Take-out device, holding device, measuring device, and coinjection device

Abstract

To reduce failures that may occur in an infusion container irrespective of the type of the infusion container.SOLUTION: A coinjection device (1) includes a second transfer control part (145) for changing a take-up motion to an infusion container by a second transfer part (120) according to the type of the infusion container.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a removal device, a holding device, a measuring device, a co-infusion device, and the like. [Background technology]

[0002] Patent Document 1 discloses an example of a co-infusion device. The co-infusion device of Patent Document 1 includes a drug filling section and a co-infusion processing section. A user places a drug container, each member that may constitute a syringe, and an infusion container in a predetermined position on a tray placed on a work table of the drug filling section, and then loads the tray into the co-infusion processing section. This allows the co-infusion device of Patent Document 1 to start the co-infusion process. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-063313 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not disclose specific control or mechanisms for the infusion container according to the type of the infusion container. The first and second aspects of the present invention aim to reduce defects that may occur in the infusion container regardless of the type of the infusion container.

[0005] Furthermore, Patent Document 1 does not disclose a mechanism for measuring the weight of an infusion container in a short time with high accuracy. An object of the third aspect of the present invention is to measure the weight of an infusion container in a short time with high accuracy.

[0006] In addition, Patent Document 1 does not disclose control when the mixing equipment is held in the equipment holding section outside the specified area. The fourth aspect of the present invention aims to manage the holding operation of the mixing equipment regardless of the area in which the mixing equipment is held. [Means for solving the problem]

[0007] A removal device according to one aspect of the present invention is a removal device that removes an infusion container from an infusion storage shelf, and is equipped with an operation control unit that changes the removal operation of the infusion container by the removal device depending on the type of the infusion container.

[0008] A holding device according to one embodiment of the present invention comprises a holding portion that holds the body of an infusion container, and a support portion located above the holding portion and supporting the neck of the infusion container, the support portion being movable in the direction opposite to the movement direction of the holding portion when holding the infusion container.

[0009] A weighing device according to one embodiment of the present invention includes a locking portion that locks a neck of an infusion container, a weighing portion that weighs the infusion container locked to the locking portion, and a movable member that moves between a first position in contact with or close to the infusion container locked to the locking portion and a second position that is farther away from the infusion container locked to the locking portion than the first position.

[0010] A co-infusion device according to one embodiment of the present invention comprises a plurality of equipment holding sections capable of holding co-infusion equipment used for co-infusion, an equipment transporting section which, when a filling instruction for the equipment holding sections is received, defines a predetermined area as an area in which equipment holding sections not holding the co-infusion equipment should be positioned in order to hold the co-infusion equipment, and transports each of the plurality of equipment holding sections from the predetermined area to outside the predetermined area or from outside the predetermined area to the predetermined area, an equipment detection section which detects the co-infusion equipment held in the equipment holding sections, and a determination section which determines an equipment holding section located adjacent to the predetermined area as a target for determining the presence or absence of the co-infusion equipment based on the detection result of the equipment detection section. Effect of the Invention

[0011] According to the first and second aspects of the present invention, it is an object to reduce defects that may occur in infusion containers regardless of the type of infusion container.

[0012] Furthermore, according to the third aspect of the present invention, the weight of an infusion container can be measured quickly and accurately.

[0013] Furthermore, according to the fourth aspect of the present invention, the operation of holding the co-infusion equipment can be managed regardless of the area in which the co-infusion equipment is held. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a perspective view showing an example of the overall configuration of a co-infusion device. [Diagram 2] FIG. 2 is a perspective view showing an example of a schematic internal configuration of the co-infusion device when viewed from the front. [Diagram 3] FIG. 2 is a perspective view showing an example of a schematic internal configuration of the co-infusion device when the co-infusion device is viewed from the rear. [Figure 4] FIG. 1 is a block diagram showing an example of the overall configuration of a co-infusion device. [Diagram 5] FIG. 1 is a perspective view showing an example of a syringe. [Figure 6] FIG. 4 is a diagram illustrating an example of a configuration of a second transport unit. [Figure 7] 11 is a schematic diagram for explaining an example of a phenomenon that occurs when the second transporting unit holds an infusion container. FIG. [Figure 8] FIG. 2 is a perspective view showing an example of the overall configuration of a printing and inspection unit. [Figure 9] FIG. 2 is a perspective view showing an example of the internal configuration of a printing and inspection unit. [Figure 10] FIG. 4 is a perspective view showing an example of a specific configuration in the vicinity of a measuring unit. [Figure 11] 10A to 10C are schematic diagrams showing an example of the operation of a moving member. [Figure 12] FIG. 2 is a perspective view showing an example of the overall configuration of a syringe shelf and a vial shelf. [Figure 13] FIG. 2 is a diagram showing an example of the configuration of one syringe shelf and one vial shelf when viewed from the first transporting section side, and a diagram for explaining the vial shelf. [Figure 14] FIG. 13 is a schematic diagram for explaining an overview of an example of control when filling or removing a syringe or vial. [Figure 15] 10 is a flowchart showing an example of a process flow by a control unit; [Figure 16] FIG. 2 is a perspective view showing an example of the configuration of an infusion shelf. [Figure 17] FIG. 2 is a perspective view showing an example of the configuration of an infusion shelf. [Figure 18] 10 is a schematic diagram showing an example of a state in which a first infusion container is removed from an infusion shelf. FIG. [Figure 19] 10 is a schematic diagram showing an example of a state in which a first infusion container is removed from an infusion shelf using a first operation pattern. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] An embodiment of the present invention will be described in detail below. In each drawing, the X-axis and the Y-axis are two mutually perpendicular axes in a horizontal plane (the ground surface of the co-infusion device 1). The positive X-axis direction may be referred to as the right direction, and the negative X-axis direction as the left direction. The positive Y-axis direction may be referred to as the back direction or rear direction, and the negative Y-axis direction as the front direction or forward direction. The Z-axis is an axis that extends vertically to the XY plane, and the positive Z-axis direction may be referred to as the upward direction, and the negative Z-axis direction as the downward direction.

[0016] [Overall configuration of the co-infusion device] Fig. 1 is a perspective view showing an example of the overall configuration of a co-infusion device 1. As shown in Fig. 1, the co-infusion device 1 according to this embodiment includes a syringe shelf 10, a vial shelf 20, an infusion shelf 30, a printing / inspection unit 50, an infusion receiving shelf 60, a wastebasket section 70, a touch panel 80, and a button 90.

[0017] The co-infusion device 1 is a device that executes a co-infusion process (co-infusion operation) of mixing a medicine and an infusion liquid using a medicine, a syringe, and an infusion liquid indicated in data related to preparation and administration (hereinafter referred to as preparation and administration data). The infusion liquid used in the co-infusion operation may be, for example, saline (physiological saline) or a liquid containing glucose.

[0018] For example, if the drug indicated in the preparation and administration data is a liquid drug (liquid drug), the co-infusion device 1 uses a syringe to aspirate the drug from a vial (an example of a drug container) in which the drug is stored, and injects the drug from the syringe into an infusion container (infusion bag). If the drug indicated in the preparation and administration data is a solid drug (powdered drug), the co-infusion device 1 uses a syringe to aspirate the infusion liquid from the infusion container, and injects the infusion liquid into the vial. This makes it possible to turn the solid drug in the vial into a liquid state. After that, the co-infusion device 1 uses a syringe to inject the liquid drug (infusion liquid in which the drug is dissolved) into the infusion container.

[0019] The co-infusion device 1 thus executes the co-infusion operation. The co-infusion operation may include an operation of aspirating a medicine from a vial using a syringe and injecting it into another vial. These co-infusion operations are executed by the co-infusion unit 40, which will be described later. The syringe and the vial are examples of co-infusion equipment used for co-infusion.

[0020] The co-infusion device 1 allows a user to load a syringe, a vial, and an infusion container into the co-infusion device 1 by opening and closing a door, for example. The air purifying unit described below keeps the inside of the co-infusion device 1 clean, reducing the possibility of contamination of the medicine and the infusion during the co-infusion process. In addition, in order to keep the inside of the co-infusion device 1 clean, the inside of the co-infusion device 1 is kept at a positive pressure.

[0021] The preparation and administration data is data required for the control unit 140 (see FIG. 4) of the co-infusion device 1 to perform the co-infusion process. At least a part of the preparation and administration data may be generated based on prescription data. At least a part of the preparation and administration data may be prescription data.

[0022] The preparation and administration data includes, for example, information indicating the type of drug used for mixing, the prescribed amount of the drug, information indicating the type of syringe, information indicating the type of infusion (infusion type information), and information indicating the amount of infusion withdrawn from the infusion container. The preparation and administration data may also include information indicating the type of infusion container (e.g., size such as capacity). The information indicating the type of drug may include information indicating whether the drug is a powder or liquid.

[0023] Furthermore, the preparation and administration data includes, for example, information about the infusion container into which the drug is injected, such as prescription attribute information such as the name of the patient to whom the drug is prescribed, prescription details such as usage and dosage, an order number indicating the order in which the prescription was received, and infusion type information (e.g., infusion name).

[0024] The preparation and administration data shown above is merely an example, and the information used for mixed injection, which will be described later, may be included in the preparation and administration data.

[0025] The syringe shelf 10 is an equipment storage shelf capable of storing the syringes loaded in the co-infusion device 1. The syringe shelf 10 is provided with a syringe-side door 16. A user can hold the syringe on the syringe shelf 10 by opening and closing the syringe-side door 16.

[0026] The vial shelf 20 is an equipment storage shelf capable of storing the vials filled in the co-infusion device 1. The vial shelf 20 is provided with a vial-side door 27. A user can cause the vial shelf 20 to hold the vial by opening and closing the vial-side door 27.

[0027] The infusion shelf 30 is an infusion storage shelf capable of storing the infusion containers filled in the co-infusion device 1. The infusion shelf 30 is provided with an infusion side door 34. A user can hold the infusion container in the infusion side door 34 by opening and closing the infusion side door 34.

[0028] The syringe side door 16, the vial side door 27, and the infusion side door 34 are doors that allow the user to access the syringe shelf 10, the vial shelf 20, or the infusion shelf 30 in an open state, and can block the access in a closed state. In the co-infusion device 1, the control unit 140 described later controls the syringe side door 16, the vial side door 27, and the infusion side door 34 so that only one of them is in an unlocked state.

[0029] The printing and inspection unit 50 is a unit that prints a second label and affixes it to the infusion container before or after drug injection. The printing and inspection unit 50 may print an inappropriate information label and affix it to the infusion container after drug injection. The printing and inspection unit 50 is also a unit that weighs the infusion container before and after drug injection.

[0030] A first label, on which, for example, the type of infusion and / or the type of infusion container is printed, is affixed to the infusion container in advance by the pharmaceutical manufacturer that provides the infusion container. The first label is also called an infusion label. Meanwhile, the above-mentioned information on the infusion container into which the medicine has been injected is information that is given to the infusion container into which the medicine is to be injected, and is information different from the information contained in the first label that is affixed to the infusion container in advance. The printing and inspection unit 50 prints the content of this information on a label and affixes it to the infusion container as a second label different from the first label.

[0031] The inappropriate information label is a label on which inappropriate information is printed. The inappropriate information label may be, for example, a label on which an x ​​mark is printed. The inappropriate information may be, for example, information indicating that the weight measured by the printing and inspection unit 50 is inappropriate, and / or information indicating that the type of drug indicated in the preparation and administration data is not included in the information read from the second label. The weight being inappropriate indicates, for example, that the amount of drug injected (prescribed amount) into the infusion container or the amount of infusion withdrawn from the infusion container does not correspond to the amount indicated in the preparation and administration data. The control unit 140 described later judges whether the weight is appropriate and whether the type of drug indicated in the preparation and administration data is included in the information read from the second label.

[0032] The infusion receiving shelf 60 is a unit that receives the infusion container with the second label attached after drug injection. The infusion receiving shelf 60 is provided with an infusion receiving door 61. The trash can section 70 is a box that receives used syringes and vials (syringes and vials used in a mixed injection operation). The trash can section 70 also serves as a box that receives needle caps removed from syringes. The touch panel 80 has the functions of an operation section that receives various operations by the user and a display section that displays various information. The operation section and the display section may be provided as separate members. Also, instead of the display section, a presentation section (e.g., a speaker) that presents various information may be provided.

[0033] The button 90 is a mechanical button that can receive a user operation to unlock the syringe side door 16, the vial side door 27, the infusion side door 34, and the infusion receiving door 61. One button 90 is provided for each of the syringe side door 16, the vial side door 27, the infusion side door 34, and the infusion receiving door 61. When the syringe side door 16, the vial side door 27, the infusion side door 34, and the infusion receiving door 61 are closed, they are locked by a locking mechanism (not shown). The syringe side door 16, the vial side door 27, the infusion side door 34, and the infusion receiving door 61 are unlocked only when the user presses the button 90. However, when it becomes possible to unlock any of the doors to open them, the control unit 140 described later invalidates the user operation on the button 90 corresponding to the door that is closed and locked. As a result, the control unit 140 maintains the doors other than the unlocked door in a closed and locked state.

[0034] The control unit 140 will not unlock the door even when the button 90 corresponding to the door of the syringe shelf 10, the vial shelf 20, the infusion shelf 30, or the infusion receiving shelf 60 that is being accessed by the first transporting unit 110 or the second transporting unit 120 described below is pressed.

[0035] Furthermore, light emitting members (not shown) (e.g., LEDs; Light Emitting Diodes) may be provided corresponding to each of the syringe shelf 10, the vial shelf 20, the infusion shelf 30, and the infusion receiving shelf 60. The control unit 140 may light up the light emitting members corresponding to the shelves accessed by the first transport unit 110 or the second transport unit 120. In this case, a locking mechanism for each door may not necessarily be provided.

[0036] [Overview of the internal configuration of the co-infusion device] Fig. 2 is a perspective view showing an example of a schematic internal configuration of the co-infusion device 1 when viewed from the front (near side). Fig. 3 is a perspective view showing an example of a schematic internal configuration of the co-infusion device 1 when viewed from the rear (rear direction).

[0037] 2 and 3, the co-infusion device 1 includes the above-mentioned syringe shelf 10, vial shelf 20, infusion shelf 30, printing / inspection unit 50, infusion receiving shelf 60, and waste bin section 70, as well as a co-infusion unit 40, a first conveying section 110, a second conveying section 120, and an air purifying section 130. The co-infusion device 1 also includes a cap removal unit 180 (outside the cap removal section) (see FIG. 4), which is not shown in FIG. 2 and 3.

[0038] The mixing unit 40 functions as a mixing section that mixes and injects a medicine (powdered medicine or liquid medicine) contained in a vial 502 into an infusion contained in an infusion container 503. In this embodiment, the mixing unit 40 is located between the syringe shelf 10 and the vial shelf 20 and the infusion shelf 30 and the infusion receiving shelf 60.

[0039] The mixed injection unit 40 executes a mixed injection operation based on the preparation and administration data. When the medicine contained in the vial 502 is a powdered medicine, the mixed injection unit 40 executes a mixed injection operation in which the powdered medicine contained in the vial 502 is dissolved with an infusion liquid, and the infusion liquid in which the powdered medicine is dissolved is mixed with the infusion liquid contained in the infusion container 503 using the syringe 501.

[0040] The first transport unit 110 transports the syringe 501 indicated in the preparation / administration data from the syringe shelf 10 to the mixed injection unit 40, or transports the vial 502 containing the drug indicated in the preparation / administration data from the vial shelf 20 to the mixed injection unit 40. When the preparation / administration data is input, the first transport unit 110 transports the syringe 501 stored on the syringe shelf 10 and the vial 502 stored on the vial shelf 20 to the mixed injection unit 40. In this embodiment, the first transport unit 110 grasps the upper part of the body of the syringe 501 stored on the syringe shelf 10 and delivers the syringe 501 to the mixed injection unit 40. Similarly, the first transport unit 110 grasps the neck of the vial 502 stored on the vial shelf 20 and delivers the vial 502 to the mixed injection unit 40.

[0041] In addition, the first transport unit 110 transports the syringe 501 stored in the syringe shelf 10 to the cap removal unit 180 before transporting the syringe 501 to the mixed injection unit 40. This allows the first transport unit 110 to remove the needle cap attached to the needle of the syringe 501 and transport the syringe 501 with the needle cap removed to the mixed injection unit 40.

[0042] Furthermore, the first conveying unit 110 conveys the syringe 501 and the vial 502 used in the mixed injection operation (the syringe 501 and the vial 502 that are no longer needed) to the trash can section 70. As for the syringe 501, the first conveying unit 110 conveys the syringe 501 used in the mixed injection operation to the cap removal unit 180. The cap removal unit 180 attaches a needle cap to the needle of the syringe 501. The first conveying unit 110 conveys the syringe 501 with the needle cap attached to the needle to the trash can section 70. Furthermore, depending on the type of the vial 502, the first conveying unit 110 may not need to convey the vial 502 to the trash can section 70.

[0043] The first transport unit 110 is a transport unit that transports the syringe 501 and the vial 502 and is shared by both the syringe 501 and the vial 502, but is not limited to this. A transport unit dedicated to transporting the syringe 501 and a transport unit dedicated to transporting the vial 502 may be provided separately.

[0044] The second transport unit 120 transports the infusion container 503 indicated in the preparation and administration data between the infusion shelf 30, the mixing unit 40, the printing and inspection unit 50, and the infusion receiving shelf 60.

[0045] The second transport unit 120 transports the infusion container 503 to the mixing unit 40. When the preparation / administration data is input, the second transport unit 120 transports the infusion container 503 stored in the infusion shelf 30 to the mixing unit 40. In this embodiment, the second transport unit 120 picks up the body of the infusion container 503 stored in the infusion shelf 30 and delivers it to the mixing unit 40.

[0046] In addition, the second transport unit 120 transports the infusion container 503 between the mixing unit 40 and the printing and inspection unit 50. In this embodiment, for example, the second transport unit 120 picks up the body of the infusion container 503 after drug injection and transports it to the printing and inspection unit 50. In addition, the second transport unit 120 delivers the infusion container 503 to which the second label or the unsuitable information label has been affixed by the printing and inspection unit 50 to the infusion receiving shelf 60.

[0047] The air purifying unit 130 purifies and exhausts the air inside the co-infusion device 1. In this embodiment, it is provided at the top of the co-infusion device 1. The air purified by the air purifying unit 130 flows from the top to the bottom of the co-infusion device 1. The air purifying unit 130 has, for example, a HEPA (High Efficiency Particulate Air) filter.

[0048] The cap removal unit 180 is a member that removes the needle cap of the syringe 501. The cap removal unit 180 removes the needle cap attached to the needle of the syringe 501 before being transported to the co-infusion unit 40, and holds the needle cap. When the first transport section 110 inserts the syringe 501 into the cap removal unit 180, the cap removal unit 180 holds the needle cap attached to the needle of the syringe 501, thereby removing the needle cap from the syringe 501. The cap removal unit 180 removes only the needle cap from the syringe 501, without removing the needle 5014 from the syringe 501.

[0049] After the mixed injection operation is completed, the first transport section 110 transports the syringe 501 used in the mixed injection operation to the cap removal unit 180. The cap removal unit 180 attaches the needle cap it holds to the needle of the syringe 501. In other words, the cap removal unit 180 functions as a cap attachment / detachment unit that attaches and detaches the needle cap to the needle of the syringe 501. Thereafter, the first transport section 110 transports the syringe 501 with the needle cap attached to the waste bin section 70.

[0050] However, the co-infusion device 1 may be provided with a needle removal unit (not shown). The needle removal unit is a member that removes the needle from the syringe 501 used in the co-infusion operation. When the co-infusion device 1 is provided with the needle removal unit, the first transport unit 110 transports the syringe 501 used in the co-infusion operation to the needle removal unit after the co-infusion operation is completed. The needle removal unit removes the needle from the syringe 501 used in the co-infusion operation and discards the removed needle in the trash box unit 70. For example, when the syringe 501 with the needle cap removed is attached to the co-infusion unit 40 and the needle of the syringe 501 is pierced into the head (rubber stopper) of the vial 502 by the co-infusion unit 40, the cap removal unit 180 may discard the needle cap in the trash box unit 70. The cap removal unit 180 and the needle removal unit are located above the waste bin section 70, and may drop the needle cap or needle into the waste bin section 70 by releasing the hold on the needle cap or needle.

[0051] The arrangement of each member in the co-infusion device 1 is not limited to the arrangement described above. In the present embodiment, the syringe shelf 10, the vial shelf 20, and the infusion shelf 30 are each provided with multiple stages, but each may be provided with one stage. In the present embodiment, the infusion receiving shelf 60 is provided with one stage, but each may be provided with multiple stages. In addition, the syringe side door 16 and / or the vial side door 27 may be provided on the side of the co-infusion device 1 (FIG. 2, right side of the paper). In this case, multiple syringes 501 or multiple vials 502 can be filled from the side of the co-infusion device 1. In addition, when the infusion shelf 30 has the same configuration as the syringe shelf 10 and the vial shelf 20, the infusion side door 34 may be provided on the side of the co-infusion device 1 (FIG. 2, left side of the paper).

[0052] [Other configurations] Fig. 4 is a block diagram showing an example of the overall configuration of the co-infusion device 1. As shown in Fig. 4, the co-infusion device 1 includes a control unit 140 and a storage unit 200. Note that Fig. 4 shows only the main hardware configuration that can be controlled by the control unit 140 among the hardware configurations included in the co-infusion device 1.

[0053] The control unit 140 comprehensively controls the operation of the co-infusion device 1 based on the preparation and administration data. The control unit 140 includes, for example, a syringe transport control unit 141, a vial transport control unit 142, a first transport control unit 143, a co-infusion unit control unit 144, and a second transport control unit 145. The control unit 140 includes, for example, a pushing control unit 147, a shutter control unit 148, a printing and inspection unit control unit 149, a touch panel control unit 150, and a determination unit 151. The determination unit 151 will be described later.

[0054] The syringe transport control unit 141 controls the operation of members related to the transport of the syringe 501 in the syringe shelf 10. The vial transport control unit 142 controls the operation of members related to the transport of the vial 502 in the vial shelf 20. The mixed injection unit control unit 144 controls the operation of members provided in the mixed injection unit 40.

[0055] The first transport control unit 143 controls the operation of the members included in the first transport unit 110. The first transport control unit 143 controls the movement of the first transport unit 110 between, for example, the syringe shelf 10, the vial shelf 20, the mixed injection unit 40, the waste bin unit 70, and the cap removal unit 180. The second transport control unit 145 controls the operation of the members included in the second transport unit 120. The second transport control unit 145 controls the movement of the second transport unit 120 between, for example, the infusion shelf 30, the mixed injection unit 40, the printing / inspection unit 50, and the infusion receiving shelf 60.

[0056] The pushing control unit 147 controls the operation of members related to the transportation of the infusion container 503 in the infusion shelf 30. The shutter control unit 148 controls the movement of the shutter 37 (see FIG. 3). The printing and inspection unit control unit 149 controls the operation of members provided in the printing and inspection unit 50. The touch panel control unit 150 controls the touch panel 80.

[0057] The storage unit 200 also stores data for the control unit 140 to perform various processes (e.g., co-infusion process). The storage unit 200 stores, for example, preparation and administration data. The information stored in the storage unit 200 may be stored in an external storage device of the co-infusion device 1.

[0058] 5 is a perspective view showing an example of a syringe 501. The syringe 501 includes a syringe (syringe barrel) 5011, a needle 5014, and a plunger 5015. The plunger 5015 is a pusher that moves in and out of the syringe 5011. The plunger 5015 moves in and out of the syringe 5011, thereby drawing medicine or the like into the syringe 5011 and discharging medicine or the like from the syringe 5011. The syringe 5011 includes a needle-side end 5012 to which the needle 5014 is attached, and a flange 5013 that is an end opposite to the needle-side end 5012 and is an end on the side where the plunger 5015 moves in and out.

[0059] [Specific configuration of the second conveying section] Fig. 6 is a diagram showing an example of the configuration of the second transport unit 120. As shown in Fig. 6, the second transport unit 120 includes an adsorption unit 121 and a third reading unit 122. The second transport unit 120 may function as an example of a holding device that holds the infusion container 503. The second transport unit 120 may also function as an example of a removal device that removes the infusion container 503 from the infusion shelf 30. The holding device and the removal device may each include the function of a control unit 140 that controls the second transport unit 120.

[0060] The suction part 121 is a member that suctions the body part 5031 (see FIG. 7) of the infusion container 503. The suction part 121 is an example of a holding member that holds the infusion container 503, and as long as the second transport unit 120 can hold the infusion container 503, the holding member does not have to be the suction part 121. The second transport control unit 145 detaches the infusion container 503 by controlling the air pressure in the suction part 121.

[0061] In this embodiment, three suction parts 121 are provided along the up-down direction at positions facing the infusion container 503 in the second transporting part 120. The three suction parts 121 include a main suction part 121A and two sub suction parts 121B. The suction part 121 may include a plurality of main suction parts 121A, and may include only one or three or more sub suction parts 121B.

[0062] The main suction part 121A is always used to adsorb the infusion container 503 when the second transport part 120 holds the infusion container 503. The main suction part 121A is provided at a position capable of facing all of the infusion containers 503 of different sizes that can be stored in the co-infusion device 1. The two sub-suction parts 121B adsorb the infusion container 503 together with the main suction part 121A depending on the vertical size of the infusion container 503. Therefore, at least one of the two sub-suction parts 121B may not adsorb the infusion container 503 depending on the size of the infusion container 503.

[0063] The type (size) of the infusion container 503 and the suction part 121 used to suction the infusion container 503 are determined in advance, and information associating them is stored in the storage unit 200. Therefore, the second transport control unit 145 can specify the type of the infusion container 503 used for mixed injection based on the preparation / administration data, thereby specifying the suction part 121 used to suction the infusion container 503. In addition, the positional relationship between the suction location of the infusion container 503 (e.g., the infusion shelf 30 and the mixed injection unit 40) and the second transport unit 120 is determined in advance so that the main suction part 121A is always used when the second transport unit 120 holds the infusion container 503.

[0064] The third reading unit 122 reads information contained in a first label attached to the body 5031 of the infusion container 503. When the information contained in the first label is contained in a barcode, the third reading unit 122 may be realized by a barcode reader.

[0065] The second transport unit 120 further includes a transparent plate 126 and a support unit 127. A base unit 125 to which the main suction unit 121A and the sub suction unit 121B are attached can move in the front-rear direction (±Y-axis direction) under the control of the second transport control unit 145. Fig. 6 shows a state in which the base unit 125 has not moved forward.

[0066] A transparent plate 126 and a support portion 127 are connected to the base portion 125. This allows the transparent plate 126 and the support portion 127 to move in the front-rear direction together with the suction portion 121. In this embodiment, the transparent plate 126 and the support portion 127 are connected to the base portion 125 via a support base portion 129. As shown in FIG. 6, the transparent plate 126 and the support portion 127 are provided in front of the support base portion 129 (on the side facing the infusion container 503 to be held).

[0067] The transparent plate 126 is a member that presses the infusion container 503 to be held by the second transport unit 120. The transparent plate 126 is provided above the main suction unit 121A. When the base unit 125 is moving forward, the third reading unit 122 reads information on the first label affixed to the infusion container 503 through the transparent plate 126.

[0068] When the body 5031 of the infusion container 503 is made of a material that is easily deformed, wrinkles are likely to form in the body 5031. Wrinkles are particularly likely to form in the upper region of the body 5031. When a first label is attached to the upper region of the body 5031, the first label may become distorted, and the third reading unit 122 may not be able to read the information on the first label.

[0069] When holding an infusion container 503 having a body part 5031 that is easily deformed, the second transport control unit 145 adjusts the height of the second transport unit 120 so that the transparent plate 126 faces the affixing position of the first label on the body part 5031. This allows the second transport unit 120 to hold the infusion container 503 with the affixing position of the first label facing the transparent plate 126. The memory unit 200 stores information on whether the infusion container 503 is one for which information on the first label can be read through the transparent plate 126. The affixing position of the first label may be specified by, for example, analyzing an image of the infusion container 503 captured by an imaging unit provided in the second transport unit 120.

[0070] When the third reading unit 122 reads information on the first label affixed to the easily deformed infusion container 503, the second transport control unit 145 moves the base 125 forward to press the infusion container 503 held by the second transport unit 120 against the guide unit 56 (see Figs. 8 and 9) of the printing and inspection unit 50. This allows the attachment position of the first label sandwiched between the transparent plate 126 and the guide unit 56 to be in a flat state.

[0071] In this state, the third reading unit 122 reads the information on the first label through the transparent plate 126. Since the affixing position of the first label is in a flat state, the third reading unit 122 can read the information on the first label. The guide unit 56 is an example of a pressing destination of the infusion container 503, and the second transport unit 120 may press the infusion container 503 against any position of the co-infusion device 1 as long as the affixing position of the first label can be in a flat state.

[0072] The support part 127 is a member located above the suction part 121 and supporting the neck part 5033 (see FIG. 7) of the infusion container 503 held by the second conveying part 120. In this embodiment, the support part 127 supports the neck part 5033 by contacting the head part 5034 (see FIG. 7) of the infusion container 503. The head part 5034 may be a part of the neck part 5033. By providing the support part 127, the posture of the neck part 5033 can be stabilized. Therefore, a member that holds the neck part 5033, such as an infusion container holding part (not shown) of the co-infusion unit 40, can easily receive the infusion container 503 from the second conveying part 120.

[0073] As shown in Fig. 6, in this embodiment, the support part 127 is a rod-shaped member. Depending on the infusion container 503, such as an infusion container 503 that is not easily deformed, the third reading unit 122 reads the information on the first label without using the transparent plate 126. When performing such reading, since the base part 125 does not move forward, if the support part 127 is not rod-shaped, the support part 127 may be included in the information reading range of the third reading unit 122. By making the support part 127 rod-shaped, it is possible to make it easier for the third reading unit 122 to read the information on the first label.

[0074] When the support part 127 is rod-shaped, the surface facing the neck part 5033 may be flat. In this case, it is easy to stabilize the position of the neck part 5033. For example, the support part 127 may be rectangular parallelepiped-shaped.

[0075] The support part 127 is movable in a direction opposite to the movement direction of the suction part 121 when holding the infusion container 503. In this embodiment, the support base 129 is provided with an elastic member 128 that allows the support part 127 to move in the opposite direction. The elastic member 128 may be, for example, a spring. The elastic member 128 is provided such that the elastic direction is along the movement direction of the suction part 121 (in this embodiment, the front-rear direction). When the elastic member is a spring, the elastic direction refers to the expansion and contraction direction of the spring.

[0076] Fig. 7 is a schematic diagram for explaining an example of a phenomenon that occurs when the second conveying part 120 holds the infusion container 503. Reference numeral 1001 in Fig. 7 indicates an example of a phenomenon that occurs when the second conveying part 120 does not include the elastic member 128. Reference numeral 1002 in Fig. 7 indicates an example of a phenomenon that occurs when the second conveying part 120 includes the elastic member 128.

[0077] 7 shows an example of an infusion container 503 in which the width W2 of the body 5031 is smaller than the width W1 of the head 5034. The widths W1 and W2 are the distance between the surface on which various information and scales related to the infusion contained in the infusion container 503 are provided and the back surface thereof. The various information includes, for example, infusion type information (e.g., infusion name) and volume. In an infusion container 503 that is easily deformed, the widths W1 and W2 can change depending on the amount of the contents.

[0078] 7, when the base 125 moves toward the infusion container 503 so that the second transport unit 120 holds the infusion container 503, the support unit 127 comes into contact with the head 5034 before the suction unit 121 suctions the body 5031. Therefore, when the base 125 moves further forward so that the suction unit 121 can suction the body 5031, the support unit 127, which was in contact before suction, pushes the head 5034, causing the neck 5033 of the infusion container 503 to bend.

[0079] In the case shown by reference numeral 1002 in FIG. 7, the support part 127 comes into contact with the head part 5034 before the suction part 121 suctions the body part 5031. However, in this case, the elastic member 128 shrinks in the direction opposite to the movement direction of the base part 125 as the base part 125 moves further forward. Therefore, the support part 127 in contact with the head part 5034 can be moved in accordance with the movement of the suction part 121 when holding the infusion container 503. Therefore, regardless of the size of the body part 5031 and the head part 5034 in the movement direction of the suction part 121, the possibility that the neck part 5033 is pushed and bent by the support part 127 can be reduced. In addition, since the possibility that the neck part 5033 is pushed and bent can be reduced, the position of the head part 5034 can be kept constant. Therefore, in the co-infusion unit 40, the needle 5014 attached to the syringe 501 can be pierced into the head part 5034.

[0080] [Specific configuration of the printing and inspection unit] Fig. 8 is a perspective view showing an example of the overall configuration of the printing and inspection unit 50. Fig. 9 is a perspective view showing an example of the internal configuration of the printing and inspection unit 50. In Fig. 9, the weighing section 52 is omitted. Fig. 8 also shows an example of a state in which the infusion container 503 is positioned in the printing and inspection unit 50 by suction of the second transport section 120.

[0081] 8 and 9, the printing and inspection unit 50 includes a printing section 51, a weighing section 52, a second reading section 53, an attaching section 54, and a guide section 56. The printing and inspection unit 50 may function as an example of a weighing device that weighs the infusion container 503. The weighing device may include the function of a control section 140 that controls the printing and inspection unit 50.

[0082] The printing unit 51 is a member that dispenses the second labels LA12. The printing unit 51 may dispense an unsuitability information label on which unsuitability information is printed.

[0083] The printing and inspection unit control unit 149 inspects the infusion container 503 after the drug is injected. Inspection in this embodiment includes determining whether the amount of drug injected into the infusion container 503 corresponds to the prescribed amount indicated in the preparation and administration data, or whether the amount of infusion withdrawn from the infusion container 503 corresponds to the withdrawn amount indicated in the preparation and administration data.

[0084] When the printing / inspection unit control unit 149 determines that the inspection result is acceptable, the second transport unit 120 dispenses the infusion container 503 to which the second label LA12 is affixed, to the infusion receiving shelf 60. On the other hand, when the printing / inspection unit control unit 149 determines that the inspection result is unacceptable, the printing unit 51 dispenses an unacceptable information label.

[0085] The measuring unit 52 measures the weight of the infusion container 503 before and after the drug injection. In this embodiment, as shown in Fig. 8, the measuring unit 52 includes a locking unit 521 that locks the neck portion 5033 of the infusion container 503. The pair of locking units 521 are biased in a direction to approach each other so as to be able to clamp the neck portion 5033. The measuring unit 52 also includes, for example, a load cell.

[0086] The second transport unit 120 transports the infusion container 503, for example, before drug injection (before mixed injection), during mixed injection, or after drug injection (after mixed injection), to the weighing unit 52 and delivers the infusion container 503 to the locking unit 521. As a result, the weighing unit 52 weighs the infusion container 503 locked to the locking unit 521. After the weighing unit 52 determines the weight value of the infusion container 503, the second transport unit 120 removes the infusion container 503 from the locking unit 521 and transports it to the next destination (the infusion receiving shelf 60 or the mixed injection unit 40, etc.).

[0087] The second reading unit 53 reads the second label LA12 attached to the infusion container 503 after the medicine is injected. The second reading unit 53 is, for example, a barcode reader.

[0088] The affixing unit 54 affixes the second label LA12 to the infusion container 503 after the drug has been injected. The affixing unit 54 may affix the second label LA12 to the infusion container 503 after the drug has been injected, for example, before the printing and inspection unit control unit 149 outputs the inspection result (for example, after the final weighing of the infusion container 503 and before the output of the inspection result). Thereafter, when the inspection result by the printing and inspection unit control unit 149 is unsuitable, the affixing unit 54 affixes an unsuitable information label to the infusion container 503 after the drug has been injected.

[0089] The guide section 56 guides the movement of the second label LA12 or the inappropriate information label to the infusion container 503 after drug injection when the attachment section 54 attaches the second label LA12 or the inappropriate information label to the infusion container 503 after drug injection.

[0090] In a state in which the second label LA12 or the incompatibility information label has been moved to the attachment position PO50, the second transport unit 120 presses the infusion container 503 after drug injection against the guide unit 56 at the attachment position PO50. As a result, the second label LA12 or the incompatibility information label is attached to the infusion container 503 after drug injection.

[0091] <Specific configuration near the measuring section> 10 is a perspective view showing an example of a specific configuration in the vicinity of the weighing section 52. As shown in FIG.

[0092] The moving member 58 moves between a first position PO1 (see FIG. 11) in contact with or close to the infusion container 503 locked by the locking portion 521 and a second position PO2 (see FIG. 11) farther away from the infusion container 503 locked by the locking portion 521 than the first position PO1. The moving member 58 is provided movably below the locking portion 521.

[0093] The moving member 58 can come into contact with the body 5031 of the infusion container 503 locked by the locking part 521 at the first position PO1. The moving member 58 may be of a shape and material that can reduce the shaking of the infusion container 503 locked by the locking part 521 when the infusion container 503 locked by the locking part 521 is shaking by the moving member 58 coming into contact with the body 5031 at the first position PO1. In addition, the moving member 58 may be of a shape and material that can maintain a posture that makes it easy to remove the infusion container 503 when the second transporting part 120 removes the infusion container 503 from the locking part 521.

[0094] The position of the first position PO1 may be determined, for example, through experiments, taking into consideration the size of the infusion container 503 that may be used in the co-infusion device 1, the size of the moving member 58, the shaking that may occur in the infusion container 503, and the maintenance of the posture of the infusion container 503. The position of the second position PO2 may be a position that does not abut against the infusion container 503 locked by the locking portion 521.

[0095] The moving mechanism 59 is a mechanism that moves the moving member 58 in the front-rear direction (±Y axis direction) under the control of the printing / inspection unit control section 149 .

[0096] 11 is a schematic diagram showing an example of the operation of the moving member 58. As indicated by reference numeral 1011 in FIG. 11, when the moving member 58 is located at the first position PO1, the second transport unit 120 holding the infusion container 503 delivers the infusion container 503 to the locking unit 521.

[0097] 11, after the second transport unit 120 has locked the infusion container 503 to the locking portion 521, it releases the hold of the infusion container 503 and moves away from the infusion container 503. The printing / inspection unit control unit 149 also controls the moving mechanism 59 to move the moving member 58 from the first position PO1 to the second position PO2. After the moving member 58 has moved from the first position PO1 to the second position PO2, the measuring unit 52 determines the weighing value of the infusion container 503 locked to the locking portion 521.

[0098] The measuring unit 52 starts measuring the weight of the infusion container 503 from the time when the infusion container 503 is locked by the locking unit 521. In this embodiment, the measuring unit 52 determines the weight of the infusion container 503 after the moving member 58 moves to the second position PO2 and after the weight of the infusion container 503 becomes substantially constant for a predetermined time.

[0099] When the second transport unit 120 delivers the infusion container 503 to the locking unit 521, the infusion container 503 locked by the locking unit 521 may shake. When such shaking occurs, the measuring unit 52 cannot determine the weight value of the infusion container 503 until the shaking of the infusion container 503 stops.

[0100] Since the moving member 58 is located at the first position PO1 before the weight value of the infusion container 503 is determined, even if the infusion container 503 shakes after being delivered to the locking part 521, the infusion container 503 can be brought into contact with the moving member 58 to reduce the shaking of the infusion container 503. Therefore, the shaking of the infusion container 503 can be quickly stopped. Therefore, the time until the measuring part 52 determines the weight value of the infusion container 503 can be shortened.

[0101] In addition, the weighing unit 52 determines the weight value of the infusion container 503 after the moving member 58 moves to the second position PO2. Therefore, the weighing unit 52 can weigh the infusion container 503 without being touched by the moving member 58. In addition, the weighing unit 52 determines the weight value of the infusion container 503 after the second transporting unit 120 moves away from the infusion container 503. Therefore, the weighing unit 52 can weigh the infusion container 503 without being touched by the second transporting unit 120. Therefore, the weighing unit 52 can accurately weigh the infusion container 503.

[0102] 11, after the weighing unit 52 has determined the weight of the infusion container 503, the printing / inspection unit control unit 149 moves the moving member 58 from the second position PO2 to the first position PO1. Then, as shown by reference numeral 1014 in FIG. 11, with the moving member 58 located at the first position PO1, the second transport unit 120 removes the infusion container 503 from the locking portion 521.

[0103] Therefore, even if the infusion container 503 shakes when the second conveying unit 120 removes the infusion container 503, the second conveying unit 120 can abut against the moving member 58 to reduce the shaking of the infusion container 503. Therefore, the second conveying unit 120 can easily remove the infusion container 503 from the locking unit 521 because the infusion container 503 is less likely to shake even when the suction unit 121 presses the body unit 5031. In this embodiment, the second conveying unit 120 can easily suction the infusion container 503 locked to the locking unit 521. Since the infusion container 503 is less likely to shake, the infusion container 503 locked to the locking unit 521 can be removed in almost the same position every time. Therefore, the time required to remove the infusion container 503 can be shortened.

[0104] In this way, since the printing / inspection unit 50 is provided with a movable member 58 that can move between the first position PO1 and the second position PO2, it is possible to measure the infusion container 503 accurately in a short time.

[0105] In the reference numeral 1011 in FIG. 11, the second transport unit 120 delivers the infusion container 503 to the locking unit 521 while the moving member 58 is located at the first position PO1, but this is not limited thereto. For example, when the second transport unit 120 delivers the infusion container 503 to the locking unit 521, the moving member 58 may be located at the second position PO2. The printing and inspection unit control unit 149 may move the moving member 58 from the first position PO1 to the second position PO2 after the second transport unit 120 delivers the infusion container 503 to the locking unit 521. In addition, the printing and inspection unit control unit 149 may move the moving member 58 from the first position PO1 to the second position PO2 while the second transport unit 120 is performing the operation of delivering the infusion container 503 to the locking unit 521.

[0106] 11, the second conveying unit 120 is moved to the locking part 521 while the moving member 58 is located at the first position PO1, but this is not limited thereto. After the second conveying unit 120 moves to the locking part 521 or during the movement, the moving member 58 may move from the second position PO2 to the first position PO1. Then, after the moving member 58 moves to the first position PO1, the second conveying unit 120 may remove the infusion container 503 from the locking part 521.

[0107] [Specific configuration of syringe shelf] Fig. 12 is a perspective view showing an example of the overall configuration of the syringe shelf 10 and the vial shelf 20. Reference numeral 1021 in Fig. 13 is a diagram showing an example of the configuration of one syringe shelf 10 and one vial shelf 20 when viewed from the first transport section 110 side. Reference numeral 1022 in Fig. 13 is a diagram for explaining the vial shelf 20.

[0108] As shown in Fig. 12, the syringe shelf 10 includes a plurality of instrument holding sections 11, an instrument transport section 12, an object detection section 13, a syringe detection section 14, a needle detection section 15, and a syringe detection section 17. Note that an instrument holding section 11 is also attached to an attachment section 1211 of the instrument transport section 12 shown in Fig. 12, but is not shown in the figure.

[0109] In this specification, the detection unit may be, for example, an optical sensor having a light receiving unit that receives light reflected from an object. The optical sensor may have an emission unit that emits light. Furthermore, the detection unit may be an imaging unit (camera) that images the object instead of an optical sensor.

[0110] Prior to a mixed injection process, a user loads syringes 501 into the syringe shelf 10. The syringes 501 are loaded into the syringe shelf 10 with needles 5014 having needle caps 5016 (see FIG. 13) attached thereto.

[0111] In this embodiment, a plurality of holes 172 are formed in the plate-like member 171 that defines each syringe shelf 10. This allows, for example, air purified by the air purifying unit 130 (see FIG. 2) to flow efficiently from the top to the bottom of the co-infusion device 1.

[0112] The multiple equipment holding parts 11 are members (holding parts) capable of holding syringes 501 to be loaded into the co-infusion apparatus 1. In this embodiment, one equipment holding part 11 holds one syringe 501, but one equipment holding part 11 may hold multiple syringes 501. In this embodiment, as shown in Fig. 13, the equipment holding part 11 includes free rollers 1111 and an equipment clamping part 1112.

[0113] The instrument clamping parts 1112 clamp the syringe 501. In this embodiment, the instrument clamping parts 1112 clamp the flange 5013 of the syringe 501. The instrument clamping parts 1112 are provided at a height such that the syringe 501 does not touch the plate-shaped member 171 when the syringe 501 is held in the instrument holding part 11. The pair of instrument clamping parts 1112 are biased in directions approaching each other so as to be able to clamp the syringe 501.

[0114] A free roller 1111, which has a rotation axis extending in the vertical direction and is rotatable on the XY plane, is provided below the tip of the instrument clamping part 1112. The free roller 1111 holds the vicinity of the flange 5013 of the syringe 5011 clamped by the instrument clamping part 1112.

[0115] The instrument transport unit 12 is a member that transports each of the multiple instrument holding units 11 from the working area Ar1 to outside the working area Ar1, or transports each of the multiple instrument holding units 11 from outside the working area Ar1 to the working area Ar1. In this embodiment, the instrument transport unit 12 is an endless rotating member (rotating belt) to which the multiple instrument holding units 11 are connected. Therefore, in this embodiment, the instrument transport unit 12 transports the instrument holding units 11 one by one to the working area Ar1. However, the instrument transport unit 12 may be any member that transports at least one of the multiple instrument holding units 11 to the working area Ar1, and may be, for example, a transport unit that transports multiple instrument holding units 11 to the working area Ar1 at one time.

[0116] The working area Ar1 is an area where the user causes at least one of the multiple instrument holding parts 11 to hold the syringe 501. The working area Ar1 is also an area where the user removes the syringe 501 held in at least one of the multiple instrument holding parts 11. In this embodiment, the working area Ar1 is an area where the user causes one instrument holding part 11 to hold the syringe 501, and where the user removes the syringe 501 held in one instrument holding part 11.

[0117] The working area Ar1 may function only as an area where the user causes at least one of the plurality of instrument holding parts 11 to hold the syringe 501. In this case, the area where the user removes the syringe 501 held in the instrument holding part 11 may be provided at a position separate from the working area Ar1. The working area Ar1 may function only as an area where the user removes the syringe 501 held in the instrument holding part 11. In this case, the area where the user causes the syringe 501 to be held in the instrument holding part 11 may be provided at a position separate from the working area Ar1.

[0118] In this embodiment, the instrument transporting unit 12 transports another instrument holding unit 11 in place of the instrument holding unit 11 located in the working area Ar1 when the object detection unit 13 detects an object (e.g., the user's hand) and then stops detecting the object as a trigger. In this case, when the user's hand is inserted into the working area Ar1 and then the user's hand leaves the working area Ar1, the instrument transporting unit 12 transports another instrument holding unit 11 to the working area Ar1. In addition to detecting the user's motion, the instrument transporting unit 12 may transport another instrument holding unit 11 to the working area Ar1 when the syringe detection unit 14 detects the syringe 501 held in the instrument holding unit 11 or when the syringe detection unit 14 can no longer detect the syringe 501 held in the instrument holding unit 11.

[0119] In response to a transport instruction from the user, the instrument transport section 12 may transport another instrument holder 11 instead of the instrument holder 11 located in the working area Ar1. In this case, the syringe transport control section 141 may receive the transport instruction from the user via the touch panel 80, for example.

[0120] The instrument transport section 12 changes the instrument holding section 11 located in the working area Ar1, for example by rotating counterclockwise. This transport operation makes it possible to transport another instrument holding section 11 not holding a syringe 501 to the working area Ar1, in place of the instrument holding section 11 holding the syringe 501 in the working area Ar1. Also, in place of the instrument holding section 11 not holding a syringe 501 in the working area Ar1, another instrument holding section 11 holding a syringe 501 can be transported to the working area Ar1.

[0121] The object detection unit 13 is a member that detects an object inserted into the working area Ar1. In this embodiment, the object detection unit 13 detects the user's hand or arm inserted into the working area Ar1.

[0122] The syringe detection unit 14 is a member that detects the syringe 501 held by the instrument holding unit 11 located in the working area Ar1. In this embodiment, the syringe detection unit 14 detects the syringe 5011 when the syringe 501 is held by the instrument holding unit 11. The syringe detection unit 14 is an example of an instrument detection unit.

[0123] The needle detection unit 15 is a detection unit that detects the needle 5014 of the syringe 501 held by the instrument holding unit 11 located in the working area Ar1. In this embodiment, the needle detection unit 15 detects the needle cap 5016 attached to the needle 5014. The needle detection unit 15 may function as the syringe detection unit. In this case, the syringe detection unit 14 does not need to be provided.

[0124] The syringe detection section 17 is a member capable of detecting the thickness of the syringe 5011. The syringe detection section 17 is provided at a position capable of detecting the syringe 5011 being transported by the instrument transport section 12. The syringe detection section 17 continues to detect, for example, the syringe 5011 being transported.

[0125] [Specific configuration of vial shelf] As indicated by reference numeral 1021 in Figures 12 and 13, the vial shelf 20 comprises a plurality of instrument holding parts 21, an instrument transport part 22, an object detection part 23, and a vial detection part 24. Also, as indicated by reference numeral 1021 in Figure 13, the vial shelf 20 comprises a first reading part 25, and a roller driving part 26. Note that the instrument holding parts 21 are also attached to the attachment parts 221 of the instrument transport part 22 shown in Figure 12, but are not shown in the figure.

[0126] Prior to the mixed injection process, the vial shelf 20 is filled with vials 502 by a user. The vials 502 are provided with stoppers (rubber stoppers) that close the openings and lids that are placed on the stoppers. The vials 502 are filled in the vial shelf 20 with the lids removed. Similarly to the syringe shelf 10, a plurality of holes 172 are formed in the plate-like member 171 that defines each vial shelf 20.

[0127] The instrument holding part 21 is a member capable of holding a vial 502. In this embodiment, one instrument holding part 21 holds one vial 502, but one instrument holding part 21 may hold a plurality of vials 502.

[0128] In this embodiment, as shown in FIG. 13, the object holding part 21 includes free rollers 211, an object clamping part 212, a driving roller 213, and a first magnet gear 214.

[0129] The instrument clamping parts 212 clamp the vial 502. In this embodiment, the instrument clamping parts 212 clamp the neck of the vial 502. The pair of instrument clamping parts 212 are biased in a direction approaching each other so that they can clamp the vial 502. A free roller 211 is provided at the tip of the instrument clamping part 212, which has a rotation axis extending in the vertical direction and is rotatable on the XY plane. As indicated by reference numeral 1022 in FIG. 13, the free roller 211 supports the neck of the vial 502 at three points together with a drive roller 213 provided at a position facing the center of the free roller 211 on the side on which the instrument clamping parts 212 are axially supported.

[0130] A first magnet gear 214 is provided on the upper part of the driving roller 213. The driving roller 213 and the first magnet gear 214 are connected to a common rotation shaft extending in the vertical direction and are rotatable on the XY plane. When the first magnet gear 214 rotates in accordance with the rotation of the second magnet gear 261 provided in the roller driving unit 26, the driving roller 213 also rotates.

[0131] The instrument transport section 22 is a member that transports each of the multiple instrument holding sections 21 from the working area Ar2 to outside the working area Ar2, or transports each of the multiple instrument holding sections 21 from outside the working area Ar2 to the working area Ar2. The instrument transport section 22 has the same function and structure as the instrument transport section 12. As with the transport of the instrument holding sections 11, the transport of the instrument holding sections 21 is controlled based on the detection results of the object detection section 23 and the vial detection section 24, instead of the detection results of the object detection section 13 and the syringe detection section 14. As with the transport of the instrument holding sections 11, the transport of the instrument holding sections 21 may be controlled based on a transport instruction from the user. The working area Ar2 has the same function as the working area Ar1, except that the object to be attached to the instrument holding sections 21 or removed from the instrument holding sections 21 is the vial 502.

[0132] The object detection unit 23 is a member that detects an object inserted into the working area Ar2. In this embodiment, the object detection unit 23 detects the user's hand or arm inserted into the working area Ar2. The vial detection unit 24 detects the vial 502 held by the instrument holder 21 located in the working area Ar2. The vial detection unit 24 is an example of an instrument detection unit.

[0133] The first reading unit 25 is a member that reads type information indicating the type of drug contained in the vial 502, which is indicated on the surface of the vial 502, in a part of the transport path along which the instrument transporting unit 22 transports the multiple instrument holding units 21. The first reading unit 25 reads the type information (e.g., a barcode) at the removal position PO11 where the first transporting unit 110 removes the vial 502.

[0134] The roller driving unit 26 is a motor that rotates the second magnet gear 261 attached to the roller driving unit 26 in order to rotate the driving roller 213 of the instrument holding unit 21. When the roller driving unit 26 rotates the second magnet gear 261, the driving roller 213 rotates via the first magnet gear 214. This causes the vial 502 in contact with the driving roller 213 to rotate. Therefore, no matter where on the surface of the vial 502 the type information is attached, the first reading unit 25 can read the type information.

[0135] For example, when the closed state of the vial side door 27 is detected after the vials 502 are loaded into the vial shelf 20, the first reading unit 25 reads the type information of all the vials 502 loaded into the vial shelf 20. Then, when the vials 502 are taken out for mixed injection, the first reading unit 25 reads the type information again.

[0136] In this embodiment, the vial transport control unit 142 stops the rotation of the roller drive unit 26 when the first reading unit 25 first reads the type information from the vial 502. This allows the type information attached to the vial 502 to be positioned in front of the first reading unit 25. Therefore, when the vial 502 is transported again to the removal position PO11 to be removed, the first reading unit 25 can read the type information without rotating the vial 502.

[0137] However, since the instrument holding part 21 is equipped with the first magnet gear 214, it may rotate due to magnetic force every time it passes under the second magnet gear 261. Therefore, even if its position is fixed when the type information is read by the first reading part 25, its position may change every time the instrument holding part 21 passes under the second magnet gear 261.

[0138] In this embodiment, the vial transport control unit 142 rotates the instrument holding unit 21 a predetermined amount when the instrument holding unit 21 is positioned under the second magnet gear 261. The transport direction of the instrument holding unit 21 and the rotation direction of the vial 502 are uniquely determined. Therefore, the vial transport control unit 142 controls the roller drive unit 26 to rotate the first magnet gear 214 a predetermined amount in a rotation direction corresponding to the transport direction of the instrument holding unit 21, thereby rotating the vial 502 a predetermined amount. This makes it possible to reduce the change in the position of the type information associated with the rotation of the vial 502 due to the transport of the instrument holding unit 21.

[0139] The predetermined amount is set, for example, through experiments, so as to offset the change in the position of the type information accompanying the rotation of the vial 502. The predetermined amount may be set, for example, taking into consideration the number of times the instrument holding part 21 passes under the second magnet gear 261, the transport speed of the instrument holding part 21, etc. The predetermined amount may differ depending on the size of the vial 502.

[0140] [Example of operation of the instrument transport unit in the loading mode and removal mode] The operation of the instrument transport units 12, 22 differs depending on whether the operation mode of the instrument transport units 12, 22 is set to the filling mode or the removal mode. The filling mode is an operation mode that allows the syringe 501 to be loaded into the syringe shelf 10 and the vial 502 to be loaded into the vial shelf 20. The removal mode is an operation mode that allows the syringe 501 to be removed from the syringe shelf 10 and the vial 502 to be removed from the vial shelf 20.

[0141] The control section 140 sets the operation mode of the instrument transport sections 12, 22 to the loading mode or the removal mode in accordance with the operation mode selection instruction. The operation mode selection instruction may be received via the touch panel 80, for example.

[0142] When the operation mode is set to the filling mode, the instrument transporting parts 12, 22 carry out the transport operation of the instrument holding parts 11, 21 when the following conditions are met.

[0143] Operating conditions of the equipment transporting unit 12: After the object detection unit 13 detects an object (e.g., a user's hand), the control unit 140 detects that the equipment holding unit 11 is holding the syringe 501 without holding the syringe 501, and then the object detection unit 13 no longer detects the object.

[0144] Operating conditions of the instrument transporting unit 22: After the object detection unit 23 detects an object, the control unit 140 detects that the instrument holding unit 21 is holding a vial 502 even though it is not holding a vial 502, and then the object detection unit 23 no longer detects an object.

[0145] In the operating conditions of the instrument transport section 12 described above, the control section 140 detects the holding of the syringe 501 by an instrument holding section 11 that is not holding the syringe 501, for example, in the following cases: When the syringe detection section 14 detects the syringe 501 from a state in which the syringe 501 was not detected in the instrument holding section 11 located in the working area Ar1, the control section 140 detects the holding of the syringe 501 by an instrument holding section 11 that is not holding the syringe 501.

[0146] Furthermore, under the operating conditions of the instrument transport section 22, the control section 140 detects the holding of a vial 502 by an instrument holder 21 that is not holding a vial 502, for example, in the following cases: When the vial detection section 24 detects the vial 502 from a state in which the vial 502 was not detected in the instrument holder 21 located in the working area Ar2, the control section 140 detects the holding of the vial 502 by an instrument holder 21 that is not holding the vial 502.

[0147] When the operation mode is set to the removal mode, the instrument transporters 12, 22 carry out the transport operation of the instrument holders 11, 21 when the following conditions are met.

[0148] Operating condition of the instrument transport unit 12: When the object detection unit 13 detects an object, and then the syringe detection unit 14 is no longer able to detect the syringe 501 in the instrument holding unit 11 located in the working area Ar1 after detecting the syringe 501. And then, when the object detection unit 13 no longer detects the object.

[0149] Operating condition of the instrument transport unit 22: When the object detection unit 23 detects an object, and then the vial detection unit 24 is no longer able to detect the vial 502 in the instrument holding unit 21 located in the working area Ar2. And then, when the object detection unit 23 no longer detects the object.

[0150] [Example of control when filling or removing mixed injection equipment] An example of control when filling or removing a syringe 501 or a vial 502 will be described with reference to Figs. 4, 14 and 15. Fig. 14 is a schematic diagram for explaining an outline of this control example. Fig. 15 is a flow chart showing an example of the flow of processing by the control unit 140. In Fig. 14, H1 to H8 are symbols given to distinguish each of the instrument holding parts 11. In the explanation using Fig. 14, each of the instrument holding parts 11 will be expressed as instrument holding part 11 (H1), instrument holding part 11 (H2), ...

[0151] In the following, this control example will be described using the case where the co-infusion equipment is a syringe 501. When the co-infusion equipment is a vial 502, the syringe 501 should be read as the vial 502, and the terms related to the syringe 501 should be read as the terms related to the vial 502 that correspond to the terms. Therefore, when the co-infusion equipment is a vial 502, the description will be omitted.

[0152] In this embodiment, the working area Ar1 is a specified area that is predefined as an area in which the instrument holding part 11 not holding the syringe 501 is positioned in order to hold the syringe 501 when a filling instruction to the instrument holding part 11 is received. The working area Ar1 can also be expressed as a specified area that is predefined as an area in which the instrument holding part 11 holding the syringe 501 is positioned in order to remove the syringe 501 when a removal instruction is received from the instrument holding part 11. The control part 140 may receive the filling instruction and removal instruction via the touch panel 80, for example.

[0153] In this embodiment, even if the syringe 501 is loaded into or removed from the instrument holding part 11 in an area other than the area defined as the working area Ar1, that area is not treated as a working area.

[0154] The control section 140 can determine whether or not the syringe 501 is held in the instrument holding section 11 located in the working area Ar1 based on the detection result of the syringe detection section 14. This determination allows the control section 140 to specify whether or not the syringe 501 is held in each of the multiple instrument holding sections 11. The control section 140 may store in the memory section 200 information identifying the instrument holding section 11 and information indicating whether or not the syringe 501 is held in the instrument holding section 11 in association with each other.

[0155] Here, the syringe 501 is usually loaded into and removed from the instrument holder 11 located in the working area Ar1. Therefore, the object detection range of the syringe detector 14, which is used by the control unit 140 to identify the loading or removal of the syringe 501, is set to the working area Ar1.

[0156] On the other hand, if the user extends his / her hand, it is possible to load the syringe 501 into the instrument holding part 11 located outside the working area Ar1, and to remove the syringe 501 from the instrument holding part 11. However, the area outside the working area Ar1 is outside the object detection range of the syringe detection part 14. Therefore, the control part 140 cannot specify whether the syringe 501 is held in the instrument holding part 11 located outside the working area Ar1 in response to loading or removing the syringe 501 into or from the instrument holding part 11. The process described with reference to Figs. 14 and 15 is an example of a process that enables the control part 140 to manage loading or removing of the syringe 501 even when such irregular loading or removing is performed.

[0157] 4, the control unit 140 includes a determination unit 151. The determination unit 151 determines an object holder 11 located adjacent to the working area Ar1 as a target for determining the presence or absence of a syringe 501 based on the detection result of the syringe detection unit 14.

[0158] The determining unit 151 determines that the instrument holding unit 11 located in the working area Ar1 is to be the object for determining the presence or absence of the syringe 501 based on the detection result of the syringe detection unit 14 when the instrument holding unit 11 is located in the working area Ar1. Therefore, the control unit 140 determines whether the instrument holding unit 11 holds the syringe 501 or has stopped holding the syringe 501 based on the detection result of the syringe detection unit 14 when the instrument holding unit 11 is located in the working area Ar1.

[0159] Reference numeral 1031 in Fig. 14 shows an example in which the instrument holder 11 (H4) is located in the working area Ar1. In the state of reference numeral 1031 in Fig. 14, the determination unit 151 determines the instrument holder 11 (H4) as the above-mentioned determination target, and the control unit 140 performs the above-mentioned determination for the instrument holder 11 (H4).

[0160] The determination unit 151 can determine not only the instrument holding unit 11(H4) but also the instrument holding units 11(H3) and 11(H5) adjacent to the working area Ar1 as targets for determining the presence or absence of a syringe 501 based on the detection result of the syringe detection unit 14. Therefore, for the instrument holding units 11(H3) and 11(H5), the control unit 140 can determine whether the syringe 501 is held or no longer held, based on the detection result of the syringe detection unit 14.

[0161] However, in this embodiment, when the control unit 140 receives a user operation to start the detection operation of the syringe detection unit 14, the determination unit 151 determines the instrument holding unit 11 located adjacent to the working area Ar1 as the above-mentioned determination target. An example of the user operation is the detection of the closed state of the syringe side door 16 by the control unit 140. Alternatively, the control unit 140 may receive the user operation via, for example, the touch panel 80.

[0162] For example, when the user operation is accepted, the determining unit 151 may determine, as the above-mentioned determination target, an instrument holding unit 11 located adjacent to the working area Ar1, for example, by any one of the following (A) to (C). The syringe transport control unit 141 controls the instrument transport unit 12 to transport each of the instrument holding units 11 determined as the above-mentioned determination target to the working area Ar1. This enables the control unit 140 to obtain the detection result of the syringe detection unit 14 for each of the instrument holding units 11.

[0163] <Processing example (A)> The determination unit 151 may exclude the following equipment holding units 11 from the equipment holding units 11 to be determined after accepting the user operation, out of two or more equipment holding units 11 that were located adjacent to the working area Ar1 before accepting the user operation: (a1) The instrument holder 11 located in the working area Ar1 when the above user operation is accepted. (a2) An equipment holder 11 that has been located in the working area Ar1 before accepting the above-mentioned user operation.

[0164] As described above, the determining unit 151 determines the above-mentioned (a1) and (a2) instrument holders 11 as the above-mentioned determination target when they are located in the working area Ar1. Therefore, for the above-mentioned (a1) and (a2) instrument holders 11, whether they hold the syringe 501 when they are located in the working area Ar1 is specified. Therefore, the determining unit 151 excludes the above-mentioned (a1) and (a2) instrument holders 11 from the above-mentioned determination target after accepting the above-mentioned user operation, even if they correspond to two or more of the above-mentioned instrument holders 11. This allows the control unit 140 to avoid redundantly determining the holding state of the syringe 501.

[0165] Consider the case where, in the state indicated by reference numeral 1031 in Fig. 14, the syringe 501 is loaded or removed only from the instrument holding part 11(H4), and the above user operation is then accepted. The deciding unit 151 has determined that the instrument holding part 11(H4) located in the working area Ar1 is the subject of the above judgment before accepting the above user operation. Furthermore, in addition to the instrument holding part 11(H4), the deciding unit 151 determines that the instrument holding parts 11(H3) and 11(H5) that corresponded to the instrument holding parts 11 located adjacent to the working area Ar1 before accepting the above user operation are the subjects of the above judgment.

[0166] When the syringe 501 is filled or removed only from the equipment holding unit 11(H4) and the above-mentioned user operation is subsequently received, the determination unit 151 determines, in addition to the equipment holding unit 11(H4) and in the processing examples (B) and (C) below, that the equipment holding units 11(H3) and 11(H5) are to be subjected to the above-mentioned judgment.

[0167] 14, reference numeral 1032 indicates a state in which, in the state indicated by reference numeral 1031, the syringe 501 has been loaded into or removed from the instrument holding part 11 (H4), and the instrument transport part 12 has transported the instrument holding part 11 (H5) to the working area Ar1. Consider the case in which the control part 140 has accepted the above-mentioned user operation after the instrument holding part 11 (H5) has been positioned in the working area Ar1.

[0168] In the state of reference numeral 1031 in Fig. 14, the equipment holding units 11 adjacent to the working area Ar1 are equipment holding units 11(H3) and 11(H5). In the state of reference numeral 1032 in Fig. 14, the equipment holding units 11 adjacent to the working area Ar1 are equipment holding units 11(H4) and 11(H6). Therefore, when the above user operation is received, the determination unit 151 can determine the equipment holding units 11(H3), 11(H4), 11(H5), and 11(H6) as the equipment holding units 11 adjacent to the working area Ar1.

[0169] In processing example (A), the determining unit 151 excludes the equipment holding units 11(H4) and 11(H5) from the above-mentioned determination targets after accepting the user operation among the equipment holding units 11(H3), 11(H4), 11(H5), and 11(H6). The equipment holding unit 11(H4) corresponds to the equipment holding unit 11 in (a2) above, and the equipment holding unit 11(H5) corresponds to the equipment holding unit 11 in (a1) above. Therefore, the determining unit 151 determines the equipment holding units 11(H3) and 11(H6) as the above-mentioned determination targets after accepting the user operation.

[0170] <Processing example (B)> As in the processing example (A), the determining unit 151 excludes the above-mentioned (a1) object holding unit 11 from the above-mentioned determination target after accepting the above-mentioned user operation. On the other hand, the determining unit 151 may include the above-mentioned (a2) object holding unit 11 from the above-mentioned determination target after accepting the above-mentioned user operation.

[0171] As described above, the determination unit 151 determines the above-mentioned (a1) and (a2) instrument holders 11 as the above-mentioned judgment targets when they are located in the working area Ar1. However, for the above-mentioned (a2) instrument holder 11, the syringe 501 may be loaded or removed when it is located outside the working area Ar1. Therefore, the holding state of the syringe 501 may differ from when it was located in the working area Ar1.

[0172] In processing example (B), the determination unit 151 excludes only the instrument holding unit 11 located in the working area Ar1 when the user operation is received from the above-mentioned determination target after the user operation is received. Therefore, the control unit 140 specifies the holding state of the syringe 501, but does not exclude from the above-mentioned determination target the instrument holding unit 11 in which the syringe 501 may have been filled or removed outside the working area Ar1 thereafter, and can determine the holding state again. Therefore, it is possible to accurately determine the holding state while avoiding duplicate determinations of the holding state of the syringe 501.

[0173] Consider the case where the control unit 140 accepts the above user operation after the state changes from reference numeral 1031 to reference numeral 1032 in Fig. 14. In processing example (B), the determination unit 151 excludes the instrument holding unit 11(H5) from the above-mentioned determination target after accepting the above-mentioned user operation among the instrument holding units 11(H3), 11(H4), 11(H5), and 11(H6). For the instrument holding unit 11(H4), the holding state of the syringe 501 was specified before accepting the above-mentioned user operation. However, the determination unit 151 decides that the instrument holding unit 11(H4) is the above-mentioned determination target after accepting the above-mentioned user operation, together with the instrument holding units 11(H3) and 11(H6).

[0174] <Processing example (C)> The determination unit 151 may determine all of the two or more equipment holding units 11 that correspond to the equipment holding units 11 adjacent to the working area Ar1 before accepting the user operation as the equipment holding units 11 to be subjected to the judgment after accepting the user operation. In the example of Fig. 14, the determination unit 151 may determine all of the equipment holding units 11(H3), 11(H4), 11(H5), and 11(H6) as the equipment holding units 11 to be subjected to the judgment after accepting the user operation.

[0175] As described above, by including the determination unit 151, the control unit 140 can specify the holding state of the instrument holding unit 11 even when an operation of loading or removing the syringe 501 is performed on the instrument holding unit 11 located adjacent to the working area Ar1. Therefore, the control unit 140 can also manage the operation of loading or removing the syringe 501 on the instrument holding unit 11.

[0176] The control section 140 may specify the type of syringe 501 for an instrument holding section 11 that has been specified as holding a syringe 501, out of the instrument holding sections 11 determined as the above-mentioned objects to be judged.

[0177] For example, the syringe transport control section 141 may control the instrument transport section 12 to cause the instrument holding section 11 for which the type of syringe 501 has been identified to pass in front of the syringe detection section 17. In this way, the control section 140 may identify the type of syringe 501 based on the thickness of the syringe 5011 detected by the syringe detection section 17. In addition, for example, the control section 140 may identify the type of syringe 501 based on the detection result of the needle detection section 15. In this case, a plurality of needle detection sections 15 may be provided, and the control section 140 may identify the type of syringe 501 according to the needle detection section 15 that detected the needle 5014.

[0178] The thickness of syringe 5011, the presence or absence of detection by needle detection unit 15, or information for identifying needle detection unit 15 may be stored in storage unit 200 in association with the type of syringe 501.

[0179] In the case of a vial 502, for example, the vial transport control section 142 may control the instrument transport section 22 to cause the instrument holder 11 that has been the subject of identification of the type of the vial 502 to pass in front of the first reading section 25. The control section 140 can identify the type of the vial based on the type information read by the first reading section 25.

[0180] The control unit 140 may reflect the result of identifying the holding state of the syringe 501 in the inventory information stored in the storage unit 200. The inventory information may be information in which information indicating the presence or absence of the syringe 501 and information indicating its type are associated with information for identifying the instrument holding unit 11 (storage position).

[0181] When there is a change in the holding state of the syringe 501 for the instrument holding part 11 that has been the subject of the above-mentioned judgment, the control part 140 may notify that fact. For example, the touch panel control part 150 may notify via the touch panel 80. A change in the holding state refers to the instrument holding part 11 changing from a state in which it holds the syringe 501 to a state in which it does not hold the syringe 501, or vice versa.

[0182] Furthermore, in a case where the type of syringe 501 has been identified for the instrument holding part 11 that was the subject of the above-mentioned judgment, and there has been a change in the type, the control part 140 may notify that fact. A change in the type of syringe 501 refers to the fact that a syringe 501 of a different type from the syringe 501 that the instrument holding part 11 had held is now held.

[0183] <Processing flow> The flowchart shown in FIG. 15 shows an example of the flow of processing when the filling mode is set. As shown in FIG. 15, when the object detection section 13 detects an object, the control section 140 acquires information indicating that (S1). Thereafter, when the syringe detection section 14 detects the syringe 501, the control section 140 acquires information indicating that (S2). When the control section 140 acquires the information, the control section 140 specifies that the syringe 501 is held by the instrument holding section 11 in the working area Ar1 (S3). In this embodiment, the control section 140 executes the processing of S3 when it acquires information indicating that the object detection section 13 has stopped detecting the object after acquiring information indicating that the syringe 501 has been detected.

[0184] After the process of S3, the syringe transport control unit 141 controls the instrument transport unit 12 to carry out the transport operation of the instrument holding unit 11 (S4). In the filling mode, the syringe transport control unit 141 transports the instrument holding unit 11 that is not holding a syringe 501 to the working area Ar1. The syringe transport control unit 141 carries out the transport operation of the instrument holding unit 11 after acquiring information indicating that the object detection unit 13 has stopped detecting the object.

[0185] Next, the control unit 140 judges whether the closed state of the syringe side door 16 has been detected (S5). When the control unit 140 does not detect the closed state of the syringe side door 16 (NO in S5), it executes the process of S1. When the control unit 140 detects the closed state of the syringe side door 16 (YES in S5), it performs the following process. When the result is YES in S5, the determination unit 151 determines the instrument holding units 11 at a position adjacent to the working area Ar1 and the instrument holding units 11 that have been transported to the positions as the above-mentioned judgment targets after the detection of the above-mentioned closed state (S6). As described above, the determination unit 151 may exclude some of the instrument holding units 11 determined as the above-mentioned judgment targets from the above-mentioned judgment targets.

[0186] In the take-out mode, in S2, when the syringe detection section 14 no longer detects the syringe 501, the control section 140 acquires information indicating that fact. Then, in S3, the control section 140 determines that the syringe 501 is no longer held by the instrument holding section 11 in the working area Ar1. Thereafter, in S4, the syringe transport control section 141 transports the instrument holding section 11 holding the syringe 501 to the working area Ar1.

[0187] [Specific configuration of infusion shelf] 16 and 17 are perspective views showing an example of the configuration of the infusion shelf 30. As shown in Fig. 16 and 17, the infusion shelf 30 includes a pushing section 31, a first infusion detection section 32, a second infusion detection section 33, a pushing transport section 35, a rail section 36, and a shutter 37.

[0188] Prior to the mixed injection process, the infusion shelf 30 is filled with infusion containers 503 by the user. Similarly to the syringe shelf 10 and the vial shelf 20, the plate-like member 301 defining each infusion shelf 30 has a plurality of holes 302 formed therein.

[0189] The rail section 36 is a member provided inside the infusion shelf 30 and extending from the infusion side door 34 (see FIG. 1) side toward the back of the co-infusion device 1 (i.e., in the +Y-axis direction). In the rail section 36, the end located on the infusion side door 34 side can be referred to as the door side end 361, and the end located on the back side of the co-infusion device 1 can be referred to as the back side end 362. The infusion containers 503 are loaded into the rail section 36 from the door side end 361 and taken out from the back side end 362 by the second transport section 120. At least one infusion container 503 can be hung from the rail section 36.

[0190] In this embodiment, each infusion shelf 30 is provided with three rail portions 36. However, the number of rail portions 36 provided on each infusion shelf 30 is not limited to three. In this embodiment, each of the rail portions 36 is filled with the same type of infusion containers 503 (infusion containers having the same type of infusion contained in the infusion container 503 and the same size of the infusion container 503). The infusion containers 503 to be filled are determined for each infusion shelf 30. However, each of the rail portions 36 may be filled with different types of infusion containers 503.

[0191] The pushing unit 31 is a member that can move along the rail portion 36 and pushes the infusion container 503 suspended from the rail portion 36 from the door side end portion 361 to the back side end portion 362. In this embodiment, the pushing unit 31 is connected to the pushing transport portion 35. The pushing transport portion 35 is provided along the rail portion 36. The pushing transport portion 35 can move the pushing unit 31 along the rail portion 36 by operating under the control of the pushing control unit 147. The pushing transport portion 35 may be, for example, an endless rotating member. The size of the pushing unit 31 and the positional relationship between the rail portion 36 and the pushing transport portion 35 are specified so that the infusion container 503 suspended from the rail portion 36 can be pushed in by the movement of the pushing unit 31.

[0192] When the infusion side door 34 is unlocked or open, the pushing unit 31 is located at a position PO31 on the door side end 361 side and does not interfere with the filling (hanging on the rail portion 36) of the infusion container 503. The pushing control unit 147 may move the pushing unit 31 to the position PO31 by controlling the pushing transport unit 35 when, for example, a button 90 (see FIG. 1) on the infusion shelf 30 is pressed (when the infusion side door 34 is unlocked).

[0193] When the infusion side door 34 is locked, the pushing unit 31 pushes the infusion container 503 suspended from the rail portion 36 from the door side end portion 361 to the rear end portion 362. In this embodiment, when the infusion side door 34 is locked after being closed, the pushing control unit 147 controls the pushing transport unit 35 to move the pushing unit 31 from position PO31 to the rear end portion 362.

[0194] Also, consider a case where the second transport unit 120 removes an infusion container 503 located at the rear end 362 while multiple infusion containers 503 are suspended from the rail unit 36. After the second transport unit 120 removes the infusion container 503, the pushing unit 31 pushes the remaining infusion containers 503 suspended from the rail unit 36 ​​from the door side end 361 to the rear end 362. In this embodiment, when the second transport unit 120 removes the infusion container 503 located at the rear end 362, the pushing control unit 147 controls the pushing transport unit 35 to move the pushing unit 31 further to the rear end 362.

[0195] The first infusion detection unit 32 detects an infusion container 503 loaded in the infusion shelf 30. The first infusion detection unit 32 may also detect an infusion container 503 removed from the infusion shelf 30. As shown in FIG. 16, the first infusion detection unit 32 is provided on the door side end 361 side of a wall portion constituting the infusion shelf 30. The first infusion detection unit 32 is provided for each pair of rail portions 36. When the first infusion detection unit 32 detects an infusion container 503 at the door side end 361, for example, it outputs a detection signal.

[0196] 17, the second infusion detector 33 is provided at the rear end 362 of the wall constituting the infusion shelf 30, and detects an infusion container 503 present at the rear end 362. Similarly to the first infusion detector 32, the second infusion detector 33 is provided for each pair of rail portions 36. When the second infusion detector 33 detects an infusion container 503 at the rear end 362, for example, it outputs a detection signal.

[0197] When the pushing control unit 147 stops receiving a detection signal from the second infusion detection unit 33 while receiving the detection signal, the pushing control unit 147 may determine that the infusion container 503 located at the rear end 362 has been removed by the second transport unit 120. Based on this determination, the pushing control unit 147 controls the pushing transport unit 35, so that the pushing unit 31 pushes the remaining infusion containers 503 suspended from the rail unit 36 ​​from the door side end 361 to the rear end 362. When the pushing control unit 147 receives a detection signal from the second infusion detection unit 33 again, the pushing control unit 147 stops the pushing transport unit 35.

[0198] The shutter 37 is located at the rear side of the infusion shelf 30 when the infusion side door 34 is open, and blocks the rear end 362 from the area on the rear side (+Y axis direction) so that the user cannot touch the second transport section 120 even if he or she puts his or her hand into the infusion shelf 30 from the infusion side door 34 side. The shutter 37 is controlled by the shutter control section 148 to be movable in the vertical direction.

[0199] [Example of removing an infusion container from an infusion shelf] The types of the infusion container 503 include, for example, an infusion container 503 as shown in Fig. 8 and an infusion container 503 as shown in Fig. 16. The infusion container 503 shown in Fig. 8 is referred to as a first infusion container 503A, and the infusion container 503 shown in Fig. 16 is referred to as a second infusion container 503B.

[0200] The first infusion container 503A is an example of an infusion container 503 that is easily deformed. The peripheral portion of the first infusion container 503A is flat and flexible. The flexible peripheral portion, which is a region opposite to the neck portion 5033 and corresponds to the bottom of the first infusion container 503A, is referred to as a lower flexible region 5035. The second infusion container 503B is an example of an infusion container 503 that is not easily deformed. The peripheral portion of the second infusion container 503B is not flexible.

[0201] 18 is a schematic diagram showing an example of a state in which a first infusion container 503A is removed from the infusion shelf 30. In the following description, the first infusion container 503A to be removed, located at the rear end 362, is referred to as a first infusion container 503A1. The first infusion container 503A adjacent to the first infusion container 503A to be removed is referred to as a first infusion container 503A2.

[0202] As shown by reference numeral 1041 in FIG. 18, when a plurality of first infusion containers 503A are hung from the rail portion 36, the lower flexible regions 5035 of adjacent first infusion containers 503A are likely to overlap each other. As shown by reference numeral 1042 in FIG. 18, a case will be considered in which the second transport unit 120 removes the first infusion container 503A1 from the infusion shelf 30 in a state in which the lower flexible regions 5035 of the first infusion containers 503A1 and 503A2 are overlapped with each other. In this case, the first infusion container 503A2 may move toward the rear end portion 362 in association with the removal operation of the first infusion container 503A1 without eliminating the overlap between the lower flexible regions 5035. Then, the first infusion container 503A2 may also be removed from the rail portion 36 and fall.

[0203] In order to reduce the possibility of such a phenomenon occurring, the second transport control unit 145 may function as an operation control unit that changes the removal operation of the infusion container 503 by the second transport unit 120 depending on the type of the infusion container 503. This allows the infusion container 503 to be efficiently removed from the infusion shelf 30 regardless of the type of the infusion container 503 stored in the infusion shelf 30. For example, when multiple first infusion containers 503A are hung on the rail unit 36, the first infusion containers 503A can be removed one by one while reducing the possibility of the above-mentioned dropping.

[0204] The memory unit 200 may store information indicating the type of the infusion container 503 suspended from the rail unit 36 ​​in association with information for identifying the rail unit 36. The memory unit 200 may also store a plurality of removal operation patterns indicating operation patterns of the second transport unit 120 when removing the infusion container 503 from the infusion shelf 30. The removal operation pattern may be defined according to the type of the infusion container 503. This allows the second transport control unit 145 to execute the removal operation pattern according to the type of the infusion container 503.

[0205] The removal operation pattern may include, for example, a first operation pattern and a second operation pattern. First operation pattern: After a push-in operation is performed to push the infusion container 503 in the direction opposite to the removal direction of the infusion container 503, a pull-out operation is performed to pull out the infusion container 503 in the removal direction. Second operation pattern: Only the pulling out operation of pulling out the infusion container 503 in the removal direction of the infusion container 503 is performed.

[0206] <Example of control using the first operation pattern> The first operation pattern may be defined as a removal operation pattern of the first infusion container 503A. Fig. 19 is a schematic diagram showing an example of a state in which the first infusion container 503A is removed from the infusion shelf 30 using the first operation pattern.

[0207] At reference numeral 1051 in Fig. 19, the lower flexible regions 5035 of the adjacent first infusion containers 503A1 and 503A2 overlap with each other. As indicated by reference numeral 1051 in Fig. 19, the second transport control unit 145 first positions the second transport unit 120 in front of the first infusion container 503A1.

[0208] Next, as shown by reference numeral 1052 in FIG. 19, the pushing control unit 147 moves the pushing unit 31 toward the door side end 361. By moving the pushing unit 31 to the door side end 361 before the pushing operation, a space for the first infusion container 503A to move can be secured. After the pushing unit 31 is pushed toward the door side end 361, the second transport control unit 145 executes a pushing operation to push the first infusion container 503A1 in the direction opposite to the removal direction of the first infusion container 503A1. The second transport control unit 145 pushes the first infusion container 503A1 by moving the second transport unit 120 from the back side end 362 toward the door side end 361. As a result, both the first infusion containers 503A1 and 503A2 are pushed toward the door side end 361.

[0209] Next, as indicated by reference numeral 1053 in Fig. 19, the second transport control unit 145 controls the second transport unit 120 to perform a pull-out operation to pull out the first infusion container 503A1 in the removal direction while the first infusion containers 503A1 and 503A2 are in the pushed-in state. In this embodiment, the second transport control unit 145 causes the suction unit 121 to adhere to the first infusion container 503A1 when pulling out the first infusion container 503A1. However, the second transport control unit 145 may also cause the suction unit 121 to adhere to the first infusion container 503A1 before or during the push-in operation.

[0210] The second transport control unit 145 moves the second transport unit 120 holding the first infusion container 503A1 in the removal direction. This eliminates the overlap between the lower flexible areas 5035, allowing only the first infusion container 503A1 to be removed from the infusion shelf 30.

[0211] In this embodiment, the second transport control unit 145 moves the second transport unit 120 upward during the extraction operation of the first infusion container 503A1. The rear end 362 of the rail unit 36 ​​is provided with a protrusion (not shown) protruding upward. This protrusion functions as a stopper that reduces the possibility that the infusion container 503 suspended from the rail unit 36 ​​will fall from the rear end 362. By moving the second transport unit 120 upward during the extraction operation, the possibility that the infusion container 503 being extracted will collide with the protrusion can be reduced.

[0212] In the first operation pattern, the second transport control unit 145 moves the first infusion container 503A1 in the removal direction by the distance of movement of the second transport unit 120 in the pushing operation, and then moves the second transport unit 120 holding the first infusion container 503A1 upward. This allows the first infusion container 503A1 to be lifted after the overlapping of the lower flexible regions 5035 is eliminated.

[0213] Here, consider a case where the first infusion container 503A1 is lifted up so as not to collide with the protrusion when the lower flexible regions 5035 overlap each other. In this case, the first infusion container 503A2 is also lifted up together with the first infusion container 503A1. When the first infusion container 503A1 is lifted and then moved in the removal direction, the overlap between the lower flexible regions 5035 is eliminated while the first infusion container 503A2 is floating above the rail portion 36. In this case, the first infusion container 503A2 may fall from the back end portion 362 due to the momentum of falling down due to the elimination of the overlap. Alternatively, when the first infusion container 503A2 is lifted up, the base of the neck portion 5033 of the first infusion container 503A2 may be pinched between the pair of rail portions 36 from below.

[0214] As described above, by lifting the first infusion container 503A1 after the overlapping of the lower flexible regions 5035 is eliminated, the possibility that the first infusion container 503A2 will fall from the rear end portion 362 due to lifting of the first infusion container 503A1 can be reduced. In addition, the possibility that the base of the neck portion 5033 of the first infusion container 503A2 will be pinched between the pair of rail portions 36 can be reduced.

[0215] The moving distance of the second conveying part 120 in the pushing operation may be set to, for example, the length L1 (see FIG. 8) or more of the lower flexible region 5035. The length of the overlapping portion between the lower flexible regions 5035 is the length L1 of the lower flexible region 5035 at maximum. The inventors have found through experiments, etc. that when the first infusion container 503A1 is pushed in by the length of the overlapping portion between the lower flexible regions 5035 and then pulled out, there is a high possibility that the overlapping between the lower flexible regions 5035 will be eliminated. The inventors have found through experiments, etc. that when the first infusion container 503A1 is pushed in by the length of the overlapping portion between the lower flexible regions 5035 and then pulled out, there is a high possibility that the overlapping between the lower flexible regions 5035 will be eliminated. Therefore, by setting the moving distance of the second conveyor 120 to be equal to or greater than the length L1 of the lower flexible region 5035, the possibility of eliminating the overlap between the lower flexible regions 5035 is increased.

[0216] The length L1 of the lower flexible region 5035 may differ for each type of the first infusion container 503A. Therefore, the moving distance of the second conveying unit 120 may be set for each type of the first infusion container 503A. However, the moving distance of the second conveying unit 120 may be set uniformly. In this case, the moving distance of the second conveying unit 120 may be set to, for example, the length L1 or more of the longest lower flexible region 5035 of the first infusion containers 503A that can be stored in the infusion shelf 30. In addition, the moving distance of the pushing unit 31 before the pushing operation may be set to a distance equal to or greater than the moving distance of the second conveying unit 120.

[0217] <Example of control using the second operation pattern> The second operation pattern may be defined as a removal operation pattern for an infusion container 503 (e.g., the second infusion container 503B) other than the first infusion container 503A. In the case of the second operation pattern, the second transport control unit 145 performs only the above-mentioned pulling operation without performing the above-mentioned pushing operation. The second operation pattern may be applied when removing an infusion container 503 of a type that does not have a lower flexible region 5035 or is unlikely to have overlapping lower flexible regions 5035 from the infusion shelf 30. In the second operation pattern, the second transport control unit 145 also moves the second transport unit 120 upward during the pulling operation of the infusion container 503, thereby reducing the possibility of collision with the protrusion.

[0218] [Additional Notes] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

Claims

1. A removal device for removing an infusion container from an infusion storage shelf, comprising: The removal device includes an operation control unit that changes the removal operation of the removal device for the infusion container according to the type of the infusion container.

2. A plurality of removal operation patterns are defined according to the type of the infusion container, 2. The removal device according to claim 1, wherein the operation control unit operates the removal device to perform a pushing operation to push the infusion container in a direction opposite to a removal direction of the infusion container, as one of the plurality of removal operation patterns, and then a pulling operation to pull out the infusion container in the removal direction.

3. A holding member for holding the body of the infusion container; a support portion located above the holding member and supporting a neck portion of the infusion container, A holding device, wherein the support portion is movable in a direction opposite to a moving direction of the holding member when holding the infusion container.

4. a locking portion for locking a neck portion of an infusion container; a measuring unit that measures the infusion container engaged with the engaging unit; A weighing device comprising a movable member that moves between a first position in contact with or close to the infusion container engaged with the locking portion and a second position that is farther away from the infusion container engaged with the locking portion than the first position.

5. the measuring unit determines a measurement value of the infusion container locked to the locking unit after the moving member moves from the first position to the second position, The measuring device according to claim 4 , wherein the moving member moves from the second position to the first position after the measuring unit determines the weight of the infusion container.

6. A plurality of equipment holding units capable of holding mixing equipment used for mixing; an equipment transport unit which, when receiving an instruction to fill the equipment holding unit, defines a predetermined area as an area in which equipment holding units not holding the mixed injection equipment are to be positioned in order to hold the mixed injection equipment, and transports each of the equipment holding units from the predetermined area to outside the predetermined area or from outside the predetermined area to the predetermined area; An equipment detection unit that detects the mixed injection equipment held in the equipment holding unit; and a determination unit that determines an equipment holding unit located adjacent to the specified area as a target for determining the presence or absence of the co-infusion equipment based on a detection result of the equipment detection unit.

7. an object detection unit that detects an object inserted into the specified area, After the object detection unit detects the object, the instrument transport unit executes a transport operation of the instrument holder, The co-infusion device according to claim 6, wherein, when the determination unit receives a user operation that starts the detection operation of the equipment detection unit, the determination unit excludes, from among two or more equipment holding units that correspond to equipment holding units located adjacent to the specified area before receiving the user operation, an equipment holding unit that is located in the specified area when the user operation is received and an equipment holding unit that has been located in the specified area before receiving the user operation, from targets for determining the presence or absence of the co-infusion equipment after receiving the user operation.

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