Printing apparatus

Abstract

To efficiently dispense medicines.SOLUTION: A medicine cassette handling device (200) includes a cassette shelf (110) configured to store m cassettes (Ca) containing medicines, a specific processing section (120) configured to perform a specific process on the medicines contained in the cassettes, a cassette holding section (130) configured to temporarily hold up to n (m> n ≥ 2) cassettes to be subjected to the specific process, and a cassette transferring section (140) configured to transfer the cassettes between the cassette shelf and the cassette holding section.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a medicine cassette handling device that handles cassettes containing medicines, and a medicine dispensing device equipped with the medicine cassette handling device. [Background technology]

[0002] Conventionally, medicine sorting devices that sort returned (collected) medicines and medicine dispensing devices that dispense medicines stored in trays have been developed. For example, Patent Document 1 discloses an example of a medicine sorting device.

[0003] In the medicine sorting device of Patent Document 1, the type of medicine taken out from a sorting tray installed in a sorting tray installation section is determined, and then the medicine is stored in a storage box. Specifically, the sorting tray installation section can store multiple sorting trays, and the medicine in the topmost sorting tray among the stored sorting trays is taken out as the medicine type determination target.

[0004] It should be noted that technologies relating to peripheral devices (eg, printer devices) of medicine dispensing devices are disclosed in, for example, Patent Documents 2 to 5. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2015-51040 A (Published March 19, 2015) [Patent Document 2] JP 2005-132565 A (published May 26, 2005) [Patent Document 3] JP 2015-13177 A (Published January 22, 2015) [Patent Document 4] JP 2012-136240 A (Published July 19, 2012) [Patent Document 5] WO2011 / 138857 publication (published on November 10, 2011) Summary of the Invention

[0006] A device according to one aspect of the present invention includes: a cassette shelf for storing a first cassette containing only one type of drug that is not a returned drug, the first cassette containing the drug in a state where a placement position of the drug is not specified; and a second cassette containing a returned drug, the second cassette containing the drug in a state where a placement position of the drug is specified; and a dispensing unit for removing the first cassette from the cassette shelf and dispensing the drugs contained in the first cassette, or removing the second cassette from the cassette shelf and dispensing the drugs contained in the second cassette, based on input prescription data; The prescription data storage device includes a memory unit that stores correspondence data indicating the correspondence between the type of drug contained in the second cassette and information indicating the location of the drug, and the dispensing unit identifies the location of the drug to be dispensed, which is included in the prescription data, based on the correspondence data, and dispenses the drug from the second cassette.The dispensing unit includes a cassette removal mechanism that can remove the first cassette and the second cassette from the cassette shelf, and a drug dispensing mechanism that can dispense the drug contained in the first cassette or the second cassette removed from the cassette shelf. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing the configuration of an injection drug dispensing device according to the present embodiment. [Figure 2] 1 is a diagram showing an example of the configuration of an injection drug dispensing system including an injection drug dispensing device according to an embodiment of the present invention. [Figure 3] 1 is a perspective view of an injection drug dispensing device according to an embodiment of the present invention. FIG. [Figure 4] FIG. [Figure 5] FIG. 2 is a front view of the specific processing section and the cassette holding section. [Figure 6] FIG. [Figure 7] 4 is a perspective view of the specific processing section and the medicine sorting section from an angle different from that of FIG. 3. FIG. [Figure 8] FIG. 2 is a plan view of a part of the specific processing section and the medicine sorting section. [Figure 9] FIG. 2 is a front view of the drug transfer section. [Figure 10] 4(a) is a perspective view of the cassette transfer section from an angle different from that of FIG. 3, and (b) is an enlarged view of the main part of the cassette transfer section shown in (a). [Figure 11] FIG. 10 is a cross-sectional view of the orientation cassette in a plane parallel to the front surface of the injection drug dispensing device. [Figure 12] 1A and 1B are diagrams showing the shape of a large returned medicine cassette, in which (a) is a plan view and (b) is a cross-sectional view taken along line AA in (a). [Figure 13] 1A and 1B are diagrams showing the shape of a small-medium returned medicine cassette, in which (a) is a plan view, (b) is a cross-sectional view taken along line BB in (a), and (c) is a cross-sectional view taken along line CC in (a). [Figure 14] 10 is a flowchart showing an operation of the injection drug dispensing device when dispensing an injection drug. [Figure 15] 10 is a flowchart showing the operation of the injection drug dispensing device for returned drugs. [Figure 16] 10A and 10B are diagrams illustrating an example of the arrangement of cassettes held in a cassette holding section. [Figure 17] 1A and 1B are diagrams for explaining a registration process of a shape model, in which FIG. 1A is a flowchart showing an example of the registration process, and FIG. 1B is a diagram schematically showing the shape of an injection drug indicated by the shape model. [Figure 18] 10 is a flowchart illustrating an example of an initial setting process. [Figure 19] FIG. 2 is a diagram for explaining each coordinate system. [Figure 20] 10(a) to 10(c) are diagrams for explaining coordinate conversion processing. [Figure 21] 10A and 10B are diagrams showing an example of a process for determining an adsorption position of an injection drug contained in a cassette. [Figure 22] 10(a) and 10(b) are diagrams for explaining detection of a cassette in an image. [Figure 23] 10A and 10B are diagrams for explaining correction of positional deviation caused by lens distortion. [Figure 24] FIG. 10 is a diagram for explaining correction of positional deviation caused by the width of an injection drug. [Figure 25] 10(a) to 10(c) are diagrams for explaining correction of positional deviation related to projection. [Figure 26] 1A and 1B are diagrams showing an example of a cassette, in which FIG. 1A shows a state before division members are attached, and FIG. 1B shows a state after division members are attached. [Figure 27] 10(a) and 10(b) are detailed views of the cassette transfer section. [Figure 28] FIG. 2 is a block diagram showing the configuration of the injection drug dispensing device. [Figure 29] 10 is a flowchart showing an example of a process for specifying a storage location of a cassette. [Figure 30] 10(a) and 10(b) are diagrams for explaining an example of the installation positions of a sensor and a reflector. [Figure 31] 10 is a table showing an example of moving speed information. [Figure 32] FIG. 10(a) is a diagram showing an example of the configuration of a movement mechanism of a medicine delivery unit, and (b) and (c) are diagrams showing an example of the operation of an adsorption mechanism of the medicine delivery unit. [Figure 33] 10A and 10B are diagrams illustrating an example of timing adjustment of image processing by a camera for reading a deadline. [Figure 34] 10(a) to 10(f) are diagrams for explaining an example of processing when there is an injection medicine that cannot be dispensed. [Figure 35] FIG. 10 is a diagram showing a state in which a small tray is placed on a carrier tray. [Figure 36] FIG. 1A is a perspective view showing an example of a small tray, FIG. 1B is a plan view showing an example of a small tray, and FIG. 1C is a cross-sectional view taken along line AA' showing an example of a small tray. [Figure 37] FIG. 1 is a perspective view illustrating an example of a printer device. [Figure 38] FIG. 1 is a block diagram illustrating an example of a printer device. [Figure 39] FIG. 2 is a plan view showing an example of the bottom of the printer device. [Figure 40] FIG. 2 is a front view showing an example of a carrier tray printing device. [Figure 41] (a) is an oblique view showing an example of an infusion label dispensing device and an infusion label conveying mechanism, and (b) and (c) are oblique views showing an example of an infusion label receiving section provided in the infusion label dispensing device. [Figure 42] FIG. 1 is a plan view showing an example of an infusion label dispensing device. [Figure 43] 10(a) to 10(d) are diagrams illustrating an example of an infusion label gripping operation by an infusion label transport mechanism. [Figure 44] 10(a) to 10(d) are diagrams illustrating an example of an infusion label transport operation by an infusion label transport mechanism. [Figure 45] 10(a) and 10(b) are diagrams for explaining the placement position of the infusion label on the carrier tray. [Figure 46] 1A and 1B are diagrams showing an example of an injection prescription dispensing device, where (a) is a front view showing an example of an injection prescription dispensing device, and (b) and (c) are oblique views showing an example of an injection prescription receiving unit. [Figure 47] 10(a) and 10(b) are perspective views showing an example of an injection prescription transport mechanism. [Figure 48] 10(a) to 10(d) are diagrams for explaining an example of an injection prescription transport operation by an injection prescription gripping mechanism. [Figure 49] 10(a) and 10(b) are perspective views showing an example of a transport label gripper provided in an infusion label transport mechanism. [Figure 50] FIG. 10(a) is a diagram showing an example of a cassette when a dividing member is attached, and FIG. 10(b) is a diagram showing an example of a data table when the cassette is divided into two parts for use. [Figure 51] FIG. 10 is a perspective view showing an example of an injection drug dispensing device including a cassette holding section according to another example. [Figure 52]1A and 1B are diagrams showing an example of a cassette / drug holding unit, where (a) is a schematic exploded cross-sectional view of the cassette / drug holding unit, (b) is an oblique view showing an example of an anti-rolling sheet, and (c) is a plan view showing an example of a cassette / drug holding unit with the light source turned on. [Figure 53] FIG. 10 is a diagram showing a schematic arrangement example of lighting members. [Figure 54] 10 is a flowchart showing another example of the operation of the injection drug dispensing device for returned drugs. [Figure 55] FIG. 10 is a diagram showing an example of an image displayed on a touch panel. [Figure 56] 10A and 10B are diagrams showing another example of an infusion label receiving section, in which (a) is a perspective view and (b) is a front view. [Figure 57] 10(a) to 10(d) are diagrams for explaining an example of transportation of an infusion label. DETAILED DESCRIPTION OF THE INVENTION

[0008] In this specification, "prescription data for administration to one patient" may refer to at least any one of the following (1) to (3). (1) Data on medications administered to a single patient (prescription data for a single patient). (2) Data on one dose of medication administered to one patient (prescription data for one prescription unit). (3) Data on the classification of a single dose of a drug administered to a patient when it is prescribed (prescription data for each RP (recipe)).

[0009] Furthermore, the term "medicine" includes not only the medicine itself not contained in a container, etc., but also medicine contained in a container, etc. (e.g., ampoules, vials, injection kits, and PTP (Press Through Pack) sheets). In this embodiment, the description will be mainly based on the assumption that the medicine is an injection drug (including ampoules or vials containing an injection drug).

[0010] [Outline of the injectable drug dispensing system] FIG. 2 is a diagram showing an example of the configuration of an injection drug dispensing system 1 (drug dispensing device) including an injection drug dispensing device 100 (drug cassette handling device) according to this embodiment. As shown in FIG. 2, the injection drug dispensing system 1 includes a supply lifter 11, an injection drug dispensing device 100, a printer device 13, and a discharge lifter 14. The injection drug dispensing system 1 operates when prescription data is provided, including data such as the type and number of injection drugs to be administered to a patient based on a prescription from a doctor or other professional. The prescription data provided to the injection drug dispensing system 1 includes data such as the type and number of injection drugs for multiple patients to be administered injection drugs. The prescription data is managed, for example, by a hospital ward, and prescription data for a predetermined period is transmitted from the hospital ward to the injection drug dispensing system 1 on a predetermined date. The injection drug dispensing system 1 dispenses injection drugs for one administration for each patient based on the received prescription data. A transport tray 151a (see FIG. 7) for receiving the dispensed injection drugs passes through the injection drug dispensing system 1.

[0011] The supply lifter 11 is a device that supplies a transport tray 151a that passes through the injection drug dispensing system 1 in accordance with the provision of prescription data. The injection drug dispensing device 100 is a device that dispenses injection drugs onto the transport tray 151a based on prescription data related to administration to one patient, which is included in the prescription data provided to the injection drug dispensing system 1. The printer device 13 prints information such as the type of injection drug indicated in the prescription data onto the transport tray 151a. The discharge lifter 14 discharges the transport tray 151a from the injection drug dispensing system 1 after the injection drug has been dispensed and the information has been printed.

[0012] [Configuration of injection drug dispensing device] Fig. 1 is a block diagram showing the configuration of an injection drug dispensing device 100 according to this embodiment. Fig. 3 is a perspective view of the injection drug dispensing device 100. Note that Fig. 3 shows a state in which the exterior shown in Fig. 2 has been removed in order to visualize the inside of the injection drug dispensing device 100.

[0013] 1 and 3, the injection drug dispensing device 100 includes a cassette shelf 110, a specific processing unit 120, a cassette holding unit 130, a cassette transport unit 140, a drug sorting unit 150, a memory unit 180, and a control unit 190. In particular, the cassette shelf 110, the specific processing unit 120, the cassette holding unit 130, and the cassette transport unit 140 are collectively referred to as a drug cassette handling device 200.

[0014] The cassette shelf 110 is a shelf that stores m cassettes Ca that contain injection drugs (medicines). m is an integer equal to or greater than 3. In this embodiment, the cassette shelf 110 stores the cassettes Ca in a matrix on a vertical plane. Each of the m cassettes Ca is pre-stored with an injection drug for each drug type. At least two cassettes Ca store different types of injection drugs. As will be described later, it is not necessary for all of the m cassettes to be cassettes Ca; for example, some of the m cassettes may include a cassette for handling returned drugs.

[0015] In the following description, the direction in which the cassette Ca is inserted into the cassette shelf 110 is referred to as the depth direction, and the direction perpendicular to the depth direction in a plane parallel to the horizontal plane is referred to as the width direction.

[0016] Fig. 4 is an enlarged perspective view of the cassette shelf 110. As shown in Fig. 4, the cassette shelf 110 has a plurality of wall members 111 that are parallel to the vertical direction and parallel to the depth direction. The intervals between the plurality of wall members 111 are greater than the width of the cassette Ca.

[0017] A plurality of support members 112 extend in the width direction from each wall material 111. On the opposing surfaces of adjacent wall materials 111, the support members 112 have the same height. The distance between the tips of the opposing support members 112 is smaller than the width of the cassette Ca. Therefore, on the cassette shelf 110, a cassette Ca inserted between the wall materials 111 is stored with both ends in the width direction supported by the support members 112.

[0018] The cassette Ca is inserted from the front side toward the back side in the depth direction. A protrusion 113 is formed on the upper surface of the front end of the support member 112. The distance between the upper end of the protrusion 113 and the support member 112 above the protrusion 113 is greater than the thickness (height) of the cassette Ca. Therefore, the cassette Ca can be inserted into the cassette shelf 110 from above the protrusion 113. Furthermore, when a cassette Ca stored on the cassette shelf 110 moves horizontally toward the front side, it gets caught on the protrusion 113, so there is little risk of the cassette Ca slipping off the cassette shelf 110.

[0019] The injection drugs contained in the cassette Ca are contained in containers such as ampoules or vials. In this embodiment, the injection drugs are contained in the cassette Ca in an unaligned state. However, the injection drugs may also be contained in the cassette Ca in an aligned state. Furthermore, the cassette Ca may contain medicines such as tablets or ointments instead of injection drugs. Furthermore, the cassette Ca may contain items other than medicines.

[0020] Ampoules and vials come in different shapes depending on the type of injection drug they contain. Cassettes Ca may have different shapes (e.g., heights) depending on the shapes of the ampoules or vials they contain. Cassettes Ca may include, for example, small cassettes that contain ampoules or vials with a diameter of 28 mm or less, and large cassettes that contain ampoules or vials with a diameter of more than 28 mm.

[0021] 5 is a front view of the specific processing section 120 and the cassette holding section 130. For the purpose of facilitating understanding, the cassette shelf 110 is also shown in FIG.

[0022] The cassette holding unit 130 can temporarily hold up to n cassettes Ca among the cassettes Ca stored on the cassette shelf 110, which are to undergo specific processing by the specific processing unit 120. The value of n may be equal to or greater than 2 and less than m (m>n≧2), and in this embodiment the value of n is 4.

[0023] Fig. 6 is a plan view of the cassette holding unit 130. As shown in Fig. 6, the cassette holding unit 130 is a group of four cassette holding units 130a to 130d. The number of cassette holding units 130 is not limited to four, but is equal to the value of n described above, i.e., the number of cassettes Ca that can be held by the cassette holding unit 130. A cassette Ca is held by being placed on one of the cassette holding units 130a to 130d. In addition, drive mechanisms 133a to 133d that reciprocate the cassette holding units 130a to 130d in the depth direction are provided below the cassette holding units 130a to 130d, respectively.

[0024] Each of the cassette holding units 130a to 130d has a cassette receiving position 131 that receives the cassette Ca from the cassette transfer unit 140, and a processing position 132 where the cassette Ca undergoes a specific process by the specific processing unit 120. More specifically, each of the cassette holding units 130a to 130d has cassette receiving positions 131a to 131d and processing positions 132a to 132d. The cassette holding units 130a to 130d are reciprocated in the depth direction by drive mechanisms 133a to 133d, thereby reciprocating the cassette Ca between the cassette receiving positions 131a to 131d and the processing positions 132a to 132d. In other words, the cassette holding unit 130 moves the cassette Ca horizontally toward the processing position 132. 6 shows a state in which cassette holder 130b is located at processing position 132b, and the other cassette holders 130a, 130c, and 130d are located at cassette receiving positions 131a, 131c, and 131d, respectively. In this manner, each of cassette holders 130a to 130d can reciprocate cassette Ca independently of one another. Note that two or more of cassette holders 130a to 130d may be located at corresponding processing positions 132a to 132d.

[0025] The cassette holding unit 130a is also provided with a load cell 134 for measuring the weight of the cassette Ca. The weight of the cassette Ca itself (i.e., not including the weight of the injection drugs) and the weight of each injection drug contained in the cassette Ca are known. Therefore, by measuring the weight of the entire cassette Ca using the load cell 134, it is possible to calculate the number of injection drugs contained in the cassette Ca, i.e., the stock of injection drugs in the injection drug dispensing device 100. This calculation process is performed, for example, after all injection drug dispensing processes for that day have been completed in the evening and each cassette Ca has been filled with injection drugs, until the injection drug dispensing process starts the next morning.

[0026] The identification processing unit 120 performs identification processing on the injection drug contained in the cassette Ca. In this embodiment, the identification processing includes at least processing up to removing the cassette Ca containing the injection drug to be dispensed from the cassette shelf 110 and identifying the type and expiration date of the injection drug. The identification processing may also include at least processing up to removing a returned drug receiving cassette 161 (see FIG. 16), a large returned drug cassette 163 (see FIG. 12), or a small / medium returned drug cassette 164 (see FIG. 13) containing the returned drug described below from the cassette shelf 110 and identifying the type and expiration date of the returned drug. In order to realize the above-mentioned identification process, the identification processing unit 120 includes a drug transport unit 121, a position identification camera 122 (first photographing unit), barcode readers 123 and 124 (reading units), an expiration date reading camera 125 (second photographing unit), a position changing unit 126, a drug rotation unit 127, a first discrimination processing unit 195 (described later), and a second discrimination processing unit 196 (described later).

[0027] The position-identifying camera 122 is a camera provided below the cassette shelf 110. The position-identifying camera 122 takes an image to identify the injection drug to be taken out from the cassette Ca.

[0028] 5 and 6, the injection drug dispensing device 100 of this embodiment includes two position identifying cameras 122a and 122b as the position identifying camera 122. As shown in Fig. 6, the position identifying camera 122a is provided directly above the center of the boundary line between the processing positions 132a and 132b, and photographs an imaging area 122c including the processing positions 132a and 132b. The position identifying camera 122b is provided directly above the center of the boundary line between the processing positions 132c and 132d, and photographs an imaging area 122d including the processing positions 132c and 132d. Therefore, the two position identifying cameras 122a and 122b can photograph the insides of the cassettes Ca located at the four processing positions 132a to 132d.

[0029] Figure 7 is a perspective view of the specific processing unit 120 and the medicine sorting unit 150 from an angle different from that of Figure 3. The cassette holding unit 130 is omitted from Figure 7. Figure 8 is a plan view of a portion of the specific processing unit 120 and the medicine sorting unit 150.

[0030] The position changing unit 126 is a turntable that can rotate around an axis perpendicular to a horizontal plane. On the upper surface of the position changing unit 126, a first mounting unit 126a (mounting unit) and a second mounting unit 126b (mounting unit) are provided for mounting the medicine received by the specific processing unit 120. In this embodiment, the first mounting unit 126a and the second mounting unit 126b are recesses provided at positions facing each other across the rotation axis of the position changing unit 126.

[0031] The position changer 126 changes the positions of the first mounting unit 126a and the second mounting unit 126b between a medicine receiving position that receives the injection medicine from the medicine transporter 121 and a medicine delivery position that delivers the injection medicine to the medicine moving unit 153 to be dispensed. Specifically, the position changer 126 rotates around the axis described above, thereby changing the positions of the first mounting unit 126a and the second mounting unit 126b between the medicine receiving position and the medicine delivery position. In FIG. 8, the first mounting unit 126a is at the medicine receiving position, and the second mounting unit 126b is at the medicine delivery position.

[0032] The medicine rotation unit 127 receives the injection medicine delivered by the medicine delivery unit 121 for reading by the barcode reader 123 or photographing by the expiration date reading camera 125, and rotates the received injection medicine in the axial direction. The medicine rotation unit 127 is provided on the first mounting unit 126a and the second mounting unit 126b. Specifically, the medicine rotation unit 127 is a belt conveyor provided on the bottom of the first mounting unit 126a and the second mounting unit 126b, and rotates the injection medicine delivered on the first mounting unit 126a and the second mounting unit 126b in the axial direction. The first mounting unit 126a and the second mounting unit 126b mount the injection medicine received by the medicine rotation unit 127. Specifically, the mounting unit located at the medicine receiving position of the first mounting unit 126a or the second mounting unit 126b mounts the injection medicine delivered by the medicine delivery unit 121.

[0033] In this embodiment, as shown in FIG. 8, both the first mounting unit 126a and the second mounting unit 126b are provided with the drug rotation unit 127, but this is not limited thereto. For example, if the positions of the first mounting unit 126a and the second mounting unit 126b are fixed and the second mounting unit 126b has a cross-sectional shape that allows the injection drug placed on the second mounting unit 126b to be oriented in a fixed direction, the drug rotation unit 127 may be provided only on the first mounting unit 126a. An example of the cross-sectional shape is a substantially V-shape. In this case, the injection drug dispensing device 100 has a transport mechanism that transports the injection drug from the first mounting unit 126a to the second mounting unit 126b. Furthermore, the barcode reader 124, which will be described later, is not required.

[0034] The number of mounting units included in the injection drug dispensing device 100 may be three or more, or may be one. However, if the number of mounting units is one, there will be a wait time until one injection drug has been identified before loading other injection drugs, which increases the time required to dispense the injection drugs. In consideration of this, it is preferable that the injection drug dispensing device 100 be provided with multiple mounting units and configured so that the positions of the mounting units can be changed between a drug receiving position and a drug delivering position.

[0035] The medicine transporting unit 121 takes out the injection medicine from the cassette Ca and transports it to dispense the injection medicine contained in the cassette Ca. In this embodiment, as shown in FIG. 5, the medicine transporting unit 121 has an adsorption mechanism 121a, a moving mechanism 121b, and a slider 121c. The adsorption mechanism 121a is an adsorption mechanism that adsorbs the injection medicine and is extendable vertically downward. The moving mechanism 121b is a mechanism that moves the adsorption mechanism 121a in the depth direction and is capable of reciprocating in the width direction. The moving mechanism 121b moves reciprocating in the width direction along the slider 121c.

[0036] The barcode reader 123 reads information (first identification information) attached to the injection drug indicating the type of the injection drug. In this embodiment, the information indicating the type of the injection drug is attached to the injection drug in the form of a barcode. The barcode reader 123 reads the barcode of the injection drug mounted on the first mounting portion 126a or the second mounting portion 126b at the drug receiving position.

[0037] The barcode reader 124 has substantially the same configuration as the barcode reader 123. The barcode reader 124 reads the barcode of the injection drug mounted on the first mounting unit 126a or the second mounting unit 126b at the drug delivery position to confirm the posture of the injection drug. For example, if the cross section of the injection drug is oval, the injection drug may have a posture that is suitable for adsorption and a posture that is not suitable for adsorption. Therefore, by attaching a barcode to a position where it can be read by the barcode reader 124 when the injection drug is in a posture that is suitable for adsorption, and rotating the injection drug by the drug rotation unit 127 so that the barcode can be read, the injection drug can be placed in a posture that is suitable for adsorption. Information indicating the injection drug whose posture needs to be confirmed based on whether the barcode can be read is stored in the memory unit 180.

[0038] The position of the injection drug may be confirmed by another method, in which case it is not necessary to attach the barcode in the above-mentioned position.

[0039] The expiration date reading camera 125 captures an image of information (second identification information) attached to the injection drug indicating the expiration date of the injection drug. In this embodiment, the information indicating the expiration date of the injection drug is attached to the injection drug in text.

[0040] With the above configuration, in the medicine cassette handling device 200, the cassette Ca is transferred from the cassette shelf 110 to the cassette holding unit 130 by the cassette transfer unit 140. Furthermore, the specific processing unit 120 performs specific processing on the injection medicine contained in the cassette Ca.

[0041] The medicine sorting unit 150 sorts the injection medicines that have been processed in the specific processing unit 120. As shown in FIG. 7, the medicine sorting unit 150 includes a tray holding unit 151, a non-dispensed medicine storage unit 152, and a medicine moving unit 153.

[0042] The tray holder 151 holds a transport tray 151a from which an injection drug is dispensed. The tray holder 151 is provided in the injection drug dispensing system 1 as part of a path along which the transport tray 151a flows.

[0043] The non-dispensing medicine storage unit 152 stores injection medicines that are determined not to be dispensed. The non-dispensing medicine storage unit 152 classifies the injection medicines into a plurality of types and stores them. Specifically, the non-dispensing medicine storage unit 152 classifies, for example, injection medicines whose type is inappropriate and injection medicines whose expiration date is inappropriate into large, medium, or small sizes.

[0044] Based on the determination results regarding the type and expiration date of the injection drug, the drug transfer unit 153 transfers the injection drug to either the transport tray 151a held in the tray holder 151 or the non-dispensed drug storage unit 152. The transport tray 151a may be divided into multiple areas, and injection drugs of different prescription data (for example, the amount to be administered to one patient) may be dispensed from each area.

[0045] The above-mentioned identification process may include a process of sorting the injection medicines whose types and expiration dates have been identified into the transport tray 151a or the non-dispensed medicine storage unit 152. In this case, the identification process unit 120 includes the medicine sorting unit 150.

[0046] 9 is a front view of the medicine moving section 153. The medicine moving section 153 of this embodiment has an adsorption mechanism 153a, a moving mechanism 153b, and a slider 153c. The adsorption mechanism 153a is an adsorption mechanism that adsorbs the injection drug and is extendable vertically downward. The moving mechanism 153b is a mechanism that moves the adsorption mechanism 153a in the width direction and is capable of reciprocating in the depth direction. The moving mechanism 153b reciprocates in the depth direction along the slider 153c.

[0047] Specifically, the medicine moving unit 153 dispenses the injection medicine determined to be appropriate in terms of both type and expiration date to the transport tray 151a. On the other hand, the medicine moving unit 153 moves the injection medicine determined to be inappropriate in terms of at least one of type and expiration date to the non-dispensed medicine storage unit 152.

[0048] The cassette transfer unit 140 transfers the cassette Ca between the cassette shelf 110 and the cassette holding unit 130 in order to replace the cassette Ca held in the cassette holding unit 130. In this embodiment, the cassette transfer unit 140 pulls out the cassette Ca from the cassette shelf 110, transfers it vertically, and places it on the cassette holding unit 130 located at the cassette receiving position 131. In particular, when the prescription data received includes prescription data for administration to one patient that includes two or more types of injection drugs, the cassette transfer unit 140 transfers each cassette Ca containing the injection drugs to the cassette holding unit 130 based on the prescription data and correspondence data described below.

[0049] In addition, prescription data for administration to one patient may include multiple recipes (combinations) of injection drugs. In this case, it is possible to dispense injection drugs for each recipe and administer the injection drugs of the multiple recipes dispensed in multiple dispenses to the patient all at once. In this case, when one recipe includes two or more types of injection drugs, the cassette transfer unit 140 may transfer each cassette Ca containing the injection drugs to the cassette holding unit 130.

[0050] Figure 10(a) is a perspective view of the cassette transfer section 140 from a different angle than that of Figure 3. To facilitate understanding, Figure 10 also shows the cassette shelf 110. Figure 10(b) is an enlarged view of the main parts of the cassette transfer section 140 shown in Figure 10(a). As shown in Figures 10(a) and (b), the cassette transfer section 140 includes a claw section 141, a claw section moving mechanism 142, a beam section 143, and a support section 144.

[0051] The claw portion 141 is a claw-shaped member that protrudes vertically upward. The cassette Ca has an engagement portion that protrudes vertically downward on the edge on the front side in the depth direction. By engaging the claw portion 141 with the engagement portion, the cassette transfer unit 140 can pull out the cassette Ca from the cassette shelf 110.

[0052] The claw moving mechanism 142 is a mechanism for reciprocating the claw 141 in the depth direction. When the cassette Ca is pulled out from the cassette shelf 110, it is located below the claw moving mechanism 142. The beam 143 is a beam that is arranged at the top of the injection drug dispensing device 100 and is parallel to the width direction. The claw moving mechanism 142 can move parallel to the width direction along the beam 143. The support pillars 144 are two support pillars that are arranged at both ends in the width direction near the front of the injection drug dispensing device 100. The beam 143 can move in the vertical direction with both ends supported by the support pillars 144. By combining these movements: (i) the movement of the claw 141 in the depth direction, (ii) the movement of the claw moving mechanism 142 in the width direction, and (iii) the movement of the beam 143 in the vertical direction, the cassette Ca that is hooked on the claw 141 can be transported.

[0053] The cassette transfer unit 140 also has an impact absorbing plate 145 on the underside of the claw movement mechanism 142. The impact absorbing plate 145 covers the upper side of the cassette Ca when the cassette Ca is pulled out from the cassette shelf 110. The impact absorbing plate 145 is configured to be able to move up and down in response to an impact. If an impact applied to the cassette Ca causes the injection drug to jump up, the injection drug will collide with the impact absorbing plate 145. The impact absorbing plate 145 absorbs the impact caused by the collision of the injection drug by moving up and down. This reduces the risk of the injection drug being damaged by an impact applied to the cassette Ca.

[0054] Furthermore, when the cassette transfer unit 140 removes the cassette Ca from the cassette shelf 110, the cassette transfer unit 140 removes the cassette Ca with the front side of the cassette Ca raised above the height of the protrusion 113. Therefore, the cassette transfer unit 140 can remove the cassette Ca from the cassette shelf 110 without the cassette Ca getting caught on the protrusion 113.

[0055] The control unit 190 controls the operation of the injection drug dispensing device 100. The control unit 190 includes a transfer control unit 191, a drive control unit 192, a transport control unit 193, an adsorption position determination unit 194, a first discrimination processing unit 195, a second discrimination processing unit 196, and a drug position control unit 197.

[0056] The transfer control unit 191 controls the operation of the cassette transfer unit 140 to transfer the cassette Ca from the cassette shelf 110 to the cassette holding unit 130. The drive control unit 192 controls the operation of the cassette holding unit 130 to move the cassette Ca between a processing position and a cassette receiving position. The transport control unit 193 controls the operation of the medicine transport unit 121 and the medicine moving unit 153.

[0057] The suction position determining unit 194 analyzes the image captured by the position specifying camera 122 and determines the suction position at which the medicine transporting unit 121 will suction the injection drug in order to extract the injection drug from the cassette Ca.

[0058] The first discrimination processing unit 195 determines whether or not the injection drug can be dispensed based on the result of comparing information indicating the type of injection drug read by the barcode reader 123 with information indicating the type of injection drug (specific information of the injection drug) included in the prescription data for administration to one patient. The second discrimination processing unit 196 determines whether or not the injection drug can be dispensed based on information indicating the expiration date of the injection drug photographed by the expiration date reading camera 125. Specifically, the second discrimination processing unit 196 may determine whether or not the injection drug can be dispensed based on, for example, the result of comparing the expiration date with the date and time at which the discrimination process is performed. Alternatively, the second discrimination processing unit 196 may determine whether or not the injection drug can be dispensed based on, for example, the result of comparing the expiration date with the date and time at which the injection drug is administered to the patient. In this case, data on the date and time at which the injection drug is administered to the patient may be included, for example, in the prescription data for administration to one patient.

[0059] The processing by first determination processing unit 195 and second determination processing unit 196 is part of the above-mentioned identification processing. Therefore, as described above, identification processing unit 120 includes first determination processing unit 195 and second determination processing unit 196.

[0060] The medicine position control unit 197 controls the operation of the position changing unit 126 and the medicine rotating unit 127. Specifically, the medicine position control unit 197 controls the positions of the first mounting unit 126a and the second mounting unit 126b by rotating the position changing unit 126. In addition, the medicine position control unit 197 operates the medicine rotating unit 127 to rotate the injection medicine in the first mounting unit 126a or the second mounting unit 126b.

[0061] The control unit 190 also includes a dispensing order determination unit (not shown) that determines the dispensing order of the injection drugs when multiple types of injection drugs are specified in the prescription data for administration to one patient. The dispensing order determination unit may, for example, determine the dispensing order of the injection drugs based on the order specified in the prescription data for administration to one patient. The dispensing order determination unit may also determine the dispensing order of the injection drugs based on, for example, the names of the injection drugs. Based on the dispensing order of the injection drugs and the correspondence data described below, the order in which the cassettes Ca are transferred by the cassette transfer unit 140 and the order in which the cassettes Ca held in the cassette holding unit 130 move from the cassette receiving position 131 to the processing position 132 are determined.

[0062] The storage unit 180 stores information necessary for controlling the injection drug dispensing device 100. The storage unit 180 stores programs for controlling the operations of, for example, the drug delivery unit 121, the cassette transport unit 140, and the drug movement unit 153. The storage unit 180 also stores correspondence data indicating the correspondence between each of the m cassettes Ca and the injection drugs contained in each of the m cassettes Ca. The storage unit 180 also stores information indicating the injection drugs whose posture needs to be confirmed based on whether or not the barcode can be read, as described above.

[0063] Furthermore, a medicine master in which information about each injection drug is recorded is stored in the storage unit 180. Specifically, the medicine master stores injection drug identification information (injection drug code, injection drug ID) for identifying each injection drug, and various information (e.g., injection drug width information indicating the width of the injection drug) linked to the information.

[0064] The medicine master and the other information described above may be stored in a server (not shown) connectable to the injection drug dispensing device 100 via a network.

[0065] (Regarding returned medicines) Furthermore, in hospital operations, injection drugs that have been dispensed may be returned without being administered to the patient due to a change in the patient's condition, etc. It is time-consuming to return such returned injection drugs (returned drugs) to cassettes Ca by type. Therefore, the injection drug dispensing device 100 has a function to identify the type and expiration date of the returned drug, store it, and reuse the returned drug. A specific configuration for realizing this function is described below.

[0066] 11 to 13, the cassette shelf 110 includes a returned drug receiving cassette 161, a direction alignment cassette 162, a large returned drug cassette 163, and a small / medium returned drug cassette 164. These cassettes may be held in the rightmost column in the width direction of the cassette shelf 110, for example.

[0067] The returned medicine receiving cassette 161 is a cassette that first receives returned medicines. When a user puts a returned medicine into the returned medicine receiving cassette 161, the user can put the returned medicine into the returned medicine receiving cassette 161 without worrying about the type or direction of the returned medicine.

[0068] The direction alignment cassette 162 is a cassette for aligning the orientation of returned drugs in a certain direction. The direction alignment cassette 162 has a bottom surface with a substantially V-shaped cross section. Therefore, the orientation of returned drugs placed in the returned drug receiving cassette 161 is aligned in a certain direction that follows the shape of the bottom surface.

[0069] FIG. 11 is a cross-sectional view of the orientation alignment cassette 162 in a plane parallel to the front surface of the injection drug dispensing device 100. As shown in FIG. 11, the cross-section of the bottom surface of the orientation alignment cassette 162 is not a simple V-shape, but has a shape that combines an upwardly convex curve and a downwardly convex curve. As will be described later, the operation for returned drugs includes a step in which the position identification camera 122 photographs the interior of the orientation alignment cassette 162. At this time, if the cross-section of the bottom surface of the orientation alignment cassette 162 is a perfect V-shape, there is a risk that the photograph will not be properly taken due to light reflected from the bottom surface. For this reason, in order to suppress reflection in the direction of the position identification camera 122, the cross-section of the bottom surface of the orientation alignment cassette 162 has a shape that combines curves.

[0070] The large returned drug cassette 163 and the small / medium returned drug cassette 164 are both cassettes that store injection drugs after their types have been identified. Large returned drugs may be, for example, returned drugs with a diameter of 26 mm or more. Medium or smaller returned drugs may be, for example, returned drugs with a diameter of less than 26 mm. The size that marks the boundary between medium and small may be set as appropriate, and the size that marks the boundary between large and medium or smaller is not limited to the above example.

[0071] Figure 12 is a diagram showing the shape of the large returned medicine cassette 163, where (a) is a plan view and (b) is a cross-sectional view taken along line AA in (a). Figure 13 is a diagram showing the shape of the small / medium returned medicine cassette 164, where (a) is a plan view, (b) is a cross-sectional view taken along line BB in (a), and (c) is a cross-sectional view taken along line CC in (a). In (b) of Figure 12 and (b) and (c) of Figure 13, the paper surface is a plane parallel to both the depth direction and the vertical direction of the injection drug dispensing device 100.

[0072] As shown in Figures 12(a) and 12(b), a plurality of recesses 163a are formed in the bottom surface of the large returned medicine cassette 163. On the other hand, as shown in Figures 13(a) to 13(c), a plurality of recesses 164a shallower than the recesses 163a are formed at intervals narrower than the intervals between the recesses 163a in the bottom surface of the small / medium returned medicine cassette 164. Furthermore, a plurality of recesses 164b shorter and shallower than the recesses 164a are formed between the recesses 164a.

[0073] Large returned drugs are stored in one of the recesses 163a in the large returned drug cassette 163. Medium returned drugs are stored in one of the recesses 164a in the small / medium returned drug cassette 164. Small returned drugs are stored in the recess 164b in the small / medium returned drug cassette 164. It should be noted that small returned drugs may also be stored in the recess 164a.

[0074] The direction alignment cassette 162, the large returned drug cassette 163, and the small / medium returned drug cassette 164 may be configured by disposing a bottom plate of the above-mentioned shape on the bottom of the cassette Ca. Alternatively, the direction alignment cassette 162, the large returned drug cassette 163, and the small / medium returned drug cassette 164 may each be a dedicated cassette having a bottom of the above-mentioned shape.

[0075] [Example of operation when dispensing injection drugs] 14 is a flowchart showing the operation of the injection drug dispensing device 100 when dispensing an injection drug. The operation of the injection drug dispensing device 100 when dispensing an injection drug will be described below.

[0076] When prescription data is input to the injection drug dispensing system 1 and dispensing of an injection drug based on the prescription data for administration to one patient included in the prescription data is started, first, the transfer control unit 191 causes the cassette transfer unit 140 to transfer the cassette Ca corresponding to the type of injection drug to be dispensed from the cassette shelf 110 to the cassette receiving position 131 of the cassette holding unit 130 (SA1). The drive control unit 192 moves the cassette Ca from the cassette receiving position 131 to the processing position 132 (SA2).

[0077] The suction position determination unit 194 captures an image of the inside of the cassette Ca at the processing position using the position identification camera 122, analyzes the position and orientation of the injection drug from the image, and determines the suction position (SA3). The transport control unit 193 causes the drug transport unit 121 to suction the injection drug at the suction position determined in step SA3, and transports the injection drug from the cassette Ca to the first loading unit 126a (SA4).

[0078] The first discrimination processing unit 195 and the second discrimination processing unit 196 identify the type and expiration date of the injection drug loaded on the first loading unit 126a (SA5). Specifically, the first discrimination processing unit 195 reads the type using the barcode reader 123, and the second discrimination processing unit 196 analyzes the expiration date.

[0079] The first discrimination processing unit 195 determines whether the type of injection drug is appropriate (SA6). If the type of injection drug is appropriate (YES in SA6), the second discrimination processing unit 196 determines whether the expiration date of the injection drug is appropriate (SA7). If the expiration date of the injection drug is appropriate (YES in SA7), the transport control unit 193 causes the drug moving unit 153 to dispense the injection drug to the transport tray 151a (SA8). On the other hand, if the type of injection drug is inappropriate (NO in SA6) or the expiration date of the injection drug is inappropriate (NO in SA7), the transport control unit 193 causes the drug moving unit 153 to move the injection drug to the non-dispensed drug storage unit 152 for storage (SA9).

[0080] Through the above process, one injection drug is dispensed onto the transport tray 151a or stored in the non-dispensed drug storage unit 152. The injection drug dispensing device 100 repeats the above process until all the required injection drugs are dispensed onto the transport tray 151a.

[0081] In the above example, the processes of steps SA6 and SA7 are executed in this order, but these steps may be executed in the reverse order or in parallel.

[0082] The cassette Ca from which the injection drug has been removed may be returned by the cassette transfer unit 140 from the cassette holding unit 130 to the cassette shelf 110 at any timing while the processing from step SA3 onwards is being executed. However, if it is determined in step SA6 or SA7 above that the type or expiration date of the injection drug removed from the cassette Ca is inappropriate, it will be necessary to remove the injection drug again from the cassette Ca. For this reason, it is preferable that the cassette Ca from which the injection drug has been removed be returned to the cassette shelf 110 after a YES determination is made in step SA7.

[0083] Furthermore, if step SA6 is determined to be NO multiple times consecutively and the type of injection drug is the same for the multiple injections, there is a possibility that the cassette Ca contains an injection drug different from the correspondence stored in the memory unit 180. The control unit 190 may be provided with a notification unit (not shown) that notifies the administrator of the injection drug dispensing system 1 of the above possibility in such a case.

[0084] The injection drug dispensing device 100 does not need to perform the above-described processes independently for each cassette Ca, but may perform them in parallel. That is, for example, the transfer control unit 191 may perform step SA1 for one cassette Ca, and then perform step SA1 for another cassette Ca while the drive control unit 192 is performing step SA2. Also, while the transport control unit 193 is performing step SA4 for the other cassette Ca, the cassette holding unit 130 may move the cassette Ca that has already completed step SA4 to the cassette receiving position 131, and the cassette transfer unit 140 may return the cassette Ca to the cassette shelf 110. In this way, the specific process can be performed in parallel for some of the many cassettes Ca stored on the cassette shelf 110, thereby speeding up the specific process. The greater the number of cassettes Ca stored on the cassette shelf 110, the greater the effect of speeding up the process by performing the specific process in parallel.

[0085] [Example of operation when returning injection drugs] Fig. 15 is a flowchart showing the operation of the injection drug dispensing device 100 for returned drugs. Fig. 16 is a diagram showing an example of the arrangement of cassettes held in the cassette holding unit 130. The operation when an injection drug is returned will be described below.

[0086] First, the transfer control unit 191 transfers the returned drug receiving cassette 161, the orientation alignment cassette 162, the large returned drug cassette 163, and the small / medium returned drug cassette 164 to the cassette holding unit 130 using the cassette transfer unit 140 (SB1). These cassettes may be arranged, for example, as shown in FIG. 16 . That is, the orientation alignment cassette 162 may be arranged closest to the position changing unit 126, and the returned drug receiving cassette 161, the large returned drug cassette 163, and the small / medium returned drug cassette 164 may be arranged in this order, moving farther from the position changing unit 126. However, this arrangement is not limited to this order.

[0087] Next, the drive control unit 192 moves the returned medicine receiving cassette 161 and the orientation alignment cassette 162 to the processing position 132 (SB2).

[0088] The suction position determination unit 194 takes an image of the inside of the returned drug receiving cassette 161 using the position identification camera 122, analyzes the position (and orientation) of the returned drug from the image, and determines the suction position for the drug transport unit 121 (SB3). The transport control unit 193 causes the drug transport unit 121 to suction the returned drug at the suction position determined by the suction position determination unit 194, and transports it from the returned drug receiving cassette 161 to the direction alignment cassette 162 (SB4).

[0089] The returned medicines transported to the orientation alignment cassette 162 are aligned in orientation by the shape of the bottom surface of the orientation alignment cassette 162 and the effect of gravity. The suction position determination unit 194 takes an image of the inside of the orientation alignment cassette 162 using the position identification camera 122, and determines the suction position by the medicine transport unit 121 based on the position of the returned medicine (SB5). The transport control unit 193 causes the medicine transport unit 121 to suction the returned medicine at the suction position determined by the suction position determination unit 194, and transports it from the orientation alignment cassette 162 to the first loading unit 126a (SB6).

[0090] As in step SA5 described above, first discrimination processing unit 195 and second discrimination processing unit 196 identify the type and expiration date of the returned drug transported to first loading unit 126a (SB7). Second discrimination processing unit 196 determines whether the expiration date of the returned drug is appropriate (SB8). Whether the expiration date is appropriate is determined, for example, based on the result of comparing the expiration date with the date and time when step SB8 is executed.

[0091] If the expiration date is appropriate (YES in SB8), the transport control unit 193 causes the medicine transport unit 121 to transport the returned medicine to the large returned medicine cassette 163 or the small / medium returned medicine cassette 164 based on its size (SB9). Thereafter, the first discrimination processing unit 195 stores the type of returned medicine in the memory unit 180, and the transport control unit 193 stores the location of the returned medicine in the memory unit 180 (SB10). On the other hand, if the expiration date is not appropriate (NO in SB8), the transport control unit 193 moves the injection medicine to the non-dispensed medicine storage unit 152 for storage (SB11).

[0092] Through the above process, one returned drug is stored in the large returned drug cassette 163 or the small / medium returned drug cassette 164 with the correspondence between its position and type recognized. The injection drug dispensing device 100 repeats this process until all returned drugs in the returned drug receiving cassette 161 are used up.

[0093] Furthermore, when prescription data is input to the injection drug dispensing system 1, if the prescription data includes an injection drug stored in the large returned drug cassette 163 or the small / medium returned drug cassette 164, the injection drug dispensing device 100 can reuse the returned drug. In this case, the transfer control unit 191 transfers the large returned drug cassette 163 or the small / medium returned drug cassette 164 storing the returned drug to the cassette holding unit 130 instead of the cassette Ca storing the injection drug. The transport control unit 193 transports the returned drug to the first loading unit 126a based on the correspondence between the type and position of the returned drug stored in the memory unit 180. Thereafter, the injection drug dispensing device 100 executes the processes from step SA5 onwards described above.

[0094] [Specific process for taking out injection drugs] Next, an example of a specific process for removing an injection drug from a cassette Ca will be described with reference to FIGS.

[0095] In order to remove the injection drug from the cassette Ca placed on the cassette holding unit 130, the suction position determination unit 194 identifies the injection drug to be suctioned from among the injection drugs contained in the cassette Ca by analyzing the image captured by the position identification camera 122. Then, the suction position determination unit 194 determines the approximate center of the identified injection drug (in the case of a vial, the approximate center of the cylindrical part) as the suction position. The transport control unit 193 controls the medicine transport unit 121 to lower the suction mechanism 121a to the determined suction position and suction the injection drug.

[0096] First, the shape model required for the pick-up position determination process by the pick-up position determination unit 194, the shape model registration process, and the initial setting process will be described.

[0097] (shape model) First, the shape model will be described. The shape model is data showing multiple shape patterns calculated by applying multiple conditions to the shape information of the injection drug. The shape model is data referenced by the suction position determination unit 194 to identify the shape of the injection drug contained in the image captured by the position identification camera 122.

[0098] The shape information is contour information (edge ​​information) that indicates the contour of each injection drug. In this embodiment, the shape information is expressed as a set of point sequences that represent the position information of adjacent pixels that indicate the contour of the injection drug, and has an accuracy of about subpixels.

[0099] The multiple conditions include, for example, the following (1) to (5). (1) The range of rotation of the injection drug indicated by the shape information (e.g., 0° or more but less than 360°). (2) The pitch at which the injection is rotated. (3) The range of magnification for expanding or contracting the injection drug in the X-axis direction. (4) The range of magnification for expanding or contracting the injection drug in the Y-axis direction. (5) The contrast of the injection (the difference in brightness between the foreground and background of the injection).

[0100] The shape model is linked to the injection drug identification information of each injection drug and registered in the drug master. However, the shape model may be managed not by the drug master but by a drug shape master in which each injection drug identification information is linked to the shape model and registered. Furthermore, it is preferable that the shape model is created in advance and registered in the drug master. However, the shape model can be updated as needed. In other words, the latest shape model is registered in the drug master.

[0101] (Registration process of shape model) Next, the registration process of a shape model will be described with reference to Fig. 17. Fig. 17 is a diagram for explaining the registration process of a shape model, in which (a) is a flowchart showing an example of the registration process, and (b) is a diagram schematically showing the shape of an injection drug indicated by the shape model.

[0102] First, the user places the injection drug to be registered in a cassette Ca and places it on the cassette shelf 110. The cassette transfer unit 140 removes the cassette Ca from the cassette shelf 110 and places it on any of the cassette holding units 130 located at the cassette receiving position 131. Note that the user may also place the cassette Ca on the cassette holding unit 130.

[0103] Then, as shown in (a) of Figure 17, the transport control unit 193 transports the cassette holding unit 130 with the cassette Ca placed on it to the processing position 132, and then the position identification camera 122 photographs the cassette Ca (i.e., the injection drug in the cassette Ca) (SC1).

[0104] Next, the suction position determination unit 194 detects an injection drug area indicating an area assumed to be an injection drug within the image acquired by the position identification camera 122 (SC2). The suction position determination unit 194, for example, performs a binarization process on the image and detects an area including pixels having a gradation value within a predetermined range as the injection drug area. Because the cassette Ca has a specific color (e.g., blue), the suction position determination unit 194 only needs to detect an area having a color different from the specific color. Therefore, the suction position determination unit 194 can easily identify the injection drug area. In other words, by using a cassette Ca of a specific color, the injection drug area can be easily identified.

[0105] Next, the suction position determination unit 194 performs a smoothing process on the contour of the injection drug region (SC3), and then detects the orientation (angle) of the injection drug (SC4). Based on the detected orientation of the injection drug, the suction position determination unit 194 aligns the orientation of the injection drug to be registered to a fixed direction (angle 0°) (SC5: normalization process). Note that this orientation is defined as the angle between the reference line and the straight line connecting the center of the head and the center of the base of the injection drug, when the Y-axis direction (the direction in which the coordinate ImgCol is set) in the image Im1 shown in FIG. 19 is taken as the reference line.

[0106] Next, the suction position determination unit 194 identifies the shape of the injection drug region after the smoothing process and the normalization process as shape information indicating the shape of the injection drug, and then calculates multiple shape patterns by applying the above conditions (1) to (5) to the shape information. The shape and orientation of the injection drug indicated by the shape model can be schematically shown as in Figure 17(b). Then, these multiple shape patterns are registered in the medicine master as the shape model of the injection drug (SC6).

[0107] As a result, during the adsorption position determination process, the adsorption position determination unit 194 can identify the shape of the injectable drug to be adsorbed by comparing the injection drug area detected from the image taken by the position identification camera 122 with the shape model registered in the drug master.

[0108] (Initial setting) Next, the initial setting process will be described with reference to Fig. 18 to Fig. 20. Fig. 18 is a flowchart showing an example of the initial setting process. Fig. 19 is a diagram for explaining each coordinate system. (a) to (c) of Fig. 20 are diagrams for explaining the coordinate conversion process.

[0109] At least at the time of shipment, the injection drug dispensing device 100 is initialized, which includes parameter setting processing and coordinate conversion processing.

[0110] First, a parameter setting process is performed as shown in Fig. 18. The parameter setting process is a process for setting (calculating) internal parameters and external parameters.

[0111] The intrinsic parameters are lens-specific (camera-specific) parameters that indicate the characteristics of the lens of the position identification camera 122, and their values ​​are published by the camera manufacturer. The intrinsic parameters specify, for example, the type of lens distortion (e.g., barrel distortion or pincushion distortion) and the degree of distortion.

[0112] The external parameters are parameters that indicate the attitude (lens attitude) of the position identifying camera 122 installed in the injection drug dispensing device 100. In other words, the external parameters are values ​​that are determined when the position identifying camera 122 is installed and fixed on the cassette shelf 110. The external parameters indicate, for example, the position of the position identifying camera 122 in the world coordinate system (e.g., the x coordinate, y coordinate, z coordinate, rotation angle relative to the x axis, and rotation angle relative to the y axis of the position identifying camera 122).

[0113] Specifically, the medicine transport unit 121 places the cassette holding unit 130, to which the parameter setting plate is fixed, at the processing position 132 that is within the angle of view of the position identification camera 122 (SD1). Thereafter, the position identification camera 122 photographs the parameter setting plate to obtain a parameter setting image (SD2).

[0114] The parameter setting plate is a plate used to calculate internal and external parameters, and has, for example, a large number of small black dots (dot patterns) printed on it. Note that the processing of SD1 can also be performed by the user.

[0115] Next, the suction position determination unit 194 determines whether or not images have been captured the predetermined number of times (SD3). If images have not been captured the predetermined number of times (NO in SD3), the process returns to SD1. In other words, if images have not been captured the predetermined number of times, the medicine delivery unit 121 places a parameter-setting plate, on which a dot pattern different from the dot pattern printed on the captured parameter-setting plate, at the processing position 132. In this embodiment, 6 to 10 parameter-setting plates, each with a different dot pattern, are prepared. As long as the internal and external parameters can be calculated, the number of prepared parameter-setting plates may be 5 or less, or 11 or more. The predetermined number of times is set to the number of prepared parameter-setting plates.

[0116] If the predetermined number of images have been taken (YES in SD3), the suction position determining unit 194 calculates the internal and external parameters by analyzing the images of the parameter setting plate (SD4).

[0117] As mentioned above, the intrinsic parameters are fixed values ​​published by the camera manufacturer, but due to individual differences in lenses, there may be deviations from the published values ​​even for the same type of lens. By calculating the intrinsic parameters, the actual intrinsic parameters of the lens used in the position identification camera 122 can be accurately determined.

[0118] Next, a coordinate transformation process is performed. The coordinate transformation process is a process of calculating a transformation matrix (vector) for performing coordinate transformation to align the pickup position in the image with the actual pickup position on the cassette Ca. The transformation matrix can also be said to be a matrix for specifying the positional relationship between the image coordinate system and the robot coordinate system. In reality, as will be described later, distortion occurs in the captured image. Therefore, in this embodiment, a transformation matrix is ​​calculated for specifying the positional relationship between the robot coordinate system and a distortion-free world coordinate system obtained by transforming the image coordinate system.

[0119] The image coordinate system is a coordinate system set in the image captured by the position identification camera 122. In this embodiment, as shown in Fig. 19, one corner of the image Im1 (the back side (processing position 132 side) of the injection drug dispensing device 100) is set as the origin (Img(0,0)), and the X axis is defined from the back side of the injection drug dispensing device 100 to the front side (cassette receiving position 131 side), and coordinates (ImgRow, ImgCol) are defined.

[0120] The robot coordinate system is a coordinate system that defines the position of the suction mechanism 121a at the processing position 132. In this embodiment, as shown in Fig. 19, the front side of the injection drug dispensing device 100 is set as the origin (Robo(0,0)), the Y axis is defined from the front side to the back side of the injection drug dispensing device 100, and coordinates (RoboX, RoboY) are defined.

[0121] The world coordinate system is an absolute coordinate system in the injection drug dispensing device 100. In this embodiment, as shown in FIG. 19 , an arbitrary position in the injection drug dispensing device 100 is set as the origin (World(0,0)), and the X axis is defined from the back side to the front side of the injection drug dispensing device 100, thereby defining coordinates (WorldX, WorldY). The direction in which the lens of the position identification camera 122 is positioned as viewed from the origin (World(0,0)) is defined as the Z axis, thereby defining coordinates (WorldZ). The origin (World(0,0)) (reference position) is, for example, the center of the cassette holding units 130a and 130b (or the cassette holding units 130c and 130d).

[0122] After the process of SD4, as shown in (a) of FIG. 20, the medicine delivery unit 121 places the cassette holders 130a and 130b (or cassette holders 130c and 130d) to which the robot origin jigs 501 are fixed at the processing positions 132a and 132b (or processing positions 132c and 132d) that are within the angle of view of the position identification camera 122a (or position identification camera 122b) (SD5). The two robot origin jigs 501 are fixed at positions where they will be inserted into jig holes 502a formed in the coordinate transformation plate 502 when the coordinate transformation plate 502 shown in (b) of FIG. 20 is placed on the cassette holders 130a and 130b. The two robot origin jigs 501 are fixed to such an extent that they will not be displaced by being pressed or attracted by the suction mechanism 121a. The process of SD5 may be performed by the user.

[0123] In this state, the transfer control unit 193 lowers the suction mechanisms 121a onto the respective robot origin jigs 501 and brings their tips into contact with them. As a result, the suction position determination unit 194 identifies the positions of the two robot origin jigs 501 in the robot coordinate system.

[0124] As shown in FIG. 20(b), the coordinate transformation plate 502 has two jig holes 502a into which the robot origin jig 501 is inserted, and nine targets (black dots) 503 printed on it. The positions of the jig holes 502a and the targets 503 on the coordinate transformation plate 502 are stored in advance in the storage unit 180. In other words, the positional relationship between these two is specified in advance. Therefore, as described above, the suction position determination unit 194 specifies the position of the robot origin jig 501 in the robot coordinate system, and can therefore also specify the position (RoboX, RoboY) of the target 503 in the robot coordinate system when the coordinate transformation plate 502 is placed on the cassette holders 130a and 130b.

[0125] After the process of SD5, as shown in (c) of Fig. 20, the user places the coordinate transformation plate 502 on the cassette holders 130a and 130b so that the robot origin jig 501 is inserted into the jig hole 502a formed in the coordinate transformation plate 502 (SD6). After placement, the position identification camera 122 captures an image of the coordinate transformation plate 502 to obtain a coordinate transformation image (SD7).

[0126] Next, the suction position determining unit 194 analyzes the coordinate transformed image to detect the position (ImgRow, ImgCol) of the target 503 in the image coordinate system (SD8).

[0127] Next, the pickup position determination unit 194 converts the position of the target 503 in the image coordinate system into the position (WorldX, WorldY) of the target 503 in the world coordinate system in order to correct distortion of the coordinate-converted image (SD9). Specifically, the pickup position determination unit 194 calculates the position of the target 503 in the world coordinate system from the position of the target 503 in the image coordinate system, using the internal parameters and external parameters calculated in SD4 and target height information indicating the height of the target 503. The target height information is stored in advance in the storage unit 180.

[0128] Next, the pickup position determination unit 194 calculates a transformation matrix using the position coordinates of the target 503 in the world coordinate system calculated in SD9 and the position coordinates of the target 503 in the robot coordinate system specified in SD5 (SD10).

[0129] In this embodiment, two position identification cameras 122 are provided, and therefore, the calculation of internal parameters and external parameters, and the calculation of a transformation matrix are performed for each of the position identification cameras 122a and 122b. The external parameters depend on the installation position of the position identification camera 122. Therefore, the position identification camera 122 is firmly fixed to the cassette shelf 110, and if a deviation occurs in the installation position, the external parameters are calculated again.

[0130] (Pickup position determination process) Next, the process of determining the adsorption position of the injection drug contained in the cassette Ca will be described with reference to Fig. 21 and Fig. 22. Fig. 21 is a diagram showing an example of the process of determining the adsorption position of the injection drug contained in the cassette Ca. The process in Fig. 21 specifically explains the process of SA3 shown in Fig. 14. Fig. 22(a) and (b) are diagrams for explaining the detection of the cassette Ca in an image.

[0131] 21, the suction position determination unit 194 compares the injection drug identification information included in the prescription data provided to the injection drug dispensing system 1 with the injection drug identification information included in the medicine master. As a result, the suction position determination unit 194 reads a shape model of the injection drug (the injection drug to be photographed) contained in the cassette Ca placed at the processing position 132 (SE1).

[0132] Next, the position identifying camera 122 photographs the cassette holding unit 130 (i.e., the cassette Ca placed on the cassette holding unit 130 and the injection drug contained in the cassette Ca) that has been transported to the processing position 132 (SE2). For example, when the cassette Ca containing the injection drug to be photographed is placed on the cassette holding unit 130b, the position identifying camera 122a photographs an image Im2 as shown in (a) of FIG.

[0133] Next, the suction position determination unit 194 detects the cassette Ca included in the captured image (SE3). The cassette Ca has a specific color different from the color of the casing at the processing position 132. Therefore, the suction position determination unit 194 can easily detect the cassette Ca by detecting the specific color. In particular, if the specific color is blue, it is easy to detect the cassette Ca.

[0134] Even when two cassette holders 130 are placed in the photographing region 122c or 122d, the suction position determination unit 194 can identify the injection drug to be photographed based on the determined dispensing order. Therefore, the suction position determination unit 194 can identify the cassette Ca containing the injection drug to be photographed from among the two cassette holders 130 placed in the photographing region 122c or 122d.

[0135] Here, (b) of Figure 22 is a view of the cassette Ca as seen from above. There is a possibility that the medicine delivery unit 121 will not be able to adsorb the injectable drug present in the edge region inside the cassette Ca (the region having width W2 from the inside of the side wall). Furthermore, the side wall portion (thickness W1) of the cassette Ca cannot be identified as an area for adsorbing the injectable drug. Therefore, the adsorption position determination unit 194 identifies the area detected as the cassette Ca in the image, excluding the side wall portion and the edge region (the region having thickness W1 and width W2 from the outer edge of the cassette Ca), as the area Ra capable of adsorbing the injectable drug.

[0136] If an injection drug exists in an area other than the adsorption-capable area Ra, the adsorption position determination unit 194 does not determine the injection drug as the injection drug to be adsorbed. In other words, only injection drugs existing in the adsorption-capable area Ra are identified as injection drugs to be adsorbed. If the injection drug exists only in an area other than the adsorption-capable area Ra, the adsorption position determination unit 194 may issue a notification (warning) that the injection drug cannot be adsorbed. Furthermore, if multiple types of cassettes Ca are prepared (for example, cassettes Ca with different heights are prepared), an adsorption-capable area Ra is identified for each type of cassette Ca.

[0137] After processing in SE3, the suction position determination unit 194 performs preprocessing to emphasize the injection drug region in the image (SE4). For example, the suction position determination unit 194 may erase the label in the image by converting the region assumed to be the label to a specific color, or may perform processing to emphasize the region assumed to be the outline defining the outer edge of the injection drug (e.g., a region with a predetermined brightness or color difference between adjacent pixels). The suction position determination unit 194 then detects the injection drug region contained in the image (SE5). For example, the suction position determination unit 194 performs binarization processing on the image processed in SE4 to identify a region containing pixels with a predetermined range of gradation values ​​(i.e., a region with a color different from the specific color of the cassette Ca) as the injection drug region. The suction position determination unit 194 then compares the identified injection drug region with the shape model loaded in SE1 (SE6).

[0138] Next, the suction position determination unit 194 verifies the validity of the collation result (SE7). Since the process in SE6 is a process for identifying the outline of the injection drug, if multiple injection drugs are adjacent or overlapping, the multiple injection drugs may be identified as a single injection drug. In this case, it is not possible to identify the accurate suction position.

[0139] For example, if two injection medications are present, the cassette Ca will be present as background in the area between the two injection medications. Therefore, if the identified injection medication area contains an area that penetrates the injection medication area and includes a specific color, the suction position determination unit 194 recognizes that multiple injection medications are present and determines that the collation result is invalid. In this case, the processing of SE6 is repeated until the collation result is determined to be valid.

[0140] If it is determined in SE7 that the collation result is valid, the adsorption position (adsorption coordinates) in the injection drug region on the image and the orientation of the injection drug region are calculated (SE8). That is, the adsorption position in the image coordinate system is calculated.

[0141] When matching is performed in SE6, the position of the head of the injection drug in the image can be identified, and the orientation of the injection drug region can be determined. This orientation is defined as the angle between the Y-axis direction (the direction in which the coordinate ImgCol is set, the left-right direction on the page) in image Im2 shown in FIG. 22(a) and the line connecting the center of the head and the center of the base of the injection drug, for example. It may also be calculated based on a registered shape model (angle 0°). The method for calculating the adsorption position will be described later.

[0142] Next, the suction position determination unit 194 converts the calculated suction position in the image coordinate system into a suction position in the world coordinate system in order to correct the distortion of the lens of the position identification camera 122 and the installation position of the lens (SE9). This conversion is performed using the internal parameters and external parameters calculated in SD4 shown in Fig. 19 and injection drug width information indicating the width of the injection drug, similar to the processing of SD9 shown in Fig. 18.

[0143] Next, the pickup position determination unit 194 converts the pickup position in the converted world coordinate system into a pickup position in the robot coordinate system (SE10). This identifies the pickup position for the injection drug in real space. This conversion is performed by applying the transformation matrix calculated in the process of SD10 shown in FIG. 18 to the pickup position in the world coordinate system.

[0144] The adsorption position when an injection drug is returned can be determined using a known method, for example, and therefore a detailed description of the method for determining the adsorption position will be omitted.

[0145] (Correction process related to adsorption position determination) Next, the correction process for determining the suction position will be described with reference to Figs. 23 to 25. Fig. 23(a) and (b) are diagrams for explaining the correction of positional deviation caused by lens distortion. Fig. 24 is a diagram for explaining the correction of positional deviation caused by the width of the injection drug. Fig. 25(a) to (c) are diagrams for explaining the correction of positional deviation related to projection.

[0146] As described above, in the injection drug dispensing device 100, due to configuration constraints, the two position identifying cameras 122 are provided on the bottom surface of the cassette shelf 110 as shown in Fig. 5. Therefore, the distance from the position identifying camera 122 to the processing position 132 (specifically, the cassette Ca placed on the cassette holding unit 130 present at the processing position 132) is shorter than when the position identifying camera 122 is provided on the ceiling of the injection drug dispensing device 100.

[0147] In conventional injection drug dispensing devices, the position identifying camera is installed on the ceiling of the injection drug dispensing device, and the injection drug to be identified for drug type is placed directly below the camera. In other words, in the injection drug dispensing device 100, the above distance is shorter than in the conventional injection drug dispensing device, so the viewing angle of the lens used in the position identifying camera 122 needs to be increased. Note that, for example, the above distance is about 465 mm in the injection drug dispensing device 100, whereas the above distance is about 1.1 to 1.2 m in the conventional injection drug dispensing device.

[0148] In general, the larger the lens diameter, the smaller the viewing angle of the lens. Because the above distance is relatively large, a lens with a relatively large diameter (e.g., 16 mm) can be used in conventional injection drug dispensing devices. However, when such a lens is used in the injection drug dispensing device 100, the viewing angle is too small for the above distance, and it is not possible to capture an image of the entire cassette Ca placed at the processing position 132. Therefore, taking the above distance into consideration, it is necessary to use a lens with a relatively small diameter for the position identification camera 122.

[0149] If the distance is about 465 mm, it may be possible to use a lens with a lens diameter of, for example, 8 mm. However, in this case, to capture an image of each of the processing positions 132a to 132d in its entirety, it would be necessary to provide one position identification camera 122 for each of the processing positions 132a to 132d (i.e., a total of four position identification cameras 122 are required for the entire device). Therefore, in this embodiment, a lens with a lens diameter of 6 mm is used. This makes it possible to capture an image of each of the processing positions 132a to 132d in its entirety simply by providing one position identification camera 122a common to both the processing positions 132a and 132b, or one position identification camera 122b common to both the processing positions 132c and 132d (i.e., a total of two position identification cameras 122 are required for the entire device).

[0150] However, the smaller the lens diameter, the greater the degree of distortion in the captured image. This distortion can cause an error between the actual position of the injection drug in the cassette Ca and the position of the injection drug in the image. Therefore, if the suction position of the injection drug is determined without correcting this distortion, the suction mechanism 121a may be placed at a position different from the actual position of the injection drug.

[0151] Furthermore, since the position identification camera 122 is provided so as to be shared by the two processing positions 132, the cassette Ca placed at the processing position 132 is photographed from an oblique direction. Since the injection drug has a certain width, when the injection drug is photographed from an oblique direction, the position of the injection drug in the image may differ from the actual position of the injection drug. Furthermore, the assumed suction position of the actual injection drug may be different from the suction position in the image. Therefore, if these possibilities are not taken into consideration, there is a possibility that the suction mechanism 121a may be lowered at a position different from the actual position of the injection drug, as described above.

[0152] Therefore, the suction position determination unit 194 analyzes the image captured by the position identification camera 122, and corrects the suction position (suction coordinates) in the image, taking into account the positional deviation on the image described below.

[0153] (correction of misalignment caused by lens distortion) As described above, lenses have inherent distortion. In this embodiment, a convex lens is used as the lens of the position identification camera 122. As a result, barrel distortion occurs in the image.

[0154] FIG. 23(a) shows an ideal image Ii without lens distortion. In this case, the positional relationship of each target (indicated by four circles in the figure) in image Ir is proportional to the positional relationship of each target in real space. However, barrel distortion actually occurs. In this case, image Ir as shown in FIG. 23(b) is captured. In image Ir, targets located farther from the center of image Ir are more affected by lens distortion. Compared with image Ii shown in FIG. 23(a), it can be seen that the target is closer to the center. Therefore, in order to correct the positional deviation caused by lens distortion, it is necessary to perform a correction to move the image located at that position outward from the center, depending on the position in the image.

[0155] As described above, the intrinsic parameters define the degree of distortion specific to the lens. In other words, by referencing the intrinsic parameters, the degree of distortion at each position on the image can be identified, and the amount of correction required to move the image outward from the center position can be calculated for each position.

[0156] Furthermore, the center position of the image Ir depends on the orientation of the lens of the position identification camera 122. Therefore, the center position of the image Ir can be identified by referring to external parameters that define the orientation. In other words, by calculating the correction amount after identifying the center position, an accurate correction amount can be calculated.

[0157] In the processing of SE9 in FIG. 21, the pickup position determination unit 194 calculates the pickup position in the world coordinate system using the calculated internal parameters and external parameters in order to shift the pickup position in the image coordinate system by the above-mentioned correction amount.

[0158] (Correction of positional deviation caused by the width of the injection drug) Furthermore, even if an injection drug is placed at the same position, its position in the image will differ depending on the width of the injection drug (the height of the injection drug when placed at the processing position 132). As shown in Fig. 24, consider a case where two injection drugs DA and DB with different widths are placed at a position other than directly below the position identification camera 122. In this case, the position in the image corresponding to the position of the injection drug farthest from the placement surface Fa differs depending on the width of the injection drug.

[0159] Specifically, as shown in FIG. 24, a position DAi in the image corresponding to a position PA of the injection drug DA farthest from the placement surface Fa is a position distant by a distance d(A) from the position where the injection drug DA is placed. Furthermore, a position DBi in the image corresponding to a position PB of the injection drug DB farthest from the placement surface Fa is a position distant by a distance d(B) from the position where the injection drug DB is placed. In other words, the greater the width of the injection drug, the farther the position in the image becomes from the actual position where the injection drug is placed. Therefore, in order to correct the positional deviation caused by the width of the injection drug, it is necessary to perform a correction to move the image present at that position inward from the center position according to each position in the image.

[0160] As described above, injection drug width information is registered in the drug master for each of multiple types of injection drugs. Therefore, the distance can be calculated using the width of the injection drug indicated by the injection drug width information and the position of the injection drug in the image. In other words, the correction amount for moving the image inward from the center position can be calculated for each position. Furthermore, as described above, the center position can be identified by referring to external parameters. Therefore, the correction amount can also be calculated accurately.

[0161] In the processing of SE9 in FIG. 21, the suction position determination unit 194 calculates the suction position in the world coordinate system using the calculated external parameters and the registered injection drug width information in order to shift the suction position in the image coordinate system by the above-mentioned correction amount.

[0162] From the above, it can be said that the suction position in the world coordinate system is the suction position resulting from correction of the positional deviation caused by the lens distortion and correction of the positional deviation caused by the width of the injection drug.

[0163] (Correction of positional deviation related to projection) Furthermore, the position in the image corresponding to the position of the injection drug farthest from the placement surface Fa differs depending on where the injection drug is placed in the processing position 132. As shown in FIG. 25(a), consider a case where the injection drug DC is placed in a position other than directly below the position identification camera 122. In this case, the position Pr1 in the image corresponding to the position Pa of the injection drug DC farthest from the placement surface Fa is different from the center position Pr2 in the projection image DCi1 of the injection drug in the image. In other words, as shown in FIG. 25(b), when the injection drug is viewed from directly above, the position Pa is the center position of the injection drug, but as shown in FIG. 25(c), in the projection image DCi1, the position Pa is shifted from the center of the injection drug.

[0164] Since the position Pa of the injection drug is the closest to the opposing suction mechanism 121a, it is preferable to identify the position Pa as the suction position of the injection drug. However, if the center position Pr2 in the projection image DCi1 is identified as the suction position of the injection drug, the position will be shifted from the actual center position of the injection drug (i.e., the position Pa). If the shift is particularly large, the suction mechanism 121a may not be able to suction the injection drug. Therefore, it is necessary to correct this shift.

[0165] Therefore, as shown in (a) of Fig. 25, the suction position determination unit 194 converts the projection image DCi1 into a projection image DCi2 that is shifted by the radius of the injection drug DC in the direction (vertical direction) of the position identification camera 122. Since the width of the injection drug DC is registered in the drug master as injection drug width information, the suction position determination unit 194 can identify the radius of the injection drug DC. Note that injection drug radius information indicating the radius of the injection drug may also be registered in the drug master.

[0166] By converting the projection image DCi1 into the projection image DCi2 using the radius of the injection drug DC, the center position Pc of the projection image DCi2 becomes substantially the same as the position Pa. In other words, the above conversion can be said to generate the projection image DCi2 as a result of rotating the projection image DCi1 shown in Fig. 25(c) so that it becomes substantially the same as the injection drug DC shown in Fig. 25(b). The calculation of the adsorption position in the image coordinate system in the processing of SE8 in Fig. 21 means performing the above conversion.

[0167] (others) When a relatively expensive lens is used for the position identification camera 122, positional deviation due to lens distortion and the height of the injection drug is unlikely to occur. Therefore, when a relatively expensive lens is used, the suction position determination unit 194 only needs to correct positional deviation related to projection. However, in this embodiment, correction of positional deviation due to lens distortion and the height of the injection drug is also performed, making it possible to use a relatively inexpensive lens.

[0168] In addition, although the above description has been given using an example in which a lens with a lens diameter of 6 mm is used, this is not limited to this. It is possible to use a lens with a lens diameter that can capture an image of the entire cassette Ca placed at each processing position 132. For example, by making the distance greater than 465 mm, it is possible to use a lens with a lens diameter of 8 mm.

[0169] (effect) As described above, the injection drug dispensing device 100 of this embodiment can automatically determine the type and expiration date of the injection drug to be administered to one patient based on the input prescription data, and dispense the drug. This can improve the efficiency of the injection drug dispensing work in hospitals and the like.

[0170] In particular, in the drug cassette handling device 200 provided in the injection drug dispensing device 100, the injection drug is moved together with the cassette Ca or is moved by being adsorbed by an adsorption mechanism. Therefore, in the injection drug dispensing device 100, the risk of the injection drug being damaged in the process of being dispensed is reduced compared to conventional random-type injection drug dispensing devices.

[0171] Furthermore, in the injection drug dispensing device 100, the drug transport unit 121 and the drug moving unit 153 are provided separately. Therefore, (i) the removal of the injection drug from the cassette Ca and (ii) the dispensing of the injection drug to the transport tray 151a can be performed in parallel. Therefore, the injection drug dispensing device 100 can realize high-speed dispensing of the injection drug.

[0172] [Another expression of the above configuration] In the medicine sorting device of Patent Document 1, one sorting tray from multiple sorting trays is moved to a medicine removal position, and the medicines to be identified are removed from that sorting tray. Therefore, even if there is a request to remove medicines from each of multiple sorting trays, the sorting trays are moved to the removal position one by one. Therefore, assuming that medicines are removed by moving the sorting tray to the removal position, this configuration does not allow for efficient removal of medicines. One aspect of the present invention aims to realize a medicine cassette handling device that enables efficient dispensing of medicines. The configuration of the medicine cassette handling device can be expressed as follows:

[0173] [1] In order to solve the above problem, a drug cassette handling device according to one embodiment of the present invention includes a cassette shelf for storing m cassettes containing drugs, a specific processing unit for performing specific processing on the drugs contained in the cassettes, a cassette holding unit capable of temporarily holding up to n (m>n≧2) cassettes among the cassettes to undergo the specific processing, and a cassette transfer unit for transferring the cassettes between the cassette shelf and the cassette holding unit in order to replace the cassettes held in the cassette holding unit.

[0174] For example, when performing a specific process on a cassette shelf storing a large number (m cassettes), it is necessary to move a transport mechanism that extracts and transports medicines to each cassette storage position on the cassette shelf. In this case, the mechanism of the medicine cassette extracting device becomes complicated, and it takes time to move the transport mechanism.

[0175] According to the above configuration, a portion (n) of the many cassettes can be temporarily held in the cassette holding section, and specific processing can be performed intensively in that area, thereby enabling the specific processing to be performed efficiently.

[0176] Furthermore, since the cassette holder can hold two or more cassettes, it is possible to replace one cassette while a specific process is being performed on another cassette, thereby reducing the wait time that occurs between the specific process on one cassette and the specific process on another cassette.

[0177] Therefore, the medicine cassette handling device according to one aspect of the present invention makes it possible to efficiently dispense medicines.

[0178] [2] Furthermore, in one aspect of the drug cassette handling device of the present invention, the cassette holding unit may move the cassette back and forth between a cassette receiving position where the cassette is received from the cassette transport unit and a processing position where the cassette undergoes the specific processing.

[0179] According to the above configuration, interference between the operation of the specific processing section and the operation of the cassette transport section can be avoided.

[0180] [3] Furthermore, in one aspect of the drug cassette handling device of the present invention, the cassette shelf stores the cassettes in a matrix in a vertical plane, the cassette transfer unit pulls the cassette out of the cassette shelf, transfers it vertically, and places it on the cassette holding unit located at the cassette receiving position, and the cassette holding unit moves the cassette horizontally toward the processing position.

[0181] According to the above configuration, unnecessary operations are less likely to occur during the cassette transfer operation, which makes it possible to efficiently replace cassettes and effectively utilize the space in the medicine cassette handling device.

[0182] [4] Furthermore, a drug dispensing device according to one embodiment of the present invention is a drug dispensing device including a drug cassette handling device described in any of [1] to [3] above, and the specific processing unit may include a drug transport unit that removes and transports the drug contained in the cassette in order to dispense the drug.

[0183] According to the above configuration, the medicines in the cassette removed by the medicine cassette handling device can be taken out and transported to another location.

[0184] [5] Furthermore, in the medicine dispensing device according to an aspect of the present invention, the identification processing section may include a first photographing section that takes an image to identify the medicine to be taken out from the cassette.

[0185] According to the above configuration, the medicine to be removed from the cassette can be identified based on the captured image data.

[0186] [6] Furthermore, in one embodiment of the drug dispensing device of the present invention, the identification processing unit may include a reading unit that reads first identification information attached to the drug, and a first discrimination processing unit that determines whether or not the drug can be dispensed based on the result of comparing the first identification information read by the reading unit with the input unique information of the drug.

[0187] According to the above configuration, it is possible to determine whether or not the medicine can be dispensed based on the first identification information, which may be, for example, a barcode for reading the type of medicine.

[0188] [7] Furthermore, in a drug dispensing device according to one embodiment of the present invention, the identification processing unit may include a second photographing unit that photographs second identification information attached to the drug, and a second discrimination processing unit that determines whether or not the drug can be dispensed based on the second identification information photographed by the second photographing unit.

[0189] According to the above configuration, it is possible to determine whether or not the medicine can be dispensed based on the second identification information, which may be, for example, the expiration date of the medicine.

[0190] [8] Furthermore, in a drug dispensing device according to one embodiment of the present invention, the specific processing unit may include a drug rotation unit that receives the drug transported by the drug transport unit and rotates the received drug in an axial direction for reading by the reading unit or photographing by the second photographing unit.

[0191] In order for the reading unit or the second imaging unit to acquire the first identification information or the second identification information, the position on the drug to which the first identification information or the second identification information is attached must be positioned opposite the reading unit or the second imaging unit.

[0192] According to the above configuration, the drug can be rotated in the axial direction by the drug rotation unit, and therefore the position can be made to face the reading unit or the second imaging unit so that the first identification information or the second identification information can be obtained by the reading unit or the second imaging unit.

[0193] [9] Furthermore, in one aspect of the drug dispensing device of the present invention, the device may have a plurality of mounting units for mounting received drugs, at least one of the plurality of mounting units having the drug rotation unit, and the specific processing unit may include a position change unit for changing the position of each of the plurality of mounting units between a drug receiving position for receiving the drug from the drug transport unit and a drug delivery position for delivering the drug to be dispensed.

[0194] In order for the reading unit or the second imaging unit to acquire the first identification information or the second identification information, the medicine removed from the cassette must be transported to the loading unit and accepted by the loading unit. On the other hand, the medicine determined to be dispensable based on the first identification information or the second identification information is transported from the loading unit to another location and delivered to that location. When there is only one loading unit that is the target of this medicine receiving operation and delivery operation, the medicine received in the loading unit is transported to that other location, and then the next medicine is received by the loading unit. In other words, in this case, interference occurs between the receiving operation and the delivery operation.

[0195] According to the above configuration, the position of each mounting unit can be changed between the medicine receiving position and the medicine delivering position, thereby avoiding interference between the receiving operation and the delivering operation as described above. Furthermore, as a result of avoiding such interference, the dispensing operation speed can be improved.

[0196]

[10] Furthermore, in a drug dispensing device according to one embodiment of the present invention, correspondence data indicating the correspondence between each of the m cassettes and the drugs contained in each of the m cassettes is stored, and when the received prescription data for administration to one patient includes two or more types of drugs, the cassette transfer unit may transfer each cassette containing the drugs to the cassette holding unit based on the prescription data and the correspondence data.

[0197] According to the above configuration, when prescription data for administration to one patient includes two or more drugs, cassettes containing the drugs can be transported to the cassette holders, and specific processing can be performed on the drugs contained in each cassette. This makes it possible to efficiently dispense drugs based on the prescription data.

[0198] The correspondence data is not limited to data indicating the correspondence between each of the m cassettes Ca and the drugs contained in each of the m cassettes Ca. When the m cassettes are composed of the cassette Ca and the large returned drug cassette 163 and / or the small and medium-sized returned drug cassette 164, the correspondence data may be data indicating the correspondence between each of the m cassettes composed of the cassette Ca and the large returned drug cassette 163 and / or the small and medium-sized returned drug cassette 164 and the drugs contained in each of the m cassettes.

[0199] <Other configurations> The following mainly describes further configurations and processes of the injection drug dispensing device 100. However, please note that the following description may include some overlapping or specific descriptions of the above content.

[0200] [Injection drug dispensing system] As described above with reference to Fig. 2, the injection drug dispensing system 1 has been described as one in which the printer device 13 prints information indicating the type of injection drug indicated in the prescription data on the transport tray 151a, but this is not limited to this. The printer device 13 may function as an infusion label issuing device that issues infusion labels to be affixed to infusion containers (infusion bags). In this case, the injection drug dispensing system 1 is a system including the injection drug dispensing device 100 and the infusion label issuing device (printer device 13).

[0201] An infusion container may be placed on the transport tray 151a transported from the supply lifter 11. The infusion container contains a liquid such as glucose solution or saline, or a mixture of a drug and a liquid. The mixture is injected into the patient's body through a tube. The drug to be mixed with the liquid may be dispensed from a device other than the injection drug dispensing device 100. However, if the drug is contained in a cassette Ca of the injection drug dispensing device 100, the drug may be dispensed from the injection drug dispensing device 100.

[0202] The printer device 13 identifies the contents of the infusion container based on the prescription data and issues an infusion label on which information about the contents is printed. The printer device 13 places the issued infusion label on the transport tray 151a on which the infusion container corresponding to the infusion label is placed. As will be described later, if an infusion label placement area for placing infusion labels is set on the transport tray 151a, the infusion label is placed in the infusion label placement area. In this case, the injection drug dispensing device 100 and the printer device 13 store information about the position of the infusion label placement area preset on each transport tray 151a.

[0203] The printer device 13 only needs to have at least one of a function of printing information indicating the type of injection drug on the carrier tray 151a and a function of issuing an infusion label.

[0204] [Injection drug dispensing device] Next, the processing of the injection drug dispensing device 100 will be mainly described.

[0205] [Cassette Transfer Processing] <Example of cassette identification> First, a specific example of the cassette Ca will be described. Figure 26 shows an example of the cassette Ca, where (a) shows the state before the partition member SP (partition plate) is attached, and (b) shows the state after the partition member SP is attached. Figures 27(a) and 27(b) are detailed views of the cassette transfer section 140.

[0206] As shown in (a) of Fig. 26, a first barcode BC1 and a second barcode BC2 are attached to the cassette Ca. Also, as shown in (a) and (b) of Fig. 27, the cassette transporter 140 is provided with a barcode reader 146 for reading the first barcode BC1 attached to the cassette Ca.

[0207] Each of the multiple cassettes Ca stored on the cassette shelf 110 is assigned cassette-specific information (cassette identifier) ​​(e.g., cassette number) for identifying the cassette Ca. The first barcode BC1 indicates the cassette-specific information attached to the cassette Ca. The first barcode BC1 is attached to the outer surface of the cassette Ca that faces the cassette transfer unit 140 when stored on the cassette shelf 110 (specifically, at a position that can be read by the barcode reader 146).

[0208] Furthermore, the cassette-specific information of the cassette Ca is linked to information indicating the type of the injection drug contained in the cassette Ca (injection drug identification information, drug-specific information), and is stored in the storage unit 180. The control unit 190 links the cassette-specific information of the cassette Ca with the injection drug identification information of the injection drug contained in the cassette Ca, for example, in accordance with a user input.

[0209] Furthermore, the cassette-specific information of the cassette Ca and storage position information indicating the storage position (cassette storage position) where each of the multiple cassettes Ca is stored on the cassette shelf 110 are linked and stored in the memory unit 180. For example, the cassette transport unit 140 scans the cassette shelf 110, and if a cassette Ca is stored at the storage position, the cassette transport unit 140 reads the first barcode BC1 of the cassette Ca with the barcode reader 146. Specifically, the cassette removal mechanism of the cassette transport unit 140, which includes the claw 141, the claw movement mechanism 142, and the shock absorbing plate 145, scans the cassette shelf 110, and the barcode reader 146 reads the first barcode BC1 of the cassette Ca stored at each storage position. The positions of the cassette removal mechanism and the storage positions are linked in advance and stored in the memory unit 180. Therefore, the transfer control unit 191 can associate the cassette specific information of the cassette Ca with the storage location information by identifying the position of the cassette ejection mechanism when the first barcode BC1 is read.

[0210] In this way, the memory unit 180 stores cassette-specific information about the cassette Ca, information indicating the type of injection drug contained in the cassette Ca, and storage location information about the cassette Ca, all linked together. Therefore, even if any injection drug is contained in any cassette Ca and the cassette Ca is stored in any storage location, by linking the information, the control unit 190 can identify the injection drug contained in the any cassette Ca and the storage location of the cassette Ca by referring to the memory unit 180. In other words, any injection drug can be freely contained in any cassette Ca and the cassette Ca can be freely stored in any storage location. In other words, the degree of freedom in storing cassettes Ca on the cassette shelf 110 can be increased.

[0211] As described above, the cassette transporter 140 is provided with a barcode reader 146. Specifically, the barcode reader 146 is provided at a position facing the cassette shelf 110 (in this example, above the cassette removal mechanism). This makes it possible to perform the following processes.

[0212] Based on the received prescription data, the transfer control unit 191 reads out cassette-specific information and storage location information linked to information indicating the type of injection drug indicated by the prescription data, which are stored in the storage unit 180. The transfer control unit 191 moves the cassette removal mechanism to the storage location indicated by the read storage location information.

[0213] When the movement of the cassette removal mechanism to the storage position is completed, the transfer control unit 191 reads the first barcode BC1 (i.e., the cassette unique information) with the barcode reader 146. The transfer control unit 191 compares the read cassette unique information with the cassette unique information read from the memory unit 180 before the movement of the cassette removal mechanism.

[0214] If the cassette unique information matches, the transfer control unit 191 identifies the cassette Ca whose cassette unique information has been read as the cassette Ca containing the injection drug to be dispensed, and removes the cassette Ca from the cassette shelf 110. On the other hand, if the cassette unique information does not match, the transfer control unit 191 does not remove the cassette Ca from the cassette shelf 110, but, for example, moves the cassette removal mechanism to another storage position and performs verification again by reading the cassette unique information of the cassette Ca at that storage position. Furthermore, the transfer control unit 191 may issue a notification that the cassette Ca containing the injection drug based on the prescription data cannot be removed.

[0215] If the degree of freedom in storing the cassettes Ca on the cassette shelf 110 is increased, for example, the possibility that the user will store the cassette Ca in a location other than the specified storage location increases. In other words, compared to when the degree of freedom is low, the possibility that the user will take out a cassette Ca other than the cassette Ca containing the injection drug to be dispensed increases.

[0216] As described above, by determining whether the injection drug contained in the cassette Ca to be removed is the injection drug to be dispensed (i.e., whether the cassette Ca can be removed) based on the cassette-specific information, the occurrence of the above-mentioned possibility can be reduced. In other words, the degree of freedom in storing the cassette Ca on the cassette shelf 110 can be guaranteed.

[0217] As shown in (a) of Fig. 26, a second barcode BC2 used when filling the cassette Ca with an injection drug may be attached to the cassette Ca. The second barcode BC2 is used to verify whether the cassette Ca is appropriate as a destination for filling an injection drug. The user can confirm whether the cassette Ca is appropriate as a destination for filling an injection drug by reading the second barcode BC2 with a dedicated barcode reader (not shown).

[0218] Furthermore, the cassette-specific information does not need to be provided to the cassette Ca in the form of the first barcode BC1, but may be provided in a form that can be read by the cassette transporting unit 140. In this case, a cassette-specific information reading member, instead of the barcode reader 146, may be provided in the cassette transporting unit 140.

[0219] 26(a) and 26(b), the cassette Ca may be divided into multiple injection drug containing regions by a dividing member SP (partition plate) that can be attached to and detached from the cassette Ca. In this case, each of the multiple divided injection drug containing regions can contain a different type of injection drug. This allows for more efficient use of the cassette Ca.

[0220] The separable member SP may be provided with a third barcode BC3. The third barcode BC3 has the same function as the second barcode BC2. By providing the third barcode BC3 to the separable member SP, it becomes possible to provide support for filling each of the multiple injection drug storage areas with injection drugs.

[0221] <Example of identifying cassette storage location> Next, an example of specifying the storage location of the cassette Ca will be described. Fig. 28 is a block diagram showing the configuration of the injection drug dispensing device 100. Fig. 29 is a flowchart showing an example of processing for specifying the storage location of the cassette Ca.

[0222] (Configuration of injection drug dispensing device 100) As shown in FIG. 28, the injection drug dispensing device 100 includes a storage position determination unit 198, a notification control unit 199, and a touch panel 210 when performing processing to identify the storage position of the cassette.

[0223] In this example, the cassette-specific information of any cassette Ca is linked to storage location information indicating the storage location of the cassette Ca and stored in the storage unit 180. In particular, in this example, it is assumed that the cassette-specific information and storage location information are linked in advance. That is, in this example, the storage location of the cassette Ca is set in advance. In addition, a first barcode BC1 is assigned to the cassette Ca, and a barcode reader 146 is provided in the cassette transport unit 140.

[0224] The touch panel 210 includes an operation unit that accepts various user inputs and a display unit that displays various information. The touch panel 210 may be provided in the injection drug dispensing device 100 shown in FIG. 1 in order to accept various user inputs or display various information.

[0225] The storage position determination unit 198 determines whether each of the plurality of cassettes Ca is stored in a predetermined storage position based on the storage position information and the cassette specific information.

[0226] For a cassette Ca that the storage position determination unit 198 determines is not stored in the specified storage position, the cassette transfer unit 140 transfers the cassette Ca from the storage position where the cassette Ca is stored to the storage position where the cassette Ca should be located.

[0227] In addition, when the storage position determination unit 198 determines that a cassette Ca is not stored in the specified storage position, the notification control unit 199 causes the notification unit as the touch panel 210 to notify the user to store the cassette Ca in the storage position where it should be.

[0228] In this example, the injection drug dispensing device 100 is described as having both the functions of transferring the cassette to the storage position where it should be and notifying the user that the cassette will be stored in the storage position where it should be. However, the invention is not limited to this, and the injection drug dispensing device 100 may have only one of these functions.

[0229] The storage position determination unit 198 causes the transfer control unit 191 to scan the cassette removal mechanism of the cassette transfer unit 140 with respect to the cassette shelf 110, thereby reading the first barcode BC1 at each storage position.

[0230] If a cassette Ca is present at the storage location, the barcode reader 146 reads the first barcode BC1. The storage location determination unit 198 identifies the storage location indicated by the storage location information linked to the cassette-specific information indicated by the read first barcode BC1 by referring to the memory unit 180. The storage location determination unit 198 determines whether the identified storage location matches the position of the cassette removal mechanism that read the cassette-specific information.

[0231] If the storage location determination unit 198 determines that there is a mismatch, it determines that the cassette Ca is not stored in the preset storage location. In this case, the storage location determination unit 198 identifies the storage location indicated by the storage location information linked to the cassette-specific information of the cassette Ca by referring to the memory unit 180. The transfer control unit 191 moves the cassette Ca to the identified storage location. On the other hand, if there is a match, no particular processing is performed.

[0232] Furthermore, if the cassette-specific information cannot be read at any storage location, the storage location determination unit 198 determines that the cassette Ca is not present at that storage location. The storage location determination unit 198 determines whether or not the cassette Ca was stored at that storage location by referring to the memory unit 180. If it is determined that the cassette Ca was stored at that storage location, the storage location determination unit 198 determines whether or not the cassette Ca is not present at another storage location. If it is determined that the cassette Ca is not present on the cassette shelf 110, the notification control unit 199 notifies via the touch panel 210 that the cassette Ca that should originally be stored at that storage location should be stored.

[0233] If the storage position determination unit 198 determines that there is a mismatch, it may link the cassette specific information read at this time with the storage position information and store this information in the memory unit 180 as information indicating the cassette Ca in the incorrect storage position. In this case, during the cassette Ca replacement operation, the transfer control unit 191 can identify the cassette Ca in the incorrect storage position by having the cassette removal mechanism scan all storage positions, and then refer to the information, thereby identifying the cassette Ca in the incorrect storage position, removing it, and returning it to the correct storage position.

[0234] Furthermore, this process may be performed at any timing. However, this process is intended to check whether the cassette Ca is properly stored in the storage location of the cassette Ca set by the user, and to store the cassette Ca in its original storage location. In consideration of this, this process may be performed during a time period when the injection drug dispensing process is not performed (e.g., once a day, at night). Note that this process may also be performed when a user input to check the storage location of the cassette Ca is received.

[0235] (Processing of the injection drug dispensing device 100) An example of the process for identifying the storage location of a cassette Ca will be described. When this process is to be performed, the transfer control unit 191 causes the cassette removal mechanism to scan the cassette shelf 110. As shown in Fig. 29, the storage location determination unit 198 determines whether the barcode reader 146 has read the cassette-specific information of a cassette Ca at an arbitrary storage location (SF1).

[0236] When the barcode reader 146 reads the cassette-specific information (YES in SF1), the storage position determination unit 198 determines whether the current position of the cassette removal mechanism is the specified storage position indicated by the storage position information linked to the read cassette-specific information (SF2).

[0237] If the storage position determination unit 198 determines that the current position of the cassette removal mechanism is a predetermined storage position (YES in SF2), it determines that the cassette Ca is in the storage position where it should be. In this case, the storage position determination unit 198 does not perform a movement process for the cassette Ca that is in that storage position. On the other hand, if it determines that the current position of the cassette removal mechanism is not a predetermined storage position (NO in SF2), it determines that the cassette Ca is not in the storage position where it should be. In this case, the transfer control unit 191 controls the cassette transfer unit 140 to move the cassette Ca to the storage position indicated by the storage position information linked to the cassette-specific information of the cassette Ca (SF3).

[0238] If the cassette unique information cannot be read in SF1 (NO in SF1), the storage location determination unit 198 determines that the cassette Ca is not present in the storage location where the cassette unique information was read. In this case, the storage location determination unit 198 determines whether or not the cassette Ca was stored in that storage location. If the storage location determination unit 198 determines that the cassette Ca was stored in that storage location, it scans the cassette removal mechanism to determine whether or not the cassette Ca having the cassette unique information linked to the storage location information indicating that storage location is present in another storage location (SF4). Note that if the cassette Ca was not originally stored in the storage location where the cassette unique information was read (if the cassette unique information is not linked to the storage location information indicating that storage location), this process ends.

[0239] If the cassette Ca that should be stored in the storage location where the cassette unique information was read is in another storage location (YES in SF4), the process of SF3 is performed. On the other hand, if the cassette Ca is not in another storage location either (NO in SF4), the storage location determination unit 198 determines that the cassette Ca has been removed from the cassette shelf 110. In this case, the notification control unit 199 notifies via the touch panel 210 that the cassette Ca should be stored (returned) in the storage location where it should be (SF5).

[0240] In SF3, the storage position determination unit 198 may determine whether or not another cassette Ca (second cassette Ca) is present in the storage position to which the cassette Ca (first cassette Ca) is to be moved (i.e., the storage position where the cassette Ca should originally be located). If the storage position determination unit 198 determines that the second cassette Ca is stored in the storage position to which the first cassette Ca is to be moved, it performs, for example, the following process.

[0241] The transfer control unit 191 temporarily retreats the second cassette Ca to a storage position (a storage position where the cassette Ca was not originally placed) (retreat position) in the cassette shelf 110 where the cassette unique information and the storage position information are not linked. Thereafter, the transfer control unit 191 moves the first cassette Ca to the storage position where it should originally be located.

[0242] Furthermore, the determination of whether the second cassette Ca is stored in the storage location to which the first cassette Ca is to be moved is made based on whether the cassette-specific information of the second cassette Ca can be read. In other words, when the second cassette Ca is to be evacuated, the cassette-specific information of the second cassette Ca is read before the evacuation. Therefore, the transfer control unit 191 may use the cassette-specific information to move the second cassette Ca to the storage location where it should originally be located.

[0243] <Example of support mechanism operation> Next, an example of the operation of the support mechanism 147 provided in the cassette transfer unit 140 will be described. As shown in (a) and (b) of Figure 27, the support mechanism 147 is provided on the side facing the cassette shelf 110, and supports (holds) the cassette Ca when the cassette Ca is removed from the cassette shelf 110 or stored in the cassette shelf 110. The support mechanism 147 also moves up and down depending on the size (height) of the cassette Ca. The support mechanism 147 is also provided with rollers. This allows the cassette Ca to move smoothly in the support mechanism 147.

[0244] Multiple types of cassettes Ca may be stored on the cassette shelf 110. In this case, for example, cassettes Ca of different heights (e.g., two types of cassettes Ca of different heights) are stored on the cassette shelf 110. If the support mechanism 147 does not move up and down, a cassette Ca of a relatively high height will collide with the cassette removal mechanism when the cassette Ca is removed, and the cassette Ca cannot be held by the cassette transfer unit 140.

[0245] The support mechanism 147 has a function of moving up and down, so that a plurality of types of cassettes Ca having different heights can be held by the cassette transfer unit 140 and transferred to the cassette holding unit 130. In other words, the injection drug dispensing device 100 can use a plurality of types of cassettes Ca having different heights.

[0246] The transfer control unit 191 raises and lowers the support mechanism 147 depending on the type of cassette Ca. For example, lift amount information indicating the amount of lift of the support mechanism 147 is linked to the cassette specific information and stored in the storage unit 180. Note that when cassette height information indicating the height of the cassette Ca is linked to the cassette specific information, the lift amount information may also be linked to the cassette height information.

[0247] When the cassette-specific information attached to the cassette Ca to be removed is read by the barcode reader 146, the transfer control unit 191 identifies the lift amount information linked to the read cassette-specific information by referring to the storage unit 180. The transfer control unit 191 raises and lowers the support mechanism 147 according to the lift amount indicated by the identified lift amount information.

[0248] [Processing from photographing to dispensing of injectable medication] <Example of determining pickup position> In the injection drug dispensing device 100, the position specifying camera 122 specifies the injection drug to be taken out from the cassette Ca, and the specified injection drug is adsorbed by the adsorption mechanism 121a. The adsorption position determination unit 194 determines the adsorption position by analyzing the image taken by the position specifying camera 122, and the transport control unit 193 controls the adsorption mechanism 121a to adsorb the determined adsorption position.

[0249] Here, the suction position determination unit 194 may determine the center of gravity of the injection drug as the suction position. In this case, the medicine master registers information indicating the center of gravity and total length of the injection drug, linked to the injection drug identification information. The center of gravity of the injection drug is registered, for example, as the distance from the bottom of the injection drug.

[0250] The suction position determination unit 194 analyzes the image to identify the bottom of the injection drug in the image. The suction position determination unit 194 identifies the suction position of the injection drug in the image using information indicating the center of gravity of the injection drug linked to the injection drug identification information included in the prescription data. For example, the suction position determination unit 194 converts the distance from the bottom stored in the medicine master into a distance in the image, and then identifies a position on the injection drug in the image that is the converted distance away from the bottom as the suction position. In other words, the suction position determination unit 194 determines the center of gravity of the injection drug or its vicinity as the suction position. Note that this suction position determination process does not go as far as identifying the orientation of the injection drug.

[0251] <Example of identifying the placement of injection drugs using sensors> Next, an example of specifying the placement positions of the injection medicine on the first mounting portion 126a and the second mounting portion 126b of the position changing portion 126 will be described.

[0252] The transport control unit 193 identifies the bottom and adsorption position of the injection drug in the image based on image analysis and pre-registered information indicating the center of gravity position or total length of the injection drug. The transport control unit 193 also places the adsorbed injection drug on the first mounting unit 126a or the second mounting unit 126b, taking into consideration the identified bottom position and adsorption position. The transport control unit 193 places the adsorbed injection drug, for example, so that the bottom of the injection drug is close to the end of the first mounting unit 126a or the second mounting unit 126b.

[0253] Here, it is assumed that the transport control unit 193 erroneously recognizes the head of the injection medicine as the bottom as a result of image analysis. Since the transport control unit 193 places the injection medicine on the first mounting unit 126a or the second mounting unit 126b taking into account the position of the bottom, the erroneous recognition of the bottom may result in the injection medicine being placed at a position that is different from the position where it should actually be placed. In some cases, the injection medicine may be placed at a position that protrudes from the first mounting unit 126a or the second mounting unit 126b. If the injection medicine is in, for example, a glass vial, the injection medicine may collide with the first mounting unit 126a or the second mounting unit 126b, resulting in breakage.

[0254] In this example, as shown in (a) and (b) of Figure 30, the injection drug dispensing device 100 is equipped with sensors 171a and 171b and reflectors 172a and 172b for detecting injection drugs that may collide with the end E1 or E2 of the first mounting section 126a or the second mounting section 126b.

[0255] The sensors 171a and 171b are mechanisms that emit light for detecting an injection drug and receive the light reflected by the reflectors 172a and 172b, respectively.

[0256] The sensor 171a and the reflector 172a are arranged so that light emitted from the sensor 171a and light reflected by the reflector 172a pass along dotted line L1 shown in FIG. 30(b). The dotted line L1 indicates a straight line that is outside the first mounting portion 126a and the second mounting portion 126b and passes near the end E1 of the first mounting portion 126a or the second mounting portion 126b. Similarly, the sensor 171b and the reflector 172b are arranged so that light emitted from the sensor 171b and light reflected by the reflector 172b pass along dotted line L2 shown in FIG. 30(b). The dotted line L2 indicates a straight line that is outside the first mounting portion 126a and the second mounting portion 126b and passes near the end E2 of the first mounting portion 126a or the second mounting portion 126b.

[0257] When the injection drug adsorbed to the adsorption mechanism 121a passes over the dotted line L1 or L2, the propagation of light is blocked by the injection drug, and the sensor 171a or 171b cannot receive the light emitted by the device itself. In this case, the transport control unit 193 controls the adsorption mechanism 121a to change the position of the injection drug in the direction of the straight line connecting the ends E1 and E2 (Y-axis direction) until the sensors 171a and 171b can receive the light.

[0258] Specifically, the transport control unit 193 determines whether the sensors 171a and 171b are receiving light. When the sensors 171a and 171b are receiving light, the transport control unit 193 places the injection drug adsorbed by the adsorption mechanism 121a on the first mounting unit 126a or the second mounting unit 126b. On the other hand, when the transport control unit 193 determines that the sensor 171a or 171b is not receiving light, it changes the position of the injection drug in the Y-axis direction as described above.

[0259] In this manner, by arranging the sensors 171a and 171b and the reflectors 172a and 172b, it is possible to detect an injection drug that may collide with the end E1 or E2 of the first mounting unit 126a or the second mounting unit 126b. Furthermore, the transport control unit 193 controls the position of the suction mechanism 121a in the Y-axis direction based on the detection results of the sensors 171a and 171b. This allows the injection drug to be placed on the first mounting unit 126a or the second mounting unit 126b without colliding with the end E1 or E2 of the first mounting unit 126a or the second mounting unit 126b.

[0260] That is, even if the suction position determination unit 194 erroneously recognizes the direction (head direction) of the injection medicine (in other words, regardless of whether the direction of the injection medicine is the +Y-axis direction or the -Y-axis direction), it is possible to avoid the injection medicine colliding with the end E1 or E2. Therefore, it is possible to avoid stopping the dispensing operation due to a collision, and the injection medicine can be dispensed intermittently.

[0261] Note that the configuration is not limited to the above as long as it can detect an injection drug present on dotted lines L1 and L2. For example, a light-emitting element may be placed at the position of sensor 171a or 171b, and a light-receiving element may be placed at the position of reflectors 172a and 172b. In other words, a sensor consisting of a light-emitting element and a light-receiving element may be used without providing reflectors 172a and 172b. Furthermore, the positions of reflectors 172a and 172b in the X-axis direction may be approximately the same.

[0262] <Example of suction mechanism operation> Next, an example of the operation of the adsorption mechanism 121a will be described. First, adjustment of the movement speed of the adsorption mechanism 121a will be described.

[0263] In the injection drug dispensing device 100, for example, the speed of the transfer of the cassette Ca by the cassette transfer unit 140 and the movement of the cassette holding unit 130 are increased as much as possible. Also, for example, the speeds of the movement of the adsorption mechanism 121a and the movement mechanism 121b of the drug delivery unit 121, and the movement of the adsorption mechanism 153a and the movement mechanism 153b of the drug movement unit 153 are increased as much as possible. This increases the dispensing speed of the injection drug.

[0264] However, if the cassette Ca or the injection drug is transported or moved at a uniform speed regardless of the type of injection drug, the injection drug may not be transported properly. For example, the longer the injection drug and the lighter the weight, the more likely inertia will act on the injection drug when the suction mechanism 121a is stopped on the position change unit 126. In other words, the injection drug will sway more when stopped. If a large amount of inertia acts on the injection drug, the injection drug may fall from the suction mechanism 121a.

[0265] Therefore, in this example, the transport control unit 193 adjusts the movement speed of the suction mechanism 121a depending on the type of injection drug. Specifically, the movement speed of the suction mechanism 121a in the X-axis direction, Y-axis direction, and / or Z-axis direction is set depending on the type of injection drug (e.g., the length, diameter, weight, or material (e.g., glass, plastic) of the injection drug). That is, the storage unit 180 stores movement speed information indicating the movement speed of the suction mechanism 121a, linked to type information related to the type of injection drug. FIG. 31 is a table showing an example of movement speed information linked to type information. In the example of FIG. 31, the movement speed in the X-axis direction, where inertia is likely to act, is set to differ depending on the type of injection drug.

[0266] The transport control unit 193 reads out type information linked to the injection drug identification information included in the prescription data, for example, by referring to the storage unit 180. Type information indicating the length, weight, material, etc. of the injection drug may be linked to the injection drug identification information and registered in the medicine master. The transport control unit 193 moves the injection drug adsorbed by the cassette Ca of the cassette holding unit 130 (i.e., the adsorption mechanism 121a that adsorbs the injection drug) to the position changing unit 126 at a movement speed indicated by the movement speed information linked to the read-out type information.

[0267] This reduces the inertia acting on the injection drug during movement or when stopped, thereby realizing stable movement of the injection drug.

[0268] The movement speed of the suction mechanism 153a can also be controlled in a similar manner. However, the suction mechanism 153a is primarily required to move stably from the position change unit 126 to the transport tray 151a. Therefore, the movement speed, particularly in the Y-axis direction, is set according to the type of injection drug.

[0269] Furthermore, if the cassette Ca is suddenly stopped while being moved in the Z-axis direction by the cassette transport unit 140, the lighter the weight of the injectable drug, the more likely it is to jump up due to inertia. Also, if the cassette Ca is suddenly stopped moving in the X-axis direction, the lighter the weight of the injectable drug and the more nearly circular its cross-sectional shape, the more likely it is to roll within the cassette Ca. Therefore, if the injectable drug is made of glass, it may break upon collision with the cassette Ca or another injectable drug.

[0270] Similarly to the suction mechanism 121a, the speed of movement (particularly the speed of movement in the X-axis direction and / or the Z-axis direction) of the cassette Ca being transferred by the cassette transfer unit 140 can be controlled according to the type of injection drug, thereby preventing, for example, the injection drug from breaking.

[0271] Next, adjustment of the movement amount of the adsorption mechanism 121a in the Z-axis direction will be described. Fig. 32(a) is a diagram showing an example of the configuration of the movement mechanism 121b, and (b) and (c) are diagrams showing an example of the operation of the adsorption mechanism 121a.

[0272] As shown in (a) of Figure 32, the movement mechanism 121b of this example includes a photosensor 121d and a plate 121e. The photosensor 121d and the plate 121e function as limit sensors that detect objects having a diameter larger than a predetermined diameter (e.g., the diameter of the injection drug indicated by the injection drug identification information included in the prescription data). In other words, the photosensor 121d and the plate 121e function as limit sensors for detecting objects other than the predetermined injection drug. The suction mechanism 121a moves up and down in the Z-axis direction by the ball screw 121f.

[0273] The photosensor 121d is, for example, a groove-type photosensor. When the plate 121e passes between the light-emitting element and the light-receiving element provided in the groove of the photosensor 121d, the light-receiving element cannot receive the light from the light-emitting element. At this time, the transport control unit 193 determines that the suction mechanism 121a has detected an object other than the predetermined injection drug, and adjusts the amount of movement.

[0274] Here, the medicine master stores diameter information indicating the diameter of the injection drug linked to each injection drug identification information. The storage unit 180 also stores movement amount information indicating the movement amount of the suction mechanism 121a in the Z-axis direction linked to the diameter information.

[0275] The distance (distance in the Z-axis direction) between the initial position of the suction mechanism 121a (the position when the suction mechanism 121a is farthest from the processing position 132) and the processing position 132 is constant. Therefore, the first movement amount of the suction mechanism 121a when moving it toward the processing position 132 can be set in advance according to the diameter of the injection drug so that it does not collide with the injection drug on the processing position 132. In this case, it becomes possible to move the suction mechanism 121a to an appropriate position where it can adsorb the injection drug without calculating the first movement amount for each injection drug. Furthermore, it becomes possible to move the suction mechanism 121a to that appropriate position at high speed.

[0276] Furthermore, the cassette Ca used in the injection drug dispensing device 100 is predetermined. That is, the height of the sidewall of the cassette Ca is predetermined. Therefore, the height of the suction mechanism 121a when transporting the injection drug from the processing position 132 to the position change unit 126 can be set in advance so that the injection drug does not collide with the sidewall of the cassette Ca during transport. Therefore, the second movement amount of the suction mechanism 121a when lifting the suction mechanism 121a that has adsorbed the injection drug can be set in advance according to the diameter of the injection drug. In this case, it is possible to move the suction mechanism 121a to a position where the injection drug can be transported efficiently without colliding with the sidewall of the cassette Ca, without calculating the second movement amount for each injection drug. Furthermore, it is possible to move the suction mechanism 121a to that position at high speed.

[0277] The control unit 190 identifies the type of injection drug contained in the cassette Ca when the cassette Ca is removed by the cassette transfer unit 140. Therefore, the transport control unit 193 identifies movement amount information for each cassette Ca. For example, the transport control unit 193 identifies diameter information linked to the injection drug identification information included in the prescription data by referring to the medicine master when removing the first drug from the cassette Ca. The transport control unit 193 identifies movement amount information (information indicating the first movement amount or the second movement amount) linked to the identified diameter information by referring to the storage unit 180. Note that the identified movement amount information may be linked to cassette-specific information and stored in the storage unit 180.

[0278] The transport control unit 193 moves the suction mechanism 121a by the specified first movement amount for each cassette Ca toward the processing position 132. Also, the transport control unit 193 moves the suction mechanism 121a by the specified second movement amount for each cassette Ca from the processing position 132 toward the initial position.

[0279] The movement amount information may be directly linked to the injection drug identification information. In this case, the transport control unit 193 refers to the storage unit 180 to identify the movement amount information linked to the injection drug identification information included in the prescription data.

[0280] 32(b), when the diameter of the injection drug in the cassette Ca placed at the processing position 132 is φa, the transport control unit 193 moves the suction mechanism 121a to the suction position Ap (stop position) according to the first movement amount when the diameter is φa. Thereafter, the transport control unit 193 lifts the suction mechanism 121a by a distance Da according to the second movement amount when the diameter is φa.

[0281] 32(c), it is assumed that the cassette Ca contains an injection drug (diameter: φb>φa) different from the injection drug (diameter: φa) assumed to be contained in the cassette Ca. In this case, when the injection drug with the diameter φb is to be transported, the transport control unit 193 moves the suction mechanism 121a by a first movement amount based on the injection drug with the diameter φa, which causes the suction mechanism 121a to collide with the injection drug with the diameter φb at the collision position Cp.

[0282] In response to this reaction, the suction mechanism 121a moves (rises) in the +Z-axis direction, and the plate 121e enters the groove of the photosensor 121d. As a result, the transport control unit 193 determines that the injection drug to be transported is one having a diameter (φb) larger than the predetermined diameter (φa) of the suction mechanism 121a.

[0283] In this case, the transport control unit 193 pulls up the injection drug by the distance Dmax in accordance with the second movement amount indicated by the movement amount information linked to the injection drug identification information indicating the injection drug having the maximum diameter (diameter: φmax), instead of the second movement amount of the diameter φa. Note that the second movement amount corresponding to the distance Dmax may be set to an extent that the injection drug having the maximum diameter, among the injection drugs expected to be handled by the injection drug dispensing device 100, can be transported from the processing position 132 to the position changing unit 126 without colliding with the side wall of the cassette Ca.

[0284] If the injection drug to be adsorbed is larger in diameter than φa, and the injection drug is pulled up according to the second movement amount of the diameter φa, the amount of pulling up may be insufficient, and the injection drug may collide with the side wall of the cassette Ca. However, when an injection drug with a diameter φb larger than the diameter φa is to be removed from a cassette Ca that stores injection drugs with a diameter φa, the transport control unit 193 pulls up the injection drug based on the second movement amount corresponding to the injection drug with the largest diameter, thereby avoiding collision with the side wall of the cassette Ca.

[0285] When the diameter of the injection drug to be removed is larger than the expected diameter of the injection drug, the second movement amount corresponding to the injection drug with the largest diameter is used, but this is not limiting, and for example, the injection drug may be pulled up using the second movement amount corresponding to the injection drug to be removed.

[0286] Next, a process for determining whether the suction mechanisms 121a and 153a have completed the release of the injection drug will be described. The drug transport unit 121 and the drug moving unit 153 have a vacuum source (not shown) for suctioning the injection drug. The transport control unit 193 turns off the vacuum source when the injection drug is to be released onto the position changing unit 126 or the transport tray 151a.

[0287] The transport control unit 193 may turn the vacuum source off to release the injection drug and then turn it on again. When the vacuum source is turned on, the transport control unit 193 determines whether or not the load in the air tube connecting the vacuum source and the suction pad 121g (see FIG. 32(a)) (e.g., the pressure in the air tube or the amount of air flowing through the air tube) changes. Note that the adsorption structures of the drug transport unit 121 and the drug moving unit 153 are the same.

[0288] If the load has not changed, the transport control unit 193 determines that nothing is adsorbed on the suction pad 121g. In other words, in this case, the transport control unit 193 determines that the suction mechanisms 121a and 153a are properly releasing the injection medicine. On the other hand, if the load has changed, the transport control unit 193 determines that something is adsorbed on the suction pad 121g. In other words, in this case, the transport control unit 193 determines that the suction mechanisms 121a and 153a are not properly releasing the injection medicine.

[0289] In this way, by controlling the on and off of the vacuum source when releasing the injection drug, it is possible to check whether the suction mechanisms 121a and 153a are properly releasing the injection drug.

[0290] <Example of image processing timing adjustment> Next, we will explain an example of adjusting the timing of image processing by expiration date reading camera 125. Figures 33(a) and (b) are diagrams for explaining an example of adjusting the timing of image processing by expiration date reading camera 125.

[0291] When the injection medicine is placed on the first mounting unit 126a by the medicine delivery unit 121, the medicine rotation unit 127 rotates the injection medicine. When the barcode attached to the injection medicine faces the barcode reader 123 due to this rotation, the barcode reader 123 reads the barcode. This allows the first discrimination processing unit 195 to discriminate the type of the injection medicine.

[0292] The barcode is expressed by varying the thickness of each of the multiple lines and the spacing between the lines for each type of injection drug. Therefore, the first discrimination processing unit 195 can recognize the sequence of numbers or letters shown in the barcode as injection drug identification information by analyzing the barcode read by the barcode reader 123. In other words, because the first discrimination processing unit 195 can recognize the sequence of numbers or letters shown in the barcode, by linking the sequence with the orientation of the injection drug (the direction in which the injection drug is placed), it can also recognize which direction the head or bottom of the injection drug is facing.

[0293] In addition, the second discrimination processing unit 196 analyzes the image captured by the expiration date reading camera 125 to recognize the expiration date attached to the injection drug.

[0294] Here, the barcode is instantaneously read by the barcode reader 123. Therefore, when reading the barcode, the medicine rotation unit 127 can rotate the injection medicine at a relatively high speed. On the other hand, the expiration date is read by photographing it with the expiration date reading camera 125. Therefore, when reading the expiration date, the medicine rotation unit 127 needs to rotate at a slower speed than when reading the barcode.

[0295] Therefore, after the barcode is read by the barcode reader 123, the medicine rotation unit 127 reduces its rotation speed and then starts photographing the injection medicine with the expiration date reading camera 125. The expiration date reading camera 125 takes images multiple times (e.g., about 20 times) while the injection medicine rotates approximately once. The second discrimination processing unit 196 recognizes the expiration date by analyzing all of the images taken multiple times. In this case, images that do not include the expiration date are also analyzed, resulting in unnecessary processing for analyzing those images.

[0296] Therefore, in this example, the second discrimination processing unit 196 determines a recognition area (expiration date written area) where processing for recognizing the expiration date attached to the injection drug is performed based on the position of the barcode attached to the injection drug and the orientation of the injection drug. In other words, the second discrimination processing unit 196 determines an expiration date photographing area Pha where the expiration date reading camera 125 will photograph to read the expiration date based on the position of the barcode attached to the injection drug and the orientation of the injection drug.

[0297] Here, the orientation of the injection drug and the orientation of the barcode (the order of alphanumeric characters attached to the barcode) are linked and registered for each injection drug identification information in the drug master. In addition, the drug master also registers first distance information indicating a first distance in the circumferential direction of the injection drug from the position where the barcode is attached to the position where the expiration date is attached, for each injection drug identification information.

[0298] For example, when the barcode reader 123 reads the barcode attached to the injection drug, the second discrimination processing unit 196 temporarily stops the rotation of the drug rotation unit 127. Thereafter, the second discrimination processing unit 196 determines the expiration photographing area Pha based on the information indicating the orientation of the injection drug registered in the drug master and the first distance information.

[0299] Specifically, the second discrimination processing unit 196 identifies the orientation of the injection drug by comparing the read barcode with the medicine master. Also, the second discrimination processing unit 196 determines the expiration photography area Pha according to the orientation of the injection drug by referring to the first distance information in the medicine master.

[0300] For example, when the rotation direction of the injection drug is the direction of the arrow as shown in (a) and (b) of Figure 33, the second discrimination processing unit 196 identifies the orientation of the injection drug as shown in (a) of Figure 33. In this case, based on the first distance information, the second discrimination processing unit 196 determines the area from the vicinity of the position where the barcode is attached to the vicinity of the position where the expiration date is attached as the expiration date photography area Pha. More specifically, as shown in (a) of Figure 33, the second discrimination processing unit 196 determines the photography start position Pha1 (reading start position) and the photography end position Pha2 (reading end position).

[0301] On the other hand, when the second discrimination processing unit 196 identifies the direction of the injection drug as shown in (b) of Fig. 33, it also determines the deadline photography area Pha, as in (a) of Fig. 33. However, as shown in (b) of Fig. 33, the second discrimination processing unit 196 determines the photography start position Pha1 and the photography end position Pha2.

[0302] After determining the expiration date photographing area Pha, the medicine position control unit 197 rotates the medicine rotation unit 127 at a rotation speed for photographing the injection medicine. With the injection medicine rotated, the expiration date reading camera 125 starts photographing when it faces the photographing start position Pha1, and ends photographing when it faces the photographing end position Pha2. As shown in (a) and (b) of Figure 33, the expiration date reading camera 125 photographs the expiration date photographing area Pha indicated by the solid arrow, but does not photograph the area indicated by the dotted arrow.

[0303] That is, the expiration date reading camera 125 photographs only the determined expiration date photographing area Pha (in other words, only a part of the area, not the entire circumference of the injection drug) to read the expiration date. In this way, by excluding areas that are not expected to have an expiration date (areas other than the expiration date photographing area Pha) from the photographing target, the number of photographs taken can be reduced. This makes it possible to efficiently perform image processing for recognizing the expiration date.

[0304] The rotation speed of the medicine rotation unit 127 may be the same as the rotation speed during barcode reading until the expiration date reading camera 125 faces the imaging start position Pha1. In this case, the expiration date recognition process can be performed more efficiently (faster).

[0305] Furthermore, it is sufficient that the expiration date shooting area Pha is set so as to include the expiration date. Therefore, it is not necessary to set the shooting start position Pha1 near the position where the barcode is attached. For example, the second determination processing unit 196 may identify a position where an expiration date is attached using the first distance information, and then determine a position a predetermined distance away from that position as the shooting start position Pha1. However, it is necessary that the shooting start position Pha1 is determined so that the expiration date is included in the expiration date shooting area Pha.

[0306] Furthermore, if the first distance information is not registered, the expiration date reading camera 125 captures an image of the entire circumference of the injection drug. The second discrimination processing unit 196 analyzes the captured image to read the expiration date attached to the injection drug. At this time, the second discrimination processing unit 196 also identifies the position of the barcode attached to the injection drug, and therefore analyzes the captured image to determine the first distance information (i.e., the position of the expiration date photographing area Pha) based on the position of the barcode and the position of the expiration date. The second discrimination processing unit 196 links the determined first distance information to the injection drug identification information indicating the injection drug and registers it in the drug master. This makes it possible to use the registered first distance information from the next time the expiration date is read.

[0307] Furthermore, instead of the first distance, photographing area information (information on the expiration date written area) indicating the expiration photographing area Pha (including the photographing start position Pha1 and the photographing end position Pha2) may be registered in the medicine master.

[0308] <Example of what to do if there is an injectable drug that cannot be dispensed> Next, an example of processing when an injection drug that cannot be dispensed is described. (a) to (f) of Fig. 34 are diagrams for explaining an example of processing when an injection drug that cannot be dispensed is present. When the first discrimination processing unit 195 or the second discrimination processing unit 196 determines that the injection drug cannot be dispensed, there is a possibility that dispensing of the injection drug will be stopped at that point.

[0309] In the injection drug dispensing device 100, in order to recognize the type and expiration date of the injection drug, the barcode attached to the injection drug is read and an image of the expiration date attached to the injection drug is taken on the drug transport unit 121 side (processing position 132 side) of the position changing unit 126. The first discrimination processing unit 195 performs processing to recognize the type of injection drug based on the read barcode, and the second discrimination processing unit 196 performs processing to recognize the expiration date by analyzing the captured image. These processes (especially the processing to recognize the expiration date) require a predetermined time.

[0310] Therefore, when the reading of the barcode and the photographing of the expiration date are completed on the medicine transporting unit 121 side, the medicine position control unit 197 rotates the position changing unit 126 without waiting for the results of the recognition process of the type of injection drug and the expiration date. As a result, the injection drug is positioned on the medicine moving unit 153 side (the non-dispensing medicine storage unit 152 side). This allows the next injection drug to be placed on the medicine transporting unit 121 side for the recognition process of the type of injection drug and the expiration date. In this way, it is possible to efficiently dispense injection drugs (i.e., to increase the dispensing speed of injection drugs). The results of the recognition process of the type of injection drug and the expiration date are obtained while the injection drug is positioned on the medicine moving unit 153 side.

[0311] That is, in order to efficiently dispense injection drugs in order, the injection drugs are waiting to be dispensed at the following locations. The adsorption mechanism 121a (position P1) of the medicine delivery unit 121. That is, the adsorption mechanism 121a adsorbs the injection medicine. The medicine transport unit 121 side of the position change unit 126 (position P2). That is, the state where the injection medicine is at a position where the barcode attached to the injection medicine is read and the expiration date attached to the injection medicine is photographed. The medicine moving unit 153 side of the position change unit 126 (position P3). That is, the state before the medicine moving unit 153 moves the injection medicine to the transport tray 151a or the non-dispensed medicine storage unit 152.

[0312] Here, the injection drug dispensing device 100 stores injection drugs to be dispensed for one patient on the same transport tray 151a. In other words, if an injection drug to be dispensed and the next injection drug to be dispensed are not injection drugs to be dispensed for the same patient, the injection drug dispensing device 100 stores these injection drugs on different transport trays 151a.

[0313] In this case, if the first discrimination processing unit 195 or the second discrimination processing unit 196 determines that an injection drug cannot be dispensed and determines that the injection drug and the next injection drug to be dispensed are not injection drugs indicated in the prescription data for administration to the same patient, the injection drug cannot be dispensed. Specifically, in this case, the injection drug determined to be undispensable and the next injection drug to be dispensed are stored in different transport trays 151a. Therefore, the next injection drug to be dispensed cannot be dispensed unless an injection drug of the same type as the injection drug determined to be undispensable is dispensed. In other words, in this case, an injection drug cannot be dispensed past the previous injection drug. As a result, the dispensing of injection drugs is stopped.

[0314] Therefore, even if an injection drug that has been determined to be non-dispensable is moved from position P3 to the non-dispensing drug storage section 152, the next injection drug to be dispensed will remain at position P2 or P3, and the injection drug after that will remain at position P1 or P2.

[0315] In particular, the injection drug dispensing system 1 operates in conjunction with various devices in addition to the injection drug dispensing device 100. Therefore, a stop of the injection drug dispensing device 100 affects the processing of the injection drug dispensing system 1.

[0316] In addition, if the injection drug determined to be undispensable and the next injection drug to be dispensed are injection drugs indicated in prescription data for administration to the same patient, as described above, they are generally stored in the same transport tray 151a. Therefore, the next injection drug to be dispensed may be dispensed without waiting for the dispensing of the same type of injection drug as the injection drug determined to be undispensable.

[0317] Therefore, in this example, when the first discrimination processing unit 195 and the second discrimination processing unit 196 determine that an injection drug cannot be dispensed, they function as a dispensing determination unit that determines whether or not drugs of the same type as the injection drug can be dispensed until the injection drug is determined to be dispensable. Furthermore, when the transport control unit 193 determines that an injection drug cannot be dispensed, it functions as a dispensing control unit that waits for the dispensing of the injection drug to be dispensed next.

[0318] In particular, as described above, when the first discrimination processing unit 195 and the second discrimination processing unit 196 make the following determinations (1) and (2), the transport control unit 193 causes the second injection medicine to wait. (1) When it is determined that an injectable drug cannot be dispensed. (2) When it is determined that the injectable drug (first injectable drug) and the injectable drug dispensed next after the injectable drug (second injectable drug, next drug) are drugs indicated in prescription data for administration to different patients.

[0319] In order to realize the above-mentioned process, the injection drug dispensing device 100 is provided with a temporary storage unit for temporarily storing the second injection drug. The temporary storage unit may be provided, for example, in a partial area of ​​the non-dispensed drug storage unit 152, or may be provided separately from the non-dispensed drug storage unit 152 and in the vicinity thereof.

[0320] An example of processing when injection drugs MA, MB, and MC are dispensed will be described using Figure 34. In this example, in (a) of Figure 34, it is assumed that the first discrimination processing unit 195 and / or the second discrimination processing unit 196 have determined that the injection drug MA is an injection drug that cannot be dispensed. Specifically, with regard to the injection drug MA, the first discrimination processing unit 195 has determined that the injection drug identification information indicated by the read barcode does not match the injection drug identification information indicated by the prescription data, or the second discrimination processing unit 196 has determined that the expiration date has expired.

[0321] In this case, as shown in (b) of Figure 34, the medicine moving unit 153 moves the injection medicine MA to the non-dispensing medicine storage unit 152, and then the position changing unit 126 rotates to move the injection medicine MB from position P2 to position P3. In this state, the medicine transporting unit 121 places the injection medicine MC on the position changing unit 126, thereby moving it from position P1 to position P2. Thereafter, the medicine moving unit 153 moves the injection medicine MB to the temporary placement unit, and then the position changing unit 126 rotates to move the injection medicine MC from position P2 to position P3.

[0322] Next, as shown in (c) of Figure 34, the medicine transport unit 121 removes an injection drug MA (here, an injection drug MA') of the same type as the injection drug MA determined not to be dispensed from the cassette Ca at the processing position 132, and places it on the position changing unit 126. That is, the injection drug MA' is moved from position P1 to position P2. Thereafter, the first discrimination processing unit 195 and the second discrimination processing unit 196 determine whether or not the injection drug MA' can be dispensed.

[0323] Next, as shown in (d) of FIG. 34, the position change unit 126 rotates to move the injection drug MA' from position P2 to position P3 (the injection drug MC from position P3 to position P2). If it is determined that the injection drug MA' cannot be dispensed, the drug moving unit 153 moves the injection drug MA' to the non-dispensing drug storage unit 152, and then returns to the processing shown in (c) of FIG. 34. That is, the injection drugs MB and MC to be dispensed next are in a state of waiting to be dispensed until the injection drug MA is dispensed to the transport tray 151a. On the other hand, if it is determined that the injection drug MA' can be dispensed, the drug moving unit 153 moves the injection drug MA' to the transport tray 151a.

[0324] If it is determined that the injection drug MA' can be dispensed, after the injection drug MA' has been dispensed, the drug moving unit 153 returns the injection drug MB, which has been waiting in the temporary storage unit for the dispensing of the injection drug MA, to the position changing unit 126 (specifically, position P3), as shown in (e) of Fig. 34. Thereafter, the position changing unit 126 rotates to move the injection drug MB from position P3 to position P2 (the injection drug MC from position P2 to position P3). This allows the first discrimination processing unit 195 and the second discrimination processing unit 196 to determine whether the injection drug MB, which is the next to be dispensed after the injection drug MA, can be dispensed.

[0325] When the reading of the barcode and expiration date attached to the injection drug MB at position P2 is completed, the position change unit 126 rotates to move the injection drug MB from position P2 to position P3 (the injection drug MC from position P3 to position P2). If it is determined that the injection drug MB can be dispensed, the drug moving unit 153 moves the injection drug MB to the transport tray 151a. Thereafter, as shown in (f) of Figure 34, the first discrimination processing unit 195 and the second discrimination processing unit 196 determine whether the injection drug MC can be dispensed, and if it is determined that the injection drug MC can be dispensed, the drug moving unit 153 moves the injection drug MC to the transport tray 151a.

[0326] On the other hand, in (e) of Figure 34, when it is determined that the injection drug MB cannot be dispensed, the drug moving unit 153 moves the injection drug MB to the non-dispensing drug storage unit 152, and then the position changing unit 126 rotates to move the injection drug MC from position P2 to position P3. Thereafter, the drug transporting unit 121 takes out an injection drug MB of the same type as the injection drug MB determined to be non-dispensable (here, an injection drug MB') from the cassette Ca at the processing position 132 and places it on the position changing unit 126 (specifically, position P2). Then, the first discrimination processing unit 195 and the second discrimination processing unit 196 determine whether the injection drug MB' can be dispensed. This processing is repeated until the injection drug MB is dispensed. In other words, the next injection drug MC to be dispensed is in a waiting state for dispensing until the injection drug MB is dispensed onto the transport tray 151a.

[0327] 34(f), if the injection drug MC is determined to be undispensable, the drug moving unit 153 moves the injection drug MC to the non-dispensing drug storage unit 152. Thereafter, the drug transporting unit 121 removes an injection drug MC of the same type as the injection drug MC determined to be undispensable (here, an injection drug MC') from the cassette Ca at the processing position 132, and places it on the position changing unit 126 (specifically, position P2). Then, the first discrimination processing unit 195 and the second discrimination processing unit 196 determine whether the injection drug MC' can be dispensed. This process is repeated until the injection drug MC is dispensed.

[0328] When the dispensing process for the injection drugs MA, MB, and MC is completed, the injection drug next to the injection drug MC is transported to the position change unit 126 in accordance with the prescription data. If it is determined that the injection drug cannot be dispensed, the above-mentioned process is performed.

[0329] In this way, when an injection drug is determined to be undispensable, the next injection drug to be dispensed is temporarily evacuated to the temporary storage section (evacuation position), and the same type of injection drug as the one determined to be undispensable is automatically re-dispensed. This makes it possible to continuously dispense injection drugs.

[0330] 34, the case where the injection drugs MA, MB, and MC are indicated in prescription data for administration to different patients (the injection drugs MA, MB, and MC are prescribed in different prescriptions) has been described. As for the injection drugs indicated in prescription data for the same patient, as described above, it is acceptable to dispense the injection drug next to the injection drug determined to be non-dispensable.

[0331] In the above example, the dispensing of the next injection medicine is on standby until a given injection medicine is dispensed onto the transport tray 151a. However, the dispensing of the next injection medicine may be on standby until the stockout of a given injection medicine is confirmed (for example, until the cassette Ca containing the injection medicine MA is empty).

[0332] <Example of placing injection drugs on a transport tray> Next, an example of the process of placing an injection drug on the carrier tray 151a (small tray 151b) for accommodating different types of drugs will be described. In the description of this example, the printer device 13 will be described as an infusion label issuing device.

[0333] (Example of small tray structure) First, as a configuration that is the premise of an example of placing an injection drug, the small tray 151b placed on the carrier tray 151a will be described. Figure 35 is a diagram showing the small tray 151b placed on the carrier tray 151a. Figure 36(a) is a perspective view showing an example of the small tray 151b, (b) is a plan view showing an example of the small tray 151b, and (c) is an A-A' cross-sectional view showing an example of the small tray 151b.

[0334] As described above, in the injection drug dispensing system 1, the transport tray 151a is transported from the supply lifter 11 to the discharge lifter 14 via the injection drug dispensing device 100 and the printer device 13. That is, the transport tray 151a in this example is a tray that stores multiple types of injection drugs dispensed by the injection drug dispensing device 100 and infusion labels printed by the printer device 13.

[0335] As shown in Fig. 35, the transport tray 151a of this example is configured to be able to place small trays 151b on it. In this case, for example, an injection drug indicated in prescription data for administration to one patient can be divided and dispensed according to the time of injection drug use (e.g., morning, noon, evening, and before bedtime). In the example of Fig. 35, four small trays 151b can be provided in the direction in which the transport tray 151a is transported.

[0336] 36(a) to 36(c), a protrusion 151c is provided on the bottom of the small tray 151b. The protrusion 151c divides the bottom into a plurality of divided areas 151d.

[0337] 36(b), width 151w of divided region 151d is long enough to accommodate, for example, one or two injections when medicine moving section 153 places the injection medicine so that the direction of the injection medicine is the extension direction of protrusion 151c. In this case, for example, one injection medicine can be placed if the injection medicine is a relatively thick vial, and two injection medicines can be placed if the injection medicine is a relatively thin vial.

[0338] In the injection drug dispensing device 100, the injection drug adsorbed by the adsorption mechanism 153a of the drug transfer section 153 is placed on the transport tray 151a. Therefore, the position of the injection drug on the transport tray 151a can be specified and placed. In other words, the adsorbed injection drug can be placed aiming at each divided area 151d of the small tray 151b. In addition, since it is possible to place the injection drug with the same orientation, the injection drug can be placed in a relatively orderly manner on the divided area 151d.

[0339] Furthermore, as the transport tray 151a moves, the injection medicines may move in the width direction. If the amount of movement is large, the injection medicines may collide with each other, resulting in breakage. By providing the dividing region 151d, the amount of movement of the injection medicines in the width direction can be reduced. Therefore, the possibility of the injection medicines colliding with each other can be reduced. Furthermore, even if a collision occurs, the amount of movement is small, so the possibility of the injection medicines breaking can be reduced.

[0340] As shown in FIG. 36(c), the bottom of the small tray 151b has a sloped portion 151s that slopes from the protrusion 151c toward the side wall of the small tray 151b (in the width direction from the protrusion 151c). The sloped portion 151s is lower on the side wall side of the small tray 151b than on the side of the protrusion 151c. This allows the injection drugs to be placed in order from the side wall side of the small tray 151b due to their own weight, as shown in FIG. 36(c). Therefore, as long as the injection drugs can be placed in the predetermined divided area 151d, there is no need to specify the placement position more precisely. Furthermore, this prevents the injection drugs from colliding with each other and breaking when placed.

[0341] A mechanism for preventing the injection medicine from moving may be provided at the bottom of the small tray 151b. Examples of the mechanism for preventing the injection medicine from moving include a sponge or a minute, substantially V-shaped member. The mechanism for preventing the injection medicine from colliding with and breaking due to the movement of the carrier tray 151a can be more reliably prevented by the mechanism.

[0342] Also, as shown in (b) of Figure 36, in the small tray 151b, at least a portion of one of the multiple divided areas 151d is provided with an infusion label placing area 151r on which an infusion label issued by the printer device 13 is placed.

[0343] As described above, the injection drug dispensing device 100 and the printer device 13 store information regarding the position of the infusion label placement area 151r preset in each small tray 151b. Therefore, the injection drug dispensing device 100 can place the injection drug in an area other than the infusion label placement area 151r, and the printer device 13 can place the infusion label in the infusion label placement area 151r. Therefore, the infusion label is not placed on the injection drug. As a result, the possibility of the infusion label being blown away is reduced. Furthermore, the user can easily check the infusion label. Furthermore, the protrusion 151c can prevent the infusion label from being pushed out of the small tray 151b by the moving injection drug.

[0344] Furthermore, by providing the protrusion 151c and allowing the injection drug and the infusion label to be placed in different areas, the infusion label can be prevented from being pushed out of the small tray 151b, eliminating the need to place the injection drug on the infusion label as a weight. Therefore, it becomes possible to place the infusion label on the small tray 151b after placing the injection drug. In other words, by using the small tray 151b, an injection drug dispensing system 1 can be constructed in which the injection drug dispensing device 100 and the printer device 13 are provided in order from the side to which the transport tray 151a is transported. However, the installation order of the injection drug dispensing device 100 and the printer device 13 may be reversed.

[0345] In this example, the small tray 151b is provided with a plurality of divided areas 151d and an infusion label placement area 151r, but this is not limiting, and these elements may be provided directly on the carrier tray 151a. In other words, in this case, the carrier tray 151a itself has the function of the small tray 151b, and the small tray 151b is not placed on the carrier tray 151a.

[0346] The printer device 13 also has an infusion label transport mechanism that transports and places the printed infusion label on the infusion label placement area 151r based on information about the position of the infusion label placement area 151r. The infusion label transport mechanism includes, for example, a gripping mechanism that grips or releases the printed infusion label, and a moving mechanism that moves the gripping mechanism between the issuing mechanism that issues the infusion label and the transport tray 151a.

[0347] (Example of placing and processing injection drugs) Next, an example of the process of placing an injection drug on the transport tray 151a will be described. In the following, an example will be described in which an injection drug is transported to the small tray 151b, but this is not limiting, and the injection drug may be transported directly to the transport tray 151a.

[0348] As described above, the control unit 190 can identify the orientation of the injection drug by having the barcode reader 123 acquire the barcode. By using the same principle, the control unit 190 can identify the orientation of the injection drug by having the barcode reader 124 acquire the barcode.

[0349] Additionally, the medicine master may also have registered, linked to each piece of injection drug identification information, second distance information indicating a second distance in the circumferential direction of the injection drug from the position of the barcode attached to the injection drug to the approximate center position of the injection drug label on which the injection drug name (drug name) and the like are written. The medicine position control unit 197 determines the amount of rotation of the medicine rotation unit 127 based on the orientation of the injection drug, the position of the barcode when the barcode reader 124 reads the barcode, and the second distance indicated by the second distance information. The medicine position control unit 197 rotates the medicine rotation unit 127 by the determined amount of rotation, so that the injection drug label attached to the injection drug faces upward (in the +Z-axis direction).

[0350] That is, in this example, the medicine position control unit 197 functions as a position specifying unit that specifies the position of the injection medicine name attached to the injection medicine based on the position of the injection medicine identification information attached to the injection medicine (information for matching with the injection medicine identification information included in the prescription data).The medicine position control unit 197 then controls the medicine rotation unit 127 to rotate the injection medicine in the axial direction so that the injection medicine name faces upward.

[0351] After adsorbing the injection medicine with the injection medicine label facing upward, the transport control unit 193 places the injection medicine in a predetermined position on the small tray 151b as is. That is, the transport control unit 193 controls the medicine moving unit 153 to transfer the injection medicine rotated by the medicine rotating unit 127 to the small tray 151b without changing its orientation, and place it on the small tray 151b.

[0352] Furthermore, as described above, since the orientation of the injection medicine is also specified, the transport control unit 193 places the injection medicine on the small tray 151b so that the injection medicine faces a predetermined direction. In this case, the injection medicine can be placed on the small tray 151b with the orientation of the characters on the injection medicine label aligned in a certain direction.

[0353] By placing the injection medicine on the small tray 151b in this way, the user does not need to lift or rotate the injection medicine when visually inspecting the contents of the small tray 151b. This makes it easy to perform visual inspection. Furthermore, by providing the injection medicine dispensing system 1 with a photographing mechanism (not shown) that photographs the contents of the small tray 151b, it becomes possible to perform visual inspection using images photographed by the photographing mechanism.

[0354] Although the injection drugs are placed on the small tray 151b with the injection drug label facing up, this is not limiting and the injection drugs may be placed with the barcode facing up, for example. It is sufficient that the injection drugs are placed in an orientation that makes it easy for the user to perform image inspection using a portable barcode reader (not shown).

[0355] Furthermore, the barcode reader 124 identifies the orientation of the injection drug and sets the injection drug facing upward, but this is not limiting, and these processes may be performed on the barcode reader 123 side.

[0356] Furthermore, the transport control unit 193 may place the injection medicine in the divided area 151d, for example, as follows. For example, the order of the divided areas 151d on which the injection medicine is to be placed and the order of the placement positions of the injection medicine within any divided area 151d may be determined in advance. In this case, the medicine moving unit 153 places the injection medicine in accordance with that order. Also, for example, the transport control unit 193 may sort the identified injection medicines by type or shape and identify the placement positions of the injection medicines.

[0357] Furthermore, the orientation of the injection medicine can be identified by reading the barcode with the barcode reader 123 or 124. This orientation of the injection medicine may be used to determine the suction position when the medicine transfer unit 153 transfers the injection medicine to the transfer tray 151a.

[0358] For example, as described above, assume that information indicating the center of gravity of the injection drug as a distance from the bottom of the injection drug is registered in the medicine master. Assume also that the injection drug is placed on the first mounting unit 126a or the second mounting unit 126b so that the bottom of the injection drug is near the edge of the first mounting unit 126a or the second mounting unit 126b. In this case, the suction position determination unit 194 determines the orientation of the injection drug to identify the edge of the first mounting unit 126a or the second mounting unit 126b on the side where the bottom of the injection drug is located. The suction position determination unit 194 determines, as the center of gravity of the injection drug, a position that is a distance away from the edge by a distance obtained by adding a preset distance between the edge and the bottom to the distance from the bottom of the injection drug. The suction position determination unit 194 determines the determined center of gravity as the suction position.

[0359] [Additional information regarding returns] An example of the operation of the injection drug dispensing device 100 when returning an injection drug has been described with reference to Fig. 15. However, the present invention is not limited to this, and for example, the drug transport unit 121 and the drug moving unit 153 may return the injection drug to the cassette Ca by transferring the injection drug from the transport tray 151a side to the cassette Ca side.

[0360] Here, the medicine transport unit 121 and the medicine moving unit 153 transport the injection medicine from the cassette Ca side to the transport tray 151a side during dispensing. That is, in the above example, the injection medicine is returned to the cassette Ca in the reverse order of the order in which the injection medicine was transported during dispensing. If the mode during dispensing is called the first mode, the mode during return can also be called the second mode.

[0361] In the second mode, for example, the following processing is performed: For example, the medicine moving unit 153 removes the injection medicine (returned medicine) that has been returned to the transport tray 151a by the user from the transport tray 151a and places it on the position changing unit 126. The control unit 190 recognizes the type of injection medicine and the expiration date by reading the barcode with the barcode reader 123 and photographing the expiration date with the expiration date reading camera 125.

[0362] If it is determined that the expiration date has passed, the drug moving unit 153 places the returned drug in the non-dispensed drug storage unit 152. On the other hand, if it is determined that the expiration date is within the expiration date, the cassette transporting unit 140, based on the recognized type of returned drug, removes a cassette Ca that contains an injectable drug of the same type as the returned drug and holds it in the cassette holding unit 130. The drug transporting unit 121 stores the returned drug placed in the position changing unit 126 in the cassette Ca that has been moved to the processing position 132. The cassette transporting unit 140 stores the cassette Ca containing the returned drug back on the cassette shelf 110.

[0363] This process is performed for all returned medicines. If a cassette Ca containing the same type of injection medicine as the returned medicine does not exist, the returned medicine may be stored in an empty cassette Ca or may be placed in the non-dispensed medicine storage unit 152.

[0364] <Another expression for the above configuration> The above configuration can be expressed as follows:

[0365] [A] <Overall configuration of drug handling device> A medicine handling device (injection medicine dispensing device 100) according to one aspect of the present invention includes: a cassette shelf for storing m cassettes each containing the same type of drug; a cassette holding unit capable of temporarily holding n cassettes (m>n≧2) out of the m cassettes; a drug discrimination unit that temporarily holds a drug and discriminates the type of the drug; a tray holder for holding trays for accommodating different types of medicines; a cassette transfer unit that transfers the cassette between the cassette shelf and the cassette holding unit; a first medicine transfer unit that transfers medicine between the cassette held in the cassette holding unit and the medicine determining unit; The device further includes a second medicine transfer section that transfers medicine between the medicine discrimination section and the tray held by the tray holding section.

[0366] According to the above configuration, a portion (n) of the many (m) cassettes are temporarily held in the cassette holder, and the medicines contained in those cassettes are subjected to type identification and transfer to the tray. Therefore, in a medicine handling device storing many cassettes, the medicine types can be identified and the medicines can be transferred to the tray efficiently.

[0367] The drug discrimination unit in the above configuration may be a mechanism including barcode readers 123, 124, expiration date reading camera 125, position changing unit 126, first mounting unit 126a, second mounting unit 126b, and drug rotation unit 127. The first drug transport unit corresponds to drug transport unit 121, and the second drug transport unit corresponds to drug moving unit 153. The tray corresponds to transport tray 151a or small tray 151b.

[0368] Furthermore, the above configuration is mainly based on the matters explained before the "Other Configurations" section above.

[0369] Furthermore, in the medicine handling device according to one aspect of the present invention, The first drug delivery unit and the second drug delivery unit may operate in a first mode in which the drug is delivered from the cassette side to the tray side.

[0370] According to the above configuration, in the first mode, the medicines in the cassette can be stored in the tray. Note that the above configuration is mainly based on the matters explained before the section "Other Configurations" above.

[0371] Furthermore, in the medicine handling device according to one aspect of the present invention, The first drug delivery unit and the second drug delivery unit may operate in a second mode in which they deliver drugs from the tray side to the cassette side.

[0372] According to the above configuration, in the second mode, it is possible to return the medicines contained in the tray to the cassette.

[0373] [B] <What to do if there is a drug that cannot be dispensed> A medicine dispensing device (injection medicine dispensing device 100) according to one aspect of the present invention includes: a dispensing possibility determination unit (first determination processing unit 195, second determination processing unit 196) that, when it is determined that the medicine cannot be dispensed, determines whether or not the medicine of the same type as the medicine can be dispensed until it is determined that the medicine can be dispensed; and a dispensing control unit (transport control unit 193) that, when it is determined that the medicine cannot be dispensed, waits for the dispensing of the medicine to be dispensed next.

[0374] A drug dispensing device sequentially dispenses drugs based on prescription data for administration to a single patient. Therefore, if a drug is determined to be undispensable, dispensing of the drug stops at that point. If the drug dispensing device is linked to other devices, the entire system stops processing, which increases the impact of drug dispensing being halted.

[0375] According to the above configuration, when a drug is determined to be undispensable, the dispensing of the next drug is put on hold until a drug of the same type as the drug is determined to be dispensable, so that drug dispensing can continue even if there is a drug that cannot be dispensed.

[0376] Furthermore, in a drug dispensing device according to one aspect of the present invention, if the dispensing feasibility determination unit (1) determines that the drug cannot be dispensed, and (2) determines that the drug and the next drug to be dispensed after the drug are drugs indicated in prescription data for administration to different patients, the dispensing control unit may cause the next drug to wait.

[0377] Drugs dispensed based on prescription data for administration to the same patient are generally stored in the same tray. Therefore, it is difficult to change the order of drugs indicated in prescription data for administration to different patients because this would require changing the order of the trays. On the other hand, for drugs indicated in prescription data for administration to the same patient, there is no need to change the order of the trays, so the order in which they are dispensed can be arbitrary.

[0378] According to the above configuration, even if a drug is determined to be undispensable, if the drug and the next drug are drugs specified in the prescription data for administration to the same patient, the next drug can be dispensed without waiting. Therefore, when a drug is determined to be undispensable, the dispensing process can be expedited.

[0379] [C] <Processing when placing medicine on tray with name facing up> A medicine handling device (injection medicine dispensing device 100) according to one aspect of the present invention includes: A position identification unit (medicine position control unit 197) that identifies the position of the medicine name attached to the medicine based on the position of the identification information attached to the medicine; a medicine rotation unit that rotates the medicine in an axial direction so that the position of the medicine name identified by the position identification unit faces upward; The device is equipped with a drug transfer section (drug transfer section 153) that transfers the drug to a tray for containing different types of drugs without changing the orientation of the drug rotated by the drug rotation section and places the drug on the tray.

[0380] For example, when drugs are dispensed onto a tray based on prescription data for administration to a patient, a medical professional such as a doctor or pharmacist (i.e., the user) visually inspects the drugs on the tray. If drugs are placed randomly on the tray without considering the position of the drug name, the user must pick up the drug and check the drug name.

[0381] According to the above configuration, the medicines can be dispensed into the tray so that the medicine names are facing upward. Furthermore, since the medicines are placed on the tray in this manner, by photographing the medicines in the tray, the photographed image can be used as an image for visual inspection, and an audit history can also be kept. In other words, according to the above configuration, the user's effort during visual inspection can be reduced.

[0382] The identification information is information indicating the type of injection drug (first identification information). An example of the identification information is a barcode indicating injection drug identification information.

[0383] [D] <Check cassette position> A medicine cassette handling device (injection drug dispensing device 100, medicine cassette handling device 200) according to one aspect of the present invention includes: a storage location determination unit that determines whether each of the plurality of cassettes is stored in a predetermined storage location based on storage location information indicating a storage location where each of the plurality of cassettes is stored and cassette specific information for identifying the cassette; For cassettes that the storage position determination unit determines are not stored in the specified storage position, a cassette transfer unit is provided which transfers the cassette from the storage position where the cassette is stored to the storage position where the cassette should be located.

[0384] Furthermore, a medicine cassette handling device according to one aspect of the present invention includes: a storage location determination unit that determines whether each of the plurality of cassettes is stored in a predetermined storage location based on storage location information indicating a storage location where each of the plurality of cassettes is stored and cassette specific information for identifying the cassette; For cassettes that the storage location determination unit determines are not stored in the specified storage location, an alarm unit (alarm control unit 199, touch panel 210) is provided that notifies the user to store the cassette in the storage location where it should be.

[0385] For example, if the storage location of each cassette is predetermined by the user, if the cassette is not stored in the storage location where it should be, the user will have to spend more time searching for the desired cassette when retrieving it, which may reduce the efficiency of tasks such as filling the cassettes with medicines.

[0386] According to the above configuration, even if a cassette is not present in the storage position where it should be, the cassette can be stored in the storage position, thereby preventing a decrease in work efficiency.

[0387] [E] <Tray structure> A tray according to one aspect of the present invention comprises: A tray that stores multiple types of medicines dispensed by a medicine dispensing device that dispenses medicines and infusion labels printed by an infusion label issuing device (printer device 13) that issues infusion labels to be attached to infusion containers, a bottom portion of the tray is provided with a protrusion that divides the bottom portion into a plurality of divided regions; At least a part of one of the divided areas is an infusion label placement area on which an infusion label issued by the infusion label issuing device is placed.

[0388] When an infusion container is placed on a tray, an infusion label that the user attaches to the infusion container is also placed on the tray. Because the infusion label is thin, it is easily blown off the tray when placed on the tray, for example, when the tray is moved. In particular, when the infusion label is placed on the tray after the medicine is placed on the tray, the infusion label is placed on top of the medicine, and therefore the infusion label is easily blown off the tray.

[0389] If an infusion label gets transferred from one tray to another, the contents of the infusion container and the contents written on the infusion label may not match, which could lead to a serious accident.

[0390] Therefore, it is common to place the infusion label on a tray and then place the medication (specifically, the container in which the medication is stored, such as a vial) on top of the infusion label to prevent the infusion label from being blown away.

[0391] According to the above configuration, the infusion label can be placed in the infusion label placement area, and the medication can be placed in other areas. Therefore, the infusion label will not be placed on top of the medication. As a result, the possibility of the infusion label being blown away can be reduced. Furthermore, the medication can be prevented from being placed on top of the infusion label. This makes it easier for the user to check the infusion label, and also prevents the infusion label from being pushed out of the tray due to the medication moving on top of the infusion label.

[0392] Furthermore, since the infusion label is placed in the infusion label placement area, it is not necessary to place a medicine on top of the infusion label as a weight. Therefore, it is possible to place the infusion label after placing the medicine on the tray. In other words, by using a tray with the above configuration, a medicine dispensing system can be constructed that includes a medicine dispensing device and an infusion label issuing device in order from the side where the tray is transported.

[0393] The tray may be a small tray (151b). In this case, a large tray (transport tray 151a) containing a plurality of types of medicines is provided with a plurality of small trays having the protrusions.

[0394] [F] <Return function> A medicine dispensing device (injection medicine dispensing device 100, medicine cassette handling device 200) according to one aspect of the present invention includes: a cassette shelf for storing m cassettes containing medicines; a cassette holding unit capable of temporarily holding a first cassette containing multiple types of medicines and a second cassette containing medicines whose types have been identified, among the m cassettes; a medicine discrimination unit that temporarily holds the medicine contained in the first cassette and discriminates the type of the medicine; The device is provided with a drug transport section that transports the drugs contained in the first cassette to the drug discrimination section, and also transports the drugs whose types have been identified by the drug discrimination section to the second cassette.

[0395] According to the above configuration, it is possible to sort medicines from the first cassette containing a plurality of types of medicines into a plurality of second cassettes containing medicines whose types have been identified.

[0396] The drug discrimination unit in the above configuration may be a mechanism including barcode readers 123, 124, expiration date reading camera 125, position change unit 126, first mounting unit 126a, second mounting unit 126b, and drug rotation unit 127. The drug transport unit corresponds to drug delivery unit 121. The first cassette corresponds to returned drug receiving cassette 161, and the second cassette corresponds to large returned drug cassette 163 or small / medium returned drug cassette 164.

[0397] Furthermore, the above configuration is mainly based on the matters explained before the "Other Configurations" section above.

[0398] <Other configuration 2> The following mainly describes the further configuration and processing of the injection drug dispensing device 100, as well as the further configuration and processing of the printer device 13, which is a peripheral device of the injection drug dispensing device 100. However, please note that the following description may include some parts that overlap with the above content or parts that are specifically described.

[0399] [Another example of processing in an injection drug dispensing device] First, we will explain another example of the processing in the injection drug dispensing device 100. Figure 50(a) is a diagram showing an example of a cassette Ca when a dividing member SP is attached, and Figure 50(b) is a diagram showing an example of a data table when the cassette Ca is divided into two and used.

[0400] As described above with reference to Fig. 26, the cassette Ca can be divided into two by attaching a dividing member SP to the cassette Ca. As shown in Fig. 50(a), the cassette Ca is divided into a first divided area CaA and a second divided area CaB by being partitioned by the dividing member SP. In this example, the divided area on the front side of the injection drug dispensing device 100 (the side where the cassette transporting unit 140 is arranged) is referred to as the first divided area CaA.

[0401] Here, the size of the first divided area CaA and the second divided area CaB may be changed by changing the mounting position of the divided member SP depending on the shape (size) or number of injection drugs or solvents to be stored.

[0402] Each cassette Ca is also assigned cassette-specific information that can uniquely identify the cassette Ca. As shown in (b) of Fig. 50, the cassette-specific information (cassette barcode) is linked to cassette area information for specifying the area in which the injection drug is stored and information indicating the type of injection drug stored in the cassette Ca (information (drug code) that can uniquely identify the type of injection drug). By referring to this data table, the transfer control unit 191 can determine what type of injection drug is stored in which area of ​​which cassette Ca.

[0403] 50(b), in this example, "0," "1," and "2" are set as the cassette area information. "0" indicates that the entire area of ​​the cassette Ca is intended to contain the injection drug, "1" indicates that the first divided area CaA is intended to contain the injection drug, and "2" indicates that the second divided area CaB is intended to contain the injection drug.

[0404] The cassette area information may be any information that can identify these three storage patterns. Furthermore, the number of divisions of the cassette Ca is not limited to two, but may be three or more. In this case, the cassette area information may be information that can identify the storage pattern according to the number of divided areas.

[0405] When one cassette Ca is divided into two in this way and has the above data table, the cassette Ca can contain injection drugs and the like as follows. (A) Pattern for storing different types of injection drugs. In this case, injection drugs of the same type are divided and stored in a first divided area CaA and a second divided area CaB. (B) A pattern in which the same type of injection drug is stored. In this case, the injection drug is stored in a first divided area CaA and a second divided area CaB based on the expiration date. (C) Pattern for storing an injectable drug with a solvent. In this case, the solvent and the injectable drug are separately stored. For example, if the injectable drug is stored in the first divided area CaA, the solvent is stored in the second divided area CaB.

[0406] <(A) Patterns for storing different types of injection drugs> In this pattern, data is stored in the data table in the form shown in data pattern DP2. That is, different types of injection medications are contained in the first divided area CaA and the second divided area CaB (the same type of injection medication is contained in the same divided area), and this containment status is reflected in the data table. In the example of Figure 50(b), it is shown that in cassette Ca "00005", the first divided area CaA contains the injection medication "CCC01" and the second divided area CaB contains the injection medication "DDD03".

[0407] When the injection drug dispensing device 100 receives a dispensing instruction for prescription data related to administration to one patient from a control device (not shown) that comprehensively controls the entire injection drug dispensing system 1, the transfer control unit 191 extracts the injection drug from the cassette Ca based on the prescription data and the data table. In the above example, if the injection drug indicated in the prescription data is injection drug "CCC01," the transfer control unit 191 refers to the data table to identify that the injection drug "CCC01" is contained in the first divided area CaA of the cassette Ca labeled "00005." This identification allows the transfer control unit 191 to extract the injection drug "CCC01" from the first divided area CaA of the cassette Ca labeled "00005."

[0408] Furthermore, the first discrimination processing unit 195 determines whether or not to dispense the injection drug based on information indicating the type of injection drug read by the barcode reader 123 in the position changing unit 126. Therefore, even if an injection drug different from the injection drug to be dispensed is taken out, the first discrimination processing unit 195 can prevent the injection drug from being dispensed based on the discrimination. For example, even if there is a discrepancy between the injection drugs actually contained in the first division area CaA and the second division area CaB and the information shown in the data table, it is possible to prevent the wrong injection drug from being dispensed.

[0409] Even if the area of ​​the cassette Ca is divided into three or more areas, it is sufficient that the same type of injectable drug is contained in the same divided area, and that different types of injectable drugs are contained in multiple divided areas.

[0410] <(B) Pattern containing the same type of injection drug> As described above, in this case, the injection drug is divided into the first divided area CaA and the second divided area CaB based on the expiration date and stored in the divided area CaA. Since a rod number or a serial number is assigned to each injection drug, the expiration date can be determined from these numbers.

[0411] In this pattern, data is stored in the data table in the form shown in data pattern DP1. That is, the same type of injection drug is physically divided and contained in the first divided area CaA and the second divided area CaB based on the expiration date, but is not divided in the data table. In the example of Figure 50 (b), even if the injection drug "AAA03" is divided and contained in the cassette Ca "00003" based on the expiration date, the data table only indicates that the injection drug is contained in both the first divided area CaA and the second divided area CaB.

[0412] When the injection drug is removed from the cassette Ca based on the dispensing instruction, the transfer control unit 191 transfers the cassette Ca to the cassette holding unit 130. Thereafter, the cassette Ca placed on the cassette holding unit 130 is imaged by the position identification camera 122 at the processing position 132. The suction position determination unit 194 recognizes that the cassette Ca has been divided by analyzing the image captured by the position identification camera 122. In other words, the suction position determination unit 194 can recognize that the injection drug, which has been divided based on the expiration date and contained in the cassette Ca, has been removed only when it is determined that the cassette Ca is physically divided and the cassette area information of the cassette Ca is "0" in the data table.

[0413] The transport control unit 193 takes out the injection drugs from the cassette Ca in a predetermined order. In the initial state, the area from which the injection drugs are taken out by the transport control unit 193 is set to the first divided area CaA. In this case, the transport control unit 193 takes out the injection drugs in order starting from the injection drugs contained in the first divided area CaA. Thereafter, if the first divided area CaA is out of stock, the transport control unit 193 takes out the injection drugs from the second divided area CaB.

[0414] In this way, by dividing the cassette Ca, storing the same type of injection drugs in the first division area CaA and the second division area CaB based on the expiration date, and determining the order of removal, the transport control unit 193 can remove the injection drugs in the order they were stored. In other words, the injection drug dispensing device 100 can dispense the injection drugs in the order they were stored in the cassette Ca (performing the so-called "first in, first out").

[0415] Furthermore, by storing relatively old injection medications in the first division area CaA and relatively new injection medications in the second division area CaB, the transport control unit 193 can take out the injection medications in order starting from the oldest.

[0416] When the first divided area CaA runs out of stock or is filled with an injection drug, the injection drug contained in the second divided area CaB is moved to the first divided area CaA, and then a newer injection drug than the moved injection drug is stored (filled) in the second divided area CaB. At this time, the control unit 190 also resets the injection drug removal area to its initial state. This makes it possible to remove an injection drug from the first divided area CaA again (starting with removing an older injection drug).

[0417] For example, the control unit 190 returns the injection drug take-out area to its initial state when it recognizes that the state of the first divided area CaA has changed from an empty state to a state in which an injection drug is contained, based on an image captured by the position identification camera 122. In addition, the control unit 190 may return the injection drug take-out area to its initial state when it detects that the dispensing process has been interrupted by a user input and that the cassette Ca has been taken out.

[0418] Here, in an injection drug dispensing device that stores injection drugs in an aligned manner in cassettes, the injection drugs can be stored in chronological order. However, in an injection drug dispensing device that stores injection drugs randomly (i.e., in a non-aligned manner) in cassettes, it is difficult to store injection drugs in chronological order from one cassette. By performing the above-described processing and storing injection drugs, the injection drug dispensing device 100 can achieve the so-called "first-in, first-out" system.

[0419] Even if the cassette Ca is divided into three or more regions, each region may contain the same type of injectable drugs with different expiration dates. In this case, the order of removal for the three or more regions may be determined in advance, and the injectable drugs may be placed in each region so that the drugs placed earlier are removed first, thereby realizing the so-called "first in, first out" system.

[0420] The order in which the injections are dispensed can be set arbitrarily. For example, the order in which the injections are dispensed may be set to the second divided area CaB in the initial state, and if the second divided area CaB is out of stock, the injections may be dispensed from the first divided area CaA.

[0421] <(C) Pattern for storing injection drugs with dissolving solution> Some injections come with a solvent that is dissolved in the solvent before use. In this case, the injection and the solvent are stored in different containers, but the injection and the solvent must be dispensed as a set onto the transport tray 151a.

[0422] In this pattern, data is stored in the data table in the form shown in data pattern DP2. That is, an injectable drug is contained in either the first divided area CaA or the second divided area CaB, and a solvent is contained in the other. The state of the contents is reflected in the data table. For example, consider a case where an injectable drug is contained in the first divided area CaA and a solvent is contained in the second divided area CaB. In this case, the example in FIG. 50(b) shows that in the cassette Ca of "00005," an injectable drug "CCC01" is contained in the first divided area CaA and a solvent "DDD03" is contained in the second divided area CaB. By referring to the data table, the injectable drug dispensing device 100 can extract the injectable drug from the first divided area CaA and the solvent from the second divided area CaB, as in the case of (A) above.

[0423] Injectable drugs and solvents are often delivered in the same package and are always dispensed as a set, so it is easy to divide the cassette Ca into two sections and store the injectable drugs and solvents separately in each section. Furthermore, by storing them separately in this way, the injectable drugs and solvents can be removed as a set with a single removal operation of the cassette Ca. In other words, by storing the injectable drugs and solvents in the same cassette Ca, the injectable drugs and solvents can be dispensed more efficiently than if the injectable drugs and solvents were stored in separate cassettes Ca.

[0424] Generally, drugs are assigned drug identification information for uniquely identifying the drug. For example, injection drugs are assigned injection drug identification information (e.g., GS1 code as an injection drug code). On the other hand, unlike drugs, solvents are not assigned drug identification information (e.g., GS1 code). In other words, the container in which the solvent is stored does not have a barcode that can be read by the barcode reader 123.

[0425] Therefore, when the control device analyzes prescription data received from a higher-level system (not shown) and finds that the prescription data includes an injectable drug with a solvent, the control device references master data related to the drug, in which predetermined drug codes are registered for the injectable drug and the solvent. These drug codes are then added to the prescription data. Furthermore, the drug code corresponding to the solvent and cassette-specific information are stored in association with each other in the data table. This allows the injection drug dispensing device 100 to analyze the prescription data received from the control device and, by referring to the data table, identify the cassette Ca containing the injection drug and solvent.

[0426] For injection drugs, a drug code is linked to the injection drug identification information in the prescription data. The shape model is also registered in association with the drug code. Furthermore, the injection drug identification information may be used as is for the injection drug, and a drug code linked to the injection drug identification information may be assigned to the solvent. In other words, it is sufficient that at least the solvent identification information for identifying the solvent is assigned to the solvent.

[0427] Here, the injection drug is provided with injection drug identification information, which can be read by the barcode reader 123. Therefore, the first discrimination processing unit 195 can determine whether or not the injection drug placed on the position changing unit 126 is the injection drug to be dispensed before actually dispensing the injection drug onto the transport tray 151a. On the other hand, as described above, the solvent does not have information that can be read by the barcode reader 123. Therefore, the first discrimination processing unit 195 cannot determine whether or not the solvent liquid placed on the position changing unit 126 is the solvent liquid to be dispensed, based on the reading result of the barcode reader 123.

[0428] Therefore, when the received prescription data for administration to one patient includes an injection drug with a solvent and no reading result is received from the barcode reader 123 for a predetermined time (i.e., when it is determined that the object is not provided with injection drug identification information), the first discrimination processing unit 195 determines that the object placed on the position change unit 126 is a solvent to be dispensed. This allows the solvent to also be dispensed onto the transport tray 151a.

[0429] Here, the suction position determination unit 194 identifies the shape of the injection drug to be picked up (actually, the container in which the injection drug is stored) by referring to the shape model when identifying the suction position at the processing position 132. Furthermore, since the shape model is linked to the medicine code, the suction position determination unit 194 identifies the shape of the solvent to be picked up (actually, the container in which the solvent liquid is stored) for the solvent liquid as well as for the injection drug. In this way, the suction position determination unit 194 identifies the solvent liquid to be picked up based on the shape model linked to the medicine code. Therefore, it can be inferred that the solvent liquid to be dispensed has been accurately identified at this point.

[0430] That is, with regard to the solution, the injection drug dispensing device 100 places the solution to be dispensed on the position changing unit 126 based on the prescription data for administration to one patient, the data table, the shape model, etc. Therefore, even if the first discrimination processing unit 195 does not make a discrimination based on the reading result of the barcode reader 123, the solution can be dispensed based on the prescription data.

[0431] As described above, in this example, the first discrimination processing unit 195 determines whether or not an injection drug can be dispensed based on the injection drug identification information, and determines whether or not a solvent can be dispensed based on whether information equivalent to the injection drug identification information can be read. Specifically, as described above, when the received prescription data for administration to a patient includes an injection drug with a solvent, and information equivalent to the injection drug identification information cannot be read for an object to be dispensed along with the injection drug, the first discrimination processing unit 195 determines that the object is the solvent to be dispensed. This allows the solvent to be dispensed using a simple method.

[0432] Furthermore, the suction position determination unit 194 identifies the injectable drug and solvent to be removed from the cassette Ca based on the shape model, etc., as described above. Therefore, it can be said that the injectable drug dispensing device 100 determines the injectable drug and solvent to be dispensed in two stages: identification based on the shape model, etc., and determination by the first discrimination processing unit 195. Furthermore, when dispensing an injectable drug with a solvent, the control unit 190 can be said to be equipped with a first determination unit that determines whether the solvent can be dispensed based at least on the shape, and a second determination unit that determines whether the injectable drug can be dispensed based at least on the drug type. Furthermore, it can be said that with regard to the solvent, the determination by the first discrimination processing unit 195 is complemented by identification based on the shape model.

[0433] [Outline of the Printer Device] Next, the printer device 13 will be described. The printer device 13 functions as a printer that prints information about an injection drug contained in a carrier tray 151a (tray) or a small tray 151b (tray) that carries the injection drug (medicine). In the above, the printer device 13 has been described as having at least one of a function of printing information indicating the type of injection drug, etc., on the carrier tray 151a and a function of issuing (dispensing) an infusion label (label) on which content information indicating the contents of an infusion container is printed. In the following, a configuration will be described in which the printer device 13 has, in addition to these two functions, a function of dispensing a contained item print sheet (prescription (e.g., injection prescription)) on which contained item information is printed, and a function of dispensing a non-contained item print sheet (e.g., missing item label) on which non-contained item information is printed. In other words, in the following, a configuration in which the printer device 13 has the above four functions (a printer device 13 in which four devices each having the above four functions are provided in one housing) will be described.

[0434] Providing the above four devices in one housing can save space in the injection drug dispensing system 1. Furthermore, as will be described later, in addition to the above four devices, by arranging a transport mechanism for transporting each of the infusion label and the content print sheet, the processing of the printer device 13 can be performed efficiently.

[0435] Fig. 37 is a perspective view showing an example of the printer device 13. Fig. 38 is a block diagram showing an example of the printer device 13.

[0436] Specifically, as shown in Figures 37 and 38, the printer device 13 includes a transport tray printing device 300 (tray writing unit), an infusion label dispensing device 400 (label dispensing unit, infusion label dispensing unit), an injection prescription dispensing device 500 (first sheet dispensing unit), and a missing item prescription dispensing device 600 (second sheet dispensing unit). The printer device 13 also includes an infusion label transport mechanism 700 (label transport unit), an injection prescription transport mechanism 800, and a tray transport mechanism 900. Furthermore, as shown in Figure 38, the printer device 13 includes a control unit 1000 that controls each of these devices or mechanisms.

[0437] Before describing the specific configuration of each device and mechanism, the following describes the flow of operation in the printer device 13. In the following description, the contained item print sheet is an injection prescription, and the non-contained item print sheet is a missing item prescription.

[0438] [Operation in the printer device] The following describes the flow of operations in the printer device 13. Fig. 39 is a diagram for explaining the flow of operations in the printer device 13. Specifically, Fig. 39 is a plan view showing an example of the bottom of the printer device 13 for explaining the order in which the carrier tray 151a is transported.

[0439] In the printer device 13, the transport tray 151a transported from the injection drug dispensing device 100 provided in the preceding stage is transported to the discharge lifter 14 provided in the subsequent stage by the tray transport mechanism 900. The tray transport mechanism 900 first moves the transport tray 151a transported from the injection drug dispensing device 100 to a first position P101 to a second position P102. In other words, the first position P101 is a tray receiving position that receives the transport tray 151a from the injection drug dispensing device 100.

[0440] The transport tray printer 300 writes destination information to the transport tray 151a placed at the second position P102 based on the prescription data. Examples of the destination information include the patient's name and the name of the hospital ward. The destination information may also include information indicating the type of injection drug. The infusion label transport mechanism 700 transports the infusion label dispensed by the infusion label dispenser 400 based on the prescription data to the transport tray 151a placed at the second position P102 and places it thereon. In other words, the second position P102 is the position where the destination information is written to the transport tray 151a and where the infusion label is placed on the transport tray 151a.

[0441] Two infusion label dispensers 400a and 400b are disposed above the second position P102, with a through-hole 400h formed between them (see FIG. 42). Specifically, the through-hole 400h is provided at a position facing at least a part of the second position P102. The infusion labels dispensed from the two infusion label dispensers 400a and 400b are placed on the transport tray 151a by the infusion label transport mechanism 700 through the through-hole 400h.

[0442] In this embodiment, the destination information is printed and the transport label is placed at the second position P102, so these processes can be performed efficiently, thereby improving the processing speed of the printer device 13.

[0443] In this embodiment, the transport tray 151a is moved from the first position P101 to the second position P102. However, if the design of the injection drug dispensing system 1 allows, the second position P102 may function as the first position P101 (tray receiving position). For example, the printer device 13 may receive the transport tray 151a transported from the injection drug dispensing device 100 from the front of the printer device 13 and move the transport tray 151a to the second position P102. This configuration facilitates maintenance of the injection drug dispensing device 100 in the injection drug dispensing system 1 that dispenses printed materials such as infusion labels and injection prescriptions after dispensing an injection drug, and also enables the discharge lifter 14 to be made smaller. Furthermore, this configuration enables the injection drug dispensing system 1 to efficiently print on the side of the transport tray 151a by the transport tray printing device 300.

[0444] When printing of the delivery destination information and placement of the transport label at the second position P102 is completed, the tray transport mechanism 900 moves the transport tray 151a to the third position P103. The injection prescription transport mechanism 800 transports the injection prescription dispensed by the injection prescription dispensing device 500 based on the prescription data to the transport tray 151a arranged at the third position P103 and places it thereon.

[0445] Moreover, above the third position P103, a stock-out slip dispensing device 600 is disposed. When an injection drug that should be contained in the transport tray 151a is not contained therein, the stock-out slip dispensing device 600 dispenses a stock-out slip on which stock-out information indicating the injection drug is printed to the transport tray 151a.

[0446] When the placement of the injection prescription, or in some cases the placement of the missing prescription, is completed at the third position P103, the tray transport mechanism 900 transports the transport tray 151a to the discharge lifter 14.

[0447] In this way, the printer device 13 of this example dispenses, onto the transport tray 151a, an infusion label corresponding to the infusion container placed (or placed) on the transport tray 151a, and an injection prescription corresponding to the injection drug placed on the transport tray 151a. The printer device 13 also writes, onto the transport tray 151a, the patient name and other information of the patient corresponding to the injection drug and other information placed on the transport tray 151a. The printer device 13 also dispenses, as the case may be, a missing label onto the transport tray 151a.

[0448] In the above example, the injection prescription is placed on the top surface of the transport tray 151a. The injection prescription is placed after the destination information is printed and after the infusion label is placed. Placing the injection prescription on the top surface improves the convenience of the user who visually inspects the injection drug, etc. However, if this point is not taken into consideration, the printing and placement order is not limited to the above example. In other words, the printing of the destination information and the order of dispensing (the position of printing or dispensing) the infusion label and injection prescription (or missing prescription in some cases) are not limited to the above order.

[0449] Here, the control unit 1000 receives, for example, prescription data relating to administration to one patient for which dispensing of the injection drug has been completed by the injection drug dispensing device 100 from a control device (not shown) that comprehensively controls the entire injection drug dispensing system 1. When receiving the prescription data relating to administration to the one patient, the control unit 1000 also receives the transport tray 151a onto which the injection drug has been dispensed from the injection drug dispensing device 100.

[0450] For example, when the injection drug dispensing device 100 completes dispensing of the injection drug indicated in the prescription data for administration to one patient, it transmits dispensing completion information indicating the completion of the dispensing to the control device. Furthermore, when a shortage of the injection drug indicated in the prescription data for administration to that one patient occurs, for example, the injection drug dispensing device 100 links stock-out information indicating the missing injection drug to the dispensing completion information and transmits it to the control device. By confirming this dispensing completion information, the control device transmits prescription data (and in some cases stock-out information) for administration to that one patient for which dispensing has been completed to the printer device 13. Furthermore, upon this confirmation, the control device instructs the injection drug dispensing device 100 to transport the transport tray 151a on which the injection drug indicated in the prescription data for administration to that one patient is placed to the printer device 13.

[0451] This allows the control unit 1000 to print destination information based on prescription data for administration to one patient on the transport tray 151a without misidentifying the transport tray 151a to be printed. Also, the control unit 1000 can dispense infusion labels and injection prescriptions (or missing items, in some cases) based on prescription data for administration to one patient onto the transport tray 151a to be dispensed without misidentifying the transport tray 151a to be dispensed.

[0452] The control unit 1000 may receive, as the dispensing completion information, prescription data related to administration to one patient for which dispensing has been completed, directly from the injection drug dispensing device 100. In this case, the injection drug dispensing device 100 transports the transport tray 151a to the printer device 13 when transmitting the dispensing completion information.

[0453] [Tray transport mechanism] 39, the tray transport mechanism 900 transports the transport tray 151a, which has been transported from the injection drug dispensing device 100 to a first position P101, to the discharge lifter 14 via a second position P102 and a third position P103, based on the control of the control unit 1000. The tray transport mechanism 900 is provided at the bottom of the printer device 13 in order to transport the transport tray 151a. In this embodiment, the tray transport mechanism 900 has a first moving mechanism that moves the transport tray 151a between the first position P101 and the second position P102, and a second moving mechanism that moves the transport tray 151a between the first position P101 and the third position P103.

[0454] The control unit 1000 controls the tray transport mechanism 900 to move the transport tray 151a, which was transported to the first position P101 when prescription data for administration to one patient was received, from the first position P101 to the second position P102.

[0455] When the control unit 1000 determines that the transport of the infusion labels dispensed by the infusion label dispensing device 400 to the transport tray 151a is completed, the control unit 1000 controls the tray transport mechanism 900 to transport the transport tray 151a to the third position P103. For example, the control unit 1000 may determine that the transport is completed when the infusion label transport mechanism 700 places the infusion labels on the transport tray 151a and then returns the infusion label gripper 701 to a standby position (described later).

[0456] Thereafter, when the control unit 1000 determines that the transport of the injection prescription dispensed by the injection prescription dispensing device 500 to the transport tray 151a is completed, the control unit 1000 controls the tray transport mechanism 900 to transport the transport tray 151a to the discharge lifter 14. For example, the control unit 1000 may determine that the transport is completed when the injection prescription transport mechanism 800 places the injection prescription on the transport tray 151a and then returns the injection prescription gripper 801 to a standby position (described later).

[0457] In the above-described configuration in which the transport tray 151a is received from the front of the printer device 13, the control unit 1000 moves the transport tray 151a to the third position P103 via the first position P101 after completing printing of destination information and storing of the infusion label on the transport tray 151a received at the second position P102. That is, in this case, the tray transport mechanism 900, under the control of the control unit 1000, transports the transport tray 151a transported from the injection drug dispensing device 100 to the second position P102 to the discharge lifter 14 via the first position P101 and the third position P103.

[0458] [Transport tray printing device] Next, a description will be given of the carrier tray printing device 300. Figure 40 is a front view showing an example of the carrier tray printing device 300.

[0459] The transport tray printing device 300 prints destination information (e.g., patient name and ward name) indicating the destination of the transport tray 151a at a predetermined position on the transport tray 151a. When the control unit 1000 recognizes that the transport tray 151a has been placed at the second position P102, it controls the transport tray printing device 300 to print, on the transport tray 151a, the destination information that is included in the received prescription data related to administration to one patient or that is linked to the prescription data. The transport tray printing device 300 prints the destination information approximately near the center of one side of the transport tray 151a that was transported before the transport tray printing device 300.

[0460] For example, a plurality of sensors (not shown) may be provided on the path of the transport tray 151a, so that the control unit 1000 may recognize whether the transport tray 151a is placed at the first position P101, the second position P102, or the third position P103 based on the output of each sensor.

[0461] The transfer tray printing device 300 is a device that can print transfer destination information on the transfer tray 151a in a non-contact manner. In this embodiment, the transfer tray printing device 300 is a laser marker that prints information on an object by emitting a laser Ls.

[0462] However, the transport tray printing device 300 is not limited to a laser marker, and may be any transport tray writing device capable of writing transport destination information onto the transport tray 151a. For example, the transport tray writing device may include a transmitter that transmits the transport destination information, and the transport tray 151a may be provided with an electronic card (or electronic paper) and a receiver that receives the transport destination information. This allows the transport destination information transmitted by the transport tray writing device to be displayed on the electronic card. Alternatively, a magnetic card may be removably provided on the transport tray 151a, and the transport tray writing device may be a device capable of writing the transport destination information onto the magnetic card. Furthermore, the transport tray writing device may write the transport destination information onto the transport tray 151a using heat.

[0463] For example, if a magnetic card is used, the destination information is written to the magnetic card after it is removed. In this case, there is a possibility that the magnetic card may get caught on a part of the carrier tray 151a when the magnetic card is removed from the carrier tray 151a. On the other hand, if an electronic card is used, this problem does not occur, but the cost is relatively high.

[0464] By using a laser marker as the transfer tray printing device 300, the transfer destination information can be printed on the transfer tray 151a inexpensively and without the hassle of using a magnetic card.

[0465] [Infusion label dispenser and infusion label transport mechanism] Next, we will explain the infusion label dispensing device 400 and the infusion label transport mechanism 700. Figure 41 (a) is a perspective view showing an example of the infusion label dispensing device 400 and the infusion label transport mechanism 700, and (b) and (c) are perspective views showing an example of the infusion label receiving unit 403 provided in the infusion label dispensing device 400. Figure 42 is a plan view showing an example of the infusion label dispensing device 400.

[0466] The infusion label dispensing device 400 dispenses infusion labels to be affixed to infusion containers. The infusion label transport mechanism 700 grips the infusion labels dispensed by the infusion label dispensing device 400 and transports them to the transport tray 151a. The infusion label dispensing device 400 and the infusion label transport mechanism 700 function as a label dispensing device that dispenses infusion labels onto the transport tray 151a.

[0467] <Details of the infusion label dispenser> As shown in Figure 41(a) and Figure 42, in this embodiment, two infusion label dispensing devices 400a and 400b are provided as the infusion label dispensing device 400. As shown in Figure 42, the two infusion label dispensing devices 400a and 400b are arranged on a pedestal 450 provided above the second position P102. As described above, a through-hole 400h is formed in the pedestal 450 at a position opposite the second position P102 (a position opposite the transport tray 151a transported to the second position P102).

[0468] As shown in (a) of Figure 41, the infusion label dispensing device 400 comprises a print sheet storage unit 401, a first main body unit 402, an infusion label receiving unit 403, and a receiving unit rotation mechanism 404. The print sheet storage unit 401 stores print sheets on which content information is printed. The first main body unit 402 issues infusion labels by printing content information indicated in received prescription data related to administration to one patient onto print sheets stored in the print sheet storage unit 401.

[0469] The infusion label receiving section 403 receives and temporarily stores infusion labels issued by the first main body section 402. As shown in (b) of Figure 41, a side wall 403c extending from the bottom section 403b forms a space in the infusion label receiving section 403 for storing infusion labels. The side wall 403c also forms an opening 403a for receiving the infusion label from the first main body section 402 and for the infusion label gripping section 701 of the infusion label transport mechanism 700 to remove the infusion label. The side wall 403c also forms a gap 403d for allowing the pair of claws 702 of the infusion label gripping section 701 to open and close.

[0470] As shown in (b) of Figure 43, the pair of claws 702 open when gripping an infusion label stored in the infusion label receiving section 403. In this embodiment, as shown in (b) of Figure 41, the side wall 403c has a shape with a gap 403d in its center. Therefore, when gripping an infusion label, the pair of claws 702 can perform an opening and closing operation via the gap 403d without colliding with the side wall 403c.

[0471] On the other hand, if the gap 403d is not formed, it is necessary to form a space inside the infusion label receiving portion 403 large enough to allow the pair of claws 702 to open when gripping the infusion label. In this case, the thickness W10 needs to be thick enough to form the space. However, since infusion labels are thin and only a few infusion labels (e.g., 1 to 5) are accommodated at one time, the thickness W10 does not need to be so large. As described above, the side wall 403c has the gap 403d, allowing the infusion label receiving portion 403 to be relatively small. If this point is not taken into consideration, the infusion label receiving portion 403 does not need to have the gap 403d.

[0472] The infusion label receiving section 403 is provided so that the orientation of the opening 403a can be changed. Specifically, at the label receiving position (the state of (a) in Figure 43), the infusion label receiving section 403 is fixed with the opening 403a facing the first main body section 402. The label receiving position is the position of the infusion label receiving section 403 when it receives an infusion label issued from the first main body section 402. On the other hand, at the label gripping position (the states of (b) and (c) in Figure 43), the infusion label receiving section 403 is fixed with the opening 403a facing the infusion label gripping section 701 (the Z-axis direction; upward). The label gripping position is the position of the infusion label receiving section 403 when the infusion label gripping section 701 grips an infusion label stored in the infusion label receiving section 403.

[0473] As shown in (c) of FIG. 41, an attachment 403e may be attached to the infusion label receiving portion 403. The attachment 403e adjusts the height of the bottom of the infusion label receiving portion 403 and is fitted into the infusion label receiving portion 403 through the opening 403a. If the attachment 403e is not attached, when a relatively small infusion label is placed in the infusion label receiving portion 403, the infusion label gripping portion 701 may not be able to grip the infusion label. By attaching the attachment 403e to the infusion label receiving portion 403, the bottom of the infusion label receiving portion 403 can be raised. Therefore, even when the infusion label is dispensed, the infusion label gripping portion 701 can grip the infusion label.

[0474] The receiving part rotation mechanism 404 includes a shaft extending in the Y-axis direction and a drive mechanism for rotating the shaft. The infusion label receiving part 403 (e.g., side wall 403c) is attached to the shaft. The receiving part rotation mechanism 404 rotates the infusion label receiving part 403 around the shaft by rotating the shaft using the drive mechanism. This allows the infusion label receiving part 403 to move between the label receiving position and the label gripping position so that the orientation of the opening 403a at each of the label receiving position and the label gripping position is as described above.

[0475] 43(a), at the label receiving position, the opening 403a of the infusion label receiving part 403 and the label dispensing outlet 402a (or its vicinity) of the first main body part 402, from which the infusion label is dispensed, are positioned opposite each other. That is, the infusion label receiving part 403 and the receiving part rotating mechanism 404 are arranged so as to have this positional relationship at the label receiving position. In other words, the infusion label receiving part 403 is a member that can be rotated to be positioned opposite the label dispensing outlet 402a (or its vicinity).

[0476] Furthermore, a label counting unit (not shown) that counts the infusion labels (infusion labels dispensed by the first main body unit 402) stored in the infusion label receiving unit 403 may be provided near the infusion label receiving unit 403 or at the label dispensing outlet 402a of the first main body unit 402. Based on a notification from the label counting unit (e.g., a sensor), the control unit 1000 can determine whether a specified number of infusion labels have been dispensed.

[0477] <Details of the infusion label transport mechanism> Next, we will explain the infusion label transport mechanism 700. Figures 49(a) and 49(b) are perspective views showing an example of the infusion label gripper 701.

[0478] As shown in (a) of Figure 41, in this embodiment, the infusion label conveying mechanism 700 includes infusion label holding portions 701a and 701b (collectively referred to as infusion label holding portions 701), a first support portion 711, a second support portion 712, and a third support portion 713.

[0479] The infusion label gripping section 701 grips (clamps) the infusion label dispensed to the infusion label receiving section 403. The infusion label gripping section 701 also releases the gripped infusion label on the transport tray 151a to place it on the transport tray 151a. To achieve this gripping and releasing action, the infusion label gripping sections 701a and 701b are each provided with a pair of claws 702a and 702b at their tip ends, respectively, that can be opened and closed (see also Figures 49(a) and (b)). The pair of claws 702a and 702b are also collectively referred to as the pair of claws 702.

[0480] As shown in (a) and (b) of Figure 49, the infusion label gripping portion 701 includes a fixing device 703, a gripping portion driving mechanism 704 that opens and closes the pair of claw portions 702, and a support 705 that is supported by the gripping portion driving mechanism 704 and supports the fixing device 703.

[0481] The fixture 703 is fixed to the gripper drive mechanism 704 via a support 705. The fixture 703 is provided facing the surface of one of the pair of claws 702 (referred to here as one claw 7021) opposite the side that grips the infusion label. Furthermore, because the fixture 703 is supported by the support 705, even when the gripper drive mechanism 704 performs the opening and closing operation of the pair of claws 702, it does not move together with the pair of claws 702 in accordance with the opening and closing operation.

[0482] The fixture 703 is provided with a rod-shaped member 703a extending toward one of the claws 7021. The one claw 7021 is provided with an opening 7021a through which the rod-shaped member 703a can pass. When the pair of claws 702 is closed, the rod-shaped member 703a is positioned so that it does not pass through the opening 7021a (the entire rod-shaped member 703a faces the surface on the opposite side). On the other hand, when the pair of claws 702 is open, the tip of the rod-shaped member 703a is positioned so that it protrudes from the opening 7021a toward the inside of the pair of claws 702, as shown in (a) and (b) of FIG.

[0483] As a result, even if the infusion label being held by the pair of claws 702 is attached to one of the claws 7021 due to static electricity or the like when the pair of claws 702 are opened, the rod-shaped member 703a protruding from the opening 7021a can physically peel the infusion label from one of the claws 7021. Therefore, by providing the fixing device 703, the infusion label being held can be reliably released when the pair of claws 702 are opened. In other words, the fixing device 703 can be said to function as a label peeling unit that peels off the infusion label attached to the pair of claws 702.

[0484] The fixing device 703 may be provided on the other claw portion 7022. In other words, the fixing device 703 may be provided on one claw portion 7021 and / or the other claw portion 7022.

[0485] The infusion label gripping part 701 is attached to the third support part 713 so as to be movable in the Z-axis direction. In other words, the third support part 713 is a moving mechanism that supports the infusion label gripping part 701 and moves the infusion label gripping part 701 in the Z-axis direction.

[0486] The third support part 713 moves the infusion label gripping part 701 between the standby position and the infusion label receiving part 403 at the label gripping position. The third support part 713 also moves the infusion label gripping part 701 between a position above the transport tray 151a (a position at the same height as the standby position) and a position near the transport tray 151a (a label release position). The standby position is above the infusion label receiving part 403 and is a position where the infusion label gripping part 701 waits to grip an infusion label stored in the infusion label receiving part 403.

[0487] The first support part 711 is a moving mechanism that supports the infusion label gripping part 701 and moves the infusion label gripping part 701 in the Y-axis direction. Specifically, a third support part 713, to which the infusion label gripping part 701 is attached, is attached to the first support part 711 so as to be movable in the Y-axis direction. This allows the infusion label gripping part 701 to move between a standby position and near the center of the first support part 711.

[0488] The second support part 712 is a moving mechanism that supports the infusion label gripping part 701 and moves the infusion label gripping part 701 in the X-axis direction. Specifically, the first support part 711, to which the third support part 713 is attached, is attached to the second support part 712 so as to be movable in the X-axis direction. This allows the infusion label gripping part 701 to move between near the center of the first support part 711 and a position above the transport tray 151a.

[0489] <Operation of the infusion label dispenser and infusion label transport mechanism> Next, we will explain the gripping and transporting operations of the infusion label by the infusion label transport mechanism 700. Figure 43 (a) to (d) are diagrams for explaining an example of the gripping operation of the infusion label La by the infusion label transport mechanism 700. Figure 44 (a) to (d) are diagrams for explaining an example of the transporting operation of the infusion label La by the infusion label transport mechanism 700.

[0490] As shown in (a) of Figure 43, in the infusion label dispensing device 400, when the first main body 402 dispenses an infusion label La under the control of the control unit 1000, the infusion label La is stored in the infusion label receiving unit 403. When the control unit 1000 determines that a specified number of infusion labels La have been stored, it rotates the infusion label receiving unit 403 so that the opening 403a of the infusion label receiving unit 403 storing the infusion label La faces the infusion label holding unit 701, as shown in (b) of Figure 43. In this state, the control unit 1000 moves the infusion label holding unit 701 from the standby position to the infusion label receiving unit 403.

[0491] As shown in (b) of Figure 43, the control unit 1000 opens the pair of claws 702 at the label gripping position, and then closes the pair of claws 702 as shown in (c) of Figure 43 to grip the infusion label La stored in the infusion label receiving unit 403. As shown in (d) of Figure 43, the control unit 1000 pulls up the infusion label gripping unit 701 to the standby position while gripping the infusion label La. At this time, the control unit 1000 rotates the infusion label receiving unit 403 so that the opening 403a faces its original direction (toward the first main body unit 402) after the infusion label La is removed.

[0492] By providing a sensor (not shown) inside the infusion label receiving section 403, the control section 1000 can determine whether or not an infusion label La is present therein. Also, by providing a sensor, for example, in the pair of claws 702 (not shown), the control section 1000 can determine whether or not the pair of claws 702 are gripping the infusion label La.

[0493] Furthermore, the control unit 1000 may start the gripping operation by the infusion label gripping unit 701 when it receives a notification from a sensor provided in the infusion label receiving unit 403 and a label counting unit provided in the label dispensing opening 402a. Specifically, the control unit 1000 may start the gripping operation when it recognizes that a specified number of infusion labels La have been dispensed from the first main body unit 402 and that infusion labels La are present in the infusion label receiving unit 403. At this time, the control unit 1000 rotates the infusion label receiving unit 403 so that the opening 403a faces the infusion label gripping unit 701. With this configuration, the gripping operation can be started earlier than when the gripping operation is performed upon receiving a notification from the infusion label dispensing device 400 indicating that the dispensing of the infusion labels La has been completed.

[0494] FIG. 44(a) shows a state in which the infusion label gripping part 701 grips an infusion label La at the standby position. From this state, as shown in FIG. 44(b), the control part 1000 moves the infusion label gripping part 701, which has moved to each standby position, to near the center of the first support part 711. After moving the infusion label gripping part 701 to near the center, the control part 1000 moves the first support part 711 above the through-hole 400h (i.e., the second position P102 where the carrier tray 151a is placed). Specifically, the control part 1000 moves the infusion label La gripped by the infusion label gripping part 701 to above the position in the carrier tray 151a where the infusion label La should be placed (the infusion label placing area).

[0495] Then, as shown in (d) of Figure 44, the control unit 1000 lowers the infusion label holding unit 701 holding the infusion label La and opens the pair of claws 702 at the label release position, thereby placing the infusion label La on the transport tray 151a.

[0496] Next, the placement position of the infusion label La on the carrier tray 151a will be described. Figure 45 (a) and (b) are diagrams for explaining the placement position of the infusion label La on the carrier tray 151a. As described above, it is assumed that four small trays 151b are accommodated inside the carrier tray 151a. Furthermore, it is assumed that each small tray 151b is provided with an infusion label placement area 151r, which is an area from which injection drugs are not dispensed and from which infusion labels La are dispensed. It is also assumed that the content information indicated in the received prescription data for administration to one patient includes four pieces of information: a morning administration amount, a midday administration amount, an evening administration amount, and an administration amount before bedtime.

[0497] For ease of explanation, in FIG. 45, the four small trays 151b are referred to as small trays 151b1, 151b2, 151b3, and 151b4 in the order from the conveying direction of the conveyance tray 151a. It is also assumed that injections for morning administration, midday administration, evening administration, and bedtime administration are dispensed to the small trays 151b1, 151b2, 151b3, and 151b4, respectively. The received prescription data for administration to one patient is linked to information indicating the placement position of the injection on the conveyance tray 151a. Therefore, the control unit 1000 can realize the above-described dispensing (dispensing of injections to predetermined positions) to the small trays 151b1, 151b2, 151b3, and 151b4 by analyzing the prescription data.

[0498] The control unit 1000 determines whether the infusion label dispensing device 400a or 400b will print and dispense the infusion label La based on the content information indicated in the received prescription data for administration to one patient. For example, the control unit 1000 controls the infusion label dispensing device 400a to dispense the infusion labels La for morning and evening administrations, and the infusion label dispensing device 400b to dispense the infusion labels La for midday and before bedtime administrations. In other words, the infusion labels La dispensed from the infusion label dispensing device 400a are dispensed onto the small tray 151b1 (the first compartment of the transport tray 151a) and the small tray 151b3 (the third compartment). The infusion labels La dispensed from the infusion label dispensing device 400b are dispensed onto the small tray 151b2 (the second compartment) and the small tray 151b4 (the fourth compartment).

[0499] Furthermore, during the first dispensing, the control unit 1000 causes the infusion label dispensing device 400a to dispense the infusion label La for the morning administration onto the small tray 151b1, and causes the infusion label dispensing device 400b to dispense the infusion label La for the midday administration onto the small tray 151b2. As shown in (a) of Figure 45, during the first dispensing, the infusion label La for the morning administration dispensed from the infusion label dispensing device 400a is dispensed by the infusion label gripper 701a onto the infusion label placing area 151r of the small tray 151b1. Furthermore, the infusion label La for the midday administration dispensed from the infusion label dispensing device 400b is dispensed by the infusion label gripper 701b onto the infusion label placing area 151r of the small tray 151b2.

[0500] Furthermore, during the second dispensing, the control unit 1000 causes the infusion label dispensing device 400a to dispense the infusion label La for the evening administration onto the small tray 151b3, and also causes the infusion label dispensing device 400b to dispense the infusion label La for the before-bedtime administration onto the small tray 151b4. As shown in (b) of Figure 45, during the second dispensing, the infusion label La for the evening administration dispensed from the infusion label dispensing device 400a is dispensed by the infusion label gripper 701b onto the infusion label placing area 151r of the small tray 151b3. Furthermore, the infusion label La for the before-bedtime administration dispensed from the infusion label dispensing device 400b is dispensed by the infusion label gripper 701b onto the infusion label placing area 151r of the small tray 151b4.

[0501] The above-described method of dispensing the infusion labels La is merely an example, and the labels may be dispensed in any order. For example, the infusion label dispenser 400a may dispense infusion labels La for daytime administration and bedtime administration, and the infusion label dispenser 400b may dispense infusion labels La for morning administration and evening administration. The first and second dispensing may also be reversed.

[0502] As described above, in this embodiment, each of the multiple infusion label dispensing devices 400 is provided with an infusion label gripping portion 701, and a first support portion 711 and a third support portion 713 for transporting the infusion label gripping portion 701. Also, a second support portion 712 for transporting the infusion label gripping portion 701 is provided. Therefore, as described above, in a single dispensing operation, multiple infusion label dispensing devices 400 can be operated in parallel, and the infusion label La dispensed from each infusion label dispensing device 400 can be transported to a predetermined position (section) on the transport tray 151a. In other words, multiple infusion labels La can be efficiently dispensed.

[0503] The printer device 13 also includes multiple infusion label dispensers 400. Therefore, even if one of the infusion label dispensers 400 becomes unable to dispense infusion labels La (i.e., if a failure occurs in the infusion label dispenser 400), the remaining infusion label dispensers 400 can still dispense the infusion labels La for that particular infusion label dispenser 400. For example, even if the infusion label dispenser 400a breaks down or runs out of printing sheets and is no longer able to dispense infusion labels La, the infusion label dispenser 400b can still dispense the infusion labels La for that particular infusion label dispenser 400a. In this case, the control unit 1000 prints each piece of information (e.g., the above four doses) included in the content information indicated in the received prescription data for administration to one patient on a printing sheet in order, thereby dispensing an infusion label La for each piece of information from the infusion label dispenser 400b.

[0504] If the efficiency of the above-mentioned processes or alternative processes in the event of a failure are not taken into consideration, the number of infusion label dispensing devices 400 may be one. Also, three or more infusion label dispensing devices 400 may be used. In this case, however, an infusion label gripper 701 or the like is provided for each infusion label dispensing device 400.

[0505] In addition, in the infusion label transport mechanism 700, the infusion label gripping part 701 grips the infusion label La and moves the infusion label gripping part 701 along the first support part 711, the second support part 712, and the third support part 713. Therefore, the infusion label can be placed accurately at a predetermined position on the transport tray 151a (for example, the infusion label placing area 151r of each small tray 151b).

[0506] [Injection prescription dispensing device and injection prescription transport mechanism] Next, a description will be given of the injection prescription dispensing device 500. Figure 46 is a diagram showing an example of the injection prescription dispensing device 500, where (a) is a front view showing an example of the injection prescription dispensing device 500, and (b) and (c) are perspective views showing an example of the injection prescription receiving unit 512.

[0507] <Details of the injection prescription dispenser> The injection prescription dispensing device 500 dispenses injection prescriptions on which information on the contents that indicates the injection medicine contained in the transport tray 151a is printed. As shown in (a) of Figure 46, the injection prescription dispensing device 500 includes a second main body unit 511 and an injection prescription receiving unit 512.

[0508] The second main body unit 511 issues an injection prescription by printing, on stored paper, content information indicating the injection drug indicated in the received prescription data for administration to one patient. When stock-out information has been received, the injection drug indicated in the stock-out information has not been dispensed from the injection drug dispensing device 100 to the transport tray 151a. Therefore, the second main body unit 511 may print, as content information, information regarding the injection drugs indicated in the prescription data, excluding the injection drug indicated in the stock-out information, on paper. The second main body unit 511 also has an injection prescription dispensing outlet 511a that dispenses the injection prescription to the injection prescription receiving unit 512.

[0509] The injection prescription receiving unit 512 is a place where the injection prescription issued by the second main body unit 511 is received and the injection prescription is temporarily placed. As shown in (b) of Figure 46, the injection prescription receiving unit 512 has a raised portion 512a and a notched portion 512b.

[0510] The raised portion 512a is for receiving the injection prescription issued by the second main body portion 511 while lifting it from the bottom (receiving plate) of the injection prescription receiving portion 512. As shown in (b) of Figure 46, the raised portion 512a is made up of a plurality of plate-like members each having a convex cross-sectional shape (curved shape).

[0511] The height of the plate-shaped member on the injection prescription dispensing opening 511a side is low enough to prevent the injection prescription dispensed from the injection prescription dispensing opening 511a from colliding with the plate-shaped member. In addition, the height of the plate-shaped member is greatest on the injection prescription dispensing opening 511a side rather than near the center of the raised portion 512a.

[0512] The position where the height is maximum is the position (or a position nearby) where the injection prescription gripping portion 801 of the injection prescription transport mechanism 800 grips the injection prescription from the cutout portion 512b side. Therefore, by providing a plate-like member having the above-mentioned shape as the raised portion 512a, gripping by the injection prescription gripping portion 801 becomes easy. The injection prescription is placed on the raised portion 512a as shown in (c) of Fig. 46.

[0513] The raised portion 512a may have any shape as long as it lifts up the injection prescription so as to make it easier to grip the injection prescription by the injection prescription gripping portion 801. For example, the raised portion 512a does not have to be made up of a plurality of plate-like members, and may be a single member having the same cross-sectional shape as the plate-like members.

[0514] The cutout portion 512b is provided at a position where the injection prescription holding portion 801 approaches. This allows the injection prescription holding portion 801 to hold the injection prescription without coming into contact (colliding) with the injection prescription receiving portion 512 when approaching the injection prescription receiving portion 512.

[0515] In this embodiment, as shown in Fig. 37, two injection prescription dispensing devices 500 are provided. The control unit 1000 causes one of the injection prescription dispensing devices 500 to dispense an injection prescription indicating an injection drug indicated in part of the received prescription data related to administration to one patient (e.g., injection drugs dispensed to small trays 151b1 and 151b2). The control unit 1000 also causes the other injection prescription dispensing device 500 to dispense an injection prescription indicating an injection drug indicated in the remainder of the prescription data (e.g., injection drugs dispensed to small trays 151b3 and 151b4). The number of injection prescription dispensing devices 500 is not limited to two, and may be one, or three or more.

[0516] <Details of the injection prescription dispensing and transport mechanism> Next, a description will be given of the injection prescription transport mechanism 800. (a) and (b) of Figure 47 are perspective views showing an example of the injection prescription transport mechanism 800.

[0517] As shown in (a) of FIG. 47, the injection prescription transport mechanism 800 includes an injection prescription gripping unit 801, a gripping unit rotating mechanism 803, a fourth support unit 811, and a fifth support unit 812.

[0518] The injection prescription gripping unit 801 grips (holds) the injection prescription dispensed to the injection prescription receiving unit 512. The injection prescription gripping unit 801 also releases the injection prescription on the transport tray 151a in order to place the gripped injection prescription on the transport tray 151a. The injection prescription gripping unit 801 is provided with a pair of claws 802 that can perform opening and closing operations in order to realize the gripping and release operations.

[0519] The injection prescription gripping unit 801 is provided so that the orientation of the pair of claws 802 can be changed. For this reason, the injection prescription gripping unit 801 is attached to a gripping unit rotation mechanism 803. Specifically, the gripping unit rotation mechanism 803 includes a shaft extending in the X-axis direction and a drive mechanism that rotates the shaft, and the injection prescription gripping unit 801 is attached to the shaft. As a result, the gripping unit rotation mechanism 803 rotates the shaft using the drive mechanism, thereby rotating the pair of claws 802 around the shaft.

[0520] 47(a), the injection prescription holding unit 801 is in a state in which the pair of claws 802 are facing (facing in the +Y-axis direction) toward the injection prescription receiving unit 512 of the injection prescription dispensing device 500. The injection prescription holding position P201 is the position of the injection prescription holding unit 801 when the injection prescription holding unit 801 holds an injection prescription placed on the injection prescription receiving unit 512. The injection prescription lifting position P202 is the position of the injection prescription holding unit 801 when the fifth support unit 812 moves (lifts and lowers) the injection prescription holding unit 801 in the Z-axis direction.

[0521] For example, (b) of Figure 47 shows a state in which the injection prescription gripping unit 801 is rotated from this state so that the pair of claw portions 802 face diagonally downward. The rotation of the injection prescription gripping unit 801 to this state is performed, for example, at the injection prescription lifting position P202. Furthermore, at the injection prescription dispensing position, the injection prescription gripping unit 801 is rotated so that the pair of claw portions 802 face the transport tray 151a placed at the third position P103 (so that they face the -Z axis direction), as shown in (d) of Figure 48. The injection prescription dispensing position is the position of the injection prescription gripping unit 801 when the injection prescription gripping unit 801 releases the injection prescription it is holding and places it on the transport tray 151a.

[0522] In this way, the gripping portion rotating mechanism 803 rotates the injection prescription gripping portion 801 so as to change the orientation of the pair of claw portions 802 between the +Y-axis direction and the −Z-axis direction.

[0523] The fourth support unit 811 supports the injection prescription holding unit 801 via the holding unit rotation mechanism 803. The fourth support unit 811 is a movement mechanism that moves the injection prescription holding unit 801 in the Y-axis direction. When holding an injection prescription placed on the injection prescription receiving unit 512, the fourth support unit 811 moves the injection prescription holding unit 801 and the holding unit rotation mechanism 803 to an injection prescription holding position P201. On the other hand, when lowering the injection prescription holding unit 801 holding the injection prescription to the vicinity of the transport tray 151a, the fourth support unit 811 moves the injection prescription holding unit 801 and the holding unit rotation mechanism 803 to an injection prescription lifting position P202.

[0524] The injection prescription gripping unit 801 includes a pair of claws 802, as well as an opening / closing mechanism that opens and closes the pair of claws 802. The gripping unit rotating mechanism 803 also includes a drive mechanism that rotates the injection prescription gripping unit 801. Therefore, the members including the injection prescription gripping unit 801 and the gripping unit rotating mechanism 803 attached to the fourth support unit 811 have a certain degree of size. Therefore, when the injection prescription gripping unit 801 and the gripping unit rotating mechanism 803 are lowered directly from the injection prescription gripping position P201 toward the transport tray 151a, there is a possibility that the injection prescription gripping unit 801 or the gripping unit rotating mechanism 803 may come into contact with (collide with) the injection prescription receiving unit 512.

[0525] When the injection prescription holding unit 801 and the holding unit rotating mechanism 803 are raised and lowered, contact between the injection prescription holding unit 801 or the holding unit rotating mechanism 803 and the injection prescription receiving unit 512 can be avoided by moving them from the injection prescription holding position P201 to the injection prescription raising and lowering position P202.

[0526] The fifth support unit 812 supports the fourth support unit 811, which supports the injection prescription gripper 801. The fifth support unit 812 is a moving mechanism that moves the fourth support unit 811 (i.e., the injection prescription gripper 801) in the Z-axis direction. As shown in FIG. 37, the fifth support unit 812 stands upright from the vicinity of the third position P103 of the printer device 13, and enables the injection prescription gripper 801 to move between the vicinity of the third position P103 and two injection prescription dispensing devices 500 provided above the infusion label dispensing device 400. That is, as shown in FIG. 37, the two injection prescription dispensing devices 500 are provided above the infusion label dispensing device 400 along the fifth support unit 812.

[0527] <Operation of the injection prescription transport mechanism> Next, a description will be given of the transport operation of the injection prescription Pr by the injection prescription transport mechanism 800. (a) to (d) of Figure 48 are diagrams for explaining an example of the transport operation of the injection prescription Pr by the injection prescription transport mechanism 800. Note that when the injection prescription holding unit 801 does not perform the transport operation of the injection prescription Pr, it waits, for example, at the position shown in (c) of Figure 48 (a position between the lower injection prescription dispensing device 500 and the third position P103; a standby position).

[0528] When printing on the transport tray 151a and placing of the infusion label are completed at the second position P102, the control unit 1000 controls the tray transport mechanism 900 to move the transport tray 151a to the third position P103. Thereafter, the control unit 1000 causes the injection prescription dispensing device 500 to dispense the injection prescription Pr on which the content information is printed. Note that the control unit 1000 may cause the injection prescription dispensing device 500 to dispense the injection prescription Pr before the transport tray 151a is transported to the third position P103 (for example, while the transport tray 151a is placed at the second position P102 and the above printing and placement of the transport label are being performed).

[0529] When the injection prescription dispensing device 500 has completed dispensing the injection prescription Pr, the control unit 1000 controls the fifth support unit 812 to move the injection prescription holding unit 801 from the standby position to the injection prescription dispensing device 500 that has dispensed the injection prescription Pr.

[0530] Note that the injection prescription dispensing port 511a of the second main body unit 511 may be provided with an injection prescription counting unit (not shown) that counts the injection prescriptions Pr dispensed to the injection prescription receiving unit 512. In this case, the control unit 1000 can determine whether a specified number of injection prescriptions Pr have been dispensed based on a notification from the injection prescription counting unit (e.g., a sensor). Furthermore, the control unit 1000 may use the receipt of this notification as a trigger to start movement of the injection prescription gripping unit 801 from the standby position to the injection prescription dispensing device 500 that has dispensed the injection prescription Pr (i.e., the injection prescription gripping unit 801 grips the injection prescription Pr). In this configuration, the start of the movement can be made earlier than when the movement is performed upon receiving a notification from the injection prescription dispensing device 500 indicating that dispensing of the injection prescription Pr has been completed.

[0531] The control unit 1000 moves the injection prescription gripping unit 801 to the injection prescription dispensing device 500 that has dispensed the injection prescription Pr, and then controls the fourth support unit 811 to move it from the injection prescription lifting position P202 to the injection prescription gripping position P201, as shown in (a) of Fig. 48. The control unit 1000 controls the injection prescription gripping unit 801 to grip the injection prescription Pr placed on the injection prescription receiving unit 512. Note that the control unit 1000 determines whether or not the pair of claws 802 are gripping the injection prescription Pr by providing a sensor (not shown) in the pair of claws 802, for example.

[0532] In order to transport the injection prescription holding unit 801 holding the injection prescription Pr to the third position P103, the control unit 1000 controls the fourth support unit 811 to move the injection prescription holding unit 801 from the injection prescription holding position P201 to the injection prescription lifting position P202, as shown in (b) of Figure 48.

[0533] The control unit 1000 moves the injection prescription gripping unit 801 gripping the injection prescription Pr to the injection prescription lifting position P202, and then controls the fifth support unit 812 to move the injection prescription gripping unit 801 to the standby position and temporarily stop (decelerate) it at the standby position, as shown in (c) of Fig. 48. By temporarily decelerating at this position, it is possible to prevent the injection prescription gripping unit 801 from colliding with the transport tray 151a.

[0534] As shown in (d) of Fig. 48, the control unit 1000 controls the fifth support unit 812 to move the injection prescription gripping unit 801 from the standby position to the vicinity of the transport tray 151a placed at the third position P103. Thereafter, the control unit 1000 controls the gripping unit rotating mechanism 803 to rotate the injection prescription gripping unit 801 so that the pair of claws 802 face the transport tray 151a, and controls the injection prescription gripping unit 801 to open the pair of claws 802 gripping the injection prescription Pr. This allows the injection prescription Pr to be placed on the transport tray 151a. Furthermore, by opening the pair of claws 802 while rotating them, the injection prescription Pr can be placed quietly (i.e., reliably) on the transport tray 151a.

[0535] Thereafter, the control unit 1000 controls the gripping unit rotating mechanism 803 to orient the pair of claws 802 in the Y-axis direction, and then controls the fifth support unit 812 to move the injection prescription gripping unit 801 to a standby position. The injection prescription dispensing device 500 remains in a standby state until it dispenses the injection prescription Pr.

[0536] In this embodiment, the gripper rotation mechanism 803 rotates the injection prescription gripper 801 so that the pair of claws 802 face diagonally downward at the injection prescription lifting position P202. Thereafter, the fifth support unit 812 lowers the injection prescription gripper 801 from the injection prescription lifting position P202 to the standby position. In other words, the injection prescription gripper 801 is lowered with the injection prescription Pr facing diagonally downward.

[0537] The injection prescription Pr is generally a piece of paper about A4 size. If the injection prescription gripping unit 801 is lowered while gripping the injection prescription Pr, the entire surface of the injection prescription Pr will be subjected to air pressure. Therefore, the injection prescription Pr may bend due to the received air pressure. As described above, by lowering the injection prescription Pr while it is facing diagonally downward, it is possible to prevent the injection prescription Pr from being bent due to the air pressure when it is lowered.

[0538] In this way, the printer device 13 is provided with the injection prescription transport mechanism 800, so that the injection prescription dispensed by the injection prescription dispensing device 500 can be placed on the transport tray 151a placed at the third position P103. In particular, even when a plurality of injection prescription dispensing devices 500 are provided, the injection prescription can be dispensed without moving the transport tray 151a to each position where the plurality of injection prescription dispensing devices 500 are provided.

[0539] Furthermore, similar to the infusion label dispensing device 400, by providing multiple injection prescription dispensing devices 500, even if any of the injection prescription dispensing devices 500 becomes unable to dispense injection prescriptions, the remaining injection prescription dispensing devices 500 can still dispense the injection prescriptions that the any of the injection prescription dispensing devices 500 had dispensed.

[0540] Moreover, in the injection prescription transport mechanism 800, the injection prescription gripping portion 801 grips the injection prescription and moves the injection prescription gripping portion 801 along the fourth support portion 811 and the fifth support portion 812. Therefore, the injection prescription can be reliably placed on the transport tray 151a.

[0541] [Out-of-stock label dispenser] The out-of-stock label dispensing device 600 dispenses out-of-stock labels to the transport tray 151a under the control of the control unit 1000. Specifically, when an injection drug that should be contained in the transport tray 151a is not contained in the transport tray 151a, the out-of-stock label dispensing device 600 dispenses out-of-stock labels onto the transport tray 151a, on which non-container information indicating that the injection drug is not contained is printed. In this embodiment, the out-of-stock label dispensing device 600 is a thermal printer, but any printer capable of dispensing out-of-stock labels may be used.

[0542] For example, when out-of-stock information is linked to received prescription data relating to administration to a patient, the out-of-stock slip dispensing device 600 drops an out-of-stock slip with out-of-stock information printed on it as non-container information, and places the out-of-stock slip on the transport tray 151a transported to the third position P103.

[0543] [Another expression of the above configuration] The above configuration can be expressed as follows:

[0544] [A] A label dispensing device according to one aspect of the present invention is a label dispensing device that dispenses labels (infusion labels La) onto trays (transport tray 151a, small tray 151b) that transport medicines (injectable medicines), a label dispenser (infusion label dispenser 400) that dispenses the label; ...

Claims

[Claim 1] a cassette shelf for storing a first cassette containing only one type of drug that is not a returned drug, the first cassette containing the drug in a state where the placement position of the drug is not specified, and a second cassette containing the returned drug, the second cassette containing the drug in a state where the placement position of the drug is specified; a dispensing unit that, based on input prescription data, removes the first cassette from the cassette shelf and dispenses the medicines contained in the first cassette, or removes the second cassette from the cassette shelf and dispenses the medicines contained in the second cassette, a storage unit storing correspondence data indicating a correspondence between the types of medicines contained in the second cassette and information indicating the positions of the medicines; the dispensing unit specifies a location of the medicine to be dispensed, which is included in the prescription data, based on the correspondence data, and dispenses the medicine from the second cassette; The dispensing unit a cassette removal mechanism capable of removing the first cassette and the second cassette from the cassette shelf; a medicine dispensing mechanism capable of dispensing the medicine contained in the first cassette or the second cassette removed from the cassette shelf.

Images