Member fitting device, and control program

Abstract

To provide a member fitting device and a control program that can assist work for fitting a relay member to a dispensing container.SOLUTION: A member fitting device (1) according to the present invention comprises: a holding part (264) for holding a relay member (90) for relaying connection between a dispensing container (12) in which a drug is housed, and an administration tool to be used for administration of the drug to a patient from the dispensing container (12); and a member fitting treatment part (500) for fitting the relay member (90) held by the holding part (264), to the dispensing container (12).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a member mounting device that mounts a relay member to a dispensing container into which a medicine has been poured. [Background technology]

[0002] There is known a co-infusion device that performs a co-infusion process in which a drug, such as an anticancer drug, contained in a drug container such as a vial is drawn up with a syringe and the drug is injected into a dispensing container, such as an infusion bag, that contains an infusion (see, for example, Patent Document 1).

[0003] Incidentally, as a preparation for administering a drug contained in a dispensing container to a patient, a relay member that relays the connection between the dispensing container and an administration device such as a drip device used for administering the drug to the patient may be attached to the dispensing container. For example, the relay member may be a closed drug transfer system. As a result, at the site of administration of the drug to the patient, a worker only needs to connect the administration device to the relay member, which prevents leakage of the drug from the dispensing container or exposure of the worker and the patient to radiation at the site, compared to when the administration device is directly connected to the dispensing container at the site. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-721 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the task of attaching the relay member to the dispensing container as a preparation for administering the medicine contained in the dispensing container to a patient places a burden on the worker.

[0006] An object of the present invention is to provide a member mounting device and a control program that can assist in the task of mounting a relay member to a dispensing container. [Means for solving the problem]

[0007] The member mounting device according to the present invention includes a holder for holding a relay member that relays a connection between a dispensing container containing a medicine and an administration instrument used to administer the medicine from the dispensing container to a patient; a member attachment processing unit that attaches the relay member held by the holding unit to the dispensing container; Equipped with.

[0008] The control program of the present invention is a control program for causing one or more processors to execute a member holding step of holding a relay member that relays the connection between a dispensing container containing a medicine and an administration instrument used to administer the medicine from the dispensing container to a patient, and a member attachment step of attaching the relay member held by the member holding step to the dispensing container. Effect of the Invention

[0009] According to the present invention, it is possible to provide a member mounting device and a control program that can assist in the task of mounting a relay member to a dispensing container. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of a co-injection system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view showing the external configuration of the co-infusion device according to the embodiment of the present invention. [Diagram 3] FIG. 3 is a perspective view of a state in which a part of a storage unit of a co-infusion device according to an embodiment of the present invention is omitted. [Figure 4] FIG. 4 is a front view of the co-infusion device according to the embodiment of the present invention with the main door and part of the front wall removed. [Diagram 5] FIG. 5 is a diagram showing an example of a relay member used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 6]FIG. 6 is a perspective view showing a tray used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 7] FIG. 7 is a perspective view showing an infusion bag holding part used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 8] FIG. 8 is a perspective view showing an infusion bag used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 9] FIG. 9 is a perspective view showing an infusion bag holding section used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 10] FIG. 10 is a perspective view showing an infusion bag holding section used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 11] FIG. 11 is a perspective view showing a fixing member used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 12] FIG. 12 is a perspective view showing a tray used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 13] FIG. 13 is a perspective view showing a tray used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 14] FIG. 14 is a perspective view showing a mounting part used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 15] FIG. 15 is a perspective view showing a mounting part used in the co-infusion apparatus according to the embodiment of the present invention. [Figure 16] FIG. 16 is a perspective view of the co-infusion apparatus according to the embodiment of the present invention, seen from below. [Figure 17] FIG. 17 is a perspective view showing a holding part of a first robot arm of a co-infusion apparatus according to an embodiment of the present invention. [Figure 18] FIG. 18 is a perspective view showing a holding part of a second robot arm of the co-infusion apparatus according to the embodiment of the present invention. [Figure 19] FIG. 19 is a perspective view showing a holding part of a second robot arm of a co-infusion apparatus according to an embodiment of the present invention. [Figure 20] FIG. 20 is a perspective view showing a holding part of a second robot arm of a co-infusion apparatus according to an embodiment of the present invention. [Figure 21] FIG. 21 is a schematic plan view showing a tray transport section of a co-infusion apparatus according to an embodiment of the present invention. [Figure 22] FIG. 22 is a perspective view showing a mechanism of a tray transport unit of a co-infusion apparatus according to an embodiment of the present invention. [Figure 23] FIG. 23 is a diagram for explaining the attachment detection unit of the co-infusion apparatus according to the embodiment of the present invention. [Figure 24] FIG. 24 is a diagram showing a medicine reading unit of a co-infusion apparatus according to an embodiment of the present invention. [Diagram 25] FIG. 25 is a diagram showing the configuration of a storage unit of a co-infusion apparatus according to an embodiment of the present invention. [Figure 26] FIG. 26 is a flowchart showing an example of a procedure of a mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. [Figure 27] FIG. 27 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. [Figure 28] FIG. 28 is a diagram showing an example of a display screen in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. [Figure 29] FIG. 29 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. [Diagram 30] FIG. 30 is a diagram showing an example of data used in the mixed injection management process executed by the mixed injection control device according to the embodiment of the present invention. [Diagram 31] FIG. 31 is a flowchart showing an example of a procedure of a co-infusion control process executed by the co-infusion control device according to the embodiment of the present invention. [Diagram 32] FIG. 32 is a view for explaining a housing member of a relay member used in the co-infusion apparatus according to the embodiment of the present invention. [Diagram 33] FIG. 33 is a diagram showing a resin pharmaceutical liquid container used in a co-infusion apparatus according to an embodiment of the present invention. [Diagram 34] FIG. 34 is a view for explaining an example of a puncturing process performed by the co-infusion apparatus according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention. Note that the following description may use the front-back, left-right, and up-down directions defined in each drawing.

[0012] [Mixed injection system 2] 1, the co-infusion system 2 according to this embodiment includes a co-infusion device 1, a host system 600, and a printer 506. The co-infusion device 1, the host system 600, and the printer 506 are connected to each other so as to be able to communicate wirelessly or by wire.

[0013] [Mixed injection device 1] As shown in FIG. 1 and FIG. 2, the co-infusion device 1 according to the present embodiment includes a co-infusion control device 100, a drug loading unit 200, a co-infusion processing unit 300, and a storage unit 700. The co-infusion device 1 is installed in a medical facility such as a hospital. In the co-infusion device 1, the co-infusion control device 100 controls the operation of the co-infusion processing unit 300 and the storage unit 700 based on the preparation data, thereby performing a co-infusion process in which a drug such as an anticancer drug indicated in the preparation data is injected with a syringe from one or more drug containers containing a predetermined amount of drug into a dispensing container such as an infusion bag. In this embodiment, the co-infusion device 1 that performs the co-infusion process will be described as an example of a component mounting device according to the present invention, but the component mounting device according to the present invention may be configured as a device separate from the co-infusion device 1. In this case, after the co-infusion process is performed in the co-infusion device 1, a component mounting operation to be described later in the component mounting device is performed.

[0014] [Mixed injection control device 100] The schematic configuration of the co-infusion control device 100 will be described with reference to FIG.

[0015] The co-injection control device 100 includes a first control unit 400 and a second control unit 500 that are communicatively connected. The first control unit 400 is provided on the drug loading unit 200 side, and the second control unit 500 is provided on the co-injection processing unit 300 side. A printer 506 such as a monochrome printer, a color printer, or a label printer is connected to the first control unit 400 or the second control unit 500, and the printer 506 is used to print various information on paper, labels, or the like.

[0016] The division of processing between the first control unit 400 and the second control unit 500 described in this embodiment is merely an example, and each process executed by the co-infusion control device 100 may be executed by either the first control unit 400 or the second control unit 500. In addition, as another embodiment, the co-infusion control device 100 may be one control unit or may have three or more control units. Note that a part or all of the processes executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC or a DSP.

[0017] The first control unit 400 can communicate with the host system 600 and receives the preparation data from the host system 600. The host system 600 includes a control unit 601 and a storage unit 602. The control unit 601 can receive the input of the preparation data or generate the preparation data based on prescription data and transmit the preparation data to the first control unit 400. The storage unit 602 stores the prescription data or the preparation data. The preparation data is data for preparation generated based on the prescription data or the prescription data itself. The storage unit 602 may store various databases such as a drug master, a patient master, a doctor master, a prescription classification master, a medical department master, and a ward master, which will be described later.

[0018] The prescription data includes the prescription issue date, patient ID, patient name, patient date of birth, drug information (drug code, drug name, dosage, etc.), therapy, dosage form information (oral, external, etc.), usage information (three times a day after each meal, etc.), medical treatment type (outpatient, hospitalization, etc.), medical department, ward, and hospital room, etc. The preparation data includes the preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescribed amount of drug, type of drug container (ampule containing drug solution, vial containing drug solution, vial containing powdered drug, etc.), type of regimen, preparation content information (type and number of drug container, syringe, and needle used for mixed injection processing, etc.), preparation procedure information (work content, dissolved drug, solvent, dissolved amount of drug, solvent amount, extraction amount), preparation date, prescription category, administration date, medical department, ward, preparation time (preparation time), etc.

[0019] The first control unit 400 is a computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, and an operation unit 405. In addition, various electric components such as a touch panel monitor 203, a barcode reader 204, an air purifier 205, and an IC reader 207 provided in the medicine loading unit 200 are connected to the first control unit 400.

[0020] The CPU 401 is a processor that executes processes according to various control programs. The ROM 402 is a non-volatile memory that stores in advance programs such as BIOS executed by the CPU 401. The RAM 403 is a volatile or non-volatile memory that is used for expanding the various control programs by the CPU 401 and for temporarily storing data.

[0021] The data storage unit 404 is a non-volatile storage device such as a hard disk that stores various application programs and various data for causing the CPU 401 to execute various processes. Specifically, the data storage unit 404 stores a first mixed injection control program for causing the CPU 401 to execute a mixed injection management process described later. In addition, the data storage unit 404 stores the preparation data input from the upper system 600.

[0022] The first control unit 400 stores, in the data storage unit 404, identification information of the tray 101, which corresponds to each of the preparation data, described below, together with the preparation data input from the upper system 600. For example, the preparation data is associated with the identification information of the tray 101 by the first control unit 400. In addition, information indicating the correspondence between the preparation data and the identification information of the tray 101 may be input from the upper system 600 to the co-infusion device 1 together with the preparation data.

[0023] The data storage unit 404 stores various databases such as a medicine master, a patient master, a doctor master, a prescription category master, a medical department master, and a ward master. The medicine master includes information such as a medicine code, a medicine name, a JAN code (or RSS), a medicine bottle code, a category (dosage form: powdered medicine (powdered medicine), a tablet, a liquid medicine, an external medicine, etc.), a specific gravity, a viscosity, a medicine type (ordinary medicine, anticancer drug, poison, narcotic drug, powerful drug, antipsychotic drug, therapeutic drug, etc.), a compounding change, an excipient drug, a caution, a type of medicine container (ampule, vial), a medicine capacity (predetermined amount) per medicine container, a container shape information of the medicine container, and a weight of the medicine container. The medicine master also includes information on an infusion bag 12 (an example of a dispensing container) containing an infusion such as physiological saline or glucose. Furthermore, in the pharmaceutical master, the pharmaceuticals to be used as remaining medicines are pre-registered as being pharmaceuticals subject to remaining medicine storage, and the first control unit 400 may determine that the pharmaceutical container 10 of the pharmaceuticals registered as being subject to remaining medicine storage is a target for use as remaining medicine.

[0024] Furthermore, in the pharmaceutical master, the fact that the pharmaceutical to which the relay member 90 described later is to be attached to the infusion bag 12 before being injected into the infusion bag 12 and dispensed is the pharmaceutical to which the relay member 90 is to be attached is preregistered. For example, highly volatile pharmaceuticals are not suitable for the relay member to be attached in advance, and are therefore excluded from the pharmaceutical to which the relay member is to be attached. In addition, in the pharmaceutical master, the fact that the infusion bag 12 to which the relay member 90 is to be attached is preregistered as the dispensing container to which the relay member 90 is to be attached. For example, the infusion bag 12 having a size equal to or larger than a preset size is not suitable for the relay member 90 to be attached in the co-infusion device 1, and is therefore excluded from the dispensing container to which the relay member 90 is to be attached. Then, the information on the pharmaceutical to which the relay member 90 is to be attached or the information on the dispensing container to which the relay member 90 is to be attached in the pharmaceutical master is used to determine whether or not the relay member 90 is to be attached to the infusion bag 12. In addition, the pharmaceutical master may register information that allows for determining whether or not the relay member 90 needs to be attached, such as information indicating that a type of pharmaceutical that does not use the relay member 90 or a type of infusion bag 12 is not eligible for attachment.

[0025] In addition, the type of regimen indicated in the preparation data may be used to determine whether or not the relay member 90 is attached. Furthermore, information on whether or not to use a dosing pump during infusion using the infusion bag 12 output in the preparation data may be registered in advance in the data storage unit 404, and whether or not the relay member 90 is attached may be determined based on the information. In addition, when a drug is administered to one patient from a plurality of the infusion bags 12, that is, when it is necessary to change the connection between the infusion device and the infusion bag 12 during infusion, if the relay member 90 is attached to each of the infusion bags 12, the operation of changing the connection of the infusion bag 12 is easy. Therefore, for example, based on the preparation data, it may be determined that the relay member 90 is attached when a drug is administered to one patient from a plurality of the infusion bags 12, and that the relay member 90 is not attached when the infusion bag 12 is one.

[0026] Further, the data storage unit 404 stores remaining medicine information D30, waiting information D31, and reservation correspondence information D32. The remaining medicine information D30 records information on remaining medicines present in the co-infusion device 1, and the waiting information D31 records the preparation data that is waiting for execution of the co-infusion process in the co-infusion device 1. The remaining medicine information D30 and the waiting information D31 are updated by the first control unit 400 and the second control unit 500. Note that updates of the remaining medicine information D30 and the waiting information D31 include new registration, correction, deletion, etc. of data. The reservation correspondence information D32 is set or updated by the first control unit 400 or the second control unit 500 in response to a user operation.

[0027] As shown in FIG. 29(A), in the remaining medicine information D30, the "preparation ID" which is the identification information of the preparation data is associated with the "medicine name", "remaining amount", "opening date and time", "expiration date", "planned preparation data", "number of punctures" and the like of the medicine remaining in the mixed injection process based on the preparation data. The planned preparation data is identification information such as a preparation ID for identifying the preparation data for which the remaining medicine is to be used. The remaining medicine information D30 also includes other information such as position information on the later-described placement shelf 33 on which the medicine container 10 containing the remaining medicine is placed. In addition, when the remaining medicine is a mixed medicine, the remaining medicine information D30 includes various information such as the ingredients (medicine name, solvent name) of the mixed medicine, the amount of solvent, the remaining amount, the opening date and time, the expiry date, the planned preparation data, and the number of punctures.

[0028] As shown in FIG. 29(B), in the waiting information D31, the "preparation ID" which is the identification information of the preparation data, the "tray ID" which is the identification information of the tray 101, and the "container No." which is the identification information of the tray accommodation section 811 which accommodates the tray 101 are associated with each other. In addition, in the waiting information D31, information such as the "drug name", "usage amount", "predetermined amount", "remaining drug use", "drug loading", and "execution timing" of the drug used in the mixed injection process based on the preparation data are also associated with each of the preparation data. In addition, in the waiting information D31 shown in FIG. 29(B), each of the preparation data is displayed from the top in the order in which the mixed injection process is executed first.

[0029] As shown in FIG. 30(A), in the reservation correspondence information D32, a reference item D321 is associated with a reservation condition D322 corresponding to the reference item D321.

[0030] The reference item D321 indicates the contents of information to be referenced when reserving the execution timing of the mixed injection process based on the preparation data among various information included in the preparation data to be reserved. For example, the reference item D321 is a ward, a hospital room, a therapy, a drug name, a medical treatment type, or a patient ID. In the following, in this embodiment, as shown in FIG. 30(A), a case will be described as an example in which the contents of the reference item D321 are information on the ward of a patient corresponding to the preparation data.

[0031] The reservation condition D322 is information used to set the execution timing of the mixed injection process based on the preparation data. Specifically, the reservation condition D322 is a reservation time period, a reservation date, or a reservation day of the week. In the following, in this embodiment, as shown in FIG. 30(A), a case where the content of the reservation condition D322 is the reservation time period will be described as an example.

[0032] More specifically, the reservation response information D32 shown in Fig. 30(A) specifies that when the ward is "ward A", the reservation time period is "before 9:00", and when the ward is "ward B", the reservation time period is "9:00 to 10:00". That is, the reservation response information D32 specifies that the execution timing of the mixed injection process based on the preparation data corresponding to a patient admitted to ward A should be before 9:00, and the execution timing of the mixed injection process based on the preparation data corresponding to a patient admitted to ward B should be between 9:00 and 10:00.

[0033] The operation unit 405 includes various operation units such as a keyboard, a mouse, or a touch panel that accepts various user operations in the first control unit 400.

[0034] The second control unit 500 is a computer including a CPU 501, a ROM 502, a RAM 503, a data storage unit 504, an operation unit 505, etc. The second control unit 500 is connected to various electrical components such as the first robot arm 21, the second robot arm 22, the tray conveying unit 110, the touch panel monitor 14, the IC reader 101c, the IC reader 15a, the tray confirmation camera 41, and the syringe confirmation camera 42 provided in the mixed injection processing unit 300.

[0035] The CPU 501 is a processor that executes processes according to various control programs. The ROM 502 is a non-volatile memory that stores in advance programs such as BIOS executed by the CPU 501. The RAM 503 is a volatile or non-volatile memory that is used for expanding the various control programs by the CPU 501 and for temporarily storing data.

[0036] The data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU 501 to execute various processes. Specifically, the data storage unit 504 stores a second co-infusion control program for causing the CPU 501 to execute a co-infusion control process described later. In addition, the data storage unit 504 also stores the drug master similar to that of the data storage unit 404, and the second control unit 500 can refer to the drug master. In another embodiment, the second control unit 500 may be configured to be able to acquire information on the drug master from the first control unit 400.

[0037] The operation unit 505 includes various operation units such as a keyboard, a mouse, or a touch panel that accepts various user operations in the second control unit 500.

[0038] [Chemical loading section 200] Next, a schematic configuration of the medicine loading section 200 will be described with reference to Fig. 2 and Fig. 3. Fig. 3 is a diagram showing a main part of the internal configuration of the medicine loading section 200, and the containing unit 700 is omitted.

[0039] 2 and 3, the drug loading section 200 is a clean bench equipped with a door 201, a work table 202, a touch panel monitor 203, a barcode reader 204, an air purifier 205, and a tray discharge port 206. The drug loading section 200 and the mixed injection processing section 300 are communicated with each other through a tray loading port 114 (see FIG. 16) and a tray discharge port 701 (see FIG. 24) formed on the side of the mixed injection processing section 300.

[0040] The door 201 is provided on the front surface of the drug loading unit 200 and is a transparent member that can be opened and closed vertically. As shown in FIG. 2, a user performs a preparation operation for a co-infusion process to be executed by the co-infusion device 1 with the door 201 slightly open and the hand placed inside the drug loading unit 200.

[0041] Specifically, the co-infusion device 1 has a tray 101 used for loading the drug container 10, the syringe 11, the infusion bag 12, the relay member 90, and the like into the co-infusion device 1. The tray 101 placed on the work table 202 accommodates the drug container 10, the syringe 11, the infusion bag 12, the relay member 90, and the like used in the co-infusion process executed by the co-infusion device 1. The drug accommodated in the drug container 10 is, for example, an anticancer drug, but may be a drug other than an anticancer drug.

[0042] The infusion bag 12 contains a predetermined amount of infusion fluid, such as physiological saline, glucose, or high-calorie infusion fluid, corresponding to the type of the infusion bag 12. In this embodiment, the infusion bag 12 is an example of a dispensing container dispensed from the co-infusion device 1. The infusion bag 12 includes types such as a soft bag or a hard bottle.

[0043] The relay member 90 relays the connection between the infusion bag 12 and an administration instrument such as a drip instrument used to administer a drug from the infusion bag 12 to a patient. Specifically, as shown in Fig. 5, the relay member 90 has a puncture part 91, a connection part 92, a body part 93, and a fitting part 94. The relay member 90 is sometimes referred to as a closed system drug transfer device (CSTD).

[0044] The puncture part 91 is a needle part that is punctured into the infusion bag 12. The relay member 90 is attached to the infusion bag 12 by puncturing the infusion bag 12 with the puncture part 91. An opening 91A is formed in the puncture part 91, and the opening 91A and the connecting part 92 communicate with each other through the internal space of the body part 93. When an administration tool such as the drip tool is attached to the relay member 90, a connecting part provided on the administration tool and the connecting part 92 are connected. As a result, the administration tool and the inside of the infusion bag 12 are communicated with each other through the relay member 90, and the drug in the infusion bag 12 can be administered to a patient by the administration tool. For example, the relay member 90 may be a ChemoSafe lock "KL-BS01" manufactured by Terumo Corporation, and the connecting part 92 and the connecting part of the administration tool can be connected without using a needle part. The relay member 90 is not limited to the one described here as long as it is used to suppress exposure when the infusion bag 12 and the administration device are connected. For example, in another embodiment, a rubber stopper may be provided at the connection part 92 of the relay member 90, and when the connection part 92 and the connection part of the administration device are connected, the needle part of the connection part may be pierced into the connection part 92, thereby connecting the connection part 92 and the connection part of the administration device.

[0045] The fitting portion 94 is used for positioning when the relay member 90 is placed on the tray 101. Specifically, the fitting portion 94 is an elliptical plate-like portion having two major diameter portions, each of which protrudes outward from the body portion 93 when viewed from the axial direction of the puncturing portion 91. Note that the fitting portion 94 may be inclined with respect to the axial direction of the puncturing portion 91, so long as it protrudes outward from the body portion 93 when viewed from the axial direction of the puncturing portion 91. Furthermore, the fitting portion 94 is not limited to an elliptical shape, and may be a polygonal shape such as a rectangle, or a rod shape.

[0046] The body 93 is provided with a fitting portion 93A and a fitting portion 93B that are fitted with a fitting portion 264a and a fitting portion 264b of a holding portion 264 provided on the holding portion 26, which will be described later, when the body 93 is held by the holding portion 26 of the second robot arm 22, which will be described later. This allows the relay member 90 to be stably held by the holding portion 26. In this embodiment, the fitting portion 93A is a recess that fits into the fitting portion 264a, which is a convex portion, and the fitting portion 93B is a convex that fits into the fitting portion 264b, which is a concave portion. Note that the body 93 may have only one of the fitting portion 93A and the fitting portion 93B. Although not shown, the relay member 90 is set on the tray 101 with a cap attached to the puncture portion 91.

[0047] The preparation work includes, for example, a loading work of placing the medicine container 10, the syringe 11, the infusion bag 12, the relay member 90, and the like at predetermined positions on the tray 101 as necessary, and loading the tray 101 into the storage unit 700. In this embodiment, a case where the medicine container 10 is a vial bottle will be described as an example. Meanwhile, the medicine container 10 may be a medicine container of another shape, such as an ampoule.

[0048] The working table 202 is used to perform preparation work for the co-infusion process executed by the co-infusion device 1, and the touch panel monitor 203, the barcode reader 204, the tray 101, and the like are placed on the working table 202. In addition, the tray discharge port 206 that is opened and closed when removing the tray 101 discharged from the storage unit 700 is provided on the front side of the working table 202. In addition, the IC reader 207 capable of reading information from the IC tag 101b of the tray 101 placed on the working table 202 is provided in the working table 202. The reading result by the IC reader 207 is input to the first control unit 400.

[0049] The touch panel monitor 203 includes a display unit such as a liquid crystal display or an organic EL display that displays various information in response to control instructions from the first control unit 400, and an operation unit such as a touch panel that accepts touch operations by a user.

[0050] The barcode reader 204 reads a barcode written on a prescription or a preparation instruction sheet, and inputs the contents of the barcode into the first control unit 400. The air purifying device 205 supplies air into the medicine loading unit 200 through a predetermined filter.

[0051] Here, an example of the structure of the tray 101 will be described with reference to Figures 6 to 15. However, the structure of the tray 101 is not limited to the one described here.

[0052] 6, the tray 101 has an electronic paper 101a provided on the front surface of the tray 101, and an IC tag 101b provided on the bottom surface of the tray 101. The electronic paper 101a is used to display text such as a patient name (patient identification information), a regimen name (regimen identification information), and application. The IC tag 101b is an RFID (Radio Frequency Identification) tag that can read and write various information, and stores identification information for identifying the tray 101.

[0053] The tray 101 has an equipment placing section 102 on which the medicine container 10, the syringe 11, the relay member 90, etc. are placed, and an infusion bag placing section 103 on which the infusion bag 12 is placed. An infusion bag holding section 103A (see FIG. 7) that holds the infusion bag 12 is detachable from the infusion bag placing section 103. The equipment placing section 102 is also detachable from the tray 101.

[0054] As shown in Fig. 7, the infusion bag holding part 103A has a fixing member 140 for fixing the infusion bag 12, and an engagement hole part 103a used when raising and lowering the infusion bag holding part 103A. As shown in Fig. 8, the infusion bag 12 has a mouth part 12A, a neck part 12B, a main body part 12C, and a rubber plug 12D for sealing the mouth part 12A.

[0055] 9 and 10, the fixing member 140 is detachable from the mounting portion 140A of the infusion bag holding portion 103A. In particular, in the infusion bag holding portion 103A, a plurality of types of the fixing members 140 corresponding to a plurality of types of the infusion bags 12 can be selectively mounted to the mounting portion 140A.

[0056] 11, the fixing member 140 has a pair of gripping parts 140B for gripping the neck part 12B of the infusion bag 12. The pair of gripping parts 140B have elasticity in opposing directions and can clamp the neck part 12B of the infusion bag 12 from above and below. This allows the fixing member 140 to grip a plurality of types of infusion bags 12 having different diameters of the neck part 12B within the allowable range of elastic deformation of the gripping parts 140B.

[0057] As shown in FIG. 11, the fixing member 140 has a pair of ribs 140C that protrude forward from the front edge 140D of the gripping portion 140. When the infusion bag 12 having a short neck portion 12B is fixed to the fixing member 140, the edge 140D of the gripping portion 140B comes into contact with the edge 12E (see FIG. 8) of the mouth portion 12A of the infusion bag 12, thereby restricting the backward movement of the infusion bag 12. On the other hand, when the infusion bag 12 having a long neck portion 12B is fixed to the fixing member 140, the ribs 140C come into contact with the edge 12E (see FIG. 8) of the mouth portion 12A of the infusion bag 12, rather than the edge 140D of the gripping portion 140B, thereby restricting the backward movement of the infusion bag 12. The forward movement of the infusion bag 12 is restricted by the contact of the edge 12F (see FIG. 8) of the main body 12C of the infusion bag 12 with the fixing member 140 or the wall of the infusion bag holding portion 103A. In this manner, the fixing member 140 can restrict the forward and backward movement of at least two types of the infusion bags 12 having different lengths of the section 12B by the gripping portion 140B and the rib 140C.

[0058] Returning to the explanation of Fig. 6, the equipment mounting part 102 is provided with a plurality of equipment support parts 102A for supporting the medicine container 10, the syringe 11, etc. In particular, the equipment mounting part 102 has an inclined surface for supporting the medicine container 10, the syringe 11, etc. in a tilted state. As shown in Fig. 18, the syringe 11 includes a syringe 11a, a plunger 11b, and an injection needle 11c, and when the syringe 11 is mounted on the equipment support part 102A, the syringe 11a, the plunger 11b, and the injection needle 11c may be in an assembled state, or the syringe 11a and the plunger 11b may be in a separated state from the injection needle 11c.

[0059] 12 and 13, in the object placing section 102, the placing section 102C on which the relay member 90 can be placed is detachable from one or more specific support sections 102B of the object support section 102A. That is, the specific support section 102B can be used for both placing an object such as the medicine container 10 or the syringe 11, and placing the placing section 102C. In another embodiment, the placing section 102C may be fixed to or formed integrally with the object placing section 102 at a predetermined position.

[0060] As shown in Fig. 14(A) and Fig. 14(B), the placement portion 102C has a member support portion 102D, a fitting portion 102E, a side wall portion 102E1, a bottom surface 102F, a bottom surface 102G, and an upper surface 102H. The fitting portion 102E is an opening formed in the member support portion 102D and penetrating the member support portion 102D in the up-down direction, and can be fitted with the fitting portion 94 of the relay member 90. The opening size of the fitting portion 102E is a size that allows the fitting portion 94 of the relay member 90 to be inserted therethrough, and a size that can limit the movement of the fitting portion 94 inserted into the fitting portion 102E in the front-rear and left-right directions. The fitting portion 102E may be a groove or a recess into which the fitting portion 94 can be inserted.

[0061] The mounting portion 102C is supported in a state in which the bottom surfaces 102F and 102G are inclined by the inclined surfaces formed on the specific support portion 102B as shown in Fig. 13. In particular, when the mounting portion 102C is attached to the specific support portion 102B, the penetration direction of the fitting portion 102E in the member support portion 102D is inclined with respect to the vertical direction. For example, the penetration direction may be perpendicular to the inclined surfaces of the specific support portion 102B, or may be the vertical direction.

[0062] 15(A) and 15(B), when the fitting portion 94 of the relay member 90 is inserted into the fitting portion 102E of the mounting portion 102C from above and the fitting portion 94 and the fitting portion 102E are fitted together, the relay member 90 is supported in a specific posture by the mounting portion 102C. Specifically, the relay member 90 is in a state in which the fitting portion 94 is supported by the inner opening surface of the fitting portion 102E and the body portion 93 is supported by the member support portion 102D. In this way, the fitting portion 94 and the fitting portion 102E can be fitted together when the relay member 90 is in the specific posture. For example, the specific posture is a posture in which the fitting portion 94 of the relay member 90 can be inserted into the fitting portion 102E, and one of the two long diameter portions of the fitting portion 94 of the relay member 90 is directed toward the depth direction of the opening of the fitting portion 102E.

[0063] Specifically, the side wall portion 102E1 has a pair of side walls sandwiching the fitting portion 102E, and the width between the side walls is larger than the minor axis of the elliptical fitting portion 94 and smaller than the major axis of the fitting portion 94. Therefore, when the relay member 90 is in the specific posture in which the major axis of the fitting portion 94 faces the depth direction of the opening of the fitting portion 102E, the relay member 90 can be placed on the placement portion 102C with the fitting portion 94 inserted into the fitting portion 102E. On the other hand, when the relay member 90 is in the posture in which the minor axis of the fitting portion 94 faces the depth direction of the opening of the fitting portion 102E, the fitting portion 94 comes into contact with the side wall portion 102E1, restricting the insertion into the fitting portion 102E, and the relay member 90 cannot be placed on the placement portion 102C in the specific posture. In other words, the relay member 90 cannot be placed on the mounting portion 102C unless it is in the specific posture in which the long diameter direction of the engaging portion 94 and the side wall of the side wall portion 102E1 are approximately parallel, and therefore the relay member 90 is prevented from being placed on the mounting portion 102C in a posture other than the predetermined specific posture.

[0064] In particular, the relay member 90 is restricted in its position on the mounting portion 102C by inserting the fitting portion 94 into the fitting portion 102E. Specifically, the relay member 90 is restricted in its rotation about the axis of the puncture portion 91 and in its movement in the left-right and front-rear directions by the fitting portion 94 and the fitting portion 102E being fitted together. This allows the relay member 90 to be stably supported by the mounting portion 102C. On the other hand, when the relay member 90 is not in the specific position, i.e., when the fitting portion 94 is not inserted into the fitting portion 102E, the relay member 90 is placed on the mounting portion 102C, its displacement is not restricted and it becomes unstable. Therefore, when placing the relay member 90 on the placement portion 102C, the user can easily determine whether the relay member 90 is placed in the correct position or posture, thereby preventing the relay member 90 from being placed in an incorrect posture.

[0065] Then, the tray 101 is loaded into the storage unit 700 after the user sets the equipment such as the drug container 10, the syringe 11, the infusion bag 12, and the relay member 90. As described later, the storage unit 700 can store a plurality of the trays 101, and the trays 101 are automatically supplied from the storage unit 700 to the mixed injection processing unit 300 through the tray discharge port 701 and the tray loading port 114 as necessary. After that, the tray 101 is discharged from the tray discharge port 15 of the mixed injection processing unit 300 with the infusion bag 12 stored therein after the mixed injection processing in the mixed injection processing unit 300 is completed, or is discharged from the tray discharge port 206 of the drug loading unit 200 via the storage unit 700.

[0066] Incidentally, the task of attaching the relay member 90 to the infusion bag 12 as a preparation for administering a drug to a patient from the infusion bag 12 using an administration tool such as a drip infusion tool places a burden on the worker. In contrast, the co-infusion device 1 according to the present embodiment is capable of dispensing the infusion bag 12 with the relay member 90 attached thereto, and can assist the worker in attaching the relay member 90 to the infusion bag 12.

[0067] [Mixed injection processing unit 300] Next, a schematic configuration of the mixed injection processing unit 300 will be described.

[0068] As shown in Figs. 2 to 4, a main door 301, a syringe removal door 302, a waste storage chamber door 13, a touch panel monitor 14, a tray discharge port 15, and the like are provided on the front surface of the mixed injection processing unit 300.

[0069] The main door 301 is opened and closed to access the mixed injection processing chamber 104, for example, for the purpose of cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300 or for the purpose of removing the drug container 10. In the mixed injection device 1, in addition to dispensing the infusion bag 12 into which a drug has been injected, it is also possible to dispense the syringe 11 in a state in which the drug is filled, and the syringe removal door 302 is used when removing the syringe 11 from the mixed injection processing chamber 104.

[0070] The waste storage chamber door 13 is opened and closed to remove waste from the waste storage chamber 13a in which waste such as the drug container 10 and the syringe 11 is stored after use in the mixed injection process in the mixed injection process chamber 104. The tray discharge port 15 is opened and closed to remove the tray 101 on which the infusion bag 12 is placed after the mixed injection process in the mixed injection process chamber 104 is performed.

[0071] The touch panel monitor 14 includes a display unit such as a liquid crystal display or an organic EL display that displays various information in response to a control instruction from the second control unit 500, and an operation unit such as a touch panel that accepts touch operations by a user.

[0072] [Mixed Injection Processing Room 104] As shown in Figures 3 and 4, the mixed injection processing chamber 104 is provided with a first robot arm 21, a second robot arm 22, an agitator 32, a mounting shelf 33, a medicine reading unit 34, a weighing scale 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, and a trash cover 132a. Also, as shown in Figure 16, a tray confirmation camera 41, a syringe confirmation camera 42, an injection needle attachment / detachment device 43, a needle insertion confirmation camera 44, a germicidal lamp 45, and the like are provided on the ceiling of the mixed injection processing chamber 104. The needle insertion confirmation camera 44 can capture the puncture state of the syringe 11 or the relay member 90 into the rubber stopper 12D of the infusion bag 12.

[0073] [First robot arm 21, second robot arm 22] The first robot arm 21 and the second robot arm 22 are driving units having a multi-joint structure, and are provided in a hanging manner with their base ends fixed to the ceiling side of the mixed injection processing chamber 104. The first robot arm 21 is an example of a first driving unit according to the present invention, and the second robot arm 22 is an example of a second driving unit according to the present invention.

[0074] For example, each of the first robot arm 21 and the second robot arm 22 has 5 to 8 joints. In the co-infusion device 1, each work step in the co-infusion process is performed by the first robot arm 21 and the second robot arm 22, which are of a dual-arm type.

[0075] Specifically, the second control unit 500 drives the drive motors provided at the joints of the first robot arm 21 and the second robot arm 22 individually, and causes the first robot arm 21 and the second robot arm 22 to perform each task in the co-infusion process. Note that the co-infusion processing unit 300 may have, for example, a configuration having one robot arm, a configuration including three or more robot arms, or a configuration without using a robot arm, as long as it has a structure capable of performing the co-infusion process.

[0076] As shown in Fig. 16, the first robot arm 21 includes a holding unit 25 capable of displaceably holding the equipment such as the medicine container 10, the syringe 11, and the relay member 90, and is capable of moving the holding unit 25 to any position within a predetermined movable range. The second robot arm 22 includes a holding unit 26 capable of displaceably holding the equipment such as the medicine container 10, the syringe 11, and the relay member 90, and is capable of moving the medicine container 10, the syringe 11, the relay member 90, and the like to any position within a predetermined movable range. The holding unit 26 is an operation unit capable of executing the operation of suction and injection by the syringe 11.

[0077] As shown in FIG. 17, the holding portion 25 of the first robot arm 21 includes a pair of gripping portions 25a, a motor 251, two screw shafts 252, 253 rotated by the motor 251, and nut blocks 254, 255 screwed onto the screw shafts 252, 253.

[0078] The pair of gripping parts 25a are gripping parts having a recess suitable for holding the medicine container 10. The pair of gripping parts 25a are fixed to the nut blocks 254 and 255, respectively. The nut blocks 254 and 255 move by the rotation of the screw shafts 252 and 253, and the pair of gripping parts 25a approach and move away from each other, so that the holding part 25 holds the medicine container 10, the relay member 90, or the like, or releases the holding. The holding part 25 can also hold the injection needle 11c or the syringe 11 by the pair of gripping parts 25a.

[0079] As shown in FIG. 18, the holding unit 26 of the second robot arm 22 includes a syringe holding unit 261 (an example of a first holding unit), a plunger holding unit 262 (an example of a second holding unit), and a moving unit 263. The syringe holding unit 261 includes a pair of gripping units 261a that hold the syringe 11a of the syringe 11. The pair of gripping units 261a are gripping units that hold and release the syringe 11a of the syringe 11 by moving close to and away from each other using a mechanism similar to the drive mechanism used in the holding unit 25. In addition, in the pair of gripping units 261a, an inclined portion 261b that is inclined downward from the upper end surface of the gripping unit 261a toward the opposing surface is formed on the opposing surfaces that face each other.

[0080] The plunger holding portion 262 includes a pair of gripping portions 262a that hold a flange portion of the plunger 11b of the syringe 11. The pair of gripping portions 262a are gripping portions that move close to and away from each other to hold and release the flange portion of the plunger 11b of the syringe 11 by a mechanism similar to the drive mechanism used in the holding portion 25.

[0081] Specifically, a gripping portion 262b is fixed to the upper surface of each of the gripping portions 262a. The gripping portions 262b are gripping portions that approach and separate by moving the pair of gripping portions 262a close to and apart from each other, and grip not only the syringe 11 but also other equipment such as the medicine container 10 and the relay member 90. Note that a recess is formed on the upper surface of the opposing side of the pair of gripping portions 262a into which the flange portion of the plunger 11b fits. Further, the tip of the pair of gripping portions 262b protrudes forward more than the pair of gripping portions 262a, and it is easy to grip equipment such as the medicine container 10 by the pair of gripping portions 262b. Note that the gripping portion 262b may be provided on the gripping portion 261a.

[0082] Although omitted in Fig. 18, in the co-infusion device 1 according to this embodiment, as shown in Fig. 19 and Fig. 20, a pair of holding parts 264 (an example of a third holding part) that hold the relay member 90 is fixed to the holding part 262b. The holding part 264 is detachable from the holding part 262b.

[0083] The pair of holding portions 264 approach and move away together with the pair of gripping portions 262b approaching and moving away, thereby gripping and releasing the relay member 90. In addition, the pair of holding portions 264 hold the relay member 90 such that the puncture portion 91 of the relay member 90 protrudes in one direction (forward) beyond the plunger holding portion 262 in the movement direction of the plunger holding portion 262 (the front-rear direction in FIGS. 18 to 20).

[0084] Further, the pair of holding portions 264 have a fitting portion 264a and a fitting portion 264b that fit into the fitting portion 93A and the fitting portion 93B of the relay member 90. In this embodiment, the fitting portion 264a is a convex portion, and the fitting portion 264b is a concave portion. Then, as shown in FIG. 20, when the relay member 90 is gripped by the pair of holding portions 264, the fitting portion 264a and the fitting portion 264b fit into the fitting portion 93A and the fitting portion 93B, and the rotation of the relay member 90 around the axis is restricted. As a result, the relay member 90 is stably held by the holding portions 264.

[0085] The moving unit 263 is capable of moving the plunger holding unit 262 in a moving direction of the plunger 11b of the syringe 11. The moving unit 263 moves the plunger 11b by a driving mechanism such as a motor, a screw shaft rotated by the motor, a nut block screwed into the screw shaft, a guide, etc. The plunger holding unit 262 is fixed to the nut block and moves with the movement of the nut block.

[0086] Moreover, the moving unit 263 can move the plunger holding unit 262 along the moving direction, thereby moving the relay member 90 gripped by the holding unit 264 in the same direction. As a result, the second control unit 500 can execute a puncturing step of puncturing the puncturing unit 91 of the relay member 90 into a dispensing container such as the infusion bag 12 by controlling the second robot arm 22. That is, in the co-infusion device 1, the second robot arm 22 used for the co-infusion process can be used to attach the relay member 90 to the infusion bag 12.

[0087] [Tray conveyor 110] In addition, the mixed injection processing unit 300 is provided with a tray transport unit 110 capable of transporting the tray 101 back and forth between the tray loading port 114 at the right end in FIG. 16 and a tray transport terminal end 110a at the left end.

[0088] Here, Figure 21 is a plan schematic diagram showing an example of a transport path of the tray 101 in the tray transport unit 110. As shown in Figure 21, the tray transport unit 110 is provided so as to transport the tray 101 by passing through the rear side of the waste storage chamber 13a located below the mixed injection processing chamber 104 and below the waste lid 132a.

[0089] 21, in order to show the transport path of the tray transport section 110, the tray 101 moving within the tray transport section 110 is indicated by a two-dot chain line, and a plurality of the trays 101 do not exist simultaneously within the tray transport section 110. Furthermore, the tray transport section 110 may be configured to be capable of transporting a plurality of the trays 101 simultaneously between the tray loading opening 114 and the tray transport terminal end 110a within the tray transport section 110.

[0090] The tray transport start section 110b of the tray transport section 110 is provided with a belt conveyor (not shown) capable of drawing the tray 101 inserted from the tray loading port 114 into the inside or discharging the tray 101 from the tray loading port 114. The tray transport section 110 is also provided with an IC reader 101c and an IC reader 15a capable of reading information from the IC tag 101b provided in the infusion bag holding section 103A of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from an RFID tag. The IC reader 101c is provided in the tray transport start section 110b where the tray 101 is loaded from the tray loading port 114. The IC reader 15a is provided in the tray transport end section 110a where the tray 101 is discharged from the tray discharge port 15.

[0091] Then, when the second control unit 500 determines based on the sensor output (not shown) that the tray 101 has been inserted into the tray transport starting portion 110b from the tray loading port 114, the second control unit 500 reads information from the IC tag 101b by the IC reader 101c. Also, when the second control unit 500 determines based on the sensor output (not shown) that the tray 101 has been inserted into the tray transport end portion 110a, the second control unit 500 reads information from the IC tag 101b by the IC reader 101c. Similarly, when the tray 101 is transported from the tray transport starting portion 110b to the containing unit 700 through the tray loading port 114, the second control unit 500 can read information from the IC tag 101b by the IC reader 101c. Then, the second control unit 500 executes a tray collation process for determining whether the tray 101 is appropriate or not according to the results of reading by the IC reader 101c and the IC reader 15a.

[0092] In addition, when the second control unit 500 determines that the tray 101 has passed through the tray loading port 114 and reached a predetermined position in the tray conveying unit 110 based on, for example, the output of a sensor (not shown), it slides and opens the shutter 111 that communicates and shields the tray conveying unit 110 and the mixed injection processing chamber 104 in the horizontal direction. When the shutter 111 is opened, the equipment placement unit 102 is exposed in the mixed injection processing chamber 104. In FIG. 21, the state in which the equipment placement unit 102 is exposed in the mixed injection processing chamber 104 is shown.

[0093] The tray transport section 110 is provided with a tray lifting section 112 which lifts and lowers the object placing section 102 in the tray 101 which has been moved into the tray transport section 110 through the tray loading opening 114. As shown in Fig. 22, the tray lifting section 112 lifts the object placing section 102 from below upward, for example, by vertically driving four shafts 112a which are provided so as to be able to rise and fall.

[0094] Then, the second control section 500 causes the tray lifting section 112 to raise the instrument placing section 102, and then performs photographing with the tray confirmation camera 41. The tray confirmation camera 41 photographs from above the medicine containers 10, the syringes 11, the relay members 90, etc., placed on the predetermined instrument placing section 102. The second control section 500 executes image recognition processing using the image photographed by the tray confirmation camera 41, and judges whether the numbers of the medicine containers 10, the syringes 11, the relay members 90, etc., indicated in the preparation data are present on the instrument placing section 102, etc.

[0095] Also, as shown in FIG. 22, the tray transport terminal end 110a located in the left space of the mixed injection processing chamber 104 is provided with a bag lifting unit 113 for lifting and lowering the infusion bag holding unit 103A. After the second control unit 500 transports the tray 101 to the front of the bag lifting unit 113, the hook portion 113a of the bag lifting unit 113 is hooked from below to the engagement hole portion 103a. Then, the second control unit 500 rotates the arc gear portion 113b on which the hook portion 113a is formed by the motor 113c, thereby lifting the infusion bag holding unit 103A and positioning the mouth portion 12A of the infusion bag 12 at the mixed injection communication port 37. In addition, the second control unit 500 can control the motor 113c to drive the bag lifting unit 113 to tilt the infusion bag holding unit 103A and orient the mouth portion 12A of the infusion bag 12 upward or downward.

[0096] 16, a dome-shaped light 120 for illuminating the infusion bag 12 transported to the tray transport terminal end 110a and an infusion camera 121 are provided above the tray transport terminal end 110a. The infusion camera 121 is provided in the center of the dome-shaped light 120 and reads a barcode on the surface of the infusion bag 12.

[0097] Furthermore, the tray conveyance terminal end 110a is provided with an attachment detection unit 122 for determining whether the relay member 90 is attached to the infusion bag 12 when the relay member 90 is attached to the infusion bag 12, and the detection result by the attachment detection unit 122 is input to the second control unit 500. For example, the attachment detection unit 122 is a transmission type or reflection type optical sensor.

[0098] Specifically, when the attachment detection unit 122 is a transmission type optical sensor, as shown in Figures 23(A) and 23(B), the attachment detection unit 122 has a light emitting unit 122A and a light receiving unit 122B. The attachment detection unit 122 irradiates a laser beam L1 from the light emitting unit 122A, and detects whether the relay member 90 is properly attached to the infusion bag 12 depending on whether the laser beam L1 is received by the light receiving unit 122B. Specifically, the light emitting unit 122A and the light receiving unit 122B are installed in such a positional relationship that when the relay member 90 is inserted into the infusion bag 12 by a predetermined amount, as shown in Fig. 23(A), the rear end of the relay member 90 is not on the optical path of the laser light L1, and when the relay member 90 is inserted into the infusion bag 12 by less than the predetermined amount, as shown in Fig. 23(B), the rear end of the relay member 90 is on the optical path of the laser light K1. The attachment detection unit 122 may be provided at a position capable of detecting whether the relay member 90 is attached properly or not after the infusion bag 12 moves to a predetermined position different from the position of the infusion bag 12 when the medicine is injected into the infusion bag 12.

[0099] [Agitator 32] The agitator 32 agitates one or more of the drug containers 10 set in the agitator 32, thereby agitating the drug in the drug containers 10.

[0100] [Storage shelf 33] 4, the storage shelf 33 is used for temporarily storing equipment such as the drug container 10 and the syringe 11 in the mixed injection process executed in the mixed injection device 1. The storage shelf 33 is also used for storing the drug container 10 containing the drug used in the mixed injection process. The storage shelf 33 is provided at a position accessible to both the first robot arm 21 and the second robot arm 22.

[0101] The mounting shelf 33 is provided with an equipment mounting area where the equipment used in the mixed injection process is mounted, and a remaining medicine mounting area for mounting the medicine container 10 containing the medicine used in the mixed injection process. One or more of the medicine containers 10 set in advance can be mounted in the remaining medicine mounting area.

[0102] [Drug reading unit 34] The medicine reading unit 34 reads a barcode that indicates medicine information of the medicine contained in the medicine, which is written on a label attached to the medicine container 10 such as the ampule and the vial. Specifically, the medicine reading unit 34 includes two rollers 34a and a barcode reader 34b, as shown in FIG. 24. The rollers 34a are arranged facing each other at a predetermined interval. One of the rollers 34a is supported rotatably, and the other roller 34a is connected to a drive motor (not shown). The two rollers 34a are driven by the drive motor to rotate the medicine container 10 placed between the rollers 34a in a circumferential direction. This allows the medicine container 10 to rotate in the circumferential direction, and the entire area of ​​the label attached to the medicine container 10 to be directed to the barcode reader 34b. Then, the barcode reader 34b reads a barcode from the label of the medicine container 10 rotated by the roller 34a.

[0103] [Weighing scale 35] The weighing meter 35 is used to measure the weight of the syringe 11 in the co-infusion process executed in the co-infusion device 1, and the measurement result by the weighing meter 35 is input to the second control unit 500. The weighing meter 35 is disposed within the movable range of the second robot arm 22, and measures the weight of the syringe 11 placed by the second robot arm 22.

[0104] [Mixed injection port 37] As shown in FIG. 3, the mixed injection communication port 37 is an opening formed in a dome-shaped portion protruding outward in a wall portion separating the tray conveyance end portion 110a and the mixed injection processing chamber 104. In addition, a notch for passing the mouth portion 12A of the infusion bag 12 in the vertical direction is formed in the dome-shaped portion. Therefore, when the infusion bag holding portion 103A rises, the mouth portion 12A of the infusion bag 12 is positioned in the mixed injection processing chamber 104. As a result, the injection needle 11c of the syringe 11 held by the second robot arm 22 or the puncture portion 91 of the relay member 90 can be inserted into the mouth portion 12A of the infusion bag 12.

[0105] [Containment Unit 700] Next, the containing unit 700 will be described with reference to Fig. 25. In the following description, the up, down, left and right directions shown in Fig. 25 may be used.

[0106] The storage unit 700 includes a tray loading section 712, a lifting unit 800, and the like, and is controlled by the co-infusion control device 100. The tray loading section 712 and the lifting unit 800 are disposed behind the work table 202. The storage unit 700 can store a plurality of the trays 101, and the co-infusion control device 100 can carry out any of the trays 101 from the storage unit 700 to the co-infusion processing unit 300. The specific configuration of the storage unit 700 is not limited to the configuration described here as long as it can achieve the same function.

[0107] The tray loading section 712 is opened and closed in order to load the tray 101 into the lifting unit 800 in the storage unit 700. A user can load the tray 101 into the lifting unit 800 by sliding the tray 101 backward on the work table 202.

[0108] The lifting unit 800 includes a movable housing 810 supported so as to be movable up and down in the vertical direction, and a plurality of stages of tray accommodation parts 811 arranged in the vertical direction within the movable housing 810. The movable housing 810 is supported so as to be slidable up and down, for example, by a rail part (not shown) formed on the inner surface of the housing of the accommodation unit 700. The movable housing 810 is movable up and down between a state in which at least the uppermost tray accommodation part 811 is positioned above the tray loading part 712 and a state in which the lowermost tray accommodation part 811 is positioned below the tray loading part 712.

[0109] Further, the storage unit 700 includes a transport mechanism (not shown) capable of transporting the tray 101 loaded in each of the tray storage sections 811 from the tray storage section 811 to the mixed injection processing section 300 via the tray discharge port 701. Furthermore, the transport mechanism (not shown) is capable of transporting the tray 101 supplied from the mixed injection processing section 300 to each of the tray storage sections 811. That is, in the mixed injection device 1, it is possible to transport the tray 101 from the tray storage section 811 to the mixed injection processing section 300, and it is possible to store the tray 101 after the mixed injection processing is performed in the tray storage section 811.

[0110] [Mixed injection processing] Next, an example of a procedure of the co-infusion process executed by the co-infusion control device 100 controlling the co-infusion processing unit 300 in the co-infusion device 1 will be described.

[0111] In the mixed injection process, as described below, the second control unit 500 controls the first robot arm 21, the second robot arm 22, etc., to aspirate a drug from one or more of the drug containers 10 with the syringe 11 based on the preparation data, and inject the drug from the syringe 11 into another container such as the infusion bag 12. Then, in the mixed injection process, after the drug is injected into the infusion bag 12, the relay member 90 is attached to the infusion bag 12 as necessary, and the infusion bag 12 is dispensed.

[0112] Here, the description will be given of a mixed injection process in which the medicine contained in the medicine container 10 is a powdered medicine that needs to be dissolved, and the medicine is mixed with an infusion solution and then injected into the infusion bag 12. Also, the description will be given of a process after the tray 101 is supplied from the storage unit 700 to the mixed injection processing unit 300.

[0113] When the tray 101 is supplied to the tray conveying section 110, the second control section 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 by the IC reader 101c. Then, when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process, the second control section 500 opens the shutter 111. After that, the second control section 500 raises the instrument placement section 102 of the tray 101 by the tray lifting section 112 of the tray conveying section 110 to expose it to the mixed injection processing chamber 104.

[0114] Next, the second control unit 500 photographs the instrument placing unit 102 with the tray confirmation camera 41. Then, the second control unit 500 grasps the positions and orientations of the instruments placed on the instrument placing unit 102, such as the medicine container 10, the syringe 11, and the relay member 90, by image recognition processing based on the image photographed by the tray confirmation camera 41. In particular, the second control unit 500 photographs the instrument placing unit 102 with the tray confirmation camera 41 every time the medicine container 10, the syringe 11, or the relay member 90 is taken out of the instrument placing unit 102, and grasps the latest positions and orientations of the medicine container 10 and the syringe 11 from the photographed image.

[0115] In particular, as described above, when the relay member 90 is properly placed on the placement section 102C, the relay member 90 is in the specific posture. Therefore, the second control section 500 can easily determine whether the relay member 90 is properly placed by searching for the relay member 90 placed in the specific posture, for example, in an image captured by the tray confirmation camera 41. Then, the second control section 500 notifies an error or the like when the tray confirmation camera 41 detects that the relay member 90 is not properly placed on the placement section 102C of the device placement section 102.

[0116] Next, the second control unit 500 temporarily places the syringe 11 placed on the equipment placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33 by the first robot arm 21. The second control unit 500 may set the syringe 11 on the second robot arm 22 without temporarily placing it on the placement shelf 33 by the first robot arm 21. Next, the relay member 90 placed on the equipment placement unit 102 is temporarily placed on the placement shelf 33 by the first robot arm 21. Thereafter, the second control unit 500 sets the medicine container 10 placed on the equipment placement unit 102 on the medicine reading unit 34 by the first robot arm 21. Then, the second control unit 500 reads information such as the type of medicine contained in the medicine container 10 by the medicine reading unit 34.

[0117] Next, when all the objects on the object placement part 102 have been removed, the second control part 500 causes the tray lifting part 112 of the tray transport part 110 to lower the object placement part 102 and return it to the tray 101. The second control part 500 confirms whether all the objects on the object placement part 102 have been removed by image recognition processing based on the image captured by the tray confirmation camera 41.

[0118] Thereafter, the second control unit 500 closes the shutter 111 and causes the tray conveyor 110 to convey the tray 101 to the tray conveying terminal 110a. Next, the second control unit 500 causes the bag lifting unit 113 of the tray conveyor 110 to position the mouth 12A of the infusion bag 12 held by the infusion bag holding unit 103A of the tray 101 at the mixed injection communication port 37 formed in the mixed injection processing chamber 104.

[0119] Then, the second control unit 500 moves the medicine container 10 set in the medicine reading unit 34 to the storage shelf 33 by the second robot arm 22. Meanwhile, in parallel with this moving process, the second control unit 500 sets the injection needle 11c of the syringe 11 placed on the instrument placing unit 102 in the injection needle attaching / detaching device 43 by the first robot arm 21.

[0120] Next, the second control unit 500 causes the first robot arm 21 to take out the syringe 11 from the storage shelf 33 and set it on the second robot arm 22. Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43 and set the injection needle 11c on the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36 ​​and detects whether the injection needle 11c is bent.

[0121] It is also conceivable that the injection needle 11c is set on the tray 101 in a state where it is attached to the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c on the syringe 11 is omitted. However, if the injection needle 11c and the syringe 11a in the syringe 11 set on the tray 101 are not sufficiently screwed together, there is a risk that liquid leakage will occur from the injection needle 11c during the mixed injection process or that the injection needle 11c will fall off. In addition, if the injection needle 11c and the syringe 11a are screwed together more than necessary, there is a risk that the injection needle 11c will be inclined. Therefore, when the injection needle 11c is set on the tray 101 in a state where it is attached to the syringe 11a of the syringe 11, the second control unit 500 may perform an operation for appropriately screwing the injection needle 11c and the syringe 11a using the injection needle attachment / detachment device 43.

[0122] For example, the second control unit 500 controls the second robot arm 22 and the injection needle attaching / detaching device 43 to rotate the injection needle 11c screwed to the syringe 11a in a direction to loosen the screwing, and then rotate the injection needle 11c in a direction to screw it again (referred to as a first screwing mode). Then, when the torque when the injection needle 11c is rotated by the injection needle attaching / detaching device 43 reaches a preset value at which the screwing state becomes appropriate, the second control unit 500 stops the rotation of the injection needle 11c. As a result, the injection needle 11c and the syringe 11a are screwed in an appropriate screwing state. The second control unit 500 may switch whether or not to execute the first screwing mode in response to a user operation.

[0123] Also, the second control unit 500 may perform only an operation of rotating the injection needle 11c screwed into the syringe 11a in a direction to screw the injection needle 11c without rotating the injection needle 11c screwed into the syringe 11a in a direction to loosen the screwing (referred to as a second screwing mode). The second control unit 500 may be capable of switching between the execution and non-execution of the second screwing mode. Furthermore, the second control unit 500 may be capable of switching between the first screwing mode and the second screwing mode in response to a user operation.

[0124] Next, the second control unit 500 executes an infusion suction step in which the injection needle 11c of the syringe 11 is inserted into the rubber stopper 12C of the mouth 12A of the infusion bag 12 transported to the tray transport end 110a by the second robot arm 22, and the amount of infusion indicated by the preparation data is sucked from the infusion bag 12. In the infusion suction step, infusion may be sucked from a dissolution infusion container such as a dissolution infusion bag that is pre-loaded in the co-infusion device 1 for common use in multiple co-infusion processes for multiple patients, instead of the infusion bag 12 that was placed on the tray 101. Meanwhile, the second control unit 500 uses the first robot arm 21 to take out the medicine container 10 placed on the shelf 33.

[0125] Then, the second control unit 500 brings the medicine container 10 and the syringe 11 close to each other by the first robot arm 21 and the second robot arm 22, and punctures the injection needle 11c of the syringe 11 into the medicine container 10. Thereafter, the second control unit 500 executes an infusion injection process of injecting the infusion in the syringe 11 into the medicine container 10 by operating the plunger 11b by the second robot arm 22. In this way, when the medicine is a powder, the infusion suction process of extracting the infusion from the infusion bag 12 by the syringe 11 and the infusion injection process of injecting the infusion from the syringe 11 into the medicine container 10 are executed in the mixed injection process. As a result, the medicine in the medicine container 10 is dissolved by the infusion to become a medicinal liquid. At this time, the attitude of the syringe 11 and the medicine container 10 is such that the injection needle 11c of the syringe 11 is directed vertically downward, and the mouth of the medicine container 10 is directed vertically upward.

[0126] Next, the second control unit 500 sets the medicine container 10 in the stirring device 32 by the first robot arm 21, and executes a stirring process of stirring the medicine and the infusion in the medicine container 10 using the stirring device 32. The stirring time in the stirring process is predetermined depending on, for example, the type of the medicine. Moreover, the stirring time may be predetermined for each combination of the medicine and the infusion, or may be changed depending on the amount of the medicine in the medicine container 10. When the stirring process by the stirring device 32 is completed, the second control unit 500 removes the medicine container 10 from the stirring device 32 by the first robot arm 21.

[0127] Here, the second control unit 500 may perform a low-position movement step in which the first robot arm 21 moves the drug container 10 to a preset low position after removing the drug container 10 after stirring with the first robot arm 21, and allows the liquid level of the drug container 10 to be seen by an operator. For example, the low position is a position lower than the eye height of an operator standing in front of the co-infusion device 1, and is a position determined according to the height of the operator that is preset. That is, the low position is a position where the operator can visually confirm the liquid level in the drug container 10 from above. This allows the operator to easily check the degree of solubility of the drug by looking at the liquid level in the drug container 10.

[0128] The second control unit 500 may execute the low position movement step only when the drug to be dissolved in the drug container 10 is a specific drug set in advance. The specific drug is, for example, a drug that floats on the liquid surface when the drug is not sufficiently dissolved in the drug container 10. The second control unit 500 may execute the low position movement step for a drug that floats on the liquid surface when the drug is not sufficiently dissolved in the drug container 10, and may execute a high position movement step for moving the drug container 10 to a high position set in advance by the first robot arm 21 and showing the bottom surface of the drug container 10 to the operator, instead of the low position movement step, for a drug that sinks to the bottom when the drug is not sufficiently dissolved in the drug container 10. For example, the high position is a position higher than the eye height of an operator standing in front of the co-infusion device 1, and is a position determined in accordance with the height of the operator set in advance. That is, the high position is a position at which the operator can visually check the bottom surface of the drug container 10 from below.

[0129] Then, the second control unit 500 executes a chemical suction step of piercing the injection needle 11c of the syringe 11 into the medicine container 10 by the first robot arm 21 and the second robot arm 22, and operating the plunger 11b by the second robot arm 22 to suck the medicine in the medicine container 10 with the syringe 11. At this time, the orientation of the syringe 11 and the medicine container 10 is a state in which the mouth of the medicine container 10 is oriented vertically downward, and the injection needle 11c of the syringe 11 is oriented vertically upward. Note that the orientation of the syringe 11 and the medicine container 10 may be such that at least the tip of the injection needle 11c of the syringe 11 is oriented upward from the horizontal direction, and the mouth of the medicine container 10 is oriented downward from the horizontal direction.

[0130] Thereafter, the second control unit 500 executes a drug injection process in which the injection needle 11c of the syringe 11 pierces the rubber stopper 12C of the mouth portion 12A of the infusion bag 12 transported to the tray transport terminal portion 110a by the second robot arm 22, and injects the drug in the syringe 11 into the infusion bag 12. In this manner, in the mixed injection process, the drug suction process in which the drug is sucked from the drug container 10 by the syringe 11, and the drug injection process in which the drug is injected from the syringe 11 into the infusion bag 12 are executed.

[0131] Moreover, the second control unit 500 opens the dust lid 132a, and drops the medicine container 10 into the dust storage chamber 13a by the first robot arm 21 to discard it. Furthermore, the second control unit 500 moves the syringe 11 to the injection needle attaching / detaching device 43 by the second robot arm 22, and drops the syringe 11 into the dust storage chamber 13a to discard it. In addition, an optical sensor capable of detecting the passage of waste such as the medicine container 10 or the syringe 11 may be provided in the dust storage chamber 13a or the like. Then, the second control unit 500 may control the first robot arm 21 or the second robot arm 22 to execute an operation of dropping the waste such as the medicine container 10 or the syringe 11, and then determine that the waste has been stored in the dust storage chamber 13a according to the detection result by the optical sensor.

[0132] Then, in the co-infusion process, after the medicine is injected into the infusion bag 12, the second control unit 500 controls the second robot arm 22 to hold the relay member 90 with the holding unit 264 and execute a member mounting operation of mounting the relay member 90 to the infusion bag 12. That is, in the co-infusion device 1, the second robot arm 22 used in the co-infusion process can also be used for the member mounting operation. Note that the co-infusion device 1 may be provided with a driving device such as a robot arm capable of executing the member mounting operation, separate from the second robot arm 22.

[0133] First, in the member mounting operation, the second control unit 500 executes a member holding step of holding the relay member 90 by the holding unit 264 provided in the holding unit 26 of the second robot arm 22. Specifically, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to take out the relay member 90 from the storage shelf 33 and move it from the first robot arm 21 to the holding unit 26 of the second robot arm 22. At this time, the second control unit 500 holds the relay member 90 by the holding unit 264 by opening and closing the holding unit 264 of the second robot arm 22.

[0134] When a cap is attached to the puncture portion 91 of the relay member 90, the cap of the puncture portion 91 of the relay member 90 held by the holding portion 264 of the second robot arm 22 is removed by using the holding portion 25 of the first robot arm 21. In addition, the cap of the puncture portion 91 of the relay member 90 held by the holding portion 25 of the first robot arm 21 may be removed by using the holding portion 26 of the second robot arm 22.

[0135] Next, in the member mounting operation, the second control unit 500 controls the second robot arm 22 to execute a member mounting step of mounting the relay member 90 held by the holding unit 264 to the infusion bag 12. The second control unit 500 when executing the member mounting unit step is an example of a member mounting processing unit according to the present invention.

[0136] Specifically, the second control unit 500 controls the second robot arm 22 to move the puncturing portion 91 of the relay member 90 to a position in front of the mouth portion 12A. Then, the second control unit 500 controls the moving unit 263 to move the relay member 90 by a predetermined specific amount in a direction approaching the mouth portion 12A, and executes a puncturing step of puncturing the puncturing portion 91 into the rubber stopper 12D of the mouth portion 12A to a specific position in the puncturing portion 91 of the relay member 90. In this manner, the relay member 90 is punctured into the rubber stopper 12D by the moving unit 263, and therefore the processing load of the second control unit 500 and the operating load on the second robot arm 22 can be reduced compared to a configuration in which the drive shaft of the second robot arm 22 is controlled to puncture the relay member 90 into the rubber stopper 12D. On the other hand, in another embodiment, the relay member 90 may be held by the gripping portion 261a or the gripping portion 262a of the holding portion 26 of the second robot arm 22, and the drive shaft of the second robot arm 22 may be controlled to cause the relay member 90 to puncture the rubber stopper 12D.

[0137] In the puncturing step, the second control unit 500 punctures the puncturing part 91 at a predetermined OUT port position in the rubber stopper 12D. For example, the OUT port is the center of the rubber stopper 12D. The second control unit 500 may also puncture the puncturing part 91 in an area not punctured by the injection needle 11c of the syringe 11 in the mixed injection process. The second control unit 500 controls the second robot arm 22 to puncture the rubber stopper 12D with the injection needle 11c, and is therefore able to know the puncturing position of the injection needle 11c in the rubber stopper 12D.

[0138] Incidentally, when the puncture portion 91 pierces the rubber stopper 12D, it is also possible to pierce the rubber stopper 12D with the puncture portion 91 in one go and release the grip of the relay member 90 by the holding portion 264. However, if the puncture portion 91 pierces the rubber stopper 12D with the rubber stopper 12D bent in the puncture direction of the puncture portion 91, the puncture portion 91 will pierce the rubber stopper 12D, and even if the puncture portion 91 moves by the specific amount, the puncture portion 91 may not pierce the rubber stopper 12D to the specific position. In this case, when the grip of the relay member 90 by the holding portion 264 is released, the relay member 90 will move in the opposite direction to the puncture direction due to the repulsive force generated when the rubber stopper 12D is released from the bend. That is, the relay member 90 may be attached to the infusion bag 12 in a state where the puncture portion 91 of the relay member 90 has not been punctured to the specific position.

[0139] Therefore, after the second control unit 500 penetrates the rubber stopper 12D, it executes, once or multiple times, a process of moving the puncturing portion 91 in a first direction to pull the puncturing portion 91 out of the rubber stopper 12D and a process of moving the puncturing portion 91 in a second direction opposite to the first direction.

[0140] Specifically, the second control unit 500 controls the second robot arm 22 to move the tip of the puncturing unit 91 to a predetermined initial position in front of the rubber stopper 12D. Then, the second control unit 500 controls the moving unit 263 of the second robot arm 22 to move the tip of the puncturing unit 91 from the initial position toward the rubber stopper 12D by a first predetermined amount, thereby executing a piercing operation for piercing the rubber stopper 12D with the puncturing unit 91. For example, the first predetermined amount is the specific amount that is predetermined for puncturing the rubber stopper 12D to the specific position.

[0141] Next, the second control unit 500 controls the moving unit 263 of the second robot arm 22 to execute a pull-back operation for moving the puncture unit 91 by a second predetermined amount in a direction in which the puncture unit 91 is pulled out from the rubber stopper 12D. The second predetermined amount is a distance at which the tip of the puncture unit 91 is not pulled out from the rubber stopper 12D, and is a value preset in accordance with either or both of the type of the infusion bag 12 and the type of the relay member 90. For example, the second predetermined amount is a value that is about half or one-third of the first predetermined amount.

[0142] Next, the second control unit 500 controls the moving unit 263 of the second robot arm 22 to execute a pushing operation for moving the puncturing unit 91 toward the rubber stopper 12D by a third predetermined amount. At this time, the frictional force between the puncturing unit 91 and the rubber stopper 12D is smaller than when the puncturing unit 91 penetrated the rubber stopper 12D in the penetrating operation, and the puncturing unit 91 slides, so the amount of bending of the rubber stopper 12D accompanying the movement of the puncturing unit 91 is smaller, and the amount of puncturing of the rubber stopper 12D by the puncturing unit 91 increases. For example, the third predetermined amount is the same as the second predetermined amount.

[0143] In this way, in the puncturing step, when the pulling back operation and the pushing operation are each performed at least once after the penetrating operation, the puncturing portion 91 can puncture the rubber stopper 12D to a greater depth than when the puncturing portion 91 punctures the rubber stopper 12D in one go. Therefore, even if the grip of the relay member 90 by the holding portion 264 is released, the repulsive force of the rubber stopper 12D does not act or the repulsive force is small, and the relay member 90 is maintained in a state of being punctured to the specific position or a position close to the specific position.

[0144] The second control unit 500 may execute the pulling back operation and the pushing operation multiple times, and the number of times the pulling back operation and the pushing operation are repeated may be preset according to either or both of the type of the infusion bag 12 and the type of the relay member 90. In addition, the relationship between the first predetermined amount, the second predetermined amount, and the third predetermined amount may be preset, and is not limited to the one described here.

[0145] Thereafter, the second control unit 500 releases the holding unit 264 from holding the relay member 90. Then, the second control unit 500 controls the bag lifting unit 113 to lower the infusion bag holding unit 103A in which the infusion bag 12 is accommodated to the tray 101. In addition, at the tray transport terminal 110a, after the relay member 90 is attached to the infusion bag 12 accommodated in the infusion bag holding unit 103A, a space is secured on the moving path of the infusion bag holding unit 103A in which the relay member 90 does not come into contact with other members. Then, the second control unit 500 discharges the tray 101 on which the infusion bag 12 is placed from the tray discharge port 15.

[0146] In addition, when the relay member 90 is attached to the infusion bag 12, the second control unit 500 judges whether the relay member 90 is properly attached or not before the tray 101 is discharged. Specifically, when the attachment detection unit 122 (see Figs. 23(A) and (B)) detects that the puncture portion 91 of the relay member 90 is inserted into the infusion bag 12 up to the specific position, the second control unit 500 judges that the attachment of the relay member 90 is proper. Here, when the second control unit 500 judges that the relay member 90 is not properly attached to the infusion bag 12, it may notify an operator of an error or suspend the discharge of the tray 101 on which the infusion bag 12 is placed. This prevents the infusion bag 12 from being dispensed outside the device when the relay member 90 is not properly attached to the infusion bag 12. In addition, as another embodiment, the second control section 500 may determine whether or not the relay member 90 is properly attached based on an image captured by the needle insertion confirmation camera 44.

[0147] It is also possible that the medicine contained in the medicine container 10 is a medicine such as a liquid medicine that does not need to be dissolved. The mixed injection process in this case is similar to the mixed injection process in the case where the medicine contained in the medicine container 10 is a medicine such as a powder medicine that needs to be dissolved, except that the infusion suction process, the infusion injection process, and the stirring process are not performed, so a description thereof will be omitted. Even if the medicine contained in the medicine container 10 is a liquid, the stirring process may be performed depending on the type of the medicine.

[0148] Hereinafter, with reference to Figs. 26 to 30, an example of the procedure of the mixed injection management process and the mixed injection control process executed by the mixed injection control device 100 in the mixed injection device 1 will be described.

[0149] [Mixed injection management process] First, with reference to FIG. 26, an example of the mixed injection management process executed by the first control section 400 will be described.

[0150] <Step S20> In step S20, the first control unit 400 waits for a loading preparation start operation by the user using the touch panel monitor 203 (S20: No). Specifically, the first control unit 400 displays a prescription selection screen M1 showing a list of the preparation data input to the co-infusion device 1 on the touch panel monitor 203. Then, when the preparation data to be processed is selected by the user on the prescription selection screen M1, it is determined that the loading preparation start operation has been performed (S20: Yes), and the process proceeds to step S21. In the following, the preparation data to be processed selected here may be referred to as the target preparation data.

[0151] Here, Fig. 27 is a diagram showing an example of the prescription selection screen M1. The prescription selection screen M1 shown in Fig. 27 includes a search condition display section D1 in which an input field for search conditions for narrowing down the selection candidates is arranged, and a prescription display section D2 in which the preparation data of the selection candidates are arranged. In addition, in the prescription display section D2, information on one of the preparation data is displayed per line. In the search condition display section D1, an extraction key D11 is arranged for starting an extraction process for narrowing down the selection candidates of the preparation data according to the search conditions.

[0152] <Step S21> In step S21, the first control unit 400 judges whether or not a request for execution of the mixed injection process based on the target preparation data has been made. If it is judged that the execution request has been made (S21: Yes), the process proceeds to step S22, and the process waits in step S21 until the execution request is made (S21: No).

[0153] Specifically, in the step S21, the first control unit 400 displays an execution instruction screen P10 for instructing the execution of the co-infusion process based on the target preparation data on the touch panel monitor 203. Here, FIG. 28 is a diagram showing an example of the execution instruction screen P10.

[0154] 28, the execution instruction screen P10 is displayed as a pop-up on a loading check screen M11 for supporting the loading of instruments onto the tray 101. The loading check screen M11 includes a display area A11 in which various information such as the medical department, medical type, and ward included in the target preparation data is displayed, and a display area A12 in which instruments such as the drug container 10 and the infusion bag 12 required for the mixed injection process based on the target preparation data are displayed.

[0155] As shown in FIG. 28, the execution instruction screen P10 displays, as information on the target preparation data, for example, a patient ID and a patient name for identifying a patient, a management number (preparation ID) for identifying the target preparation data, and a preparation time required for the mixed injection process based on the target preparation data. The preparation time required for the mixed injection process is stored in the data storage unit 404 for each preparation content (regimen) instructed by the target preparation data. In addition, calculation information for calculating the preparation time is stored in the data storage unit 404, and the first control unit 400 may calculate the preparation time required for the mixed injection process based on the calculation information. In addition, the first control unit 400 may reflect the presence or absence of the member mounting operation in which the relay member 90 is mounted when calculating the preparation time required.

[0156] The execution instruction screen P10 displays operation keys K11 to K13 for accepting the selection of the reservation method for the target preparation data, an operation key K14 for accepting the execution operation of the reservation of the target preparation data, and an operation key K15 for accepting the setting of whether or not remaining medication can be used.

[0157] Then, when the operation key K14 is operated, the first control section 400 determines that a request for execution of the mixed injection process based on the target preparation data has been made (S21: Yes).

[0158] In addition, the operation key K11 is an operation key for selecting a reservation without time designation as a reservation method in which the mixed injection process based on the target preparation data is executed in the order in which the target preparation data was input.

[0159] The operation key K12 is an operation key for selecting a reservation with a time designation for executing the mixed injection process based on the target preparation data based on an execution timing preset by a user operation as a reservation method. The execution timing is set by inputting a preparation end time indicating the scheduled completion time of the mixed injection process, or inputting a scheduled start time indicating the scheduled start time of the mixed injection process.

[0160] The operation key K13 is an operation key for selecting an automatic reservation process for automatically reserving a mixed injection process based on the target preparation data based on preset automatic reservation conditions as a reservation method.

[0161] The operation key K15 is an operation unit for accepting a setting of whether or not the remaining medicine can be used in the mixed injection process based on the target preparation data. The first control unit 400 controls whether or not the remaining medicine can be used depending on whether or not the remaining medicine can be used by the operation key K15. Furthermore, the first control unit 400 may automatically determine whether or not the remaining medicine can be used in the mixed injection process based on the target preparation data based on the information of the patient corresponding to the target preparation data. Specifically, the first control unit 400 may permit the use of the remaining medicine in the mixed injection process for the preparation data corresponding to an inpatient among the target preparation data, and may not permit the use of the remaining medicine in the mixed injection process for the preparation data corresponding to an outpatient among the target preparation data. Conversely, it may be possible that the use of the remaining medicine in the mixed injection process is permitted for the preparation data corresponding to an outpatient among the target preparation data, and the use of the remaining medicine in the mixed injection process is not permitted for the preparation data corresponding to an inpatient among the target preparation data.

[0162] <Step S22> In step S22, the first control unit 400 judges whether or not to execute an automatic reservation process that reserves the execution timing of the co-infusion process based on the target preparation data based on the automatic reservation conditions. Specifically, the first control unit 400 judges whether or not to execute the automatic reservation process according to the operation state of the operation key K13 on the execution instruction screen P10. Here, if it is judged that the automatic reservation process is not to be executed (S22: No), the process proceeds to step S221, and if it is judged that the automatic reservation process is to be executed (S22: Yes), the process proceeds to step S222.

[0163] <Step S221> In step S221, the first control unit 400 executes a reservation setting process for setting the execution timing of the target preparation data based on the reservation conditions inputted on the execution instruction screen P10, updates the waiting information D31, and then transitions to step S23.

[0164] For example, when the operation key K11 is operated and the reservation without time designation is selected, the first control unit 400 updates the waiting information D31 so as to execute the mixed injection process based on the target preparation data in the order in which the execution instructions were given. On the other hand, when the operation key K12 is operated and the reservation with time designation is selected, the first control unit 400 sets the execution timing of the mixed injection process based on the target preparation data so that the execution timing of the mixed injection process does not overlap based on the preparation date included in the target preparation data and the scheduled completion time or the scheduled start time, and updates the waiting information D31.

[0165] <Step S222> In step S222, the first control unit 400 executes the automatic reservation process, updates the standby information D31, and then shifts the process to step S23. Here, the first control unit 400 when executing the automatic reservation process is an example of a reservation processing unit according to the present invention.

[0166] Specifically, in the automatic reservation process, the first control unit 400 reads out the reservation correspondence information D32 from the data storage unit 404. Then, the first control unit 400 reserves the execution timing of the co-infusion process based on the target preparation data based on the reservation correspondence information D32 and the contents of the specific information included in the target preparation data. For example, the first control unit 400 newly adds information on the co-infusion process based on the target preparation data (information such as "drug name", "usage amount", "predetermined amount", "remaining drug use", "drug loading", and "execution timing") to the waiting information D31.

[0167] For example, when the automatic reservation process is executed based on the reservation response information D32 shown in Figure 30 (A), if the patient's ward is "Ward A," the execution timing of the mixed injection process based on the target preparation data is set to satisfy the condition of "before 9:00" on the preparation date included in the target preparation data.

[0168] In this embodiment, a case will be described in which the reference item D321 in the reservation correspondence information D32 is a "ward" and the reservation condition D322 is a "reservation time zone". On the other hand, as shown in FIG. 30(B) or FIG. 30(C), the reference item D321 may be information on other items such as a "medical treatment type" and a "prescription category". For example, in FIG. 30(B), a "reservation time zone" is set for each medical treatment type such as "outpatient" and "inpatient". Similarly, in FIG. 30(C), a "reservation time zone" is set for each prescription category such as "regular" and "temporary".

[0169] Furthermore, a plurality of pieces of reservation correspondence information D32 having different reference items D321 may be stored in the data storage unit 404, and a priority order may be set in advance for each piece of reservation correspondence information D32.

[0170] <Step S23> In step S23, the first control unit 400 executes an equipment preparation support process to support the task of setting the drug container 10, the syringe 11, the infusion bag 12, the relay member 90, etc., which are necessary for the co-injection process based on the target preparation data, on the tray 101.

[0171] For example, in step S23, the first control unit 400 displays on the touch panel monitor 203 the loading check screen M11 including a message and an image for instructing to read identification information such as GS1 data bars attached to the infusion bag 12 and the medicine container 10. Specifically, the loading check screen M11 displays the type of the infusion bag 12, the type of the syringe 11, the type of the medicine container 10, whether or not it is necessary to set the relay member 90 on the tray 101 (or whether or not the relay member 90 will be attached to the infusion bag 12 after the mixed injection process), and the like, which are included in the target preparation data.

[0172] Here, whether or not it is necessary to set the relay member 90 on the tray 101 is determined by the first control unit 400 based on the medicine master and either or both of the type of medicine and the type of infusion bag 12 indicated in the target preparation data. For example, the first control unit 400 determines that it is necessary to set the relay member 90 on the tray 101 when the type of medicine indicated in the target preparation data is registered as the attachment target medicine in the medicine master. The first control unit 400 may also determine that it is necessary to set the relay member 90 on the tray 101 when the type of infusion bag 12 indicated in the target preparation data is registered as the attachment target dispensing container in the medicine master. On the other hand, the first control unit 400 may also determine that it is not necessary to set the relay member 90 on the tray 101 when at least one of the type of medicine indicated in the target preparation data or the type of infusion bag 12 indicated in the target preparation data is not registered as the attachment target medicine in the medicine master.

[0173] In another embodiment, when the upper system 600 generates the target preparation data based on the prescription data, it may determine whether or not the relay member 90 needs to be set on the tray 101 based on either or both of the type of drug in the drug container 10 and the type of the infusion bag 12 indicated in the target preparation data, and generate the target preparation data including the determination result.

[0174] When the first control unit 400 determines that it is necessary to set the relay member 90 on the tray 101, it displays a message indicating that the relay member 90 needs to be set on the tray 101 and the position to set the relay member 90. When a plurality of types of the relay member 90 can be used in the co-infusion device 1, the first control unit 400 may select the type of the relay member 90 based on either or both of the type of the drug in the drug container 10 and the type of the infusion bag 12, and display the type of the relay member 90. When the first control unit 400 determines that it is unnecessary to attach the relay member 90, it does not display the message.

[0175] In addition, the first control unit 400 may be able to arbitrarily switch whether or not the relay member 90 is attached for each of the co-infusion processes corresponding to each of the preparation data in response to a user operation. For example, it is considered that the first control unit 400 can accept a selection operation of whether or not the relay member 90 is attached on the loading check screen M11. In addition, the first control unit 400 may be able to accept a selection operation of whether or not the relay member 90 is attached on an operation screen on which the loading preparation start operation or the execution request of the co-infusion process in the step S20 or the step S21 is performed. In addition, the first control unit 400 may be able to accept a setting of whether or not the relay member 90 is attached as an initial setting of the co-infusion device 1, and may determine whether or not the relay member 90 is attached according to the initial setting.

[0176] Then, the first control unit 400 reads the identification information of the infusion bag 12 and the medicine container 10 by the barcode reader 204, and when the result of matching with the target preparation data is a match, shifts the process to step S24. If the result of matching between the identification information of the infusion bag 12 or the medicine container 10 and the target preparation data is not a match, the first control unit 400 displays an error message or the like on the touch panel monitor 203. In addition, in step S23, the first control unit 400 also executes a process of reading, using the IC reader 207, the identification information of the tray 101 currently placed on the work table 202 from the IC tag 101b of the tray 101 as information for identifying the tray 101 corresponding to the target preparation data.

[0177] Here, when the relay member 90 or the like is placed on the tray 101 on the work table 202, the first control unit 400 may determine whether the relay member 90 is properly placed on the placement section 102C of the device placement section 102 based on a photographed image taken by a camera (not shown) capable of photographing the tray 101, and may report to that effect if the relay member 90 is not properly placed. Note that, as described above, when the relay member 90 is properly placed on the placement section 102C, the relay member 90 is in the specific posture. Therefore, the first control unit 400 can easily determine whether the relay member 90 is properly placed by searching the photographed image for the relay member 90 placed in the specific posture.

[0178] <Step S24> In step S24, the first control unit 400 judges whether or not a confirmation operation has been performed to indicate that the loading preparation for the target preparation data has been completed. Specifically, the first control unit 400 displays an operation key or the like for accepting the confirmation operation on the touch panel monitor 203, and judges that the confirmation operation has been performed when the operation key is operated. Here, if the confirmation operation has been performed (S24: Yes), the process proceeds to step S25, and the process waits in step S24 until the confirmation operation is performed (S24: No).

[0179] <Step S25> In step S25, the first control unit 400 opens the tray entrance portion 712 of the accommodating unit 700. Specifically, the first control unit 400 transmits an instruction to open the tray entrance portion 712 to the second control unit 500. As a result, the second control unit 500 controls the accommodating unit 700 to open the tray entrance portion 712, and the user can accommodate the tray 101 in the tray accommodation portion 811.

[0180] Before opening the tray loading unit 712, the second control unit 500 controls the position of the movable housing 810 based on the wait information D31 so that the unused tray accommodation unit 811 is disposed at a position capable of accommodating the tray 101. Specifically, the tray accommodation unit 811 that is not stored in the wait information D31 as the tray accommodation unit 811 corresponding to the tray 101 is determined to be unused. The second control unit 500 edits the wait information D31 when loading the tray 101 into the tray accommodation unit 811 and when discharging the tray 101 from the tray accommodation unit 811.

[0181] <Step S26> Then, in step S26, when the tray 101 is accommodated in the tray accommodation portion 811 of the accommodation unit 700, the first control unit 400 executes a process of associating the target preparation data, the identification information of the tray 101, and the tray accommodation portion 811. Specifically, the first control unit 400 records the correspondence between the target preparation data, the identification information of the tray 101, and the tray accommodation portion 811 in the waiting information D31. This allows the first control unit 400 and the second control unit 500 to recognize the correspondence between the target preparation data, the identification information of the tray 101, and the tray accommodation portion 811 based on the waiting information D31.

[0182] For example, when the step S23 is executed, the first control unit 400 uses the IC reader 207 provided on the work table 202 to read the identification information of the tray 101 from the IC tag 101b of the tray 101 placed on the work table 202. Then, in the step S26, the first control unit 400 stores the identification information read from the IC tag 101b in the waiting information D31 of the data storage unit 404 as the identification information of the tray 101 corresponding to the target preparation data selected as the processing target. In addition, in the waiting information D31, remaining drug use information indicating whether or not to use remaining drugs in the mixed injection process based on the preparation data in the tray 101 corresponding to each of the preparation data may be stored.

[0183] In addition, when the equipment such as the drug container 10, the syringe 11, and the infusion bag 12 required in the mixed injection process based on the target preparation data cannot be placed on one tray 101, the first control unit 400 may execute a process of storing the target preparation data selected as the processing target in the standby information D31 in association with the multiple trays 101. Then, in the mixed injection process based on the target preparation data, the equipment such as the drug container 10 supplied from the multiple trays 101 is used.

[0184] <Step S27> In step S27, the first control unit 400 transmits the target preparation data to the second control unit 500. The first control unit 400 may generate mixing control data for causing the mixing processing unit 300 to execute mixing processing based on the target preparation data, not limited to the target preparation data itself, and transmit the mixing control data to the second control unit 500. It is also possible that preparation data identification information capable of identifying the target preparation data is transmitted to the second control unit 500, and the target preparation data corresponding to the preparation data identification information is read out from the data storage unit 404 by the second control unit 500.

[0185] In addition, in step S27, when transmitting the target preparation data to the second control unit 500, the first control unit 400 transmits attachment necessity information indicating the necessity of attaching the relay member 90 to the infusion bag 12 together with the target preparation data to the second control unit 500. As a result, the second control unit 500 can determine the necessity of attaching the relay member 90 to the infusion bag 12 based on the attachment necessity information in the mixed injection process based on the target preparation data.

[0186] [Mixed injection control processing] Next, an example of a procedure of the co-infusion control process executed by the second control section 500 will be described with reference to FIG.

[0187] <Step S50> In step S50, the second control unit 500 judges whether the execution timing of the co-infusion process has arrived for any of the preparation data registered in the waiting information D31. If it is judged that the execution timing has arrived (S50: Yes), the process proceeds to step S51, and if the execution timing has not arrived (S50: No), the process waits in step S50. The preparation data for which it is judged that the execution timing of the co-infusion process has arrived in step S50 may be referred to as execution preparation data.

[0188] <Step S510> Next, in step S510, the second control unit 500 judges whether or not a remaining medicine will be generated in the medicine container 10 when the medicine container 10 loaded in the co-infusion device 1 corresponding to the execution preparation data is used in the co-infusion process based on the execution preparation data. Here, if the second control unit 500 judges that a remaining medicine will be generated in the medicine container 10 (S510: Yes), it shifts the process to step S51, and if it judges that a remaining medicine will not be generated in the medicine container 10 (S510: No), it shifts the process to step S52.

[0189] <Step S51> In step S51, the second control unit 500 judges whether or not to use the remaining medicine remaining in the previously executed mixed injection process in the mixed injection process based on the execution preparation data. Here, if the second control unit 500 judges that the remaining medicine will be used (Yes side of S51), it shifts the process to step S53, and if it judges that the remaining medicine will not be used (No side of S51), it shifts the process to step S52.

[0190] Specifically, the second control unit 500 judges whether or not the remaining medicine is used in the mixed injection process based on the execution preparation data based on the remaining medicine information D30 and the standby information D31. For example, the second control unit 500 judges that the remaining medicine is used in the mixed injection process based on the execution preparation data when the standby information D31 indicates that the remaining medicine is used for the execution preparation data and the content of the remaining medicine information D30 satisfies a preset use condition. The use condition is, for example, that the expiration date of the remaining medicine stored in the remaining medicine information D30 has not passed, that a predetermined time has not passed since the date and time of opening the remaining medicine, or that the number of times the injection needle 11c has punctured the medicine container 10 has not reached the upper limit number of times.

[0191] <Step S52> In step S52, the second control unit 500 controls the mixed injection processing unit 300 based on the execution preparation data input from the first control unit 400, thereby executing the normal mixed injection processing of injecting medicine from the medicine container 10 placed on the tray 101 corresponding to the execution preparation data into the infusion bag 12.

[0192] Specifically, in step S52, the second control unit 500 controls the storage unit 700 to supply the tray 101 associated with the execution preparation data for which the execution timing has arrived from the tray storage unit 811 of the storage unit 700 to the mixed injection processing unit 300. Then, in the mixed injection processing, the second control unit 500 aspirates the medicine indicated in the execution preparation data from one or more of the medicine containers 10 placed on the tray 101 by the syringe 11, and injects the medicine from the syringe 11 into the infusion bag 12.

[0193] Thereafter, the second control unit 500 executes a member mounting operation of mounting the relay member 90 to the infusion bag 12 as necessary, and discharges the tray 101 on which the infusion bag 12 is placed from the tray discharge port 15. Specifically, the second control unit 500 determines whether or not to execute the member mounting operation of mounting the relay member 90 to the infusion bag 12, based on the mounting necessity information received from the first control unit 400. The tray 101 may be stored in the storage unit 700 in a state in which it can be removed thereafter, or may be discharged from the tray discharge port 206 of the medicine loading unit 200 via the storage unit 700.

[0194] <Step S53> On the other hand, in step S53, the second control unit 500 controls the mixed injection processing unit 300 based on the execution preparation data, the remaining medicine information D30, and the waiting information D31 input from the first control unit 400, thereby performing the exceptional mixed injection processing in which the medicine is injected into the infusion bag 12 using the remaining medicine. That is, the second control unit 500 can cause the mixed injection processing unit 300 to use the medicine in the medicine container 10 remaining in the mixed injection processing based on other preparation data different from the preparation data in the mixed injection processing based on each of the preparation data to be processed. Therefore, for example, when a medicine remains in the medicine container 10 after the mixed injection processing, the medicine is effectively used and waste of the medicine is suppressed.

[0195] Specifically, in step S53, the second control unit 500 controls the storage unit 700 and supplies the tray 101 associated with the execution preparation data for which the execution timing has arrived from the tray storage unit 811 of the storage unit 700 to the mixed injection processing unit 300. Then, in the mixed injection processing, the second control unit 500 aspirates the medicine indicated in the execution preparation data from the medicine container 10 placed on the storage shelf 33 by the syringe 11, and injects the medicine from the syringe 11 into the infusion bag 12. Note that in the mixed injection processing based on the execution preparation data, one or more of the medicine containers 10 placed on the tray 101 may be used together with the medicine container 10 stored as a remaining medicine on the storage shelf 33.

[0196] In addition, when a remaining drug is used in the mixed injection process, the second control unit 500 may store remaining drug actual information related to the use of the remaining drug and its effect in the data storage unit 504 or the like. For example, when a remaining drug is used in the mixed injection process, the second control unit 500 may record the preparation ID (identification information) of the preparation data in which the remaining drug was generated in the mixed injection process and the preparation ID (identification information) of the preparation data in which the remaining drug was used in the mixed injection process as the remaining drug actual information in association with each other. In addition, the second control unit 500 may record the identification information of the drug reduced by using the remaining drug and the reduction amount thereof as the remaining drug actual information. For example, the reduction amount is the difference between the number of the drug containers 10 required when the remaining drug is not used and the number of the drug containers 10 required when the remaining drug is used. In addition, when calculating the difference in the number of the drug containers 10, a fraction less than one may be rounded up. This allows the worker to easily understand the actual usage of the remaining medicine and the effects of using the remaining medicine by referring to the remaining medicine actual usage information.

[0197] Also, in the mixed injection process in step S53, the second control unit 500 performs a member mounting operation to attach the relay member 90 to the infusion bag 12 as necessary, as in step S52, and discharges the tray 101 on which the infusion bag 12 is placed from the tray discharge outlet 15.

[0198] <Step S54> When the mixed injection process is completed, in step S54, the second control unit 500 judges whether or not any medicine remains in the medicine container 10. The process of judging whether or not there is any remaining medicine in the step S54 may be the same process as that in the step S510, or the second control unit 500 may judge based on the result of the mixed injection process. Here, when the second control unit 500 judges that the medicine remains (Yes side of S54), it shifts the process to step S55, and when it judges that the medicine does not remain (No side of S54), it shifts the process to step S541.

[0199] <Step S55> In step S55, the second control unit 500 executes a determination process to determine whether or not the medicine container 10 is to be stored as a remaining medicine on the shelf 33. Specifically, the second control unit 500 determines that the medicine container 10 is to be stored as a remaining medicine when a preset storage condition is satisfied. The storage condition includes one or more preset determination conditions. For example, the determination conditions include that the medicine container 10 is the medicine container 10, that the medicine container 10 is registered in the medicine master as a medicine to be stored as a remaining medicine, that the remaining amount of the remaining medicine in the medicine container 10 is equal to or greater than a preset minimum remaining amount, that the identification information of the medicine container 10 is normally read by the barcode reader 34b, that the number of punctures of the medicine container 10 is within an upper limit number of times, or that the expiration date of the medicine container 10 has not passed. In addition, when a plurality of the determination conditions are set as the storage condition, it is determined that the storage condition is satisfied when all of the determination conditions are satisfied.

[0200] <Step S56> In step S56, the second control unit 500 stores the medicine in the medicine container 10 in the mixed injection processing chamber 104 in a reusable state. More specifically, the second control unit 500 controls the first robot arm 21 of the mixed injection processing unit 300 to place the medicine container 10 on the storage shelf 33 in a reusable state. That is, the mixed injection processing unit 300 stores the medicine container 10 in which the medicine remains in the mixed injection processing based on the execution preparation data as a remaining medicine container in the mixed injection device 1, and the medicine in the remaining medicine container can be used in the mixed injection processing based on other preparation data. In addition, the second control unit 500 updates various information registered in the remaining medicine information D30 as necessary.

[0201] <Step S541> On the other hand, when no drug remains in the drug container 10, the second control section 500 in step S541 discards the drug container 10 into the waste storage chamber 13a by the first robot arm 21. That is, basically, when the drug in the drug container 10 has not been used up, the drug container 10 is returned to the storage shelf 33, and when the drug in the drug container 10 has been used up, the drug container 10 is discarded.

[0202] As described above, in the co-infusion device 1, after the medicine is injected into the infusion bag 12 in the co-infusion process, the relay member 90 is attached to the infusion bag 12 as necessary. This eliminates the need for an operator to attach the relay member 90 to the infusion bag 12 after the infusion bag 12 is discharged from the co-infusion device 1, and also reduces exposure of the operator and patient to radiation when the relay member 90 is attached to the infusion bag 12 near the patient.

[0203] In this embodiment, the case has been described by way of example in which the holding portion 264 dedicated to holding the relay member 90 is fixed to the gripping portion 261b of the second robot arm 22. Meanwhile, as another embodiment, a holding portion used to hold other equipment in the mixed injection process, such as the gripping portion 261a or the gripping portion 261b, may be used to hold the relay member 90 and puncture the relay member 90 into the rubber stopper 12D.

[0204] Furthermore, in the present embodiment, the case where the relay member 90 is attached to the infusion bag 12 using the second robot arm 22 that is also used in the mixed injection process has been described as an example, but the mixed injection device 1 may be provided with a member attachment device for attaching the relay member 90 to the infusion bag 12, separate from the second robot arm 22. Also, a member attachment device capable of attaching the relay member 90 to the infusion bag 12 discharged from the mixed injection device 1 may be configured, separate from the mixed injection device 1. For example, in the member attachment device, the infusion bag holding section 103A or the tray 101 on which the infusion bag 12 after the mixed injection process is placed can be set, and the relay member 90 is attached to the infusion bag 12. In this case, the component mounting device may receive information on the puncture position on the rubber stopper 12D during the co-injection process from the co-injection device 1, or information on the position of the OUT port on the rubber stopper 12D, and may puncture the puncture portion 91 in an area avoiding the puncture position or at the position of the OUT port.

[0205] Incidentally, when an operator such as a pharmacist performs a mixing operation similar to the mixing process based on the preparation data, the medicine container 10 and the syringe 11a are connected using a connecting device such as a vial adapter for safety, and the same number of connecting devices as the number of the medicine containers 10 are required. However, since the billable amount (billing points) that can be billed to a patient for the mixing operation is uniform, even if the number of the connecting devices is multiple, the cost cannot be added to the billing amount. Therefore, depending on the number of the connecting devices used in the mixing operation, that is, the number of the medicine containers 10, the cost of the connecting devices may exceed the billing amount when the mixing operation is performed by an operator. Therefore, it is considered that the first control unit 400 performs a presentation process to present a judgment index to a user for judging whether the mixing operation is performed by the mixing device 1 or the mixing operation is performed by an operator. For example, when the preparation data is selected on the prescription selection screen M1 shown in FIG. 27, the first control unit 400 calculates the expenses when the worker performs the mixing work based on the number of the drug containers 10 used in the mixing work based on the preparation data and the unit price of the connection tool. Thereafter, when the calculated expenses exceed the billable amount, the first control unit 400 displays a message such as "The price of the tool used for manual preparation will exceed the billable cost of manual preparation by about XX yen" on the display unit 25. In addition, the first control unit 400 may display, for each of the preparation data, judgment index information such as a character, a flag, or an icon indicating whether the expenses exceed the billable amount on the prescription selection screen M1 shown in FIG. 27. The presentation process may be performed by either the mixing device 1 or the upper system 600, and the timing of the presentation process may be the timing when the mixing device 1 or the upper system 600 receives the preparation data. Furthermore, the first control unit 400 or the upper system 600 may automatically switch between performing the co-infusion process by the co-infusion device 1 and performing the co-infusion work by an operator, depending on the expenses.

[0206] [Other embodiments] Various functions of the co-injection system 2 and other embodiments of the co-injection system 2 will be described below.

[0207] [Relay component storage component] Generally, there are various types of relay members 90, and the structure of the relay member 90 differs for each type of relay member 90. Even if only one type of relay member 90 is usable in the co-infusion device 1, it is necessary to match the shape of the holding part 264 to a shape that can hold the relay member 90. Therefore, in the co-infusion device 1, it is considered that a storage member 900 capable of storing one or multiple types of relay members 90 is used as an attachment member for using multiple types of relay members 90 in the co-infusion device 1.

[0208] 32(A) and 32(B), the storage member 900 is a cylindrical member with a bottom having opening / closing members 901 and 902, and the gripping portion 261a or the gripping portion 262a of the holding portion 26 is shaped to easily hold the storage member 900. The opening / closing members 901 and 902 are pivotally supported by a rotating shaft 903 so as to be openable and closable. Specifically, when a portion of the opening / closing members 901 and 902 rearward of the rotating shaft 903 is clamped, the tip side of the opening / closing members 901 and 902 rotates around the rotating shaft 903 to be opened.

[0209] A space capable of accommodating at least a portion of the relay member 90 is formed within the accommodating member 900, and the relay member 90 is held by a gripping portion (not shown) provided within the accommodating member 900, with the puncture portion 91 exposed. For example, the gripping portion grips the fitting portion 94 of the relay member 90. In this embodiment, as shown in Fig. 32(A), the accommodating member 900 can accommodate all parts of the relay member 90 except for the puncture portion 91.

[0210] In the co-infusion apparatus 1, in the member mounting operation, as shown in FIG. 32(A), the gripping portion 261a of the holding portion 26 of the second robot arm 22 grips the tip portion of the storage member 900 in front of the rotation shaft 903 (the puncture portion 91 side), and the gripping portion 262a grips the rear end portion of the storage member 900 behind the rotation shaft 903. Thereafter, as shown in FIG. 32(A), the second control unit 500 controls the second robot arm 22 to puncture the rubber stopper 12A with the relay member 90 housed in the storage member 900, and mounts the relay member 90 on the infusion bag 12. Next, as shown in FIG. 32(B), the second control unit 500 controls the second robot arm 22 to open the gripping portion 261a and close the gripping portion 262a. As a result, in the accommodating member 900, the opening / closing members 901, 902 rotate about the rotation shaft 903 to open, thereby exposing the relay member 90. Then, the second control unit 500 controls the second robot arm 22 to move the accommodating member 900 in a direction away from the relay member 90 (rearward), and removes the accommodating member 900 from the relay member 90.

[0211] According to this configuration, the relay member 90 housed in the housing member 900 can be attached to the infusion bag 12 using the gripping parts 261a and 262a of the holding part 26 of the second robot arm 22. Therefore, the gripping parts 261a and 262a for gripping and operating the medicine container 10 and the syringe 11 can also be used for the member mounting operation, and the holding part 264 for gripping the relay member 90 can be omitted. Note that the housing member 900 is placed on the instrument placement part 102 of the tray 101 in the same manner as the medicine container 10, so that the placement part 102C for placing the relay member 90 can also be omitted. In addition, if the housing member 900 has a structure capable of housing a plurality of types of the relay members 90, it becomes possible to use a plurality of types of the relay members 90 in the co-infusion device 1. Furthermore, since the relay member 90 is contained in the containing member 900 until it is attached to the infusion bag 12, contamination of the relay member 90 in the mixed injection processing chamber 104 is also suppressed.

[0212] In addition, a blower unit (not shown) such as a blower fan that blows air from the tray transport terminal end 110a (an example of a first region) on which the infusion bag 12 is placed toward the mixed injection processing chamber 104 (an example of a second region) through the mixed injection communication port 37 may be provided at the tray transport terminal end 110a. The second control unit 500 drives the blower unit at a preset timing such as before the member mounting operation of mounting the relay member 90 to the infusion bag 12 is started or during the member mounting operation. For example, the second control unit 500 may drive the blower unit at the start of the operation of removing the containing member 900 from the relay member 90 after puncturing the rubber stopper 12D of the infusion bag 12 with the relay member 90, and stop the blower unit after the infusion bag 12 is discharged from the tray transport terminal end 110a. As a result, the air blowing section is kept in operation at least after the relay member 90 is removed from the housing member 900, and contamination of the relay member 90 is suppressed.

[0213] In addition, when the storage member 900 is used, it is considered that a label or the like on which code information such as a one-dimensional code or a two-dimensional code capable of identifying the storage member 900 is printed is attached to the storage member 900. In the equipment preparation support process (step S23) corresponding to the mixed injection process in which the relay member 90 is used, the first control unit 400 may shift the process to step S24 when the identification information read from the infusion bag 12 and the medicine container 10 by the barcode reader 204 matches the target preparation data and the code information of the storage member 900 is read. On the other hand, if the identification information read from the infusion bag 12 and the medicine container 10 by the barcode reader 204 matches the target preparation data, but the code information of the storage member 900 is not read, the first control unit 400 notifies an error to that effect. This prevents the storage member 900 from being left unattended. In addition, instead of the housing member 900, a label on which code information for identifying the relay member 90 is printed may be attached to the relay member 90.

[0214] [Resin pharmaceutical container gripping function] As shown in Fig. 33, in the co-infusion process in the co-infusion device 1, a resin pharmaceutical liquid container 10D may be used as the pharmaceutical container 10. The resin pharmaceutical liquid container 10D has a flexible body portion 10a, a hard neck portion 10b harder than the body portion 10a, an opening 10c formed in the upper part of the hard neck portion 10b, a stopper portion 10d formed to close the opening 10c and be removable from the opening 10c, a gripping piece portion 10e formed on the stopper portion 10d, and a rib portion 10f formed at two locations along the outer wall surface of the body portion 10a and the hard neck portion 10b within one surface (hereinafter referred to as the "rib forming surface") passing through the central axis of the body portion 10a. The gripping piece portion 10e is also formed within the rib forming surface.

[0215] When the resin pharmaceutical liquid container 10D is held by the gripping portion 25a of the holding portion 25 of the first robot arm 21, the rigid neck portion 10b of the resin pharmaceutical liquid container 10D is gripped. However, the outer peripheral shape of the rigid neck portion 10b of the resin pharmaceutical liquid container 10D may be deformed, and the rigid neck portion 10b may not be symmetrical with respect to the rib formation surface. In this case, when the resin pharmaceutical liquid container 10D is gripped by the gripping portion 25a of the holding portion 25 of the first robot arm 21, if the resin pharmaceutical liquid container 10D is gripped while avoiding the rib portion 10f of the resin pharmaceutical liquid container 10D, the resin pharmaceutical liquid container 10D may be tilted.

[0216] On the other hand, in the resin pharmaceutical liquid container 10D, the shape of the rigid neck portion 10b at the rib portion 10f is unlikely to deform. Therefore, when the second control unit 500 holds the resin pharmaceutical liquid container 10D with the first robot arm 21, the second control unit 500 causes the gripping portion 25a to grip the rigid neck portion 10b at the position of the rib portion 10f. This makes it possible to hold the resin pharmaceutical liquid container 10D with the gripping portion 25a while suppressing tilting of the resin pharmaceutical liquid container 10D.

[0217] Specifically, a label 10g made of, for example, a light-opaque material is attached to the body 10a of the resin liquid pharmaceutical container 10D. In addition to information on the contents, capacity, and expiration date, a barcode 10h including these information is printed on the label 10g. The barcode 10h is a one-dimensional code or a two-dimensional code. For example, the positional relationship between the barcode 10h and the rib portion 10f can be determined by comparing the information on the resin liquid pharmaceutical container 10D specified in the preparation data with the data on the pharmaceutical master. In addition, the height positions of the rigid neck portion 10b and the gripping piece portion 10e in the resin liquid pharmaceutical container 10D can also be determined by comparing the information on the resin liquid pharmaceutical container 10D specified in the preparation data with the data on the pharmaceutical master.

[0218] Then, the second control unit 500 uses the medicine reading unit 34 to grip the rigid neck portion 10b at the position of the rib portion 10f with the gripping unit 25a. Specifically, when the second control unit 500 holds the resin pharmaceutical liquid container 10D with the holding unit 25 of the first robot arm 21, the second control unit 500 sets the resin pharmaceutical liquid container 10D in the medicine reading unit 34. Thereafter, the second control unit 500 rotates the roller 34a and stops the roller 34a after a predetermined time has elapsed since the barcode reader 34a recognized the barcode 10h of the label 10g. The predetermined time is the time from when the barcode reader 34a recognized the barcode 10h of the label 10g until when the rib forming surface becomes parallel to a plane including the central axes of the two rollers 34a. As a result, the resin pharmaceutical liquid container 10D is in a state in which the rib forming surface is parallel to a plane including the central axes of the two rollers 34a. Thereafter, the second control unit 500 grips the rigid neck portion 10b of the resin pharmaceutical liquid container 10D with the pair of gripping portions 25a in a state in which the gripping direction of the pair of gripping portions 25a is parallel to a plane including the central axes of the two rollers 34a. This allows the pair of gripping portions 25a to grip the rigid neck portion 10b at the position of the rib portion 10f on the rigid neck portion 10b, thereby suppressing tilting of the resin pharmaceutical liquid container 10D.

[0219] [An example of puncture position control] In the mixed injection process, the injection needle 11c of the syringe 11 is pierced into the rubber stopper 12D of the infusion bag 12 in the infusion suction process, the chemical suction process, etc. That is, in the mixed injection process, the injection needle 11c is pierced into the rubber stopper 12D multiple times. For this reason, the rubber stopper 12D may be provided with multiple IN ports at predetermined intervals, which indicate the puncture position of the injection needle 11c. However, the number of times the injection needle 11c pierces the rubber stopper 12D in the mixed injection process may exceed the number of the IN ports.

[0220] Therefore, when the number of times the injection needle 11c punctures the rubber stopper 12D in the co-injection process to be executed does not exceed the number of the IN ports, the second control unit 500 uses the positions of the multiple IN ports as puncture positions in a preset order. On the other hand, when the number of times the injection needle 11c punctures the rubber stopper 12D in the co-injection process to be executed exceeds the number of the IN ports, the second control unit 500 uses positions at intervals preset according to the number of punctures as puncture positions in order, regardless of the position of the IN port. For example, when the rubber stopper 12D has three IN ports at 120° intervals and the number of punctures is four, it is considered that the puncture positions are set at four positions at 90° intervals. In addition, the IN port and the puncture positions are not limited to multiple positions on the same circle, but may be multiple positions on a concentric circle, and may be any position avoiding the out-port in the rubber stopper 12D.

[0221] [An example of the puncture process] In the medicine suction step, the second control unit 500 controls the first robot arm 21 and the second robot arm 22 to execute a puncturing step of puncturing the injection needle 11c of the syringe 11 into the rubber stopper 10C of the medicine container 10. At this time, when the injection needle 11c punctures the rubber stopper 10C of the medicine container 10 or when the injection needle 11c is pulled out from the rubber stopper 10C of the medicine container 10, it is considered that the injection needle 11c is directed upward from the horizontal plane and the medicine container 10 is directed downward from the horizontal plane, as shown in Fig. 34(A).

[0222] However, as shown in Figures 34(B) and 34(C), a long opening 11d is formed at the tip of the injection needle 11c along the longitudinal direction (axial direction) of the injection needle 11c, and the length of the opening 11d varies depending on the type of the injection needle 11c, etc. The opening 11d is formed at the tip of the injection needle 11c as an open end portion on the tip side of the hollow part of the injection needle 11c. Furthermore, if the length of the opening 11d of the injection needle 11c is longer than the thickness of the rubber stopper 10C of the medicine container 10, when the injection needle 11c punctures the rubber stopper 10C in the state shown in Figure 34 (A) or when the injection needle 11c is removed from the rubber stopper 10C, if the opening 11d exists across the inside and outside of the rubber stopper 10C of the medicine container 10 and connects the inside and outside of the medicine container 10, there is a risk that the liquid in the medicine container 10 will leak out through the opening 11d.

[0223] Therefore, it is considered that the second control unit 500 changes the relative positional relationship when the injection needle 11c is inserted into the medicine container 10 or when the injection needle 11c is removed from the medicine container 10 based on the length of the opening 11d of the injection needle 11c used in the mixed injection process. Specifically, the data storage unit 504 stores an equipment master in which information such as the length of the opening 11d corresponding to each type of injection needle 11c and the thickness of the rubber stopper 10C of the medicine container 10 is registered in advance. This allows the second control unit 500 to determine the length of the opening 11d of the injection needle 11c and the thickness of the rubber stopper 10C of the medicine container 10 based on the equipment master.

[0224] Then, when the length of the opening 11d of the injection needle 11c is less than a preset lower limit, the second control unit 500 punctures the injection needle 11c into the rubber stopper 10C of the medicine container 10 or pulls out the injection needle 11c from the rubber stopper 10C in a first state in which the injection needle 11c is directed upward from the horizontal plane and the medicine container 10 is directed downward from the horizontal plane (see FIG. 34(A)). For example, the lower limit may be the thickness of the rubber stopper 10C of the medicine container 10, or may be a predetermined value regardless of the thickness of the rubber stopper 10C of the medicine container 10. On the other hand, when the length of the opening 11d of the injection needle 11c is equal to or greater than the lower limit, the second control unit 500 pierces the rubber stopper 10C with the injection needle 11c or pulls out the injection needle 11c from the rubber stopper 10C in a second state in which the injection needle 11c is directed downward from the horizontal plane and the medicine container 10 is directed upward from the horizontal plane (see FIG. 34(D)). This makes it possible to prevent liquid from leaking through the opening 11d of the injection needle 11c.

[0225] In addition, even if the relative position when the injection needle 11c is inserted into the rubber stopper 10C or when the injection needle 11c is pulled out from the rubber stopper 10C is the first state shown in FIG. 34(D), when the liquid is aspirated by the syringe 11, the second control unit 500 may transition to the second state shown in FIG. 34(A). In addition, the puncture target of the injection needle 11c is not limited to the medicine container 10, and the same applies when the injection needle 11c is inserted into or pulled out from another container that contains a liquid. In addition, instead of the second control unit 500, the first control unit 400 may execute a similar determination process and transmit a control instruction to the second control unit 500.

[0226] [Mixed injection sorting function] Incidentally, the co-infusion system 2 may include a plurality of the co-infusion devices 1 connected to the host system 600. In this case, in the co-infusion system 2, the preparation data is transmitted from the host system 600 to each of the co-infusion devices 1, and the preparation data is arbitrarily selected by an operator in each of the co-infusion devices 1 to execute the co-infusion process. That is, the co-infusion devices 1 that execute the co-infusion process based on the preparation data may be assigned by an operator.

[0227] However, in each of the co-infusion devices 1, the contents of the co-infusion process that can be executed by the co-infusion device 1 may be limited depending on the model of the co-infusion device 1 or the settings of the co-infusion device 1. For example, the types of the drug container 10, the syringe 11, the infusion bag 12, or the relay member 90 that can be used in the co-infusion process may differ depending on the model of the co-infusion device 1.

[0228] Therefore, in the host system 600, it is considered that the control unit 601 can identify the co-infusion device 1 capable of executing the co-infusion process based on the preparation data according to the contents of the preparation data. For example, a code reading unit capable of reading code information such as a one-dimensional code or a two-dimensional code for identifying the preparation data is connected to the host system 600. Meanwhile, the storage unit 602 of the host system 600 stores device information in which information such as the model or settings of each of the co-infusion devices 1 and information indicating the contents of the co-infusion process that can be executed by the co-infusion device 1 are associated with each other.

[0229] Then, when the code information described on a prescription or preparation instructions is read by the code reading unit, the control unit 601 identifies the co-infusion device 1 capable of executing the co-infusion process based on the preparation data corresponding to the code information based on the device information. After that, the control unit 601 presents the co-infusion device 1 identified as capable of executing the co-infusion process to an operator, or automatically causes the co-infusion device 1 identified as capable of executing the co-infusion process to execute the co-infusion process.

[0230] In addition, when there are a plurality of co-infusion devices 1 capable of executing the co-infusion process based on the preparation data, the control unit 601 may select the co-infusion device 1 suitable for executing the co-infusion process.

[0231] For example, the control unit 601 acquires the waiting information D31 stored in the data storage unit 404 of each of the co-infusion devices 1, and stores the waiting information D31 in the storage unit 602 together with information that can be identified by the co-infusion device 1. This allows the control unit 601 to grasp the waiting status of the co-infusion process in each of the co-infusion devices 1 based on the waiting information D31 corresponding to each of the co-infusion devices 1. Then, based on the waiting information D31, the control unit 601 selects the co-infusion device 1 that can perform the co-infusion process based on the preparation data most quickly as the co-infusion device 1 suitable for performing the co-infusion process. After that, the control unit 601 presents the selected co-infusion device 1 to the operator, or causes the selected co-infusion device 1 to automatically perform the co-infusion process.

[0232] The control unit 601 may be capable of selecting the co-infusion device 1 capable of using the remaining medicine in the co-infusion process based on the preparation data from among the plurality of co-infusion devices 1 as the co-infusion device 1 suitable for executing the co-infusion process. In this case, the control unit 601 acquires the remaining medicine information D30 stored in the data storage unit 404 of each of the co-infusion devices 1, and stores the remaining medicine information D30 in the storage unit 602 together with information that the co-infusion device 1 can identify. This allows the control unit 601 to grasp information on the remaining medicine present in each of the co-infusion devices 1 based on the remaining medicine information D30 corresponding to each of the co-infusion devices 1. Then, when the code information is read by the code reading unit, the control unit 601 selects the co-infusion device 1 in which the medicine that can be used in the co-infusion process based on the preparation data corresponding to the code information exists as a remaining medicine based on the remaining medicine information D30. Thereafter, the control unit 601 presents the selected co-infusion device 1 to the operator, or automatically causes the selected co-infusion device 1 to execute the co-infusion process. For example, the control unit 601 presents a message to the operator urging the use of the co-infusion device 1 that can use the remaining medicine, such as "There is a remaining medicine in the co-infusion device of the number XX, so please use the co-infusion device of the number XX." This allows the co-infusion system 2 as a whole to efficiently use the remaining medicine.

[0233] In addition, as another embodiment, instead of the host system 600, the first control unit 400 may be connected to a plurality of the co-infusion apparatuses 1, and the first control unit 400 may specify the co-infusion apparatus 1 that can execute the co-infusion process based on the preparation data. Furthermore, instead of the host system 600, a mobile terminal capable of communicating with the host system 600 or the co-infusion apparatus 1 may be capable of selecting the co-infusion apparatus 1 that executes the co-infusion process based on the preparation data in response to a user operation. In this case, the mobile terminal acquires various information such as the preparation data, the remaining drug information D30, and the waiting information D31 from each of the host system 600 and the co-infusion apparatus 1, and presents the number of the preparation data waiting in each of the co-infusion apparatuses 1, the contents of the preparation data, information on the remaining drugs present in the co-infusion apparatus 1, etc., to the operator as reference information. In addition, the mobile terminal may present whether the patient corresponding to the preparation data is an inpatient or an outpatient based on the preparation data as the reference information. Furthermore, in each of the co-infusion devices 1, the waiting information D31 stores information on whether the preparation data was automatically assigned by the upper system 600 or the like as described above, or whether the preparation data was assigned by the mobile terminal, and the mobile terminal may present this information as the reference information.

[0234] [Error notification function] In the co-infusion device 1, various sensors are provided to detect the states of various control objects such as the first robot arm 21, the second robot arm 22, the stirring device 32, the drug reading unit 34, the weighing scale 35, and the needle bending detection unit 36. The first control unit 400 or the second control unit 500 has an error notification function that notifies the user of an abnormality in the co-infusion process performed by the co-infusion device 1 using a speaker or display unit provided in the co-infusion device 1 when an abnormality is detected based on the detection results of the various sensors. This allows an operator such as a pharmacist who uses the co-infusion device 1 to understand the abnormality of the co-infusion device 1.

[0235] However, an operator such as a pharmacist who uses the co-infusion apparatus 1 is not necessarily near the co-infusion apparatus 1 when the co-infusion process is being performed by the co-infusion apparatus 1. Therefore, when an abnormality is detected in the co-infusion apparatus 1, the first control unit 400 or the second control unit 500 waits for a user operation to confirm the abnormality of the co-infusion apparatus 1 after notifying the co-infusion apparatus 1. Thereafter, if the user operation is not performed within a preset waiting time, the first control unit 400 or the second control unit 500 transmits abnormality information to a preset destination. The destination is an email address, SNS address, or telephone number for transmitting the abnormality information to an information processing device such as a personal computer, mobile terminal, or smartphone of the operator used separately from the co-infusion apparatus 1. As a result, the information processing device notifies the operator of the abnormality information. Therefore, even if the operator is located away from the co-infusion apparatus 1, it is possible to grasp the occurrence of an abnormality in the co-infusion apparatus 1.

[0236] [Execution hold reservation function] As described above, in the co-infusion system 2, it is possible to reserve the execution timing of the co-infusion process based on the preparation data. On the other hand, it is considered that the first control unit 400 has an execution reservation function for reserving the execution timing of the co-infusion process based on the adjustment data in a reserved state. Specifically, the first control unit 400 displays a reservation operation key for reserving the execution timing of the co-infusion process in a reserved state on the execution instruction screen P10 of FIG. 28 together with operation keys K11 to K13 for accepting a selection operation of a reservation method of the preparation data.

[0237] Then, in the mixed injection management process, when the hold operation key is selected and a request to execute the mixed injection process based on the preparation data is made (S21: Yes), the first control unit 400 shifts the process to the step S22. After that, the first control unit 400 determines not to execute the automatic reservation process in the step S22 (S22: No), and updates the waiting information D31 so that the execution timing of the mixed injection process based on the preparation data is in a hold state in the step S221 (S221). For example, in the waiting information D31, "hold" is recorded as information on "execution timing" corresponding to the preparation data to be held. Note that the first control unit 400 executes the steps S23 to S27 after executing the step S221. As a result, in the mixed injection device 1, the tray 101 corresponding to the preparation data is stored in the storage unit 700, the mixed injection process based on the preparation data is not automatically executed, and the mixed injection process based on the preparation data is in a hold state. In addition, the first control unit 400 may be able to suspend the execution of the co-infusion process for the preparation data that is registered in the waiting information D31 and for which the co-infusion process has not been executed, in response to a user operation.

[0238] Thereafter, when the preparation data reserved in the hold state in the waiting information D31 is selected by a user operation and a request to start execution of the co-infusion process based on the preparation data is made, the first control unit 400 determines that the execution timing of the preparation data has arrived and transmits a request to start execution of the co-infusion process for the preparation data to the second control unit 500. As a result, the second control unit 500 determines that it is the execution timing of the co-infusion process in the co-infusion control process (S50: Yes) and executes the co-infusion process based on the preparation data. In addition, when the preparation data reserved in the hold state in the waiting information D31 is selected by a user operation and a request to start execution of the co-infusion process based on the preparation data is made, the second control unit 500 may determine that it is the execution timing of the co-infusion process (S50: Yes) and execute the co-infusion process based on the preparation data.

Claims

[Claim 1] a holder for holding a relay member that relays a connection between a dispensing container containing a medicine and an administration instrument used to administer the medicine from the dispensing container to a patient; a member attachment processing unit that attaches the relay member held by the holding unit to the dispensing container; A member mounting device comprising:

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