle mouth, facilitating quick assembly and disassembly of the infusion bottle on the machine frame. Furthermore, by utilizing syringe holders and push rod holders to engage with the syringe barrel and push rod portions of the syringe respectively, quick assembly and disassembly of the syringe on the machine frame is achieved, significantly reducing medication preparation time for medical personnel and improving operational convenience and work efficiency. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the opening door according to an embodiment of the present invention; Figure 3 This is a first-view perspective three-dimensional structural diagram of the rack in an embodiment of the present invention; Figure 4 This is a second-view perspective three-dimensional structural diagram of the frame in an embodiment of the present invention; Figure 5 This is a three-dimensional structural diagram of the bottle holder in an embodiment of the present invention; Figure 6 This is a three-dimensional structural diagram of the driving component in an embodiment of the present invention; Figure 7 This is a top sectional view of an embodiment of the present invention; Figure 8 This is a three-dimensional structural diagram of the bottle opening component and the bottle cutting component in an embodiment of the present invention; Figure 9 This is a cross-sectional three-dimensional structural diagram of the bottle rack, bottle opening plate, and vial opening operation in an embodiment of the present invention; Figure 10 The embodiments of the present invention are attached. Figure 2 Enlarged structural diagram at point A in the middle; Figure 11 This is a diagram illustrating the operational state of grasping medicine bottles from a medicine tray according to an embodiment of the present invention. Figure 12 This is an operational state diagram illustrating the adjustment of the ampoule gripping posture according to an embodiment of the present invention; Figure 13 This is an operational state diagram of grasping medicine bottles for barcode scanning and identification according to an embodiment of the present invention; Figure 14 This is an operational diagram of the medicine bottle temporary storage rack according to an embodiment of the present invention; Figure 15 This is a diagram illustrating the cutting process of an ampoule bottle according to an embodiment of the present invention.

[0033] In the diagram: 1. Frame; 2. Door; 3. Robotic arm assembly; 31. Robotic arm body; 32. Camera bracket; 33. Acquisition camera; 34. Gripper bracket; 35. Gripper; 4. Bottle opening assembly; 41. Bottle rack; 42. Vial bottle neck; 43. Ampoule bottle neck; 44. Bottle opening plate; 45. Guide cap groove; 46. Bottle opening cylinder; 5. Infusion bottle clamp; 51. Bottle body clamp; 52. Bottle neck clamp; 521. Connecting part; 522. Snap-fit ​​part; 523. Bottle neck Card slot; 524, guide table; 53, bracket; 6, syringe holder; 61, base; 7, push rod holder; 8, drive assembly; 81, lifting module; 82, motor base; 83, rotary motor; 84, electric cylinder connecting plate; 85, liquid dispensing electric cylinder; 9, glass cutting blade; 10, cutting motor; 11, coupling; 12, protective cover; 121, cutting edge; 122, debris discharge port; 13, waste bin; 131, guide port; 14, handle; 15 151. Limiting plate; 16. Guide section; 17. 3D acquisition camera; 18. Video camera; 19. Medicine tray; 20. Attitude adjustment platform; 21. Medicine bottle rack; 22. Barcode scanning stand; 23. Barcode scanning mounting bracket; 24. Servo motor; 25. Barcode scanning camera; 26. Photoelectric sensor; 27. Ultraviolet lamp holder; 28. Ultraviolet lamp; 29. ​​Illumination lamp; 30. Infusion bottle; 30. Syringe; 301. Syringe section; 302. Push rod section; 101. Container tray ; 102. Partition; 103. Liquid preparation chamber; 104. Control chamber; 105. Electrical control unit; 106. Exhaust fan; 107. Chamber door; 108. Industrial computer; 109. Power socket; 110. Power switch; 111. Start switch; 112. Emergency switch; 113. Status control switch; 114. Mounting beam one; 115. Mounting beam two; 116. Mounting beam three; 117. Mounting beam four; 118. Vial; 119. Ampoule. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figures 1 to 15This invention provides a solution preparation robot for chemotherapy drugs, comprising a frame 1, a door 2 hinged to the frame 1, characterized in that a robotic arm assembly 3 is fixedly disposed within the frame 1, a bottle opening assembly 4 is fixedly disposed on one side of the robotic arm assembly 3, an infusion bottle clamp 5 is fixedly disposed on the other side of the robotic arm assembly 3, a syringe holder 6 is movably disposed below the infusion bottle clamp 5, and a push rod holder 7 is movably disposed on the side of the syringe holder 6. The frame 1 is provided with a drive assembly 8 for driving the syringe holder 6 and the push rod holder 7 to perform solution preparation operations.

[0036] like Figure 5 and Figure 6 As shown, specifically, firstly, the syringe portion 301 of the needle tube 30 is snapped onto the syringe holder 6, and the push rod portion 302 of the needle tube 30 is snapped onto the push rod holder 7, facilitating quick installation and removal of the needle tube 30 on the frame 1. Then, by pushing the infusion bottle 29 along the opening side of the infusion bottle clamp 5, the infusion bottle 29 and the infusion bottle clamp 5 are quickly engaged, achieving quick installation and removal of the infusion bottle 29 on the frame 1. The syringe holder 6 has a syringe slot for engaging with the syringe portion 301, and the push rod holder 7 has a push rod slot for engaging with the push rod portion 302. The syringe slot and the push rod slot work together to snap the needle tube 30 onto the end of the drive assembly 8.

[0037] like Figure 2 and Figure 10As shown, a robotic arm assembly 3 is fixedly installed inside the frame 1. The robotic arm assembly 3 is used to automatically grasp and / or transport vials containing chemotherapy drugs. According to the operating procedure, the grasped vial first cooperates with the vial opening assembly 4. The vial opening assembly 4 pre-treats the vial, driving it into a state where it can be directly dispensed. Then, the program controls the robotic arm assembly 3 to drive the pre-treated vial to be directly below the syringe 30. The drive assembly 8 first drives the syringe holder 6 to insert the end of the syringe into the pre-treated vial. Then, the push rod holder 7 is driven to move relative to the syringe holder 6. The syringe 30 is used to directly extract liquid drugs from ampoules, or to inject powdered drugs from vials first, and then extract them after being shaken by the robotic arm assembly 3. Finally, the drive assembly 8 controls the syringe 30 to rotate 180 degrees and connect with the infusion bottle 29 to input the extracted drugs into the infusion bottle 29 to complete the solution preparation operation. The robotic arm assembly 3 grasps the medicine bottle and works in conjunction with the bottle opening assembly 4 and the syringe 30. Through a control program, the required medication is added to the infusion bottle 29 in a certain order or within a specified time, thus achieving automated medication preparation. Compared with the traditional manual medication preparation method, this greatly reduces the labor intensity of the medication preparation personnel and improves the preparation efficiency. Moreover, the entire medication preparation operation is completed automatically and independently within the frame 1, further avoiding contact contamination with the medication preparation personnel and greatly reducing the negative impact of clinical medication safety and the harm to the physical and mental health of the medication preparation personnel.

[0038] like Figure 6 As shown, specifically, the drive assembly 8 includes a lifting module 81 fixedly mounted on the frame 1, a motor base 82 fixedly mounted on the output end of the lifting module 81, a rotary motor 83 fixedly mounted on the motor base 82, an electric cylinder connecting plate 84 connected to the output end of the rotary motor 83, a liquid dispensing electric cylinder 85 fixedly mounted on the electric cylinder connecting plate 84, a syringe holder 6 fixedly connected to the fixed end of the liquid dispensing electric cylinder 85, and a push rod holder 7 fixedly connected to the telescopic end of the liquid dispensing electric cylinder 85.

[0039] like Figure 3 and Figure 6 As shown, the frame 1 is provided with a mounting beam 114 for fixing the lifting module 81. The lifting module 81 is fixedly connected to the mounting beam 114 by bolts. The output end of the lifting module 81 is fixedly connected to the motor base 82 by bolts. The rotary motor 83 is fixed to the middle of the motor base 82 by bolts. The electric cylinder connecting plate 84 is connected to the output end of the rotary motor 83 by a key. The liquid dispensing electric cylinder 85 is fixed to the electric cylinder connecting plate 84 by bolts. The syringe holder 6 is fixedly connected to the fixed end of the liquid dispensing electric cylinder 85 by the base 61. The push rod holder 7 is directly fixed to the telescopic end of the liquid dispensing electric cylinder 85 by bolts.

[0040] The lifting module 81 drives the motor base 82, which in turn drives the rotary motor 83 fixed on it to move up and down synchronously. The liquid preparation cylinder 85 connected to the output end of the rotary motor 83 also moves up and down synchronously, simultaneously driving the syringe holder 6 and push rod holder 7 fixed to the liquid preparation cylinder 85 to move up and down synchronously. The liquid preparation cylinder 85 then drives the push rod holder 7 to move relative to the syringe holder 6. Based on a preset liquid preparation control program, during the liquid preparation process, the needle 30, which is attached to the syringe holder 6 and push rod holder 7, is driven to engage with the lower medicine bottle and / or the upper infusion bottle 29. This replaces the traditional manual automation of tedious and repetitive drug dissolution, aspiration, and injection operations, freeing the hands of the liquid preparation personnel and improving the accuracy of the liquid preparation operation. Specifically, the rotary motor 83 drives the needle 30 to rotate 180 degrees, aligning the output end of the needle 30 with the lower medicine bottle or the upper infusion bottle 29 for insertion and engagement.

[0041] Furthermore, by integrating the syringe holder 6 and the push rod holder 7 onto the liquid dispensing cylinder 85, and through the drive assembly 8, the puncture and liquid dispensing operation of the needle tube 30 with the lower medicine bottle or the upper infusion bottle 29 can be realized. Compared with the existing drive structure, the mechanical layout is significantly simplified, and the operating efficiency and ease of operation are improved.

[0042] Furthermore, the motor base 82 is U-shaped. By embedding and fixing the rotary motor 83 to the middle of the motor base 82, the structure of the drive assembly 8 is made more compact, improving the utilization rate of the internal space of the frame 1.

[0043] like Figure 3 and 5 As shown, specifically, the infusion bottle clamp 5 includes a bottle body clamp 51, a bottle mouth clamp 52 fixedly disposed at the bottom of the bottle body clamp 51, and a bracket 53 fixedly disposed on the bottle body clamp 51 for supporting and limiting the bottle mouth clamp 52.

[0044] The frame 1 also includes a mounting beam 115 for fixing the infusion bottle clamp 5. The bottle body clamp 51 is fixedly connected to the mounting beam 115 by bolts. The bottle body clamp 51 has a U-shaped opening for accommodating the body of the infusion bottle 29. The bottle mouth clamp 52 and the bracket 53 are both fixed to the bottom of the bottle body clamp 51 by bolts. During the preparation of the infusion solution, medical staff insert the infusion bottle 29 along the U-shaped opening, so that the bottle mouth of the infusion bottle 29 is clamped and fixed by the bottle mouth clamp 52, and the bottle body is stored in the U-shaped opening. The bottle mouth clamp 52 is used to facilitate quick installation and removal of the infusion bottle 29 on the frame 1. The bracket 53 supports and limits the bottle mouth clamp 52, improving the stability of quick installation and removal of the infusion bottle 29.

[0045] Specifically, the bottle neck clamp 52 includes a connecting part 521 and a snap-fit ​​part 522 symmetrically fixed on the connecting part 521. Each snap-fit ​​part 522 on both sides has a bottle neck slot 523 facing one side. A guide platform 524 is provided on the side of each bottle neck slot 523. During the insertion and installation of the infusion bottle 29 along the U-shaped opening on the bottle body clamp 51, the bottle neck is aligned with the guide platform 524, so that the bottle neck of the infusion bottle 29 fits against the guide platform 524, and further presses the snap-fit ​​parts 522 on both sides under the limiting action of the bracket 53. This causes the long strip of the locking part 522 (i.e., the side away from the bottle mouth slot 523) to undergo horizontal elastic deformation. With further pushing and installing the infusion bottle 29, the bottle mouth of the infusion bottle 29 is finally locked into the bottle mouth slot 523 for fixation. Similarly, when it is necessary to disassemble the infusion bottle 29, simply pull the infusion bottle 29 outward to make it squeeze the locking parts 522 on both sides again, causing the long strip to deform again, so that the bottle mouth of the infusion bottle 29 can be dislodged from the bottle mouth slot 523, thus achieving quick disassembly of the infusion bottle 29.

[0046] like Figure 10 As shown, specifically, an infusion bottle 29 is detachably mounted on the infusion bottle clamp 5, and a needle tube 30 is detachably mounted on the needle tube 30 connecting bracket. The central axis of the needle tube 30 coincides with the central axis of the infusion bottle 29's neck. The infusion bottle 29 and needle tube 30, quickly and easily fixed to the frame 1, have their central axes aligned to ensure precise coaxial puncture during solution preparation, effectively preventing rubber stopper debris from falling off, avoiding medication splashing, and ensuring unobstructed flow.

[0047] Furthermore, a container tray 101 is provided at the bottom of the needle tube 30 on the frame 1, and the central axis of the container tray 101 coincides with the central axis of the needle tube 30. By fixing the container tray 101 directly below the central axis of the needle tube 30 on the frame 1, the container tray 101 can further support the pre-treated medicine bottle, "freeing up" the robotic arm assembly 3 so that it can perform the next operation, ensuring production continuity and the accuracy and efficiency of the solution preparation operation. During the solution preparation process between the needle tube 30 and the medicine bottle, the container tray 101 collects the medicine sprayed out by the airflow at the moment of needle withdrawal, or the medicine leaking due to instrument defects (such as loose connection between the needle and the needle tube 30), preventing the chemotherapy medicine from dripping directly onto the frame 1 and causing corrosion or other adverse effects. The container tray 101 needs to be cleaned after solution preparation to avoid the medicine collected in the container tray 101 affecting the next solution preparation.

[0048] like Figure 3 , Figure 8 and Figure 9As shown, specifically, the bottle opening assembly 4 includes a bottle rack 41 fixedly mounted on the frame 1, vial necks 42 and ampoules 43 opened on the bottle rack 41, a bottle opening plate 44 movably mounted at the bottom of the vial neck 42, a guide cap groove 45 on the bottle opening plate 44 connected to the vial neck 42, and a bottle opening electric cylinder 46 fixedly mounted on the frame 1 with its telescopic end fixedly connected to the bottle opening plate 44. The frame 1 also includes a mounting beam 3 116 for fixing the bottle rack 41 and a mounting beam 4 117 for fixing the bottle opening electric cylinder 46. The bottle rack 41 and the bottle opening electric cylinder 46 are respectively fixed to the mounting beam 3 116 and the mounting beam 4 117 by bolts, and the bottle opening plate 44 is fixed to the telescopic end of the bottle opening electric cylinder 46 by bolts. The robotic arm assembly 3 grasps medicine bottles (such as vials or ampoules) and engages with the vial opening 42 or ampoule opening 43 on the bottle rack 41, facilitating subsequent bottle opening and pre-processing.

[0049] When the vial is picked up for pre-opening, the robotic arm assembly 3 inserts the vial mouth-down into the vial mouth 42, so that the cap fits against the opening plate 44. The opening plate 44 is moved by the opening cylinder 46, so that the vial cap is guided down along the cap guide groove 45 on the opening plate 44 and finally falls off the vial, thus completing the pre-opening of the vial.

[0050] When handling ampoules for pre-opening, a shallow indentation is pre-cut at a specific location on the neck of the ampoule. A robotic arm assembly 3 inserts the ampoule, mouth-up, into the ampoule opening 43. Then, a horizontal force is applied using the robotic arm assembly 3 to break the ampoule, thus completing the pre-opening process. During the breakage, stress rapidly concentrates at the shallow indentation, guiding the ampoule to break along a predetermined trajectory, preventing random breakage, controlling the breakage location, reducing glass fragments, and preventing particle contamination of the medication.

[0051] Furthermore, when the bottle opener 44 is driven to remove the cap from the vial, its inner wall fits against the body and neck of the vial, preventing the vial from falling off the vial opening 42 during the cap removal process, thus improving the stability of the vial pretreatment. The removed cap will fall into the waste bin 13 and be collected.

[0052] like Figure 7 and Figure 8 As shown, specifically, a glass cutting blade 9 is rotatably installed inside the frame 1, a cutting motor 10 is fixedly installed on the frame 1 for driving the glass cutting blade 9 to rotate, and a coupling 11 is sleeved on the output end of the cutting motor 10 and fixedly connected to the glass cutting blade 9.

[0053] The cutting motor 10 is fixed to the mounting beam 116 by bolts. The cutting motor 10 drives the glass cutting blade 9 to rotate synchronously through the coupling 11, so that the glass cutting blade 9 cuts the ampoule and creates a shallow mark at the neck position, which facilitates the subsequent pre-treatment of opening the ampoule and breaks along the shallow mark, reducing glass fragments.

[0054] like Figure 3 and Figure 7 As shown, specifically, a protective cover 12 is fixedly installed outside the glass cutter 9, a cutting opening 121 is opened on the side wall of the protective cover 12 to connect with the glass cutter 9, and a debris discharge opening 122 is opened on the bottom of the protective cover 12 to connect with the glass cutter 9.

[0055] The protective cover 12 is fixed inside the frame 1 with bolts. By adding the protective cover 12 to the outside of the glass cutter 9, the cutting operation of the ampoule is carried out inside the protective cover 12, forming a closed or semi-closed cutting space, blocking the path of glass fragments flying outward, and preventing fragments from contaminating the surrounding environment (liquid preparation chamber 103). Specifically, the mechanical arm assembly 3 inserts the neck of the ampoule into the protective cover 12 to a preset depth along the cutting groove 121, ensuring the absolute precision of the cutting mark position, laying a good foundation for subsequent smooth breakage. The rotating glass cutter 9 neatly cuts the characteristic position of its neck, avoiding random breakage when opening the ampoule and reducing the amount of fragments when opening the ampoule. The fragments generated during cutting will fall and be collected along the fragment discharge port 122, greatly simplifying the daily cleaning and maintenance of the equipment.

[0056] like Figure 2 and Figure 3 As shown, specifically, a waste bin 13 is detachably mounted on the frame 1 below the waste discharge port 122, a handle 14 is fixedly mounted on the waste bin 13, and a limiting plate 15 is fixedly mounted on the frame 1 for positioning the waste bin 13.

[0057] The limiting plate 15 is fixed to the frame 1 with bolts, allowing the waste bin 13 to move along the limiting plate 15. It is detachably snapped into the frame 1, fitting against the limiting plate 15 and the inner wall of the frame 1. The top of the waste bin 13 has a guide port 131 connecting to the debris discharge port 122, the vial neck 42, and the ampoule neck 43. This allows debris generated during the bottle opening pretreatment operation to fall into the waste bin 13 and be collected. The limiting plate 15 has an inclined guide section 151, allowing maintenance personnel to use the handle 14 to drive the waste bin 13 along the guide section 151 for quick assembly and disassembly on the frame 1. This facilitates regular cleaning of the waste bin 13 and improves the convenience of periodic cleaning of the dispensing robot.

[0058] like Figure 10As shown, specifically, the robotic arm assembly 3 includes a robotic arm body 31 fixedly installed in the frame 1, a camera bracket 32 ​​fixedly installed at the output end of the robotic arm body 31, a data acquisition camera 33 fixedly installed on the camera bracket 32, a gripper bracket 34 connected to the camera bracket 32, and a gripper 35 fixedly installed on the gripper bracket 34.

[0059] The robotic arm body 31 is fixed to the frame 1 with bolts, and a camera bracket 32 ​​is bolted to its output end. A data acquisition camera 33 is bolted to the camera bracket 32. A gripper bracket 34 for mounting the gripper 35 is then bolted to the camera bracket 32, thus installing the gripper 35 at the end of the robotic arm. The data acquisition camera 33 collects information about the surrounding environment during robotic arm operations to control the gripper 35 in grasping or releasing the medicine bottle. The robotic arm body 31, gripper 35, and data acquisition camera 33 are all existing technologies and will not be described in detail. The output end of the gripper 35 also has an arc-shaped groove for centering and gripping the medicine bottle. The surface of the arc-shaped groove is covered with a silicone anti-slip pad, which further enhances the stability of the gripper 35 after holding the medicine bottle at its output end.

[0060] like Figure 2 As shown, specifically, a 3D acquisition camera 16 is provided on the top of the frame 1, and video cameras 17 are fixed on both sides of the 3D acquisition camera 16.

[0061] Specifically, the bottom of the frame 1 is provided with a medicine tray 18, a posture adjustment table 19 and at least one medicine bottle rack 20.

[0062] The frame 1 can also be equipped with a medicine tray 18, a posture adjustment table 19, a medicine bottle rack 20, a 3D acquisition camera 16, and a video camera 17. The medicine tray 18 is used to centrally hold the medicine bottles to be prepared, preventing them from scattering after being placed in the frame 1, and providing a stable gripping and positioning reference for the robotic arm assembly 3, thereby improving the efficiency of automated flow. The posture adjustment table 19 is used to adjust the posture of the medicine bottles (such as ampoules), realizing the orientation and posture of the medicine bottles, so that the robotic arm assembly 3 can smoothly grip the ampoules to perform cutting, opening and dispensing operations. The medicine bottle rack 20 serves as a transfer platform to temporarily store medicine bottles that have completed part of the process or are waiting to be prepared, so that the dispensing robot can perform dispensing operations on the medicine bottles in the medicine tray 18 according to the predetermined batch order.

[0063] In terms of visual perception, the 3D acquisition camera 16 is used to acquire three-dimensional spatial data of the working environment inside the rack 1, providing guidance for the precise operation of the robotic arm component 3 to grasp or release medicine bottles; the video recording camera 17 records the key steps of the solution preparation process and stores the data, realizing a high degree of transparency and traceability of the solution preparation process. Through the coordinated cooperation of the 3D acquisition camera 16 and the video recording camera 17, this solution preparation robot can achieve safe, efficient, and sterile automated solution preparation operation.

[0064] Specifically, the bottom of the frame 1 is also provided with a barcode scanning platform 21 and a barcode scanning mounting bracket 22 located on the side of the barcode scanning platform 21. The barcode scanning platform 21 is provided with a servo motor 23, and the barcode scanning mounting bracket 22 is provided with a barcode scanning camera 24.

[0065] Both the barcode scanning platform 21 and the barcode scanning mounting bracket 22 are fixed to the frame 1 with bolts. By setting a servo motor 23 on the barcode scanning platform 21 and a barcode scanning camera 24 on the barcode scanning mounting bracket 22, before the medicine bottle is opened for pre-processing, the robotic arm assembly 3 first grabs the medicine bottle in the medicine tray 18 and places it on the servo motor 23. Then, the barcode scanning camera 24 is controlled by the program to scan and identify the QR code that has been pre-attached to the medicine bottle. When the barcode scanning camera 24 cannot identify the information, the servo motor 23 is controlled to drive the medicine bottle to rotate, so that the QR code on the medicine bottle is aligned with the barcode scanning camera 24. The barcode scanning camera 24 identifies and records the information of the medicine bottle, so as to verify the medicine bottle based on the preset medical order and confirm whether the drug information completely matches the medical order, effectively avoiding the risk of errors in dispensing high-risk drugs.

[0066] Furthermore, the waste bin 13 is sealed with an existing electric opening and closing door device (not shown in the figure) at the feed inlet 131. The barcode scanning mounting frame 22 is equipped with a photoelectric sensor 25 for sensing and controlling the opening and closing of the electric cylinder opening and closing door device. When performing the bottle opening operation or the waste bottle disposal operation, the robotic arm assembly 3 will be programmed to pass directly above the photoelectric sensor 25, so that the feedback signal from the photoelectric sensor 25 can drive the electric opening and closing door device to open the feed inlet 131, thereby realizing the collection of debris and waste during the opening and disposal operations within the preset closing time of the electric opening and closing door device. During the opening and disposal operations, the electric opening and closing door device drives the feed inlet 131 of the waste bin 13 to be in the open state; when performing other operations, the electric opening and closing door device drives the feed inlet 131 of the waste bin 13 to be in the sealed closed state.

[0067] like Figure 10 As shown, specifically, the rack 1 is equipped with a UV lamp holder 26, and a UV lamp 27 is fixedly mounted on the UV lamp holder 26. By installing the UV lamp 27 on the UV lamp holder 26 in the rack 1, the inside of the rack 1 can be thoroughly physically sterilized during a specific time period when personnel are evacuated, laying the environmental foundation for subsequent aseptic preparation.

[0068] like Figure 4 As shown, specifically, the top of the rack 1 is equipped with a lighting lamp 28, which provides a stable and blind-spot-free lighting environment for the inside of the rack 1, providing a basic guarantee for the entire liquid preparation operation.

[0069] like Figure 7 As shown, specifically, the frame 1 is provided with a partition 102, which divides the interior of the frame 1 into a liquid preparation chamber 103 and a control chamber 104. The liquid preparation chamber 103 is used for the robotic arm assembly 3 to perform liquid preparation operations, and the control chamber 104 is provided with an electrical control unit 105 for realizing the normal operation of the liquid preparation operation.

[0070] The partition 102 divides the interior of the frame 1 into two independent compartments: a dispensing chamber 103 and a control chamber 104, achieving physical isolation between the dispensing operation area and the electrical control area. On one hand, this effectively prevents heat, dust, or static electricity generated by the electrical control unit 105 during operation from contaminating the sterile environment within the dispensing chamber 103, ensuring the safety of the medication. On the other hand, it also avoids potential splashing of medication or moisture during dispensing that could corrode or short-circuit the electrical control unit 105, thus improving the overall safety and service life of the equipment.

[0071] like Figure 1 and Figure 6 As shown, specifically, the frame 1 is equipped with at least one exhaust fan 106 connecting both the liquid preparation chamber 103 and the control chamber 104. The exhaust fans 106 connecting the liquid preparation chamber 103 and the control chamber 104 are connected to an external waste gas treatment system via pipes. The frame 1 is hinged to at least one chamber door 107 on the side wall of the control chamber 104. To achieve independent environmental control of the liquid preparation chamber 103 and the control chamber 104, the frame 1 is equipped with at least one exhaust fan 106 connecting both the liquid preparation chamber 103 and the control chamber 104. The exhaust fans 106 connecting the dispensing chamber 103 and the control chamber 104 are connected to an external exhaust gas treatment system through pipes. This system is used to exhaust and purify any drug aerosols, volatile gases, or odors that may be generated during the dispensing process. It can also remove heat from the frame 1, thereby ensuring that the dispensing chamber 103 and the control chamber 104 are in a low-temperature, sterile dispensing environment. In addition, to facilitate daily inspection, maintenance, and replacement of consumables for the electrical control unit 105 inside the control chamber 104, the frame 1 is hinged to at least one door 107 on the side wall of the control chamber 104. Operators can directly access the interior space of the control chamber 104 by opening the door 107.

[0072] Specifically, the rack 1 is also equipped with an industrial control computer 108, a power socket 109, and multiple switches, all of which are electrically connected to the electrical control unit 105. To facilitate convenient operation and power supply for the automated liquid preparation equipment, the rack 1 is externally equipped with the industrial control computer 108, power socket 109, and multiple switches. The industrial control computer 108, power socket 109, and multiple switches are all electrically connected to the electrical control unit 105 via internal cables. The industrial control computer 108 serves as a human-machine interface (HMI) for displaying the equipment's operating status, liquid preparation parameter settings, alarm information, and visual feedback from the barcode camera 24. The power socket 109 is electrically connected to an external power supply system via a power cord to complete the transmission and distribution of electrical energy.

[0073] Specifically, the system includes multiple switches: a power switch 110, a start switch 111, an emergency switch 112, and a status control switch 113. To ensure safe start-up and shutdown and emergency response, these switches are all electrically connected to the electrical control unit 105. The power switch 110 controls the on / off state of the main circuit and is the master control switch for powering on and off the dispensing robot. The start switch 111 sends a start signal to the electrical control unit 105, triggering the dispensing robot to automatically execute the dispensing process according to a preset program. The emergency switch 112 (e.g., an emergency stop button) is located in a prominent, easily accessible position on the frame 1. In the event of a sudden hazard such as medication jamming, robotic arm collision, or electrical leakage, the operator can press this switch to forcibly cut off the power supply to the execution unit, instantly stopping its operation and ensuring the safety of personnel and equipment. Status control switch 113: Used to manually switch the working status of this liquid preparation robot (such as lighting status, ventilation status, disinfection status, reset status, etc.) so that operators can flexibly adjust the liquid preparation robot according to different work needs.

[0074] Specifically, the electrical control unit 105 is integrated using existing electronic components, mainly including a servo driver, a PLC controller, a switching power supply, a power supply for the UV lamp 27, a motor driver, and a circuit breaker. The PLC controller is used to perform logical judgment and sequential control on the overall operation of this liquid dispensing robot to realize an automated liquid dispensing process. The servo driver and the motor driver are electrically connected to the PLC controller to control the speed, position, and torque of each motor inside the liquid dispensing robot, thereby achieving precise drive of the load. The switching power supply is used to provide a stable DC power supply for the control system and normal operation of this liquid dispensing robot, and the power supply for the UV lamp 27 is used to provide a stable operating voltage for the UV lamp 27. The circuit breaker is connected in series in the main circuit to provide overload and short-circuit safety protection for the overall circuit of this liquid dispensing robot.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dispensing robot for chemotherapy drugs, comprising a frame (1) and a door (2) hinged to the frame (1), characterized in that, A robotic arm assembly (3) is fixedly installed in the frame (1), a bottle opening assembly (4) is fixedly installed on one side of the robotic arm assembly (3), an infusion bottle clamp (5) is fixedly installed on the other side of the robotic arm assembly (3), a syringe holder (6) is movably installed below the infusion bottle clamp (5), and a push rod holder (7) is movably installed on the side of the syringe holder (6). The frame (1) is provided with a drive assembly (8) for driving the syringe holder (6) and the push rod holder (7) to perform liquid preparation operations.

2. The solution-dispensing robot for chemotherapy drugs according to claim 1, characterized in that, The drive assembly (8) includes a lifting module (81) fixedly mounted on the frame (1), a motor base (82) fixedly mounted on the output end of the lifting module (81), a rotary motor (83) fixedly mounted on the motor base (82), an electric cylinder connecting plate (84) connected to the output end of the rotary motor (83), a liquid dispensing electric cylinder (85) fixedly mounted on the electric cylinder connecting plate (84), a syringe holder (6) fixedly connected to the fixed end of the liquid dispensing electric cylinder (85), and a push rod holder (7) fixedly connected to the telescopic end of the liquid dispensing electric cylinder (85).

3. The solution-dispensing robot for chemotherapy drugs according to claim 1, characterized in that, The infusion bottle clamp (5) includes a bottle body clamp (51), a bottle mouth clamp (52) fixedly disposed at the bottom of the bottle body clamp (51), and a bracket (53) fixedly disposed on the bottle body clamp (51) for supporting and limiting the bottle mouth clamp (52).

4. The solution-dispensing robot for chemotherapy drugs according to claim 3, characterized in that, The bottle mouth clamp (52) includes a connecting part (521) and a snap-fit ​​part (522) symmetrically fixed on the connecting part (521). Both sides of the snap-fit ​​part (522) are provided with a bottle mouth slot (523) facing one side. The bottle mouth slot (523) is provided with a guide platform (524) on the side.

5. The solution-dispensing robot for chemotherapy drugs according to claim 1, characterized in that, The bottle opening assembly (4) includes a bottle rack (41) fixedly mounted on the frame (1), a vial mouth (42) and an ampoule mouth (43) opened on the bottle rack (41), a movable bottle opening plate (44) located at the bottom of the vial mouth (42), a guide cap groove (45) of the vial mouth (42) opened on the bottle opening plate (44), and a bottle opening electric cylinder (46) fixedly mounted on the frame (1) with its telescopic end fixedly connected to the bottle opening plate (44).

6. The solution-dispensing robot for chemotherapy drugs according to claim 5, characterized in that, Rotate the glass cutter (9) housed in the frame (1), fix the cutting motor (10) on the frame (1) for driving the glass cutter (9) to rotate, fit the coupling (11) on the output end of the cutting motor (10) and fix it to the glass cutter (9), fix the protective cover (12) on the outside of the glass cutter (9), open the cutting port (121) on the side wall of the protective cover (12) to connect with the glass cutter (9), and open the chip feeding port (122) on the bottom of the protective cover (12) to connect with the glass cutter (9).

7. The solution-dispensing robot for chemotherapy drugs according to claim 6, characterized in that, A waste bin (13) is detachably mounted on the frame (1) below the waste discharge port (122), a handle (14) is fixedly mounted on the waste bin (13), and a limiting plate (15) is fixedly mounted on the frame (1) for positioning the waste bin (13).

8. The solution-dispensing robot for chemotherapy drugs according to claim 1, characterized in that, The robotic arm assembly (3) includes a robotic arm body (31) fixedly installed in the frame (1), a camera bracket (32) fixedly installed at the output end of the robotic arm assembly (3) body, a data acquisition camera (33) fixedly installed on the camera bracket (32), a gripper bracket (34) connected to the camera bracket (32), and a gripper (35) fixedly installed on the gripper bracket (34).

9. The solution-dispensing robot for chemotherapy drugs according to claim 1, characterized in that, The top of the frame (1) is equipped with a 3D acquisition camera (16), and video cameras (17) are fixed on both sides of the 3D acquisition camera (16). The bottom of the frame (1) is equipped with a medicine tray (18), an attitude adjustment table (19), a medicine bottle rack (20), a barcode scanning platform (21), and a barcode scanning mounting frame (22). A servo motor (23) is fixed on the barcode scanning platform (21), and a barcode scanning camera (24) is fixed on the barcode scanning mounting frame (22).

10. The solution-dispensing robot for chemotherapy drugs according to claim 1, characterized in that, The frame (1) is connected to a UV lamp holder (26), the UV lamp holder (26) is fixedly equipped with a UV lamp (27), and the top of the frame (1) is equipped with a lighting lamp (28).

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