Mixing device

Abstract

To provide a coinjection device capable of efficiently performing coinjection processing including a stirring process for stirring a pharmaceutical.SOLUTION: A coinjection device 1 includes: a coinjection processing part 300 that performs coinjection processing of injecting a pharmaceutical in a first container into a second container on the basis of preparation data; and a stirring device 32 that is used for a stirring process for stirring the pharmaceutical in the first container for use in the coinjection processing. The stirring process included in the coinjection processing based on the preparation data can be performed before timing of starting the performance of the coinjection processing based on the preparation data.SELECTED DRAWING: Figure 22

Description

[Technical Field]

[0001] The present invention relates to a co-infusion device that performs a co-infusion process of injecting a drug, such as an anticancer drug, contained in a drug container into an infusion container. [Background technology]

[0002] There is known a co-infusion device that performs a co-infusion process in which a drug such as an anticancer drug contained in a drug container such as a vial is drawn into a syringe and the drug is injected into an infusion container containing an infusion (see, for example, Patent Document 1). When the drug contained in the drug container is a powder, the co-infusion process includes a mixing step in which a solvent such as an infusion is injected into the drug container and the drug in the drug container is mixed. The mixing step may also be performed when the drug is a liquid. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-250016 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the stirring step may take a relatively long time, and the waiting time until the stirring step is completed may impede the efficiency of the co-infusion process.

[0005] An object of the present invention is to provide a co-infusion device that can efficiently perform a co-infusion process that includes a mixing step of mixing medicines. [Means for solving the problem]

[0006] The co-infusion device of the present invention includes a co-infusion processing unit that performs a co-infusion process based on preparation data, including an injection process of injecting a drug in a first container into a second container, a mixing device that is used in a mixing process of mixing the drug in the first container used in the co-infusion process, and a pre-mixing processing unit that can perform the mixing process before the start timing of the co-infusion process based on the preparation data.

[0007] The co-infusion device according to the present invention also includes a co-infusion processing unit that performs a co-infusion process based on preparation data, including an injection step of injecting a drug from a first container into a second container, and a reservation setting processing unit that can selectively accept as reservation conditions the following: a time-specified reservation that causes the co-infusion process to be performed based on an execution start timing set by user operation; an unspecified time reservation that causes the co-infusion process to be performed at a timing when the execution start timing is not set by user operation and no other co-infusion processes are being performed; and an ad hoc reservation that causes the co-infusion process to be performed in priority over the preparation data reserved for the time-specified reservation and the unspecified time reservation. [Effects of the Invention]

[0008] According to the present invention, there is provided a co-infusion device that can efficiently perform a co-infusion process including a mixing step of mixing medicines. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing the system configuration of a co-infusion apparatus according to an embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view showing the external configuration of the co-infusion device according to the embodiment of the present invention. [Figure 3] FIG. 3 is a perspective view of the co-infusion device according to the embodiment of the present invention, with a portion of the storage unit omitted. [Figure 4] FIG. 4 is a front view of the co-infusion device according to the embodiment of the present invention with the main door and part of the front wall removed. [Figure 5] FIG. 5 is a perspective view showing a tray used in a co-infusion apparatus according to an embodiment of the present invention. [Figure 6] FIG. 6 is a perspective view of the co-infusion device according to the embodiment of the present invention, seen from below. [Figure 7] FIG. 7 is a perspective view showing a holding part of a first robot arm of a co-infusion apparatus according to an embodiment of the present invention. [Figure 8] FIG. 8 is a perspective view showing a holding part of a second robot arm of a co-infusion apparatus according to an embodiment of the present invention. [Figure 9] FIG. 9 is a schematic plan view showing the tray transport part of the co-infusion apparatus according to the embodiment of the present invention. [Figure 10] FIG. 10 is a perspective view showing the mechanism of the tray transport unit of the co-infusion apparatus according to the embodiment of the present invention. [Figure 11] FIG. 11 is a perspective view showing an ampoule cutter of a co-infusion apparatus according to an embodiment of the present invention. [Figure 12] FIG. 12 is a perspective view showing the internal configuration of the stirring device of the co-infusion apparatus according to the embodiment of the present invention. [Figure 13] FIG. 13 is a perspective view showing a medicine reading unit of a co-infusion apparatus according to an embodiment of the present invention. [Figure 14] FIG. 14 is a perspective view showing a needle bending detection unit of a co-infusion device according to an embodiment of the present invention. [Figure 15] FIG. 15 is a perspective view showing the internal structure of the injection needle attaching / detaching device of the co-infusion device according to the embodiment of the present invention. [Figure 16] FIG. 16 is a perspective view showing the internal structure of the injection needle attaching / detaching device of the co-infusion apparatus according to the embodiment of the present invention. [Figure 17] FIG. 17 is a diagram showing an example of an image captured by the needle insertion confirmation camera of the co-infusion apparatus according to the embodiment of the present invention. [Figure 18] FIG. 18 is a diagram showing the configuration of a storage unit of a co-infusion apparatus according to an embodiment of the present invention. [Figure 19] FIG. 19 is a diagram showing the configuration of a storage unit of a co-infusion apparatus according to an embodiment of the present invention. [Figure 20] FIG. 20 is a diagram showing the configuration of a storage unit of a co-infusion apparatus according to an embodiment of the present invention. [Figure 21] FIG. 21 is a diagram showing the configuration of a storage unit of a co-infusion apparatus according to an embodiment of the present invention. [Figure 22] FIG. 22 is a flowchart showing an example of the procedure of the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 23] FIG. 23 is a flowchart showing an example of the procedure of the co-infusion control process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 24] FIG. 24 is a flowchart showing an example of the procedure of the batch preparation inspection process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 25] FIG. 25 is a flowchart showing an example of the procedure of the batch mixing inspection process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 26] FIG. 26 is a flowchart showing an example of the procedure of a schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 27] FIG. 27 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 28A] FIG. 28A is a diagram showing an example of a display screen in a schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 28B] FIG. 28B is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 28C] FIG. 28C is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 29] FIG. 29 is a flowchart showing an example of the procedure of the batch total collection inspection process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 30] FIG. 30 is a perspective view showing the external configuration of a co-infusion apparatus according to an embodiment of the present invention. [Figure 31] FIG. 31 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 32] FIG. 32 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 33] FIG. 33 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 34] FIG. 34 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 35] FIG. 35 is a diagram showing an example of a display screen in the schedule management process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 36] FIG. 36 is a flowchart showing an example of the procedure of the loading preparation process executed by the co-infusion apparatus according to the embodiment of the present invention. [Figure 37] FIG. 37 is a diagram showing the configuration of a storage unit of a co-infusion apparatus according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] [First embodiment] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings to help understand the present invention. Note that the following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the present invention.

[0011] [Mixed injection device 1] As shown in Figures 1 and 2, the co-infusion device 1 according to this embodiment includes a co-infusion control unit 100, a drug loading unit 200, a co-infusion processing unit 300, a storage unit 700, and an agitator 32. In the co-infusion device 1, the co-infusion control unit 100 controls the operation of the co-infusion processing unit 300 and the storage unit 700 based on preparation data, thereby executing a co-infusion process in which a drug, such as an anticancer drug, indicated in the preparation data is injected with a syringe from a first container, such as one or more ampoules or vials, containing a predetermined amount of the drug, into a second container, such as an infusion bag. The co-infusion process also includes a process in which a drug is aspirated from a first container, such as an ampule or vial, with a syringe and injected into a second container, such as another ampule or vial.

[0012] [Mixed injection control unit 100] First, a schematic configuration of the mixture injection control unit 100 will be described with reference to Fig. 1. The mixture injection control unit 100 includes a first control unit 400 and a second control unit 500 that are communicably connected. The first control unit 400 is provided on the medicine loading unit 200 side, and the second control unit 500 is provided on the mixture injection processing unit 300 side.

[0013] The division of processing between the first control unit 400 and the second control unit 500 described in this embodiment is merely an example, and each processing procedure such as the co-infusion processing may be executed by either the first control unit 400 or the second control unit 500. Another embodiment may also be considered in which the co-infusion control unit 100 has only one control unit or three or more control units. Furthermore, some or all of the processing executed by the first control unit 400 and the second control unit 500 may be executed by an electronic circuit such as an ASIC or DSP.

[0014] Furthermore, the first control unit 400 can communicate with a host system 600, such as an electronic medical record system or a dispensing management system, which inputs preparation data to the co-infusion device 1. The preparation data is preparation data generated based on prescription data or the prescription data itself. The prescription data includes, for example, the prescription issuance date, patient ID, patient name, patient date of birth, drug information (drug code, drug name, dosage, etc.), dosage form information (oral, topical, etc.), usage information (three times a day after each meal, etc.), type of medical treatment (outpatient, inpatient, etc.), department, ward, and room. The preparation data also includes, for example, a preparation ID, patient information (patient ID, patient name, etc.), doctor information, drug information, prescribed amount of drug, type of drug container (ampule containing drug solution, vial containing drug solution, or vial containing powdered drug, etc.), preparation content information (type and number of drug containers, syringes, and needles used for mixed injection processing, etc.), preparation procedure information (work content, dissolved drug, solvent, amount of dissolved drug, amount of solvent, amount extracted), preparation date, prescription category, administration date, medical department, ward, designated time for completion of preparation (or scheduled start time), required time, etc.

[0015] The first control unit 400 is a personal computer including a CPU 401, a ROM 402, a RAM 403, a data storage unit 404, and an operation unit 405. The first control unit 400 is also connected to various electric components provided in the medicine loading unit 200, such as a display 203, a barcode reader 204, and an air purifying device 205, which will be described later.

[0016] The CPU 401 is a processor that executes processing in accordance with various control programs. The ROM 402 is a non-volatile memory that stores in advance programs such as BIOS executed by the CPU 401. The RAM 403 is a volatile or non-volatile memory that is used for expanding the various control programs by the CPU 401 and for temporarily storing data.

[0017] The data storage unit 404 is a non-volatile storage device such as a hard disk that stores various application programs and various data for causing the CPU 401 to execute various processes. For example, the data storage unit 404 stores the preparation data input from the upper system 600.

[0018] The first control unit 400 stores, in the data storage unit 404, identification information of the tray 101 (described later) corresponding to each of the preparation data together with the preparation data input from the host system 600. For example, the correspondence between the preparation data and the identification information of the tray 101 is performed by the first control unit 400. It is also possible that information indicating the correspondence between the preparation data and the identification information of the tray 101 is input from the host system 600 to the co-infusion device 1 together with the preparation data.

[0019] The data storage unit 404 also stores various databases, such as a needle master, a drug master, a patient master, a doctor master, a prescription classification master, a medical department master, and a ward master. The needle master stores the shape of the needle tip for each type of needle. The shape of the needle tip includes the outer diameter of the needle tube, the angle of the tip, and the length of the cut surface (inclined surface). The drug master stores information such as the drug code, drug name, JAN code (or RSS), medicine bottle code, classification (dosage form: powder (powder), tablet, liquid medicine, topical medicine, etc.), specific gravity, drug type (ordinary medicine, anticancer drug, poison, narcotic, powerful drug, antipsychotic drug, therapeutic drug, etc.), incompatibility, excipient drug, precautions, type of medicine container (ampule, vial), medicine capacity per medicine container (predetermined amount), and weight of the medicine container. In addition, the medicine master also includes information about the infusion bag 12 that contains infusion fluids such as saline or glucose, such as the container type of the infusion bag 12 (soft bag, hard type, AL type), the amount of infusion fluid contained in the infusion bag 12, and the amount of liquid that can be injected into the infusion bag 12.

[0020] Furthermore, a first mixed injection control program for causing the CPU 401 to execute various processes is pre-stored in the data storage unit 404. The first mixed injection control program may be read from a recording medium such as a CD, DVD, BD, or flash memory by a reading device (not shown) provided in the first control unit 400, and installed in the data storage unit 404.

[0021] The operation unit 405 includes various operation units such as a keyboard, a mouse, or a touch panel that accepts various user operations in the first control unit 400.

[0022] The second control unit 500 is a personal computer including a CPU 501, a ROM 502, a RAM 503, a data storage unit 504, an operation unit 505, etc. The second control unit 500 is connected to various electrical components such as a first robot arm 21, a second robot arm 22, a tray conveying unit 110, a touch panel monitor 14, an IC reader 101c, an IC reader 15a, a tray confirmation camera 41, and a syringe confirmation camera 42, which are provided in the mixed injection processing unit 300 and will be described later.

[0023] The CPU 501 is a processor that executes processing in accordance with various control programs. The ROM 502 is a non-volatile memory that stores in advance programs such as BIOS executed by the CPU 501. The RAM 503 is a volatile or non-volatile memory that is used for expanding the various control programs by the CPU 501 and for temporarily storing data.

[0024] The data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU 501 to execute various processes. Specifically, the data storage unit 504 pre-stores a second co-infusion control program for causing the CPU 501 to execute the co-infusion process described below. The second co-infusion control program may be read from a recording medium such as a CD, DVD, BD, or flash memory by a reading device (not shown) provided in the second control unit 500 and installed in the data storage unit 504. The data storage unit 504 also stores the same drug master as the data storage unit 404, and the second control unit 500 can refer to the drug master. In another embodiment, the second control unit 500 may be configured to acquire information about the drug master via the first control unit 400.

[0025] The present invention may be understood as an invention of the first mixture injection control program, the second mixture injection control program, or a mixture injection control program integrating the first mixture injection control program and the second mixture injection control program for causing the CPU 401 and the CPU 501 to execute various processes in the mixture injection control unit 100. The present invention may also be understood as an invention of a computer-readable recording medium on which the first mixture injection control program, the second mixture injection control program, or a mixture injection control program integrating the first mixture injection control program and the second mixture injection control program is recorded. Furthermore, the present invention may be understood as an invention of a mixture injection method including one or more processing procedures executed in the mixture injection device 1.

[0026] The operation unit 505 includes various operation units such as a keyboard, a mouse, or a touch panel that accepts various user operations in the second control unit 500.

[0027] [Chemical Loading Unit 200] Next, a schematic configuration of the medicine loading section 200 will be described with reference to Figures 2 and 3. Figure 3 is a diagram showing the main parts of the internal configuration of the medicine loading section 200.

[0028] 2 and 3, the drug loading section 200 is a clean bench equipped with a door 201, a work table 202, a display 203, a barcode reader 204, and an air purifier 205. The drug loading section 200 and the mixed injection processing section 300 are communicated with each other by a tray loading port 114 (see FIG. 6) and a tray discharge port 701 (see FIG. 21) formed on the side of the mixed injection processing section 300.

[0029] The work table 202 is used to perform preparation work for the co-infusion process executed by the co-infusion apparatus 1, and the barcode reader 204, the tray 101, and the like are placed on the work table 202. In addition, a tray discharge port 206 that is opened and closed when removing the tray 101 discharged from the storage unit 700 is provided on the front side of the work table 202. In addition, an IC reader 207 (see FIG. 21) that can read information from the IC tag 101b of the tray 101 placed on the work table 202 is provided inside the work table 202. The reading result by the IC reader 207 is input to the first control unit 400.

[0030] The display 203 is a display unit such as a liquid crystal display or an organic EL display that displays various information in response to control instructions from the first control unit 400. Specifically, the display 203 displays preparation data that are candidates for co-infusion targets in the co-infusion device 1. The barcode reader 204 reads a barcode written on a prescription or preparation instructions, and inputs the contents of the barcode into the first control unit 400. The air purifying device 205 supplies air into the medicine loading unit 200 through a predetermined filter. The display 203 may be supported, for example, on a front panel 700A (see FIGS. 18 to 21) provided on the containing unit 700.

[0031] The door 201 is provided on the front of the medicine loading unit 200 and is a transparent member that can be opened and closed vertically. As shown in FIG. 2, a user slightly opens the door 201 and places their hand inside the medicine loading unit 200 to perform preparations for the co-infusion process to be performed by the co-infusion device 1. Specifically, as shown in FIG. 5, a tray 101 placed on the work table 202 contains a medicine container 10 (an example of a first container), a syringe 11, an infusion bag 12 (an example of a second container), and the like to be used in the co-infusion process to be performed by the co-infusion device 1. The infusion bag 12 contains a specified amount of infusion fluid, such as physiological saline, glucose, or high-calorie infusion, corresponding to the type of the infusion bag 12. The medicine contained in the medicine container 10 is, for example, an anticancer drug, but may also be a drug other than an anticancer drug. The preparation work includes, for example, a loading work of placing the medicine container 10, the syringe 11, and the infusion bag 12 at predetermined positions on the tray 101, and loading the tray 101 into the storage unit 700. Hereinafter, if the medicine container 10 is an ampoule, the medicine container 10 may be referred to as an ampoule 10A, and if the medicine container 10 is a vial, the medicine container 10 may be referred to as a vial 10B.

[0032] 5, the tray 101 has an electronic paper 101a on which the patient's name, application, etc. are displayed in text, and an IC tag 101b (an example of a recording medium) such as an RFID (Radio Frequency Identification) tag on which various information can be read and written. The IC tag 101b is provided on the bottom surface of the tray 101, and stores identification information for identifying the tray 101.

[0033] The tray 101 also has an instrument placing section 102 (see FIG. 9) on which the medicine container 10 and the injector 11 (syringe 11a, injection needle 11c, cap 11d) are placed, and an infusion bag holding section 103 (see FIG. 5) that holds the infusion bag 12. The instrument placing section 102 and the infusion bag holding section 103 are detachable from the tray 101 individually.

[0034] As shown in Fig. 5, the instrument placing section 102 is provided with a support section 102A that supports the ampoule 10A in an inclined state. The ampoule 10A is set in an upright position on the support section 102A at an angle. This prevents the drug from accumulating in the neck of the ampoule 10A. In addition to the ampoule 10A, an injection needle 11c with the cap 11d attached and the like are also set in an upright position on the support section 102A at an angle.

[0035] The injection needle 11c also includes an injection needle with a syringe filter. Specifically, when the ampoule 10A is used, an injection needle with a syringe filter is used to prevent fragments from being injected into the infusion bag 12 when the neck of the ampoule 10A is broken from the syringe 11 or from flowing into the syringe 11. The syringe filter is generally called a top-type filter and has the function of preventing the passage of foreign matter other than medicine. For example, a syringe filter manufactured by Nippon Pall Corporation is generally known.

[0036] On the other hand, the vial bottle 10B and the syringe 11 are set in a horizontal position on the object placing section 102, as shown in Figures 5 and 9. At this time, the syringe 11 is in a state where the syringe 11a and the injection needle 11c are separated. Of course, the arrangement within the object placing section 102 described here is an example, and is not limited to this.

[0037] 5, the infusion bag holding part 103 is provided with a chuck part 140 for fixing the mixed injection port (neck part) of the infusion bag 12. In the preparation work, the user sets the infusion bag 12 in the infusion bag holding part 103 while the infusion bag 12 is held by the chuck part 140. The infusion bag holding part 103 is also provided with an engagement hole part 103a that is used when raising and lowering the infusion bag holding part 103.

[0038] Then, after the user sets the medicine container 10, the syringe 11, and the infusion bag 12 on the tray 101, the tray 101 is accommodated in the accommodation unit 700. As will be described later, the accommodation unit 700 can accommodate a plurality of the trays 101. As a result, as will be described later, the tray 101 is automatically supplied to the mixed injection processing unit 300 as needed through the tray discharge port 701 and the tray loading port 114 from the accommodation unit 700. Thereafter, after the mixed injection processing in the mixed injection processing unit 300 is completed, the tray 101 is discharged from the tray discharge port 15 (see FIG. 3) of the mixed injection processing unit 300 with the infusion bag 12 accommodated therein, or is discharged from the tray discharge port 206 (see FIG. 3) of the medicine loading unit 200 via the accommodation unit 700. The mixed injection processing unit 300 may be provided with an entrance through which a user can directly supply the tray 101 from the medicine loading unit 200 to the mixed injection processing unit 300.

[0039] [Mixed injection processing unit 300] Next, the schematic configuration of the mixed injection processing unit 300 will be described.

[0040] As shown in FIGS. 2 to 4, the front of the mixed injection processing unit 300 is provided with a main door 301, a syringe removal door 302, a waste storage chamber door 13, a touch panel monitor 14, a tray discharge port 15, and the like.

[0041] The main door 301 is opened and closed to access the mixed injection processing chamber 104, for example, when cleaning the mixed injection processing chamber 104 provided in the mixed injection processing unit 300. In addition, the mixed injection device 1 can dispense the infusion bag 12 into which a drug has been injected, as well as the syringe 11 filled with a drug. The syringe removal door 302 is opened and closed when removing the syringe 11 from the mixed injection processing chamber 104.

[0042] The waste storage chamber door 13 is opened and closed to remove waste from the waste storage chamber 13a that stores waste such as the medicine containers 10 and the syringes 11 after use in the mixed injection process in the mixed injection process chamber 104. The tray discharge port 15 is opened and closed to remove the tray 101 on which the infusion bag 12 is placed after medicines have been mixed in the mixed injection process in the mixed injection process chamber 104.

[0043] The touch panel monitor 14 is a display unit such as a liquid crystal display or an organic EL display that displays various information in response to control instructions from the second control unit 500. The touch panel monitor 14 also has a touch panel that accepts touch operations by a user. The touch panel monitor 14 can display, for example, images or videos captured by various cameras described below.

[0044] As shown in FIG. 4, the waste storage chamber 13a is provided with a waste container 13b for disposing of liquids such as infusions contained in the infusion bag 12, and a weighing scale 13c for measuring the weight of the waste container. The waste container 13b is detachable from the waste storage chamber 13a when the waste storage chamber door 13 is open. A communication port (not shown) communicating with the waste container 13b is formed above the waste container 13b on the bottom surface of the mixed injection processing chamber 104. The second robot arm 22, described later, can operate the syringe 11 to discard the liquid in the syringe 11 through the communication port into the waste container 13b. The weighing scale 13c has, for example, a load cell that inputs an electrical signal corresponding to the weight of the waste container 13b to the second control unit 500.

[0045] As a result, the second control unit 500 can obtain the amount of liquid discarded when discarding the liquid based on the weighing results of the waste container 13b by the weighing meter 13c before and after discarding the liquid into the waste container 13b. For example, the second control unit 500 compares the amount of liquid discarded from the syringe 11 with the amount of liquid discarded determined based on the preparation data, etc., and if the comparison results do not match, displays an error on the touch panel monitor 14, etc., to notify the user. The second control unit 500 also records the comparison results in the data storage unit 504 as history information of the mixed injection process. This makes it possible to accurately check the consistency of the amount of liquid discarded from the syringe 11 and manage the amount of waste liquid.

[0046] Incidentally, a case in which the liquid is discarded using the syringe 11 may be considered, for example, when the amount of liquid in the infusion bag 12 during the mixed injection process exceeds a preset maximum allowable amount corresponding to the infusion bag 12, and the infusion is extracted from the infusion bag 12 and discarded in advance. In such a case, the second control unit 500 may weigh the amount of liquid extracted from the infusion bag 12 by the syringe 11 using a weighing meter 35 or the like provided in the mixed injection process chamber 104, and compare the amount with the preparation data. Furthermore, the second control unit 500 may compare the weighing result obtained by the weighing meter 35 with the weighing result obtained by the weighing meter 13c.

[0047] [Mixed Injection Processing Room 104] 3 and 4, the mixed injection processing chamber 104 is provided with a first robot arm 21, a second robot arm 22, an ampoule cutter 31, the agitator 32, a mounting shelf 33, a drug reading unit 34, a weighing scale 35, a needle bending detection unit 36, a mixed injection communication port 37, a needle insertion confirmation transparent window 38, and a trash cover 132a. Furthermore, as shown in FIG. 6, a tray confirmation camera 41, a syringe confirmation camera 42, a syringe needle attachment / detachment device 43, a needle insertion confirmation camera 44, a germicidal lamp 45, etc. are provided on the ceiling side of the mixed injection processing chamber 104.

[0048] [First robot arm 21, second robot arm 22] The first robot arm 21 and the second robot arm 22 are drive units having an articulated structure, and are provided in a hanging manner with their base ends fixed to the ceiling side of the mixed injection processing chamber 104. For example, the first robot arm 21 and the second robot arm 22 each have 5 to 8 joints. In the mixed injection device 1, each work step in the mixed injection processing is performed by the double-armed first robot arm 21 and second robot arm 22.

[0049] Specifically, the second control unit 500 individually drives the drive motors provided at the joints of the first robot arm 21 and the second robot arm 22, and causes the first robot arm 21 and the second robot arm 22 to perform each task in the mixed injection process. Note that the mixed injection processing unit 300 may have, for example, a configuration having one robot arm, a configuration including three or more robot arms, or a configuration without using any robot arms, as long as it has a structure that can perform the mixed injection process.

[0050] 6, the first robot arm 21 includes a holder 25 capable of holding instruments such as the medicine container 10 and the syringe 11, and is capable of moving the holder 25 to any position within a predetermined movable range. The second robot arm 22 includes a holder 26 capable of holding instruments such as the medicine container 10 and the syringe 11 and moving them to any position, and capable of performing operations of suctioning and injecting medicine using the syringe 11. The second robot arm 22 is also capable of moving the medicine container 10, the syringe 11, etc. to any position within a predetermined movable range.

[0051] 7, the holding unit 25 of the first robot arm 21 includes a pair of gripping claws 25a, a motor 251, two screw shafts 252 and 253 rotated by the motor 251, and nut blocks 254 and 255 screwed onto the screw shafts 252 and 253. The pair of gripping claws 25a are fixed to the nut blocks 254 and 255, respectively. The nut blocks 254 and 255 move with the rotation of the screw shafts 252 and 253, and the pair of gripping claws 25a move toward and away from each other to hold and release the holding unit 25.

[0052] The pair of gripping claws 25a are gripping portions that have a recess suitable for holding the vial 10B and a recess suitable for holding the ampoule 10A at the tip side. Although Fig. 7 shows a state in which both the ampoule 10A and the vial 10B are held, in reality, one of the ampoule 10A or the vial 10B is held.

[0053] The holding unit 25 can also hold the injection needle 11c with the cap 11d attached or the syringe 11 with the pair of gripping claws 25a. The second control unit 500 can measure the diameter of the syringe 11 according to the driving amount of the motor 251 when the syringe 11 is held by the pair of gripping claws 25a of the holding unit 25. Therefore, the second control unit 500 can determine whether the syringe 11 is the syringe specified in the preparation content information of the preparation data.

[0054] As shown in FIG. 8, the holder 26 of the second robot arm 22 includes a syringe holder 261, a plunger holder 262, and a moving unit 263. The syringe holder 261 includes a pair of gripping claws 261a that hold the syringe 11a of the syringe 11. The pair of gripping claws 261a are gripping units that move toward and away from each other to hold and release the syringe 11a of the syringe 11 by a mechanism similar to the drive mechanism used in the holder 25. In addition, in the pair of gripping claws 261a, inclined portions 261b that slope downward from the upper end surfaces of the gripping claws 261a toward the opposing surfaces are formed on opposing surfaces of the pair of gripping claws 261a.

[0055] The plunger holding portion 262 is provided with a pair of gripping claws 262a that hold the flange of the plunger 11b of the syringe 11. The pair of gripping claws 262a are gripping portions that move toward and away from each other to hold and release the flange of the plunger 11b of the syringe 11 by a mechanism similar to the drive mechanism used in the holding portion 25. A gripping claw 262b is fixed to the upper surface of each of the gripping claws 262a. Each of the gripping claws 262b moves toward and away from the other by moving the pair of gripping claws 262a toward and away from each other, and is a gripping portion that grips not only the syringe 11 but also other equipment such as the medicine container 10. Note that a recess is formed on the upper surface of the opposing side of the pair of gripping claws 262a so that the flange of the plunger 11b can fit into it. Furthermore, the tips of the pair of gripping claws 262b protrude further forward than the pair of gripping claws 262a, making it easy for the pair of gripping claws 262b to grip objects such as the ampule 10A and the vial 10B. Note that the gripping claws 262b may be provided on the gripping claws 261a.

[0056] The moving unit 263 is capable of moving the plunger holding unit 262 in the moving direction of the plunger 11b of the syringe 11. The moving unit 263 moves the plunger 11b by a driving mechanism such as, for example, a motor, a screw shaft rotated by the motor, a nut block screwed onto the screw shaft, a guide, etc. The plunger holding unit 262 is fixed to the nut block and moves as the nut block moves.

[0057] [Tray conveying section 110] In addition, the mixed injection processing unit 300 is provided with a tray conveying unit 110 that can convey the tray 101 back and forth between the tray loading port 114 at the right end in FIG. 6 and the tray conveying terminal end 110a at the left end.

[0058] FIG. 9 is a plan view schematic diagram showing an example of the transport path of the tray 101 in the tray conveying unit 110. The interior of the tray conveying unit 110 is set to a more positive pressure than the interior of the mixed injection processing chamber 104. As shown in FIG. 9, the tray conveying unit 110 is configured to transport the tray 101 by passing through the rear side of the garbage storage chamber 13a, which is located below the mixed injection processing chamber 104 and below the garbage lid 132a. This allows access to the garbage storage chamber 13a from the front side of the mixed injection device 1. In FIG. 9, the tray 101 moving within the tray conveying unit 110 is shown with a two-dot chain line to show the transport path of the tray conveying unit 110, and multiple trays 101 do not exist simultaneously within the tray conveying unit 110. The tray conveying unit 110 may be configured to simultaneously transport multiple trays 101 between the tray loading port 114 and the tray conveying terminal end 110a within the tray conveying unit 110.

[0059] The tray transport start section 110b of the tray transport unit 110 is provided with a belt conveyor (not shown) that can pull the tray 101 inserted from the tray loading opening 114 into the interior or eject the tray 101 from the tray loading opening 114. Also provided are an IC reader 101c and an IC reader 15a that can read information from the IC tag 101b provided in the infusion bag holding section 10 of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from an RFID tag. The IC reader 101c is provided at the tray transport start section 110b where the tray 101 is loaded from the tray loading opening 114, and the IC reader 15a is provided at the tray transport end section 110a where the tray 101 is ejected from the tray ejection opening 15.

[0060] When the second control unit 500 determines based on the output of a sensor (not shown) that the tray 101 has been inserted into the tray transport starting section 110b from the tray loading opening 114, it reads information from the IC tag 101b using the IC reader 101c. When the second control unit 500 determines based on the output of a sensor (not shown) that the tray 101 has been inserted into the tray transport ending section 110a, it reads information from the IC tag 101b using the IC reader 15a. Similarly, when the tray 101 is transported from the tray transport starting section 110b through the tray loading opening 114 toward the containing unit 700, the second control unit 500 can also read information from the IC tag 101b using the IC reader 101c. Then, the second control unit 500 performs a tray verification process to determine whether the tray 101 is appropriate, etc., based on the results of reading by the IC reader 101c and the IC reader 15a.

[0061] Furthermore, when the second control unit 500 determines, for example, based on the output of a sensor (not shown), that the tray 101 has passed through the tray loading port 114 and reached a predetermined position in the tray conveying unit 110, it horizontally slides a shutter 111 that connects and shields the tray conveying unit 110 and the mixed injection processing chamber 104. When the shutter 111 is opened, the instrument placing unit 102 is exposed in the mixed injection processing chamber 104. Figure 9 shows a state in which the instrument placing unit 102 is exposed in the mixed injection processing chamber 104.

[0062] 10, the tray transport section 110 is provided with a tray lifting section 112 that raises and lowers the object placing section 102 of the tray 101 that has been moved into the tray transport section 110 through the tray loading opening 114. The tray lifting section 112 lifts the object placing section 102 from below upward, for example, by vertically driving four shafts 112a that are provided so as to be able to rise and fall.

[0063] Then, the second control unit 500 causes the tray lifting unit 112 to raise the instrument placing unit 102, and then causes the tray confirmation camera 41 to photograph the same. The tray confirmation camera 41 photographs the medicine containers 10, the syringes 11, etc. placed on the predetermined instrument placing unit 102 from above. The second control unit 500 executes image recognition processing using the image photographed by the tray confirmation camera 41, and determines whether the medicine containers 10 and the syringes 11 (syringes 11a and injection needles 11c), etc., in the numbers indicated in the preparation data, are present on the instrument placing unit 102, etc.

[0064] 10, the tray transport terminal 110a located in the left space of the mixed injection processing chamber 104 is provided with a bag lifting unit 113 that lifts and lowers the infusion bag holding unit 103. The second control unit 500 transports the tray 101 to the front of the bag lifting unit 113, and then hooks the hook portion 113a of the bag lifting unit 113 into the engagement hole portion 103a from below. Then, the second control unit 500 rotates the arc gear portion 113b on which the hook portion 113a is formed by a motor 113c, thereby lifting the infusion bag holding unit 103 and positioning the mixed injection port of the infusion bag 12 at the mixed injection communicating port 37. In addition, the second control unit 500 can control the motor 113c to drive the bag lifting unit 113 to tilt the infusion bag holding unit 103 and point the mixing port of the infusion bag 12 upward or downward.

[0065] In particular, the second control unit 500 can adjust the inclination angle of the mixed injection port of the infusion bag 12 to a preset inclination angle by controlling the motor 113c to adjust the driving amount of the bag lifting unit 113.

[0066] Specifically, the medicine master stores, for each type of infusion bag 12, an upper limit injection amount that can be injected into the infusion bag 12 without air bleeding and an exceptional tilt angle, which is the tilt angle of the mixed injection port of the infusion bag 12 that is set when the upper limit injection amount is exceeded. Then, in the mixed injection process based on the preparation data, if the amount of liquid to be injected into the infusion bag 12 exceeds the upper limit injection amount, the second control unit 500 executes an air bleeding process in which air is previously bled from the infusion bag 12 using the syringe 11. In this case, the amount of air in the infusion bag 12 decreases. Therefore, if the inclination of the infusion bag 12 becomes large, the liquid in the infusion bag 12 may come into contact with the rubber stopper of the mixed injection port of the infusion bag 12, which may result in liquid leakage when the injection needle 11c is removed from the rubber stopper.

[0067] On the other hand, in the co-infusion device 1, when the amount of liquid injected into the infusion bag 12 is equal to or less than the upper injection limit, the second control unit 500 sets the inclination angle of the co-infusion port of the infusion bag 12 to a predetermined specified angle. The specified angle is, for example, a value set as the inclination angle of the co-infusion port common to multiple types of infusion bags 12.

[0068] On the other hand, if the amount of liquid injected into the infusion bag 12 during the mixed injection process exceeds the upper injection limit, the second control unit 500 sets the inclination angle of the mixed injection port of the infusion bag 12 to the exceptional inclination angle. The exceptional inclination angle is an angle at which the inclination angle of the mixed injection port of the infusion bag 12 relative to the vertical direction is at least smaller than the specified angle. That is, the exceptional inclination angle is an angle at which the infusion bag 12 is closer to vertical than the specified angle. As a result, when the inclination angle of the mixed injection port of the infusion bag 12 is set to the exceptional inclination angle, the possibility of the liquid in the infusion bag 12 coming into contact with the rubber stopper of the mixed injection port is reduced, thereby reducing the possibility of liquid leakage when the injection needle 11c is removed from the rubber stopper. Note that the exceptional inclination angle may also be used, for example, when the infusion bag 12 is a so-called AL type, which has a small amount of air inside.

[0069] 6, a dome-shaped light 120 and an infusion camera 121 are provided above the tray transport terminal 110a to illuminate the infusion bag 12 transported to the tray transport terminal 110a. The infusion camera 121 is provided in the center of the dome-shaped light 120 and reads the barcode on the surface of the infusion bag 12. This allows the second control unit 500 to determine whether the infusion bag 12 is appropriate or not according to the information on the barcode read by the infusion camera 121.

[0070] [Ampoule Cutter 31] As shown in FIG. 11, the ampoule cutter 31 is provided with a file portion 31a, a dust tray 31b, a head insertion portion 31c, a drive box 31f, a dust box 31g, and a grip portion 31h.

[0071] The file portion 31a is a member for notching the neck of the ampoule 10A, and debris generated by the notching in the file portion 31a falls into the debris tray 31b. Specifically, in the co-infusion device 1, the first robot arm 21 holds the ampoule 10A and slides the neck of the ampoule 10A against the file portion 31a, thereby notching the neck of the ampoule 10A.

[0072] The head insertion portion 31c has a hole 31d into which the notched head of the ampoule 10A is inserted from below, and a pusher 31e that protrudes upward from the hole 31d and is positioned on the side of the head of the ampoule 10A. Meanwhile, the drive box 31f has a cam provided therein and a drive motor that drives the cam, and when the cam is driven by the drive motor, the cam causes the pusher 31e to reciprocate in a direction toward and away from the head of the ampoule 10A.

[0073] In the co-infusion device 1, the first robot arm 21 holds the ampoule 10A with the gripping claws 25a, and inserts the head of the ampoule 10A into the hole 31d from below, causing the head above the neck to protrude upward. Thereafter, the second control unit 500 drives the drive motor of the drive box 31f, causing the pusher 31e to move in a direction pushing the head of the ampoule 10A, and the pusher 31e pushes and breaks the head. At this time, the head broken by the pusher 31e falls into the waste box 31g. The gripping unit 31h slidably supports the ampoule cutter 31. The rail 31i is used by the user to slide the ampoule cutter 31 along the rail 31i (see FIG. 4).

[0074] [Agitator 32] The agitator 32 is used when the vial 10B contains a medicine that needs to be dissolved, such as a powdered medicine, and when an infusion or medicine is injected into the vial 10B to dissolve the medicine and produce a mixed medicine. Specifically, the agitator 32 is used in a mixing step of agitating the medicine in the vial 10B.

[0075] As shown in Fig. 12, the agitator 32 includes a roller 32a, a presser 32b, a rotary support 32c, a support base 32d, a horizontal swing mechanism 32e, a support 32f, and a drive motor 32g. The two rollers 32a are disposed facing each other at a predetermined distance. One of the rollers 32a is supported so as to be rotatable, and the other roller 32a is connected to the drive motor 32g. Each of the rollers 32a is elongated in the axial direction, and the agitator 32 can simultaneously agitate two vials 10B placed on both axial ends of the roller 32a.

[0076] The pressing portion 32b is a driven roller that is used to press down on the vial 10B placed on the roller 32a from above and rotates in accordance with the rotation of the vial 10B. The rotation support portion 32c rotates the pressing portion 32b in a direction of contacting or separating from the vial 10B by a drive motor (not shown).

[0077] The support base 32d supports the roller 32a, the pressing portion 32b, the rotation support portion 32c, etc. The horizontal swing mechanism 32e has, for example, a crank mechanism, and is capable of swinging the support base 32d in the axial direction of the roller 32a.

[0078] The support portion 32f has U-shaped notches at both axial ends of the roller 32a into which the neck of the vial 10B fits. When the vial 10B is placed on the roller 32a, the neck of the vial 10B engages with the notches. As a result, when the support base 32d is swung in the axial direction of the roller 32a by the horizontal swinging mechanism 32e, the vial 10B swings in response to the axial swing of the roller 32a, and the chemical in the vial 10B is stirred horizontally.

[0079] On the other hand, when the vial 10B is placed between the two rollers 32a and the drive motor 32g is driven, the vial 10B is rotated by the other roller 32a connected to the drive motor 32g, and the chemical in the vial 10B is stirred. At this time, the one roller 32a rotates in the same direction as the other roller 32a due to the rotation of the vial 10B. Furthermore, if at least one of the rollers 32a is eccentrically driven, the vial 10B placed on the roller 32a can also be stirred in the vertical direction (up and down).

[0080] [Storage shelf 33] As shown in FIG. 4, the storage shelf 33 is used to temporarily store the medicine container 10, the syringe 11, and the like during the co-infusion process performed by the co-infusion device 1. The storage shelf 33 is located in a position accessible to both the first robot arm 21 and the second robot arm 22. The vial 10B is placed upright in a predetermined position on the storage shelf 33. Meanwhile, the storage shelf 33 is provided with a tilted holder for holding the ampoule 10A in a tilted position, and the ampoule 10A is placed in a tilted position on the tilted holder. The storage shelf 33 also has a neck-holding hole of a predetermined diameter into which the neck of the syringe 11 fits. The syringe 11 is temporarily placed with its neck facing downward without the injection needle 11c attached. The size of the storage shelf 33 is preferably determined in advance based on the number of trays 101 that can be accommodated in the storage unit 700. For example, the size of the storage shelf 33 is considered to be a size that can simultaneously accommodate the medicine containers 10 and syringes 11 and other equipment used in the co-infusion process, which corresponds to the number of trays 101 that can be accommodated in the storage unit 700.

[0081] [Medicine reading unit 34] The medicine reading unit 34 reads barcodes that indicate medicine information about the medicine contained in the medicine container 10, such as the ampule 10A and the vial 10B, and are written on labels attached to the medicine containers 10. Specifically, as shown in FIG. 13 , the medicine reading unit 34 includes two rollers 34a and a barcode reader 34b. The rollers 34a are arranged facing each other at a predetermined distance. One of the rollers 34a is rotatably supported, and the other roller 34a is connected to a drive motor (not shown). The two rollers 34a are driven by the drive motor to rotate the medicine container 10 placed between the rollers 34a in a circumferential direction. This allows the medicine container 10 to rotate once in the circumferential direction, so that the entire label attached to the medicine container 10 faces the barcode reader 34b. The barcode reader 34b then reads the barcode from the label of the medicine container 10 that is rotated by the roller 34a.

[0082] [Weighing scale 35] The weighing meter 35 is used to measure the weight of the syringe 11 in the co-infusion process executed in the co-infusion device 1, and the measurement result by the weighing meter 35 is input to the second control unit 500. The weighing meter 35 is disposed within the movable range of the second robot arm 22, and measures the weight of the syringe 11 placed by the second robot arm 22. In addition to the weighing meter 35, a weighing meter that weighs the medicine container 10 or the syringe 11 may be provided on the storage shelf 33.

[0083] [Needle bending detection unit 36] 14, the needle bending detection unit 36 is formed with an elongated hole 36a into which the injection needle 11c of the syringe 11 can be inserted and moved. The needle bending detection unit 36 also includes a first optical sensor 361 and a second optical sensor 362 that emit and receive detection light across the elongated hole 36a and are arranged so that their detection lights are non-parallel. That is, the first optical sensor 361 and the second optical sensor 362 emit detection light in different directions. The detection results of the first optical sensor 361 and the second optical sensor 362 are input to the second control unit 500.

[0084] Then, the injection needle 11c attached to the syringe 11 is inserted into the elongated hole 36a and moved up and down by the second robot arm 22. At this time, when the detection light of each of the first optical sensor 361 and the second optical sensor 362 is blocked by the injection needle 11c, each of the first optical sensor 361 and the second optical sensor 362 is turned off.

[0085] As a result, the second control unit 500 can detect bending of the injection needle 11c, etc., using position information of the injection needle 11c when the detection light is blocked. Another possible embodiment is to photograph the injection needle 11c with a camera and detect needle bending, etc., by image recognition of the photographed image. If the injection needle 11c is bent, the second control unit 500 can adjust, for example, the needle tip position when the injection needle 11c punctures the rubber stopper of the mixed injection port of the infusion bag 12 with the injection needle 11c, using the second robot arm 22, based on the amount of bending of the injection needle 11c.

[0086] [Mixed injection connecting port 37] 3, the mixed injection communication port 37 is formed in a dome-shaped portion that protrudes outward from the side wall of the mixed injection processing chamber 104, and a notch is formed in the dome-shaped portion in the vertical direction to allow the mixed injection port of the infusion bag 12 to pass through. Therefore, when the infusion bag holding portion 103 rises, the mixed injection port of the infusion bag 12 is positioned within the mixed injection processing chamber 104. This allows the injection needle 11c of the syringe 11 held by the second robot arm 22 to be inserted into the mixed injection port of the infusion bag 12.

[0087] [Transparent window for needle insertion confirmation 38] The needle insertion confirmation transparent window 38 is a window through which the infusion bag 12 at the tray transport terminal 110a can be seen from the mixed injection processing unit 300, and is used when taking images to confirm that the injection needle 11c of the syringe 11 has been inserted into the infusion bag 12.

[0088] [Syringe Check Camera 42] As shown in FIG. 6, the syringe confirmation camera 42 is disposed on the ceiling of the co-infusion processing unit 300. The syringe confirmation camera 42 is used to photograph the syringe 11 to confirm the presence and amount of medicine drawn into the syringe 11. The syringe confirmation camera 42 may photograph an image within a predetermined photographing range, or may be controlled by the second control unit 500 to arbitrarily change the position and size of the photographing range. As will be described later, in the co-infusion device 1, the syringe confirmation camera 42 photographs the syringe 11 and the medicine container 10 at the same time, providing a highly reliable inspection image. The second control unit 500 records the photographed image by the syringe confirmation camera 42 in the data storage unit 404, the data storage unit 504, or a storage unit such as a hard disk provided outside the co-infusion device 1, for example, to inspect the appropriateness of the co-infusion processing performed by the co-infusion device 1 using the image. Then, the second control unit 500 displays the image captured by the syringe confirmation camera 42 on a display device such as the touch panel monitor 14 or the display 203 during the inspection by the user.

[0089] [Needle attachment / detachment device 43] As shown in Figures 15 and 16, in the injection needle attaching / detaching device 43, the tip of the injection needle 11c fitted with a cap 11d is inserted upward into a hole 43b of a chuck portion 43a in which a notch is formed. When the motor 43c is driven, a cam mechanism (not shown) widens the hole 43b of the chuck portion 43a, allowing the injection needle 11c to be inserted together with the cap 11d. When the driving of the motor 43c is stopped, the spring 43d maintains the holding state of the cap 11d and the injection needle 11c. When the needle turning motor 43e is driven, gears 43f and 43g rotate, causing the chuck portion 43a to rotate, , the cap 11d and the injection needle 11c are rotated.

[0090] The injection needle 11c and the cap 11d each have a rib that comes into contact when the cap 11d rotates circumferentially while attached to the injection needle 11c. Therefore, when the cap 11d of the injection needle 11c is rotated by the chuck portion 43a, the injection needle 11c rotates together with the cap 11d and is attached to or detached from the syringe 11a. Furthermore, with the injection needle attaching / detaching device 43, the second robot arm 22 can move the syringe 11 toward or away from the chuck portion 43a while the cap 11d is held by the chuck portion 43a, thereby automatically attaching or detaching the cap 11d to or from the injection needle 11c. In the injection needle attaching / detaching device 43, the tip of the injection needle 11c faces upward, so that the tip opening of the syringe 11a from which the injection needle 11c has been removed faces upward, preventing liquid from dripping from the neck opening of the syringe 11a.

[0091] [Needle insertion confirmation camera 44] The needle insertion confirmation camera 44 captures an image of the infusion bag 12 located outside the mixed injection processing chamber 104 and the syringe 11 located inside the mixed injection processing chamber 104 so that they fit within a single image. When the injection needle 11c punctures the rubber stopper of the mixed injection port of the infusion bag 12, the second control unit 500 causes the needle insertion confirmation camera 44 to capture an image in the direction of the needle insertion confirmation transparent window 38. The image captured by the needle insertion confirmation camera 44 is displayed, for example, on the touch panel monitor 14. FIG. 17 shows an example of an image captured by the needle insertion confirmation camera 44. This allows the user to check whether the tip of the injection needle 11c is located within the infusion bag 12. The captured image is stored, for example, in a storage unit such as a hard disk provided inside or outside the mixed injection device 1 for final inspection. Then, when the user operates the OK button on the touch panel monitor 14 on which the captured image is displayed and it is determined that the co-infusion process has been completed properly, the infusion bag 12 is lowered by the bag lifting section 113 and returned to the tray 101.

[0092] [Bactericidal lamp 45] The germicidal lamp 45 is turned on, for example, three hours before the start of the mixed injection process. As shown in FIG. 6, one of the two germicidal lamps 45 is located between the first robot arm 21 and the second robot arm 22. Therefore, the amount of germicidal light blocked by the first robot arm 21 and the second robot arm 22 is reduced, allowing the mixed injection processing chamber 14 to be sterilized evenly. In addition, the mixed injection processing unit 300 is provided with an exhaust system that sucks air from the mixed injection processing chamber 104 through a slit 104b (see FIGS. 3 and 4) formed in the lower part of the side wall of the mixed injection processing chamber 104 and exhausts it from an exhaust fan (not shown) provided above the mixed injection processing chamber 104. In addition, an air supply system is also provided that cleans outside air from an air intake port formed in the ceiling of the mixed injection processing chamber 104 and guides it to the mixed injection processing chamber 104, etc.

[0093] Next, the containing unit 700 will be described with reference to Figures 18 to 21. Figure 18 is a front view of the medicine loading section 200 and the containing unit 700, Figure 19 is a cross-sectional view taken along line II in Figure 18, and Figure 20 is a cross-sectional view taken along line II-II in Figure 18. Figure 21 is a schematic diagram showing the internal configuration of the containing unit 700. In the following description, the up-down, left-right, and front-rear directions shown in Figures 18 to 21 may be used.

[0094] The storage unit 700 includes a tray loading section 710, a lifting unit 800, and a tray transport section 900, and is controlled by the co-infusion control device 100. The tray loading section 710 and the lifting unit 800 are disposed behind the work table 202, and the tray transport section 900 is disposed below the work table 202. The storage unit 700 can store a plurality of trays 101, and the co-infusion control device 100 can transport any of the trays 101 out of the storage unit 700. Note that the specific configuration of the storage unit 700 is not limited to the configuration described here, as long as it can achieve the same function.

[0095] The tray loading section 710 includes a shutter 712 that opens and closes a tray loading opening 711 used to load the tray 101 into the storage unit 700, and a drive unit 713 that opens and closes the shutter 712. The drive unit 713 is, for example, a belt conveyor including a motor, gears, a tension roller, and a belt, and when the tension roller is rotated by the motor and the gear, the shutter 712 connected to the belt is opened and closed. When the shutter 712 is opened, a user can load the tray 101 into the lifting unit 800 of the storage unit 700 by sliding the tray 101 rearward on the work table 202. The tray loading opening 711 is disposed at a position vertically spaced apart from the tray ejection opening 206, and specifically, the tray loading opening 711 is disposed at a higher position than the tray ejection opening 206.

[0096] The lifting unit 800 includes a movable housing 810 supported so as to be able to move up and down in the vertical direction, a plurality of tray accommodation sections 811 arranged in the vertical direction within the movable housing 810, drive sections 812 and 813 used to load and unload the trays 101 into and from the tray accommodation sections 811, and a lifting mechanism 820 that lifts and lowers the movable housing 810 in the vertical direction. The movable housing 810 is supported so as to be able to slide up and down, for example, by rail sections (not shown) formed on the inner surface of the housing of the accommodation unit 700. The movable housing 810 can be lifted and lowered between a state in which at least the uppermost tray accommodation section 811 is positioned above the tray loading opening 711 and a state in which the lowermost tray accommodation section 811 is positioned below the tray loading opening 711. In particular, the movable housing 810 moves up and down within a range that allows each of the tray storage sections 811 to be positioned in a state where the tray 101 can be moved between the tray storage section 811 and the tray loading section 710, and in a state where the tray 101 can be moved between the tray storage section 811 and the tray transport section 900.

[0097] The tray accommodation unit 811 is a belt conveyor including a pair of left and right belts 814 capable of supporting the trays 101, a plurality of tension rollers 815 supporting each of the belts 814 so that the belts 814 can move, and a magnet gear 816 connected to one of the tension rollers 815. The driving units 812 and 813 are motors capable of rotating magnet gears 812a and 813a in forward and reverse directions. The magnet gears 812a and 813a can synchronously rotate the magnet gear 816, which is located opposite to the magnet gear 812a and 813a, by magnetic force. That is, the driving force of the driving units 812 and 813 is transmitted from the magnet gears 812a and 813a to the magnet gear 816 of the tray accommodation unit 811 in a non-contact manner. The magnet gear 816 then drives the tension rollers 815 and the belts 814.

[0098] Therefore, even when the lifting unit 800 is provided with three or more stages of the tray accommodating units 811, it is possible to drive each of the tray accommodating units 811 using the two drive units 812, 813. Therefore, in the co-infusion device 1, dust generation and costs in the lifting unit 800 can be suppressed compared to when a drive unit such as a motor is provided for each of the tray accommodating units 811, and it is also possible to reduce the weight of the movable housing 810 that moves in the vertical direction.

[0099] Here, the magnet gear 812a and the magnet gear 813a are arranged at different positions in the up-down direction. Specifically, the magnet gear 812a is arranged at a position facing the magnet gear 816 of the tray accommodating unit 811 arranged at a position where the tray 101 can be loaded from the work table 202 through the tray loading opening 711. Furthermore, the magnet gear 813a is arranged below the magnet gear 812a at a position facing the magnet gear 816 of the tray accommodating unit 811 arranged at a position where the tray 101 can be moved between the tray accommodating unit 811 and the tray transport unit 900.

[0100] As a result, in the storage unit 700, the area below the work table 202 can be effectively used to transport the tray 101, for example, between the tray storage section 811 and the tray transport section 900. Hereinafter, the position of the tray storage section 811 at which the tray 101 can be carried in from the work table 202 to the tray storage section 811 may be referred to as a first movement position, and the position of the tray storage section 811 at which the tray 101 can be moved between the tray storage section 811 and the tray transport section 900 may be referred to as a second movement position.

[0101] The lifting mechanism 820 is a belt conveyor including a motor 821, a pair of left and right belts 822, and a plurality of tension rollers 823. The motor 821 drives the tension rollers 823 to make each of the belts 822 move up and down. Each of the belts 822 is connected to the movable casing 810. The lifting mechanism 820 moves the movable casing 810 up and down by making each of the belts 822 move up and down by rotating the motor 821 forward or backward.

[0102] The tray transport unit 900 includes a first transport unit 910, a second transport unit 920, an IC reader 930, and a third transport unit 940. The first transport unit 910 is capable of transporting the tray 101 in the front-to-rear direction, and the second transport unit 920 is capable of transporting the tray 101 in the left-to-right direction. For example, each of the first transport unit 910, the second transport unit 920, and the third transport unit 940 is a belt conveyor including a motor, gears, tension rollers, a belt, etc., and the belt is driven by the motor, the gears, and the tension rollers to transport the tray 101 held on the belt.

[0103] More specifically, the first transport unit 910 is capable of transporting the tray 101 housed in the tray housing unit 811 toward the tray discharge opening 206. Furthermore, the first transport unit 910 is capable of housing the tray 101 in the tray housing unit 811. The second transport unit 920 is configured to be movable in the vertical direction, and is capable of moving between a usable state in which the tray 101 placed on the first transport unit 910 can be transported in the horizontal direction, and a retracted state (see FIG. 21 ) in which the tray 101 is retracted downward from the usable state. The third transport unit 940 is capable of transporting the tray 101 between the second transport unit 920 and the tray discharge opening 701 when the second transport unit 920 is in the usable state.

[0104] For example, when transitioning from the retracted state to the usable state, the second transport unit 920 moves upward while holding the tray 101 placed at a predetermined position on the first transport unit 910, thereby becoming able to transport the tray 101 to and from the third transport unit 930. Furthermore, when transitioning from the usable state to the retracted state, the second transport unit 920 moves downward below the first transport unit 910 while holding the tray 101 placed on the second transport unit 920, and hands over the tray 101 to the first transport unit 910.

[0105] As a result, in the usable state, the second conveying unit 920 can convey the tray 101 discharged from the tray accommodating unit 811 onto the first conveying unit 910 to the third conveying unit 940. In addition, in the usable state, the second conveying unit 920 can receive the tray 101 supplied from the mixed injection processing unit 300 via the tray discharge port 701 via the third conveying unit 940 and convey it to the first conveying unit 910.

[0106] The IC reader 930 is capable of reading information from the IC tag 101b of the tray 101 placed on the first transport unit 910 of the tray transport unit 900. The identification information of the tray 101 read from the IC tag 101b by the IC reader 930 is input to the second control unit 500.

[0107] In another embodiment, the co-infusion device 1 may further include a stock shelf capable of storing a plurality of the trays 101, and the storage unit 700 may be configured to be able to arbitrarily carry the trays 101 into and out of the stock shelf. This allows a large number of the trays 101 to be temporarily stored on the stock shelf and automatically removed as needed. This configuration is suitable, for example, when the co-infusion device 1 has a batch preparation inspection function (described later) and it is necessary to temporarily store a plurality of the trays 101 that have not been inspected after the co-infusion process is completed.

[0108] The stock shelf may be provided with a door with a lock that can be opened and closed to remove the trays 101 from individual storage sections that store the trays 101 individually, from a position different from the storage unit 700 side. This allows, for example, a user to remove the trays 101 from the stock shelf as needed and inspect them all at once, and also allows users who can remove the trays 101 to be limited to specific users who have a key for the door.

[0109] [Mixed injection processing] Next, an example of a basic processing procedure of the co-infusion processing executed by controlling the co-infusion processing unit 300 by the co-infusion control unit 100 in the co-infusion device 1 will be described. In the co-infusion processing, as described below, the second control unit 500 controls the first robot arm 21, the second robot arm 22, etc., to aspirate medicines from one or more medicine containers 10 with the syringe 11 based on the preparation data, and inject the medicines from the syringe 11 into another container such as the infusion bag 12.

[0110] [Mixed injection using Ampoule 10A] First, the basic operation of the mixed injection process when the medicine contained in the ampoule 10A is injected into the infusion bag 12 will be described.

[0111] When the tray 101 is supplied to the tray conveying unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 using the IC reader 101c. Then, when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process, the second control unit 500 opens the shutter 111. Thereafter, the second control unit 500 raises the instrument placing unit 102 of the tray 101 by the tray lifting unit 112 of the tray conveying unit 110 to expose it to the mixed injection processing chamber 104.

[0112] Next, the second control unit 500 photographs the object placing unit 102 with the tray confirmation camera 41. Then, the second control unit 500 grasps the positions and orientations of the objects such as the ampoule 10A and the syringe 11 placed on the object placing unit 102 by image recognition processing based on the image photographed by the tray confirmation camera 41. In particular, the second control unit 500 photographs the object placing unit 102 with the tray confirmation camera 41 every time the ampoule 10A or the syringe 11 is removed from the object placing unit 102, and grasps the latest positions and orientations of the ampoule 10A and the syringe 11 from the photographed image.

[0113] Next, the second control unit 500 causes the first robot arm 21 to temporarily place the syringe 11 placed on the instrument placing unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Furthermore, the second control unit 500 causes the first robot arm 21 to set the ampoule 10A placed on the instrument placing unit 102 in the drug reading unit 34. Then, the second control unit 500 causes the drug reading unit 34 to read information such as the type of drug contained in the ampoule 10A.

[0114] Furthermore, the second control unit 500 sets the first injection needle 11c on the injection needle attaching / detaching device 43, and temporarily places the second injection needle 11c on the storage shelf 33, using the first robot arm 21. Here, the first injection needle 11c is a needle without a syringe filter, and the second injection needle 11c is a needle with a syringe filter. Note that a cap 11d is attached to the injection needle 11c placed on the instrument placing unit 102, and the cap 11d is attached and detached by the injection needle attaching / detaching device 43. It is also possible that the injection needle 11c is set on the tray 101 in a state where it is attached to the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c on the syringe 11 is omitted.

[0115] Then, when all the objects on the object placement section 102 have been removed, the second control section 500 causes the tray lifting section 112 of the tray transport section 110 to lower the object placement section 102 and return it to the tray 101. The second control section 500 confirms whether all the objects on the object placement section 102 have been removed by image recognition processing based on the image captured by the tray confirmation camera 41.

[0116] Thereafter, the second control unit 500 closes the shutter 111 and causes the tray conveying unit 110 to convey the tray 101 to the tray conveying terminal end 110a. Next, the second control unit 500 causes the bag lifting unit 113 of the tray conveying unit 110 to position the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 at the mixed injection communicating port 37 formed in the mixed injection processing chamber 104.

[0117] Then, the second control unit 500 moves the ampoule 10A set in the medicine reading unit 34 to the shelf 33 using the second robot arm 22. Next, the second control unit 500 removes the syringe 11 from the shelf 33 using the first robot arm 21 and sets it on the second robot arm 22. Subsequently, the second control unit 500 moves the syringe 11 to the injection needle attaching / detaching device 43 using the second robot arm 22 and sets the injection needle 11c on the syringe 11. Thereafter, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 using the second robot arm 22 and detects whether the injection needle 11c is bent. It is also possible that the injection needle 11c attached to the syringe 11 is set on the tray 101. In this case, the step of setting the injection needle 11c on the syringe 11 is omitted.

[0118] Next, the second control unit 500 causes the first robot arm 21 to take out the ampoule 10A from the storage shelf 33 and breaks off the top of the ampoule 10A using the ampoule cutter 31. Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to bring the ampoule 10A and the syringe 11 close to each other and inserts the injection needle 11c of the syringe 11 into the ampoule 10A. Thereafter, the second control unit 500 causes the second robot arm 22 to operate the plunger 11b, causing the syringe 11 to draw an amount of medicine from the ampoule 10A that is predetermined by the preparation data.

[0119] At this time, the first robot arm 21 and the second robot arm 22 gradually tilt the postures of the ampoule 10A and the syringe 11. For example, with the mouth of the ampoule 10A facing vertically upward and the injection needle 11c of the syringe 11 facing vertically downward, a certain amount of medicine is drawn up from the ampoule 10A, and then the ampoule 10A is tilted by about 10 degrees from the vertical direction to move the medicine toward the mouth (neck). This makes it possible to draw up as much medicine as possible without the tip of the injection needle 11c of the syringe 11 touching the bottom of the ampoule 10A.

[0120] Thereafter, the second control unit 500 controls either or both of the first robot arm 21 and the second robot arm 22 to move the ampoule 10A after the medicine has been aspirated and the syringe 11 in a state in which the medicine has been aspirated into the photographing range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the ampoule 10A and the syringe 11 at the same time using the syringe confirmation camera 42, and records the photographed image as an inspection image in the data storage unit 504. For example, the syringe confirmation camera 42 photographs a predetermined photographing range. On the other hand, it is also conceivable that the second control unit 500 can change the photographing range of the syringe confirmation camera 42 so that the ampoule 10A and the syringe 11 after being moved by the first robot arm 21 and the second robot arm 22 can be photographed at the same time.

[0121] Next, the second control unit 500 replaces the injection needle 11c of the syringe 11 using the first robot arm 21 and the second robot arm 22. Specifically, the second control unit 500 moves the syringe 11 to the needle bending detection unit 36 using the second robot arm 22, and detects whether the injection needle 11c is bent. Then, the second robot arm 22 moves the syringe 11 to the injection needle attaching / detaching device 43, and attaches the cap 11d to the injection needle 11c. Then, the second control unit 500 rotates the cap 11d using the injection needle attaching / detaching device 43, and removes the injection needle 11c from the syringe 11. Note that the removal of the injection needle 11c may be performed by the rotation of the cap 11d by the first robot arm 21 and the second robot arm 22.

[0122] Then, the second control unit 500 opens the trash lid 132a, and causes the first robot arm 21 to drop the injection needle 11c held by the injection needle attaching / detaching device 43 together with the cap 11d attached to the injection needle 11c into the trash storage chamber 13a and discard them. Thereafter, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c with the syringe filter from the storage shelf 33 to the injection needle attaching / detaching device 43. Then, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43 and attach the injection needle 11c to the syringe 11. In this case as well, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36, and detects whether the injection needle 11c is bent. In this way, in the co-infusion device 1, the injection needle 11c is replaced when sucking medicine from the ampoule 10A and when injecting infusion into the infusion bag 12, thereby preventing fragments of the ampoule 10A from getting mixed into the infusion bag 12.

[0123] Then, the second control unit 500 causes the second robot arm 22 to pierce the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a, and injects the mixed medicine in the syringe 11 into the infusion bag 12. Meanwhile, the second control unit 500 opens the waste lid 132a, and causes the first robot arm 21 to drop the ampoule 10A into the waste storage chamber 13a for disposal. Furthermore, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43, attaches the cap 11d to the injection needle 11c of the syringe 11, and then drops the syringe 11 into the waste storage chamber 13a for disposal.

[0124] Thereafter, the second control unit 500 executes a preparation inspection process for inspecting the results of the mixed injection process after the mixed injection process is completed. In the preparation inspection process, the second control unit 500 displays, for example, various captured images taken during the mixed injection process on the touch panel 14 and accepts an operation to complete the inspection of the mixed injection process. This allows the user to inspect the appropriateness of the mixed injection process while viewing the touch panel monitor 14. Then, upon accepting the operation to complete the inspection, the second control unit 500 transports the tray 101 to the tray discharge port 15 and makes the tray 101 removable.

[0125] [Mixed injection process using vial 10B] Next, we will explain the basic operations of the mixed injection process when the medicine contained in the vial bottle 10B is a powder medicine that needs to be dissolved, and the medicine is mixed with an infusion solution and then injected into the infusion bag 12.

[0126] When the tray 101 is supplied to the tray conveying unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 using the IC reader 101c. Then, when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process, the second control unit 500 opens the shutter 111. Thereafter, the second control unit 500 raises the instrument placing unit 102 of the tray 101 by the tray lifting unit 112 of the tray conveying unit 110 to expose it to the mixed injection processing chamber 104.

[0127] Next, the second control unit 500 photographs the object placing unit 102 with the tray confirmation camera 41. Then, the second control unit 500 grasps the positions and orientations of the objects such as the vial 10B and the syringe 11 placed on the object placing unit 102 by image recognition processing based on the image photographed by the tray confirmation camera 41. In particular, the second control unit 500 photographs the object placing unit 102 with the tray confirmation camera 41 every time the vial 10B or the syringe 11 is removed from the object placing unit 102, and grasps the latest positions and orientations of the vial 10B and the syringe 11 from the photographed image.

[0128] Next, the second control unit 500 causes the first robot arm 21 to temporarily place the syringe 11 placed on the instrument placing unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Furthermore, the second control unit 500 causes the first robot arm 21 to set the vial 10B placed on the instrument placing unit 102 in the medicine reading unit 34. Then, the second control unit 500 causes the medicine reading unit 34 to read information such as the type of medicine contained in the vial 10B.

[0129] Next, when all the objects on the object placement section 102 have been removed, the second control section 500 causes the tray lifting section 112 of the tray transport section 110 to lower the object placement section 102 and return it to the tray 101. The second control section 500 confirms whether all the objects on the object placement section 102 have been removed by image recognition processing based on the image captured by the tray confirmation camera 41.

[0130] Thereafter, the second control unit 500 closes the shutter 111 and causes the tray conveying unit 110 to convey the tray 101 to the tray conveying terminal end 110a. Next, the second control unit 500 causes the bag lifting unit 113 of the tray conveying unit 110 to position the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 at the mixed injection communicating port 37 formed in the mixed injection processing chamber 104.

[0131] Then, the second control unit 500 causes the second robot arm 22 to move the vial 10B set in the medicine reading unit 34 to the storage shelf 33. Meanwhile, in parallel with this movement process, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c of the syringe 11 placed on the instrument placing unit 102 in the injection needle attaching / detaching device 43 with the cap 11d still attached.

[0132] Next, the second control unit 500 causes the first robot arm 21 to take out the syringe 11 from the shelf 33 and set it on the second robot arm 22. Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43 and set the injection needle 11c on the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36 and detects whether the injection needle 11c is bent. It is also possible that the injection needle 11c is attached to the syringe 11a of the syringe 11 and set on the tray 101. In this case, the step of setting the injection needle 11c on the syringe 11 is omitted.

[0133] Subsequently, the second control unit 500 causes the second robot arm 22 to puncture the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a, and aspirates the dissolved amount of infusion indicated by the preparation data from the infusion bag 12. Meanwhile, the second control unit 500 causes the first robot arm 21 to take out the vial 10B placed on the storage shelf 33.

[0134] Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to bring the vial 10B and the syringe 11 close to each other, and punctures the vial 10B with the injection needle 11c of the syringe 11. Thereafter, the second control unit 500 injects the infusion solution in the syringe 11 into the vial 10B by operating the plunger 11b with the second robot arm 22. In this way, when the medicine is a powder, a dissolving step is executed in the mixed injection process, in which the infusion solution is extracted from the infusion bag 12 by the syringe 11 and the infusion solution is injected from the syringe 11 into the vial 10B. As a result, the medicine in the vial 10B is dissolved with the infusion solution. At this time, the syringe 11 and the vial bottle 10B are in a state where the injection needle 11c of the syringe 11 is directed vertically downward and the opening of the vial bottle 10B is directed vertically upward.

[0135] Next, the second control unit 500 sets the vial 10B into which the infusion liquid has been injected to the agitator 32 using the first robot arm 21. As a result, the agitator 32 executes a mixing process in which the medicine and the infusion liquid in the vial 10B are mixed. The mixing time in the mixing process is predetermined, for example, depending on the type of medicine. The mixing time may also be predetermined for each combination of the medicine and the infusion liquid, or may be changed depending on the amount of medicine in the vial 10B. When the agitation process by the agitator 32 is completed, the second control unit 500 removes the vial 10B from the agitator 32 using the first robot arm 21.

[0136] Here, the second control unit 500 executes a mixing inspection process to inspect the mixing result of the mixing process after the mixing process is completed. In the mixing inspection process, the second control unit 500 controls the first robot arm 21 to move the vial 10B to a position and attitude that allows the user to view the bottom or side of the vial 10B, and waits for a confirmation operation by the user on the touch panel monitor 15 or the like. Furthermore, in response to a predetermined operation on the touch panel monitor 15, the second control unit 500 controls the first robot arm 21 to execute a swing process to move the vial 10B to multiple positions (positions and positions) that allow the user to view the bottom or side of the vial 10B from different angles. This allows the user to check the degree of solubility of the chemical in the vial 10B from different angles.

[0137] Thereafter, when the confirmation operation is performed, the second control unit 500 advances the processing step of the mixed injection process to the next step. On the other hand, when a predetermined re-mixing operation is performed, the second control unit 500 does not advance the processing step of the mixed injection process to the next step, but instead sets the vial 10B in the mixer 32 again and re-executes the mixing step. Note that, in the mixing inspection process, the second control unit 500 may display on the touch panel monitor 15 a photographed image of the bottom or side of the medicine container 10 taken after the mixing step.

[0138] Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to bring the vial 10B and the syringe 11 close to each other, and inserts the injection needle 11c of the syringe 11 into the vial 10B. Thereafter, the second control unit 500 causes the second robot arm 22 to operate the plunger 11b, thereby aspirating the mixed medicine in the vial 10B with the syringe 11. At this time, the orientation of the syringe 11 and the vial 10B is such that the opening of the vial 10B is directed vertically downward, and the injection needle 11c of the syringe 11 is directed vertically upward.

[0139] Thereafter, the second control unit 500 controls either or both of the first robot arm 21 and the second robot arm 22 to move the vial 10B after the drug has been aspirated and the syringe 11 in a state in which the drug has been aspirated into the photographing range of the syringe confirmation camera 42. Then, the second control unit 500 photographs the vial 10B and the syringe 11 at the same time using the syringe confirmation camera 42, and records the photographed image as an inspection image in the data storage unit 504. For example, the syringe confirmation camera 42 photographs a predetermined photographing range. On the other hand, it is also conceivable that the second control unit 500 can change the photographing range of the syringe confirmation camera 42 so that the vial 10B and the syringe 11 after being moved by the first robot arm 21 and the second robot arm 22 can be photographed at the same time.

[0140] Then, the second control unit 500 causes the second robot arm 22 to puncture the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a, and injects the mixed medicine in the syringe 11 into the infusion bag 12. In this way, in the mixed injection process, an injection step is executed in which the medicine is sucked from the vial bottle 10B by the syringe 11 and the medicine is injected from the syringe 11 into the infusion bag 12.

[0141] Meanwhile, the second control unit 500 opens the waste lid 132a, and drops the vial 10B into the waste storage chamber 13a and discards it by using the first robot arm 21. The second control unit 500 also moves the syringe 11 to the needle attaching / detaching device 43 by using the second robot arm 22, attaches the cap 11d to the injection needle 11c of the syringe 11, and then drops the syringe 11 into the waste storage chamber 13a and discards it.

[0142] Thereafter, the second control unit 500 executes a preparation inspection process for inspecting the results of the mixed injection process after the mixed injection process is completed. In the preparation inspection process, the second control unit 500 displays, for example, various captured images taken during the mixed injection process on the touch panel 14 and accepts an operation to complete the inspection of the mixed injection process. This allows the user to inspect the appropriateness of the mixed injection process while viewing the touch panel monitor 14. Then, upon accepting the operation to complete the inspection, the second control unit 500 transports the tray 101 to the tray discharge port 15 and makes the tray 101 removable.

[0143] It is also possible that the medicine contained in the vial bottle 10B is a medicine such as a liquid medicine that does not need to be dissolved. The mixed injection process in this case is similar to the mixed injection process in the case where the medicine contained in the vial bottle 10B is a medicine such as a powder medicine that needs to be dissolved, except that the stirring step is not performed, so a description thereof will be omitted. Also, even if the medicine contained in the vial bottle 10B is a liquid, the stirring step may be performed depending on the type of the medicine.

[0144] [Pre-mixing function] The mixing process, which may be performed in the co-infusion process, may require a relatively long time, and the waiting time until the mixing process is completed may impede the efficiency of the co-infusion process. In contrast, the co-infusion device 1 according to this embodiment has a pre-mixing function that can execute the mixing process in the co-infusion process before the start timing of the co-infusion process. Specifically, the co-infusion control unit 100 realizes the pre-mixing function by executing a loading preparation process and a co-infusion control process (described below) using the first control unit 400 or the second control unit 500 in accordance with the first co-infusion control program or the second co-infusion control program. Here, the co-infusion control device 100 executing the loading preparation process and the co-infusion control process is an example of a pre-mixing processing unit. The first control unit 400 and the second control unit 500 may enable the pre-mixing function when the medicine container 10 is the vial 10B.

[0145] [Loading preparation process] First, with reference to FIG. 22, an example of the loading preparation process executed by the co-infusion control device 100 will be described.

[0146] <Step S1> In step S1, the first control unit 400 waits for a loading preparation start operation by the user using the operation unit 405 (S1: No). For example, the first control unit 400 determines that the loading preparation start operation has been performed when the user has performed a selection operation of the preparation data. Then, when the loading preparation start operation has been performed (S1: Yes), the process proceeds to step S2.

[0147] The first control unit 400 can receive an operation to immediately execute the co-infusion process based on the preparation data as the loading preparation start operation, and can also accept a reservation for an expected completion time indicating the completion time or completion time zone of the co-infusion process for the preparation data. When the completion time zone is reserved, a reservation is accepted in one-hour increments, such as between T1 and T2, as the time range in which the co-infusion process should be completed. For example, the first control unit 400 can set reservations for the preparation data up to a preset maximum reservation number equal to the number of tray storage units 811. The reservation process may be executed not only at the start of the loading preparation process but also at the end of the loading preparation process.

[0148] When the estimated completion time is set, the first control unit 400 automatically estimates the required time for the co-infusion process based on the preparation data, and sets the time obtained by subtracting the required time from the estimated completion time as the timing to start the co-infusion process. For example, the required time is calculated based on required time table information stored in the data storage unit 404. In the required time table, the required time for each step of the co-infusion process is set in advance for each content of the co-infusion process as information for calculating the required time according to the content of the co-infusion process.

[0149] Furthermore, the first control unit 400 may be capable of accepting reservations for the preparation data for an expected start time indicating the start time or completion time zone of the co-infusion process, rather than the expected completion time. When the start time zone is reserved, reservations are accepted in one-hour increments, such as between T1 and T2, as the time range in which the co-infusion process should be started. For example, when the expected start time is set for the preparation data, the first control unit 400 sets the expected start time as the execution start timing of the co-infusion process. Furthermore, it is also possible to accept reservations for an execution time zone in one-hour increments, such as between T1 and T2, as the time range from the start to the completion of the co-infusion process. When the execution time zone is set for the preparation data, the first control unit 400 sets the execution start timing of the co-infusion process so that the co-infusion process is completed within the execution time zone. The first control unit 400 may be capable of reserving only the co-infusion process for one of the preparation data. Furthermore, the reservation target is not limited to the scheduled completion time, scheduled start time, or execution time period of the mixed injection process, but may also be the scheduled completion time, scheduled start time, or execution time period of the injection process of injecting the medicinal liquid collected from the medicine container 10 into the infusion bag 12.

[0150] <Step S2> In step S2, the first control unit 400 executes a process of associating the preparation data selected as the processing target with the identification information of the tray 101. Specifically, the first control unit 400 uses the IC reader 207 provided on the work table 202 to read the identification information of the tray 101 from the IC tag 101b of the tray 101 placed on the work table 202. Then, the first control unit 400 stores the identification information read from the IC tag 101b in the data storage unit 404 as the identification information of the tray 101 corresponding to the preparation data selected as the processing target. For example, the correspondence between the preparation data and the identification information of the tray 101 is managed by table information. In addition, the first control unit 400 also transmits information indicating the correspondence between the preparation data and the identification information of the tray 101 to the second control unit 500, and stores the information in the data storage unit 504. This allows the first control unit 400 and the second control unit 500 to recognize the correspondence between the preparation data and the identification information of the tray 101 based on the correspondence.

[0151] <Step S3> Thereafter, in steps S3 to S8, the first control unit 400 executes a process for supporting the operation of setting the medicine container 10, the syringe 11, the infusion bag 12, and the like required for the mixed injection process based on the preparation data on the tray 101. Specifically, first, in step S3, the first control unit 400 displays, on the display 203, a message and an image instructing the user to read identification information, such as a GS1 data bar, attached to the infusion bag 12, along with information, including the type of the infusion bag 12, contained in the preparation data. Then, the first control unit 400 reads the identification information of the infusion bag 12 using the barcode reader 204. If the comparison result with the preparation data matches, the first control unit 400 transitions the process to step S4. Note that, if the comparison result between the identification information of the infusion bag 12 and the preparation data does not match, the first control unit 400 displays, for example, an error message.

[0152] <Step S4> In step S4, the first control unit 400 displays on the display 203 a message, an image, etc. for guiding the user in arranging the infusion bag 12 on the tray 101. This allows the user to easily arrange the infusion bag 12 in a predetermined position in the tray 101.

[0153] <Step S5> In step S5, the first control unit 400 displays on the display 203 a message and an image instructing the reading of identification information such as GS1 DataBar attached to the medicine container 10, together with information including the type of the medicine container 10 contained in the preparation data. Then, the first control unit 400 causes the barcode reader 204 to read the identification information of the medicine container 10, and when the comparison result with the preparation data matches, the first control unit 400 shifts the processing to step S6. Note that when the comparison result between the identification information of the medicine container 10 and the preparation data does not match, the first control unit 400 displays, for example, an error message.

[0154] <Step S6> In step S6, the first control section 400 causes the display 203 to display messages, images, and the like for guiding the user in arranging the medicine container 10 on the tray 101. This allows the user to easily arrange the medicine container 10 at a predetermined position in the tray 101. Note that, when a plurality of the medicine containers 10 are required, steps S5 to S6 are repeatedly executed.

[0155] <Step S7> In step S7, the first control unit 400 causes the display 203 to display a message, an image, or the like for guiding the user in arranging the syringe 11 on the tray 101. This allows the user to easily arrange the syringe 11 in a predetermined position in the tray 101. Note that if a plurality of syringes 11 are required, step S7 is repeatedly executed.

[0156] <Step S8> When all the information about the equipment necessary for the mixed injection process based on the preparation data has been provided, in the following step S8, the first control unit 400 displays a message that the preparation data is ready for loading, and also displays operation keys, etc., for accepting a confirmation operation to that effect.

[0157] <Step S9> In step S9, the first control unit 400 determines whether the confirmation operation has been performed, and if the confirmation operation has been performed (S9: Yes), it transitions the processing to step S10, and keeps the processing on standby at step S9 until the confirmation operation is performed (S9: No).

[0158] <Step S10> In step S10, the first control unit 400 opens the shutter 712 of the containing unit 700. Specifically, the first control unit 400 transmits an instruction to open the shutter 712 to the second control unit 500. In response to this, the second control unit 500 controls the containing unit 700 to open the shutter 712.

[0159] Note that the second control unit 500 controls the position of the movable casing 810 so that the unused tray accommodation section 811 is disposed at the first movement position before opening the shutter 712. For example, it is considered that the second control unit 500 controls the accommodation unit 700 so that the unused tray accommodation section 811 is disposed at the first movement position while the accommodation unit 700 is on standby (not operating). Furthermore, after receiving the open instruction in step S10, the second control unit 500 may move the movable casing 810 to dispose the unused tray accommodation section 811 at the first movement position. Note that, when there are a plurality of unused tray accommodation sections 811, it is considered that the second control unit 500 selects the tray accommodation section 811 that requires the smallest amount of movement of the movable casing 810 to move to the first movement position from among the plurality of unused tray accommodation sections 811, and moves it to the first movement position.

[0160] For example, the data storage unit 504 stores accommodation table information indicating whether each of the tray accommodation units 811 is in use or not. The accommodation table information stores identification information of the tray 101 accommodated in each of the tray accommodation units 811 in association with each of the tray accommodation units 811, and a tray 101 for which identification information of the corresponding tray 101 is not stored is unused. The second control unit 500 updates the accommodation table information when the tray 101 is loaded into the tray accommodation unit 811 and when the tray 101 is ejected from the tray accommodation unit 811.

[0161] <Step S11> Then, in step S11, when the tray 101 is accommodated in the tray accommodation portion 811 of the accommodation unit 700, the second control portion 500 executes a process of associating the identification information of the tray 101 with the tray accommodation portion 811. Specifically, the second control portion 500 updates the accommodation table information stored in the data storage portion 504 based on the correspondence between the identification information of the tray 101 and the tray accommodation portion 811. This enables the second control portion 500 to recognize the tray accommodation portion 811 in which each of the trays 101 is accommodated based on the accommodation table information. Whether or not the tray 101 is accommodated in the tray accommodation portion 811 is detected by an optical sensor (not shown) or the like provided in the tray accommodation portion 811.

[0162] <Step S12> Next, in step S12, the second control unit 500 controls the accommodation unit 700 to execute a confirmation operation for confirming the correspondence between the tray 101 accommodated in the tray accommodation portion 811 and the preparation data. This prevents the wrong tray 101 from being accommodated in the tray accommodation portion 811.

[0163] Specifically, the second control unit 500 moves the movable housing 810 downward so that the tray accommodation unit 811, which is determined to accommodate the tray 101 in step S11, is located at the second movement position. Thereafter, the second control unit 500 ejects the tray 101 accommodated in the tray accommodation unit 811 to the first transport unit 910 of the tray transport unit 900, and reads the identification information of the tray 101 from the tag 101b of the tray 101 using the IC reader 930 provided in the first transport unit 910. Then, the second control unit 500 compares the identification information of the tray 101 read by the IC reader 930 with the identification information of the tray 101 corresponding to the preparation data received from the first control unit 400. Here, if the comparison results in a match, the second control unit 500 returns the tray 101 to the tray accommodation unit 811, ends the series of loading preparation processes, and returns the process to step S1. On the other hand, if the comparison result is a mismatch, the second control unit 500 notifies the display 203 or the like of an error via the first control unit 400, and ejects the tray 101 toward the tray ejection opening 206. This allows the user to remove the tray 101 from the tray ejection opening 206.

[0164] [Mixed injection control processing] Next, an example of the mixed injection control process will be described with reference to FIG.

[0165] <Step S21> In step S21, the second control unit 500 determines whether or not the execution start timing of the co-infusion process has arrived. Specifically, the second control unit 500 determines that the execution start timing of the co-infusion process has arrived when it receives an execution start request from the first control unit 400. If it is determined that the execution start timing has arrived (S21: Yes), the process proceeds to step S211, and if the execution start timing has not arrived (S21: No), the process proceeds to step S22.

[0166] For example, when a user performs an operation to select the preparation data and an operation to immediately start the co-infusion process based on the preparation data using the operation unit 405, the first control unit 400 transmits a request to start the co-infusion process for the preparation data to the second control unit 500. Also, when the timing to start the co-infusion process based on the preparation data has been reserved, the first control unit 400 transmits a request to start the co-infusion process for the preparation data to the second control unit 500 when the execution start timing arrives.

[0167] The execution start request includes, for example, the execution procedure of the co-infusion process based on the preparation data. In addition, it is also possible that the execution procedure of the co-infusion process based on the preparation data is transmitted in advance from the first control unit 400 to the second control unit 500 and stored in the data storage unit 504, and the execution start request includes identification information of the preparation data.

[0168] <Step S22> In step S22, the second control unit 500 determines whether the preparation data reserved by the first control unit 400 includes preparation data that is to be subjected to a pre-mixing process in which the mixing step is executed in advance. Specifically, a pre-mixing target flag indicating whether the preparation data is to be subjected to the pre-mixing process is stored in the medicine master in association with each medicine. The second control unit 500 determines that the preparation data is to be subjected to the pre-mixing process when the preparation data includes a medicine that is set as a target of the pre-mixing process by the pre-mixing target flag. The second control unit 500 may also determine whether the preparation data is to be subjected to the pre-mixing process based on the combination of the medicine in the medicine container 10 and the infusion in the infusion bag 12 to be mixed in the mixing step. Note that the second control unit 500 may also determine that the selected preparation data is to be subjected to the pre-mixing process when a user operation to select any of the preparation data as a target of the pre-mixing process has been performed in advance. If it is determined that there is a target for the pre-mixing process (S22: Yes), the process proceeds to step S23, and if it is determined that there is no target for the pre-mixing process (S22: No), the process returns to step S21.

[0169] <Step S23> In step S23, the second control unit 500 determines whether the pre-mixing process is executable. For example, the second control unit 500 may determine whether the co-infusion process is being executed, and determine that the pre-mixing process is executable when the co-infusion process is not being executed. Furthermore, the second control unit 500 may determine that the pre-mixing process is executable during a specific time period, such as a preset time period during the night or late at night. The indicators for determining whether the pre-mixing process is executable are not limited to those described here. If it is determined that the pre-mixing process is executable (S23: Yes), the process proceeds to step S24. If it is determined that the pre-mixing process is not executable (S23: No), the process returns to step S21. The second control unit 500 may execute the pre-mixing process for the preparation data when a user operation is performed to select the preparation data and start the pre-mixing process.

[0170] In step S23, the second control unit 500 may determine to perform the pre-mixing process on the condition that the required time for the mixing process associated with the drug in the drug container 10 in the drug master is equal to or greater than a predetermined lower limit required time. That is, if the required time for the mixing process is less than the lower limit required time, the mixing process is excluded from the target of the pre-mixing process. This results in the pre-mixing process being performed only when the mixing process requires a long time, thereby preventing unnecessary execution of the pre-mixing process. The second control unit 500 may arbitrarily set the lower limit required time in response to a user operation. On the other hand, the second control unit 500 may determine to perform the pre-mixing process on the condition that the required time for the mixing process associated with the drug in the drug container 10 in the drug master is less than a predetermined upper limit required time. That is, if the required time for the mixing process is equal to or greater than the upper limit required time, the mixing process is excluded from the target of the pre-mixing process. In this case, the pre-mixing process is executed only when the mixing step does not require a long time, and the pre-mixing process is prevented from causing a delay in the co-injection process based on other preparation data, etc. Note that the second control unit 500 can arbitrarily set the upper limit required time in response to a user operation.

[0171] <Step S24> In step S24, the second control unit 500 executes the pre-mixing process by controlling the co-infusion processing unit 300 and the storage unit 700. When a plurality of preparation data to be subjected to the pre-mixing process are reserved, the preparation data to be processed are sequentially selected in steps S21 to S24, and the pre-mixing process is executed.

[0172] The order of the preparation data selected as the processing target for the preliminary mixing process is not limited to an order based on time factors such as the estimated completion time or the execution start timing, which are preset corresponding to the preparation data. For example, other embodiments can be considered in which the preparation data are selected in the order received from the host system 6, or the preparation data are selected randomly. It is also possible to preferentially select preparation data including drugs that require a long time for the mixing process, which is preset, or to determine the order of the preparation data so that the preparation data using the same drug or infusion are consecutive. Furthermore, it is also possible that an index value indicating the likelihood of clotting after the mixing process is stored in the drug master, and the preparation data are selected in order of drug least likely to clot based on the index value.

[0173] Here, a specific example of the preliminary mixing process will be described.

[0174] First, the second control unit 500 controls the storage unit 700 to automatically transport the tray 101 associated with the preparation data selected as the processing target from the tray storage section 811 of the storage unit 700 to the tray transport section 110 of the mixed injection processing unit 300. The second control unit 500 identifies the tray storage section 811 in which the tray 101 corresponding to the preparation data is stored, based on the storage table information.

[0175] Thereafter, the second control unit 500 controls the first robot arm 21 to set the drug container 10 placed on the tray 101 in the agitator 32, and executes the agitation process in which the agitator 32 agitates the drug in the drug container 10.

[0176] Specifically, when the tray 101 is supplied to the tray conveying unit 110, the second control unit 500 reads the identification information of the tray 101 from the IC tag 101b of the tray 101 using the IC reader 101c. Then, when the identification information of the tray 101 matches the identification information previously associated with the preparation data of the mixed injection process, the second control unit 500 opens the shutter 111. Thereafter, the second control unit 500 raises the instrument placing unit 102 of the tray 101 by the tray lifting unit 112 of the tray conveying unit 110 to expose it to the mixed injection processing chamber 104.

[0177] Next, the second control unit 500 photographs the object placing unit 102 with the tray confirmation camera 41. Then, the second control unit 500 grasps the positions and orientations of the objects such as the medicine container 10 and the syringe 11 placed on the object placing unit 102 by image recognition processing based on the image photographed by the tray confirmation camera 41. In particular, the second control unit 500 photographs the object placing unit 102 with the tray confirmation camera 41 every time the medicine container 10 or the syringe 11 is removed from the object placing unit 102, and grasps the latest positions and orientations of the medicine container 10 and the syringe 11 from the photographed image.

[0178] Next, the second control unit 500 causes the first robot arm 21 to temporarily place the syringe 11 placed on the instrument placing unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Furthermore, the second control unit 500 causes the first robot arm 21 to set the medicine container 10 placed on the instrument placing unit 102 in the medicine reading unit 34. Then, the second control unit 500 causes the medicine reading unit 34 to read information such as the type of medicine contained in the medicine container 10.

[0179] Next, when all the objects on the object placement section 102 have been removed, the second control section 500 causes the tray lifting section 112 of the tray transport section 110 to lower the object placement section 102 and return it to the tray 101. The second control section 500 confirms whether all the objects on the object placement section 102 have been removed by image recognition processing based on the image captured by the tray confirmation camera 41.

[0180] Thereafter, the second control unit 500 closes the shutter 111 and causes the tray conveying unit 110 to convey the tray 101 to the tray conveying terminal end 110a. Next, the second control unit 500 causes the bag lifting unit 113 of the tray conveying unit 110 to position the mixed injection port of the infusion bag 12 held by the infusion bag holding unit 103 of the tray 101 at the mixed injection communicating port 37 formed in the mixed injection processing chamber 104.

[0181] Then, the second control unit 500 causes the second robot arm 22 to move the medicine container 10 set in the medicine reading unit 34 to the storage shelf 33. Meanwhile, in parallel with this movement process, the second control unit 500 causes the first robot arm 21 to set the injection needle 11c of the syringe 11 placed on the instrument placing unit 102 in the injection needle attaching / detaching device 43.

[0182] Next, the second control unit 500 causes the first robot arm 21 to take out the syringe 11 from the shelf 33 and set it on the second robot arm 22. Subsequently, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the injection needle attaching / detaching device 43 and set the injection needle 11c on the syringe 11. Thereafter, the second control unit 500 causes the second robot arm 22 to move the syringe 11 to the needle bending detection unit 36 and detects whether the injection needle 11c is bent.

[0183] Subsequently, the second control unit 500 causes the second robot arm 22 to puncture the injection needle 11c of the syringe 11 into the rubber stopper of the mixed injection port of the infusion bag 12 transported to the tray transport terminal 110a, and aspirates the dissolved amount of infusion indicated by the preparation data from the infusion bag 12. Meanwhile, the second control unit 500 causes the first robot arm 21 to take out the medicine container 10 placed on the storage shelf 33.

[0184] Then, the second control unit 500 causes the first robot arm 21 and the second robot arm 22 to bring the medicine container 10 and the syringe 11 close to each other, and punctures the injection needle 11c of the syringe 11 into the medicine container 10. Thereafter, the second control unit 500 causes the second robot arm 22 to operate the plunger 11b, thereby injecting the infusion solution in the syringe 11 into the medicine container 10.

[0185] It should be noted that a dedicated container containing the infusion liquid to be used in the preliminary mixing process may be accommodated in the mixed injection process chamber 104, and in the preliminary mixing process, the infusion liquid in the dedicated container may be injected into the medicine container 10. It is also conceivable that a plastic ampoule containing the infusion liquid to be used in the preliminary mixing process is set in advance on the tray 101, and the infusion liquid in the plastic ampoule is used in the preliminary mixing process.

[0186] Next, the second control unit 500 sets the medicine container 10 into which the infusion has been poured, to the stirring device 32 using the first robot arm 21. As a result, the stirring device 32 executes a stirring process in which the medicine and the infusion in the medicine container 10 are stirred. When the stirring process by the stirring device 32 is completed, the second control unit 500 removes the medicine container 10 from the stirring device 32 using the first robot arm 21.

[0187] Then, the second control unit 500 controls the first robot arm 21 to move and place the drug container 10 on the storage shelf 33 in the mixed injection processing unit 300, and stores the position of the drug container 10 on the storage shelf 33 in the data storage unit 504 in association with the identification information of the preparation data. The storage shelf 33 is an example of a first storage unit on which a plurality of the drug containers 10 can be placed, and the second control unit 500 when executing the process for placing the drug container 10 on the storage shelf 33 after the mixing step is performed is an example of a first placement processing unit. The second control unit 500 also controls the first robot arm 21 and the second robot arm 22 to move and place the syringe 11 on the storage shelf 33 in the mixed injection processing unit 300, and stores the position of the syringe 11 on the storage shelf 33 in association with the identification information of the preparation data in the data storage unit 504. This enables the second control unit 500 to identify the positions of the medicine container 10 and the syringe 11 to be used in the mixed injection process based on the preparation data. The syringe 11 to be used in the pre-mixing process may be a dedicated syringe to be used in the pre-mixing process that is provided in advance on the shelf 33 for each type of infusion.

[0188] Meanwhile, the second control unit 500 controls the tray transport unit 110 to return the infusion bag 12 to the tray 101 and move the tray 101 from the tray transport terminal 110a to the tray transport start unit 110b. Thereafter, the second control unit 500 controls the belt conveyor (not shown) provided at the tray transport start unit 110b of the tray transport unit 110 to supply the tray 101 to the storage unit 700 side through the tray loading port 114. Then, the second control unit 500 controls the storage unit 700 to store the tray 101 in the tray storage unit 811. The tray storage unit 811 used at this time is associated with the identification information of the tray 101 in the storage table information. Note that in this case as well, the second control unit 500 checks the correspondence between the identification information of the tray 101 and the preparation data using the IC reader 101c and the IC reader 930. Thus, in the pre-mixing process, the tray 101 moves from the storage unit 700 to the mixed injection processing unit 300 side, but the tray 101 is returned to the storage unit 700 without being carried into the mixed injection processing chamber 104. Therefore, contamination of the tray 101 in the pre-mixing process is prevented, and contamination of the tray storage unit 811 on which the tray 101 returned from the mixed injection processing unit 300 is placed is prevented.

[0189] In the co-infusion device 1, the syringe 11, the plastic ampule, etc. dedicated to be used in the pre-mixing process can be placed on the shelf 33, and the pre-mixing process may be performed using the dedicated syringe 11, the plastic ampule, etc. For example, in the co-infusion device 1, when a replenishment request operation for the syringe 11 or the plastic ampule, etc. dedicated to be used in the pre-mixing process is performed and a tray on which the dedicated syringe 11 or the plastic ampule, etc. dedicated to be used in the pre-mixing process is placed is loaded into the co-infusion processing unit 300, the second control unit 500 controls the second robot arm 22 to set the syringe 11 or the plastic ampule on the shelf 33. Furthermore, the dedicated syringe 11 or the plastic ampule to be used in the pre-mixing process may be placed by a user at a predetermined position on the shelf 33.

[0190] Incidentally, if there are multiple preparation data currently reserved that share the same combination and concentration of the drug and solvent to be mixed in the pre-mixing process, the pre-mixing process may be performed for only a number of the preparation data that is less than the total number of the preparation data. This allows the drug container 10 after the pre-mixing process to be used for the co-infusion process corresponding to any of the multiple preparation data. Specifically, the second control unit 500 may reallocate the drug container 10 corresponding to one of the preparation data as the drug container 10 to be used for another of the preparation data. This reduces waste of the drug container 10 when the co-infusion process based on any of the preparation data is canceled compared to when the pre-mixing process is performed for all of the preparation data. Note that the second control unit 500 may require a preset user confirmation operation when reallocating the drug container 10 and the preparation data. For example, when the mixed injection process based on the preparation data is started, if the medicine container 10 having the same combination and concentration of medicine and infusion included in the preparation data is already placed on the placement unit 33, the second control unit 500 displays an operation screen for selecting whether or not to use the medicine container 10 in the mixed injection process based on the preparation data. Then, if an operation to use the medicine container 10 is performed on the operation screen, the second control unit 500 uses the medicine container 10 in the mixed injection process.

[0191] <Step S211> On the other hand, if the execution start timing of the co-infusion process has arrived (S21: Yes), the second control unit 500 executes the co-infusion process in the following steps S211 to S212. As described above, the second control unit 500 executes the co-infusion process, for example, when the user performs the immediate start operation or when the reserved execution start timing arrives. That is, the execution start timing of the co-infusion process includes when the reserved execution start timing arrives or when the user performs the immediate start operation. Specifically, in step S211, the second control unit 500 controls the storage unit 700 to automatically supply the tray 101 associated with the preparation data for which the execution start timing has arrived from the tray storage unit 811 of the storage unit 700 to the co-infusion processing unit 300.

[0192] At this time, the second control unit 500 may compare the identification information of the tray 101 read from the IC tag 101b of the tray 101 carried out from the tray storage unit 811 and placed on the first conveying unit 910 with the identification information of the tray 101 associated with the preparation data. Then, if the comparison result is a match, the second control unit 500 supplies the tray 101 to the mixed injection processing unit 300, and if the comparison result is a mismatch, it notifies an error and discharges the tray 101 toward the tray discharge port 206. This ensures the accuracy of the correspondence between the tray 101 and the preparation data.

[0193] <Step S212> In step S212, the second control unit 500 executes the co-infusion process based on the preparation data. However, if the preparation data is preparation data for which the mixing step has already been executed by the pre-mixing process, the co-infusion process is executed using the medicine container 10 after mixing by the pre-mixing process, and the mixing step is omitted.

[0194] Specifically, in the mixed injection process, the drug container 10 that was the target of the preliminary mixing process is not removed from the tray 101, and the drug container 10 after the mixing step that was placed on the storage shelf 33 during the preliminary mixing process is used. Similarly, in the mixed injection process, the syringe 11 that was used in the preliminary mixing process is not removed from the tray 101, and the syringe 11 that was placed on the storage shelf 33 during the preliminary mixing process is used.

[0195] Then, in the co-infusion process using the medicine container 10 that has already been mixed by executing the mixing step in the preliminary mixing process, the second control unit 500 omits the mixing step for the medicine container 10. This reduces the time required after the timing to start execution of the co-infusion process arrives. Note that, for the medicine container 10 that has been mixed in the preliminary mixing process, the second control unit 500 may also execute the mixing step in the co-infusion process in a shorter execution time than when the preliminary mixing process has not been executed.

[0196] As described above, in the co-infusion device 1, the pre-mixing process for the co-infusion process based on the preparation data can be performed by utilizing the time when the co-infusion device 1 is not in use. Therefore, when the co-infusion process based on the preparation data for which the pre-mixing process has been performed is subsequently performed, the time required for the co-infusion process is shortened, and the co-infusion process can be performed efficiently.

[0197] In the co-infusion device 1, if the pre-mixing process is performed for certain preparation data and the co-infusion process for that preparation data is not performed consecutively, the co-infusion process or the pre-mixing process based on other preparation data may be performed before the timing for starting the co-infusion process for that preparation data arrives. That is, in the co-infusion device 1, between the mixing process performed by the pre-mixing processing unit for one of the preparation data and the injection process performed by the co-infusion processing unit for that preparation data, at least one of the mixing process and the injection process for the other preparation data may be performed. Therefore, in another embodiment, the execution start timing may be a timing after the mixing process corresponding to one of the preparation data is performed and after at least one of the mixing process and the injection process corresponding to the other preparation data is performed. For example, it is possible that the pre-mixing process is performed sequentially for multiple preparation data, such as overnight, and then the co-infusion process is performed for those multiple preparation data the next morning.

[0198] [Bulk preparation audit function] As described above, in the co-infusion device 1, the preparation inspection process is executed to inspect the results of the co-infusion process after the co-infusion process is completed. However, in this case, the preparation inspection process is executed every time the co-infusion process is completed, and the user needs to check the preparation results each time.

[0199] In contrast, the co-infusion apparatus 1 includes the storage unit 700 capable of storing multiple trays 101, as described above. Therefore, the co-infusion apparatus 1 may be provided with a batch preparation inspection function that stores multiple trays 101 in the storage unit 700 after the co-infusion process has been performed and performs the preparation inspection process collectively for the preparation data corresponding to each tray 101. Specifically, the co-infusion control unit 100 realizes the batch preparation inspection function by executing the batch preparation inspection process described below using the first control unit 400 or the second control unit 500 in accordance with the first co-infusion control program or the second co-infusion control program. The second control unit 500 can enable or disable the batch preparation inspection function in response to a user operation, and the same applies to other functions of the co-infusion apparatus 1. Here, the co-infusion control unit 100 when performing the batch preparation inspection process is an example of a storage processing unit and a preparation inspection processing unit.

[0200] [Bulk preparation and inspection processing] Hereinafter, with reference to FIG. 24, an example of the batch preparation inspection process executed by the co-infusion apparatus 1 when the batch preparation inspection function is enabled will be described.

[0201] <Step S31> First, in step S31, the second control unit 500 determines whether the co-infusion process has been completed. If it determines that the co-infusion process has been completed (S31: Yes), it transitions the process to step S32. If it determines that the co-infusion process has not been completed (S31: No), it transitions the process to step S33.

[0202] <Step S32> In step S32, the second control unit 500 executes a process for stocking the tray 101 containing the infusion bag 12 after the mixed injection process in the storage unit 700. Specifically, the second control unit 500 controls the tray transport unit 110 to return the infusion bag 12 to the tray 101 and move the tray 101 from the tray transport terminal end 110a to the tray transport start end 110b. Subsequently, the second control unit 500 controls the tray transport unit 110 to supply the tray 101 to the storage unit 700 side through the tray loading port 114.

[0203] Thereafter, the second control unit 500 controls the accommodating unit 700 to accommodate the tray 101 in the tray accommodation portion 811 of the lifting unit 800. At this time, the second control unit 500 updates the accommodation table information indicating the correspondence between the identification information of the tray 101 and the tray accommodation portion 811. Furthermore, before the tray 101 is accommodated in the tray accommodation portion 811 of the accommodating unit 700, the second control unit 500 reads the identification information of the tray 101 with the IC reader 930, and compares the identification information with the identification information of the tray 101 associated with the preparation data.

[0204] <Step S33> In step S33, the second control unit 500 determines whether a predetermined preparation inspection start operation has been performed on the touch panel monitor 14 or the like. For example, the second control unit 500 displays a list of the preparation data for which the co-injection process has been executed on the touch panel monitor 14 in response to a user operation, and when one or more of the preparation data are selected, determines that the preparation inspection start operation has been performed for one or more of the preparation data. Here, if it is determined that the preparation inspection start operation has been performed (S33: Yes), the process proceeds to step S34, and if the preparation inspection start operation has not been performed (S33: No), the process returns to step S31.

[0205] <Step S34> In step S34, the second control unit 500 executes the preparation inspection process for one or more of the preparation data. Specifically, the second control unit 500 executes the preparation inspection process in order for one or more of the preparation data selected when the preparation inspection start operation is performed.

[0206] Each time the inspection completion operation is performed in the preparation inspection process corresponding to the preparation data, indicating that the result of the mixed injection process is appropriate, the second control unit 500 sequentially ejects the tray 101 corresponding to the preparation data from the storage unit 700 toward the tray ejection port 206. This allows the user to remove the tray 101 from the tray ejection port 206. Note that the tray 101 is not ejected until the inspection completion operation is performed. In other words, the second control unit 500 restricts removal of the tray 101 after execution of the mixed injection process until it is determined that the result of the mixed injection process is appropriate in the preparation inspection process.

[0207] In this way, the batch preparation inspection function of the co-infusion device 1 allows the preparation inspection process to be performed collectively and sequentially for each of the preparation data. Therefore, the user does not need to perform a confirmation operation each time the co-infusion process is completed, reducing the burden of user operations.

[0208] [Bulk mixing inspection function] Furthermore, in the co-infusion device 1, as described above, the mixing inspection process is executed to inspect the mixing result of the mixing process after completion of the mixing process. Meanwhile, the co-infusion device 1 includes the storage unit 700 capable of storing a plurality of the trays 101 as described above, and may execute the pre-mixing process for a plurality of the medicine containers 10. Here, in the pre-mixing process as well, if the mixing inspection process is executed every time the mixing process is completed, the user needs to check the mixing result each time.

[0209] Therefore, it is considered that the co-infusion device 1 is provided with a batch mixing inspection function that can stock the plurality of medicine containers 10 after being mixed in the mixing steps executed by the plurality of pre-mixing processes on the storage shelf 33 and execute the mixing inspection process collectively for the plurality of medicine containers 10. Specifically, the co-infusion control unit 100 realizes the batch mixing inspection function by executing a batch mixing inspection process described later using the first control unit 400 or the second control unit 500 in accordance with the first co-infusion control program or the second co-infusion control program.

[0210] [Bulk mixing inspection processing] Hereinafter, with reference to FIG. 25, an example of the batch mixing inspection process executed by the co-infusion apparatus 1 when the batch mixing inspection function is enabled will be described.

[0211] <Step S41> First, in step S41, the second control unit 500 determines whether the stirring process has ended. If it determines that the stirring process has ended (S41: Yes), it proceeds to step S42, and if it determines that the stirring process has not ended (S41: No), it proceeds to step S43.

[0212] <Step S42> In step S42, the second control unit 500 executes a process for stocking the medicine container 10 after the mixing process on the storage shelf 33. Here, the second control unit 500 when executing this process is an example of a placement processing unit. Specifically, the second control unit 500 controls the first robot arm 21 to move the medicine container 10 to the storage shelf 33. Note that the data storage unit 504 stores placement table information indicating a correspondence between identification information of the medicine container 10 and a placement on the storage shelf 33, and the second control unit 500 updates the placement table in step S42.

[0213] <Step S43> In step S43, the second control unit 500 determines whether a predetermined mixing inspection start operation has been performed on the touch panel monitor 14 or the like. For example, the second control unit 500 causes the touch panel monitor 14 to display a list of the medicine containers 10 for which the mixing process has been performed in response to a user operation, and when one or more medicine containers 10 are selected, determines that the mixing inspection start operation has been performed for one or more of the medicine containers 10. Here, if it is determined that the mixing inspection start operation has been performed (S43: Yes), the process proceeds to step S44, and if the mixing inspection start operation has not been performed (S43: No), the process returns to step S41.

[0214] <Step S44> In step S44, the second control unit 500 executes the mixing inspection process on one or more of the medicine containers 10 after the mixing process that are placed on the storage shelf 33. Here, the second control unit 500 when executing this process is an example of a mixing inspection processing unit. Specifically, the second control unit 500 executes the mixing inspection process in sequence on one or more of the medicine containers 10 that were selected when the mixing inspection start operation was performed.

[0215] Then, the second control unit 500 permits the use of the medicine container 10 every time the inspection completion operation is performed in the mixing inspection process corresponding to the medicine container 10. That is, the second control unit 500 restricts the use of the medicine container 10 mixed in the preliminary mixing process until the mixing inspection process is executed.

[0216] In this way, the batch mixing inspection function of the co-infusion device 1 makes it possible to collectively and sequentially execute the mixing inspection process for each of the medicine containers 10 that were the target of the preliminary mixing process. Therefore, the user does not need to perform a confirmation operation each time the mixing process is completed, reducing the burden of user operations.

[0217] [Schedule management function] As described above, the co-infusion apparatus 1 has a schedule management function that can reserve the co-infusion process for one or more of the preparation data. Specifically, the co-infusion control unit 100 realizes the schedule management function by executing a schedule management process described later in accordance with the first co-infusion control program or the second co-infusion control program using the first control unit 400 or the second control unit 500.

[0218] [Schedule management process] An example of the schedule management process will be described below with reference to FIG.

[0219] <Step S51> First, in step S51, the first control unit 400 determines whether or not a reservation setting operation has been performed by the user on the operation unit 405. If the first control unit 400 determines that the reservation setting operation has been performed (S51: Yes), it shifts the process to step S52. If the first control unit 400 determines that the reservation setting operation has not been performed (S51: No), it shifts the process to step S54.

[0220] Specifically, when a predetermined operation for displaying a prescription selection screen P0 is performed using the operation unit 405, the first control unit 400 displays the prescription selection screen P0 and accepts a reservation setting operation for the mixed injection process based on the preparation data in accordance with an operation of the operation unit 405 while the prescription selection screen P0 is being displayed. In the reservation setting operation, the preparation data to be reserved is selected and an expected completion time of the mixed injection process of the preparation data is specified.

[0221] 27 is a diagram showing an example of the prescription selection screen P0. As shown in Fig. 27, the prescription selection screen P0 displays an area A1 in which a list of one or more preparation data input to the co-infusion device 1 is displayed, and an area A2 in which conditions for extracting the preparation data displayed in area A1 can be set. Area A1 includes a selection operation unit A3 in which preparation data to be reserved can be arbitrarily selected from each of the preparation data, and an input area A4 in which an expected completion time for each of the preparation data can be input.

[0222] The first control section 400 determines that the reservation setting operation has been performed when the reservation setting key A5 is operated in a state in which the prescription is selected as a reservation target by the selection operation section A3 on the prescription selection screen P0 and the estimated completion time is input in the input area A4. Note that it may also be determined that the reservation setting operation has been performed on the condition that the prescription is selected as a reservation target by the selection operation section A3.

[0223] In the reservation setting operation, a scheduled start time of the co-infusion process may be specified instead of a scheduled completion time of the co-infusion process of the preparation data. For example, the scheduled completion time or the scheduled start time may be specified by inputting a date and time. Alternatively, the scheduled completion time or the scheduled start time may be specified by inputting the elapsed time from the current date and time.

[0224] <Step S52> In step S52, the first control unit 400 determines whether the total number of preparation data already reserved and the current reservation is within a predetermined maximum reservation number. The maximum reservation number is a number predetermined by the specifications of the co-infusion apparatus 1 and corresponds to the number of trays 101 that can be loaded into the co-infusion apparatus 1. For example, in the co-infusion apparatus 1 according to the present embodiment, six trays 101 can be loaded into the storage unit 700, so the maximum reservation number is considered to be six. Here, if the first control unit 400 determines that the total number of reservations is within the maximum reservation number (S52: Yes), it shifts the process to step S53. On the other hand, if the first control unit 400 determines that the total number of reservations exceeds the maximum reservation number (S52: No), it displays, for example, a predetermined error message, and then returns the process to step S51.

[0225] <Step S53> In step S53, the first control unit 400 executes a reservation setting process for reserving the co-infusion process based on one or more of the preparation data in response to the reservation setting operation. Here, the first control unit 400 executing the reservation setting process is an example of a reservation setting processing unit. Specifically, the first control unit 400 sets the execution start timing of the co-infusion process based on the preparation data in accordance with the preparation data and the estimated completion time specified in the reservation setting operation so that the co-infusion process based on the preparation data is completed at the estimated completion time. Information on the execution start timing of the co-infusion process based on each of the preparation data is stored in the data storage unit 404 as schedule information and is updated by the first control unit 400 in step S53 or step S57 described below.

[0226] For example, the data storage unit 404 stores the required time for each preparation content specified in the preparation data, or stores information for calculating the required time, and the first control unit 400 calculates the required time for the co-infusion process based on the required time.The first control unit 400 then sets the execution start timing based on the expected completion time and the required time for the co-infusion process.If the expected start time of the co-infusion process is specified by the reservation setting operation, the execution start timing is set according to the expected start time, for example, the expected start time is set as the execution start timing.Furthermore, the calculation of the required time for the co-infusion process and the setting of the execution start timing may be performed taking into account whether or not the pre-mixing process is performed.

[0227] Then, the first control unit 400 transmits reservation information such as the execution start timing set for the preparation data together with the preparation data to the second control unit 500. For example, the reservation information includes, in addition to the execution start timing, information for identifying the preparation data to be reserved and information indicating the correspondence between the identification information of the tray 101 corresponding to the preparation data.

[0228] Specifically, as shown in Fig. 27, when the estimated completion times are input into the five input areas A4 on the prescription selection screen P0 and the five selection operation units A3 are operated to select the preparation data as the reservation target, the first control unit 400 sets the execution start timing for each of the preparation data so that each of the preparation data will be completed within the estimated completion time. Note that Fig. 28A is a diagram showing the setting results of the execution start timings for the five preparation data shown in Fig. 27. Note that if the execution start timings cannot be set so that the five preparation data will be completed within the estimated completion time, the first control unit 400 notifies the user by displaying an error on the display 203.

[0229] <Step S54> In step S54, the first control unit 400 determines whether a reservation change start operation for starting a change of the schedule information has been performed on the operation unit 405, and if the reservation change start operation has been performed (S54: Yes), the first control unit 400 proceeds to step S55. For example, the first control unit 400 determines that the reservation change start operation has been performed when the reservation list key A6 displayed on the prescription selection screen P0 has been operated. If the reservation change start operation has not been performed (S54: No), the process returns to step S51.

[0230] <Step S55> In step S55, the first control section 400 displays a schedule setting screen P1 based on the schedule information on the display 203. Note that Figures 28A to 28C are diagrams showing display examples of the schedule setting screen P1.

[0231] As shown in FIGS. 28A to 28C, the first control unit 400 displays the execution start timing of each of the preparation data along a time axis based on the schedule information on the schedule setting screen P1. Here, the first control unit 400 when executing such processing is an example of a display processing unit. This allows the user to easily grasp the execution start timing of the co-infusion process corresponding to each of the preparation data by looking at the schedule setting screen P1. Note that the schedule setting screen P1 may also clearly display other information, such as the estimated completion time or the estimated start time, in addition to the execution start timing of the co-infusion process corresponding to each of the preparation data.

[0232] <Steps S56 to S57> In steps S56 to S57, the first control unit 400 executes a change process to change the execution start timing corresponding to each of the adjustment data. Here, the first control unit 400 executing the change process is an example of a change processing unit.

[0233] First, in step S56, the first control unit 400 determines whether or not a change operation has been performed on the operation unit 403 to change the execution start timing, estimated start time, estimated completion time, etc. of the adjustment data. If it is determined that the change operation has been performed (S56: Yes), the process proceeds to step S57, and if it is determined that the change operation has not been performed (S56: No), the process proceeds to step S55.

[0234] Then, in step S57, the first control unit 400 executes a process of changing the schedule information in accordance with the change operation. Specifically, the first control unit 400 changes the order of the execution start timings of the respective adjustment data in accordance with the execution start timings, estimated start times, estimated completion times, etc. of the adjustment data after the change operation.

[0235] Specifically, the first control unit 400 can change the execution start timing of each of the preparation data in response to a user operation on the operation unit 405 while the schedule setting screen P1 is displayed. For example, in FIG. 28A, the schedule setting screen P1 displays an example in which five preparation data with patient IDs "0007," "0004," "0008," "0002," and "0006" are reserved. In addition, in FIGS. 28A to 28C, in the display area of each of the preparation data, the start point indicates the execution start timing of the mixed injection process, the end point indicates the execution end timing of the mixed injection process, and the interval between indicates that the mixed injection process is currently being executed. In addition to the patient ID, the schedule setting screen P1 may also display an order number or the like.

[0236] 28A, the user may perform the change operation by dragging and dropping the area corresponding to the preparation data having the identification information "0008" on the schedule setting screen P1 to move it later. In this case, the first control unit 400 causes the execution start timing of the preparation data having the identification information "0008" to be delayed and displayed as shown in FIG. 28B. Subsequently, the user may perform the change operation by dragging and dropping the area corresponding to the preparation data having the identification information "0002" to be moved forward as shown in FIG. 28B. In this case, the first control unit 400 causes the execution start timing of the preparation data having the identification information "0002" to be delayed and displayed as shown in FIG. 28C.

[0237] Thereafter, when a predetermined confirmation operation is performed, the first control unit 400 confirms the change in the execution start timing of the preparation data and updates the schedule information. Thus, in the co-infusion device 1, the user can easily change the execution start timing of the preparation data by intuitively moving the execution start timing of the preparation data on the schedule setting screen P1. When the change operation or the confirmation operation is performed, if the execution times of the co-infusion processes based on multiple pieces of preparation data overlap, the first control unit 400 notifies the user by displaying a warning message or the like on the schedule setting screen P1.

[0238] <Step S58> In step S58, the first control section 400 determines whether a reservation change end operation for ending the change of the schedule information has been performed on the operation section 405. If the reservation change end operation has been performed (S58: Yes), the schedule setting screen P1 is closed and the process returns to step S51. If the reservation change end operation has not been performed (S58: No), the process returns to step S55.

[0239] In the co-infusion apparatus 1, as described above, when the first control unit 400 determines in the co-infusion control process (FIG. 23) that the execution start timing of the reserved preparation data has arrived (S21: Yes), the second control unit 500 is notified of this fact, and the co-infusion process based on the preparation data is executed. Here, the first control unit 500 and the second control unit 500 when executing the relevant process are an example of a reservation execution processing unit.

[0240] [Full-volume collection and inspection function] In the mixed injection process, when the entire amount of medicine in the medicine container 10 is collected, a full-amount collection inspection may be performed, in which the user confirms that no medicine remains in the medicine container 10. For example, after the user is notified of the completion of the full-amount collection each time the full-amount collection is completed, the progress of the mixed injection process may be restricted until the user performs a confirmation operation. In this case, if the entire amount of medicine is collected from multiple medicine containers 10 in the mixed injection process based on the preparation data, the full-amount collection inspection is performed each time full collection is performed for each medicine container 10. Therefore, the user needs to operate the mixed injection device 1 each time full collection of each medicine container 10 is completed.

[0241] In response to this, the co-infusion device 1 may be provided with a batch total collection inspection function for collectively executing the inspection of the total amount of collection for the plurality of medicine containers 10. Specifically, the co-infusion control unit 100 realizes the batch total collection inspection function by executing a batch total collection inspection process described later using the first control unit 400 or the second control unit 500 in accordance with the first co-infusion control program or the second co-infusion control program.

[0242] [Bulk collection and inspection processing] An example of the batch total collection inspection process executed by the co-infusion device 1 when the batch total collection inspection function is enabled will be described below with reference to Fig. 29. The batch total collection inspection process is executed together with the co-infusion process.

[0243] <Step S61> In step S61, the second control unit 500 determines whether or not there are multiple medicine containers 10 that are to be collected in their entirety in the mixed injection process based on the preparation data. If it is determined that there are multiple medicine containers 10 that are to be collected in their entirety (S61: Yes), the process proceeds to step S62, and if it is determined that there are not multiple medicine containers 10 that are to be collected in their entirety (S61: No), the batch full collection process ends.

[0244] <Step S62> In step S62, the second control section 500 determines whether or not the collection of the entire amount of any of the plurality of drugs 10 that are the subject of the entire collection has been completed. If it is determined that the collection of the entire amount has been completed (S62: Yes), the process proceeds to step S63, and if the collection of the entire amount has not been completed (S62: No), the process waits at step S62.

[0245] <Step S63> In step S63, the second control unit 500 controls the first robot arm 21 to place the drug container 10, which is the target of full collection determined to have been completed in step S62, on the storage shelf 33. At this time, the second control unit 500 associates the drug container 10 with its arrangement on the storage shelf 33 and stores the association data in the data storage unit 504. The storage shelf 33 is an example of a second storage unit, and the second control unit 500, when executing the process for placing the drug container 10 on the storage shelf 33 after full collection, is an example of a second storage processing unit. In the present embodiment, the storage shelf 33 is an example of the first storage unit and the second storage unit, but the first storage unit and the second storage unit may be provided separately.

[0246] <Step S64> In step S64, the second control unit 500 determines whether or not full collection has been completed for all of the plurality of medicine containers 10 that are the targets of full collection in the preparation data. If it is determined that full collection has been completed for all of the medicine containers 10 (S64: Yes), the process proceeds to step S65, and if it is determined that full collection has not been completed for all of the medicine containers 10 (S64: No), the process proceeds to step S62.

[0247] <Step S65> In step S65, the second control unit 500 notifies that the full collection of all of the medicine containers 10 that are the targets of full collection in the preparation data has been completed. For example, the second control unit 500 causes the touch panel monitor 14 to display the completion of the full collection. The second control unit 500 may also cause the display 203 to display the completion of the full collection via the first control unit 400.

[0248] <Step S66> In step S66, the second control unit 500 determines whether or not a start operation for a full-volume collection inspection has been performed on the touch panel monitor 14. If it is determined that a start operation for a full-volume collection inspection has been performed (S66: Yes), the process proceeds to step S67, and the process waits in step S66 until a start operation for a full-volume collection inspection is performed (S66: No).

[0249] <Step S67> In step S67, the second control unit 500 sequentially executes a full-amount collection inspection process for inspecting the results of full-amount collection for each of the medicine containers 10 after full collection. Here, the second control unit 500 executing this process is an example of a full-amount collection inspection processing unit. Specifically, in the full-amount collection inspection process, the second control unit 500 controls the first robot arm 21 to move the medicine container 10 so that the bottom or side of the medicine container 10 is in a position and orientation that is visible to the user. Thereafter, upon receiving an inspection confirmation operation for the medicine container 10 by the user, the second control unit 500 starts a full-amount collection inspection process for the next medicine container 10. Thereafter, when the full-amount collection inspection process for all the medicine containers 10 is completed, the inspection results are stored in the data storage unit 504.

[0250] It is also conceivable that the second control unit 500 controls the first robot arm 21 in response to an operation from a user to change the medicine container 10 into a plurality of positions that allow the bottom or side of the medicine container 10 to be viewed from a plurality of angles. This allows the user to view the medicine container 10 from different angles and properly determine whether the entire amount of the medicine container 10 has been properly collected. It is also conceivable that the second control unit 500 may sequentially display one or a plurality of images of the bottom or side of the medicine container 10 that have been captured in advance, without changing the medicine container 10 into a position and position that allows the medicine container 10 to be viewed.

[0251] In addition, although the case where the full-volume collection inspection process is executed after the completion of all full-volume collections included in the mixed injection process has been described here, in another embodiment, the second control unit 500 may execute the full-volume collection inspection process during the batch preparation inspection process.

[0252] [Pre-inflation function] In the co-infusion apparatus 1, the second control unit 500 may control the second robot arm 22 to aspirate the infusion solution in the infusion bag 12 using the syringe 11, and then aspirate a predetermined amount of air from the infusion bag 12 before removing the injection needle 11c from the infusion bag 12. This reduces the possibility that the infusion solution will drip from the injection needle 11c when the syringe 11 moves after the injection needle 11c of the syringe 11 is removed from the infusion bag 12.

[0253] In contrast, in recent years, a special container known as an AL type, which contains an extremely small amount of air, has been known as the infusion bag 12 used in the mixed injection process. When the infusion bag 12 is a special container, the process of aspirating a predetermined amount of air from the infusion bag 12 as described above may not be performed. For example, when the syringe 11 aspirates the air from the infusion bag 12, the needle 11c of the syringe 11 may come into contact with the infusion solution in the infusion bag 12, resulting in unnecessary aspirating of the infusion solution. Therefore, the mixed injection device 1 may be provided with a pre-air injection function that can inject air into the infusion bag 12 in advance when the infusion bag 12 used in the mixed injection process is a predetermined special container.

[0254] Specifically, the medicine master stored in the data storage unit 404 stores the type of container for each infusion bag 12. For example, the medicine master stores a special flag indicating whether the infusion bag 12 is a special container such as the AL type. Then, based on the preparation data and the medicine master, the first control unit 400 notifies the second control unit 500 that the infusion bag 12 used in the mixed injection process is a special container. As a result, for example, at the start of the mixed injection process, the second control unit 500 executes a pre-air injection step of injecting a predetermined amount of air into the infusion bag 12.

[0255] The timing of starting the pre-air injection process is not limited to the start of the co-infusion process, as long as it is performed before the suction process of suctioning infusion liquid from the infusion bag 12 or the injection process of injecting liquid into the infusion bag 12 is performed in the co-infusion process. On the other hand, if the infusion bag 12 is not a special container, the pre-air injection process is not performed. Instead of the first control unit 400, the second control unit 500 may determine whether the pre-air injection process is necessary based on the preparation data and the medicine master.

[0256] As described above, when the co-infusion device 1 has the advance air injection function, it is possible to increase the amount of air in the infusion bag 12 before the suction step or the injection step. Therefore, in the suction step or the injection step, it is possible to suppress dripping of the infusion from the injection needle 11c by suctioning a predetermined amount of air in the infusion bag 12 before removing the injection needle 11c of the syringe 11 from the infusion bag 12.

[0257] [Interrupt processing function] In the co-infusion apparatus 1, the tray 101 can be temporarily stored in the storage unit 700. Therefore, the co-infusion apparatus 1 may have an interrupt processing function for executing the co-infusion process based on other preparation data during the co-infusion process while the co-infusion process is being executed. This allows the user of the co-infusion apparatus 1 to prioritize the co-infusion process based on the preparation data when highly urgent preparation data occurs.

[0258] Specifically, when the preparation data to be interrupted is selected and a predetermined interrupt request operation is performed on the operation unit 405, the first control unit 400 transmits an interrupt request for the preparation data to the second control unit 500. Then, when the second control unit 500 receives the interrupt request during the execution of the co-infusion process, it temporarily suspends the co-infusion process currently being executed, executes the co-infusion process based on the preparation data corresponding to the interrupt request, and then resumes the suspended co-infusion process.

[0259] For example, when the second control unit 500 interrupts the mixed injection process, it controls the first robot arm 21 and the second robot arm 22 to place the medicine container 10 and the syringe 11 used in the currently executed mixed injection process on the placement unit 33. The second control unit 500 also controls the tray transport unit 110 to place the infusion bag 12 on the tray 101 and return the tray 101 to the storage unit 700 for storage. The second control unit 500 then controls the storage unit 700 to supply the tray 101 corresponding to the preparation data corresponding to the interrupt request to the mixed injection processing unit 300, and executes the mixed injection process based on the preparation data corresponding to the interrupt request. After that, when the mixed injection process is completed, the second control unit 500 again supplies the tray 101 corresponding to the interrupted mixed injection process from the storage unit 700 to the mixed injection processing unit 300, and resumes the mixed injection process.

[0260] [Parallel preparation function] In the co-infusion device 1, only one each of the infusion bag holding unit 103, the bag lifting unit 113, the co-infusion communication port 37, and the tray conveying unit 110 is provided, and the co-infusion process using the tray 101 is performed individually and sequentially. On the other hand, another embodiment can be considered in which the co-infusion device 1 includes multiple sets of the infusion bag holding unit 103, the bag lifting unit 113, the co-infusion communication port 37, and the tray conveying unit 110. In the co-infusion device 1 configured in this manner, the second control unit 500 can transport multiple trays 101 within the co-infusion device 1, and it is considered to have a parallel preparation function that can perform the co-infusion process based on multiple preparation data in approximately parallel.

[0261] Specifically, consider a case where the second control unit 500 executes a first mixed injection process based on first preparation data and a second mixed injection process based on second preparation data substantially in parallel. In this case, the second control unit 500 may execute a process of taking in equipment such as the medicine container 10, the syringe 11, and the infusion bag 12 from the tray 101 to the mixed injection processing unit 300 in the second mixed injection process based on the second preparation data while the stirring step is being executed in the first mixed injection process based on the first preparation data.

[0262] In addition, while the second control unit 500 is performing the stirring process in the second co-infusion process based on the second preparation data, it may also perform the injection of medicine from the infusion bag 12 to the medicine container 10 in the first co-infusion process based on the first preparation data, or the injection of medicine from the medicine container 10 to the infusion bag 12.

[0263] In this way, the co-infusion device 1 equipped with the parallel preparation function can execute multiple preparation data in parallel, making it possible to effectively utilize idle time in each co-infusion process and efficiently execute the co-infusion process based on multiple preparation data.

[0264] [Second embodiment] Another embodiment of the present invention will be described below. Specifically, in this embodiment, another example of the schedule management function will be described. Note that the same reference numerals will be used to designate the same configurations and processing procedures as those in the first embodiment, and descriptions thereof will be omitted.

[0265] 30, the co-infusion apparatus 1 according to this embodiment includes a touch panel monitor 208 arranged at a position where it can be operated by another operator, different from a position where an operator performs work using the operation unit 405 and the display 203, etc. Note that the display and operation using the touch panel monitor 208 described in this embodiment may be performed using the operation unit 405 and the display 203.

[0266] The touch panel monitor 208 includes a display unit such as a liquid crystal display or an organic EL display that displays various information in response to control instructions from the first control unit 400, and an operation unit such as a touch panel that accepts touch operations on the display unit. This allows, for example, the operation of placing instruments on the tray 101 using the operation unit 405, the display 203, the barcode reader 204, etc., and the operation of reserving the preparation data using the touch panel monitor 208 to be performed in parallel.

[0267] In the co-infusion device 1 according to this embodiment, the first control unit 400 can also display the prescription selection screen P0 on the touch panel monitor 208. Furthermore, in the prescription selection screen P0, the estimated completion time of the preparation data cannot be input in the input area A3, and the input area A4 is used as a display area for the estimated completion time of the preparation data after reservation. When the operation key A5 is operated with the preparation data selected as the reservation target by the selection operation unit A3 on the prescription selection screen P0, or with any preparation data selected in the area A1, the first control unit 400 displays a reservation registration screen P10 for reserving a co-infusion process based on the preparation data on the touch panel monitor 208 for each preparation data. Here, FIG. 31 is a diagram showing an example of the reservation registration screen P10.

[0268] As shown in FIG. 31, the reservation registration screen P10 displays, as information about the preparation data of the reservation target, for example, a patient code (patient CD) and patient name for identifying the patient, an identification code for identifying the preparation data, and the required time for the mixed injection process based on the preparation data. The required time for the mixed injection process is stored in the data storage unit 404 for each preparation content specified in the preparation data. In addition, calculation information for calculating the required time may be stored in the data storage unit 404, and the first control unit 400 may calculate the required time for the mixed injection process based on the calculation information.

[0269] Furthermore, the reservation registration screen P10 displays operation keys K11 to K13 for accepting the selection operation of the reservation conditions for the preparation data and an operation key K14 for accepting the execution of the reservation for the preparation data. The operation key K11 is an operation key for selecting, as a reservation condition, a reservation without a time designation, in which the co-infusion process based on the preparation data to be reserved is performed during idle time when other co-infusion processes are not being performed in the co-infusion device 1. The operation key K12 is an operation key for selecting, as a reservation condition, a temporary reservation, in which the co-infusion process based on the preparation data to be reserved is performed in priority over other preparation data reserved by the non-time designation reservation and the time designation reservation described below. Note that when the operation key K12 is selected, if the preparation data already reserved by the temporary reservation exists, the execution order of the preparation data to be reserved can also be selected.

[0270] The operation key K13 is an operation key for selecting a time-specified reservation as a reservation condition, in which the co-infusion process based on the preparation data to be reserved is executed based on a start timing preset by a user operation. As described above, the execution start timing is set by inputting the scheduled completion time of the co-infusion process (corresponding to the "preparation end time" in FIG. 31) or the scheduled start time of the co-infusion process. More specifically, when the operation key K13 is selected, the date and time for executing the co-infusion process based on the preparation data can be set on the reservation registration screen P10. For example, the reservation registration screen P10 shown in FIG. 31 is in a state in which a time-specified reservation is set to execute the co-infusion process by 7:02 PM on August 22nd.

[0271] Furthermore, when a time-specified reservation is made on the reservation registration screen P10, a margin time for the estimated completion time of the co-infusion process can also be set. The margin time indicates the range in which the timing of the co-infusion process can be advanced after the estimated completion time is set. For example, the margin time is the time set for each drug in the pharmaceutical master or the time input by the user on the reservation registration screen P10. For example, if the estimated completion time is 19:02 and the margin time is 30 minutes, the timing of the co-infusion process can be changed within a range in which the co-infusion process is completed after 18:32, 30 minutes before the estimated completion time, but before 19:02. Furthermore, if the estimated completion time is 19:02 and the margin time is 30 minutes, the timing of the co-infusion process can be changed within a range in which the co-infusion process is started after 18:32, 30 minutes before the estimated completion time.

[0272] Then, on the reservation registration screen P10, the reservation method and reservation contents for the preparation data to be reserved are set, and when the operation key K14 is operated, the first control unit 400 determines that the reservation setting operation has been performed (S51: Yes in FIG. 26), and if the total number of reservations is within the maximum number of reservations (S52: Yes), executes a reservation setting process for each of the preparation data based on the reservation setting operation (S53). Note that the first control unit 400 when executing the reservation setting process is an example of a reservation setting processing unit.

[0273] Here, in the reservation setting process of step S53, the first control unit 400 updates the schedule information in the reservation content on the reservation registration screen P10. Specifically, the first control unit 400 can selectively accept the reservation with time designation, the reservation without time designation, and the special reservation as the reservation conditions through a user operation, and updates the schedule information in accordance with the reservation conditions.

[0274] Then, when the temporary reservation is made for the preparation data, the first control unit 400 causes the second control unit 500 to execute the co-infusion process based on the preparation data in priority over other preparation data. More specifically, when the co-infusion process based on other preparation data is not currently being executed in the co-infusion device 1, the first control unit 400 causes the second control unit 500 to immediately execute the co-infusion process based on the preparation data for which the temporary reservation has been made. In this case, if there is a co-infusion process based on the preparation data that has already been reserved, the start timing of the co-infusion process is reset to at least the timing after the co-infusion process based on the preparation data related to the temporary reservation has been executed.

[0275] Furthermore, when a co-infusion process based on other preparation data is currently being executed in the co-infusion device 1, the first control unit 400 causes the second control unit 500 to execute the co-infusion process based on the preparation data for which the temporary reservation has been made after the co-infusion process is completed. Furthermore, when a co-infusion process based on other preparation data is currently being executed, the first control unit 400 may temporarily suspend the co-infusion process and cause the second control unit 500 to execute the co-infusion process based on the preparation data for which the temporary reservation has been made. Specifically, the second control unit 500 places the medicine container 10, the syringe 11, and other equipment related to the co-infusion process being executed on the shelf 33, returns the infusion bag 12 to the tray 101, and returns the tray 101 to the tray storage section 811 of the storage unit 700. Then, the second control unit 500 executes the co-infusion process based on the preparation data related to the temporary reservation, and resumes the suspended co-infusion process after the co-infusion process is completed.

[0276] In addition, when a reservation without a specified time is made for the preparation data, if the co-infusion process based on the preparation data for which the temporary reservation was made and the co-infusion process based on the preparation data for which the time-specified reservation was made have not been performed, the first control unit 400 causes the second control unit 500 to perform the co-infusion process based on the preparation data for which the time-specified reservation was made in the order in which the time-specified reservations were made.

[0277] On the other hand, when a time-specified reservation is made for the preparation data, the first control unit 400 sets the execution start timing in the schedule information so that the co-infusion process based on the preparation data will be completed at the estimated completion time set for the time-specified reservation. For example, if the execution start timing is set to the time obtained by subtracting the required time for the co-infusion process from the estimated completion time, and if the execution times of multiple co-infusion processes overlap, the execution start timing is set by advancing the execution start timing of one or more of the co-infusion processes so that the execution times of the multiple co-infusion processes do not overlap. Note that when setting the schedule information, the first control unit 400 does not need to consider the execution start timing of the preparation data related to the time-specified reservation, and sets the execution start timing of each of the preparation data related to the time-specified reservation and the special reservation taking into account the execution start timing of each of the preparation data related to the time-specified reservation and the special reservation.

[0278] 32 instead of the schedule setting screen P1 on the touch panel monitor 208. In the schedule setting screen P11, similar to the schedule setting screen P1, the execution start timing of each of the preparation data is displayed along the time axis based on the schedule information.

[0279] Furthermore, the schedule setting screen P11 displays an indicator P111 indicating the current time, an indicator P112 indicating the execution time of the co-infusion process corresponding to each of the preparation data, and an indicator P113 indicating the changeable range of the execution time of the co-infusion process corresponding to each of the preparation data. In particular, the schedule setting screen P11 also displays the estimated completion time of the co-infusion process based on each of the preparation data using a character string and the indicator P112. Furthermore, the indicator P113 is displayed based on the estimated completion time and the surplus time, and is displayed as a line connecting the timing corresponding to the estimated completion time and the timing preceding the estimated completion time by the surplus time. This allows the user to easily determine the execution time and changeable range of each of the co-infusion processes at a glance.

[0280] As described above, on the schedule setting screen P11, the first control unit 400 can change the execution time of the co-infusion process based on the preparation data by dragging and dropping the indicator part P112 corresponding to the preparation data. At this time, the first control unit 400 can limit the movable range of the drag-and-drop of the indicator part P112 to within the range of the margin time indicated by the indicator part P113. This prevents the execution time of the co-infusion process from being changed beyond the margin time.

[0281] Also, when any preparation data is selected on the schedule setting screen P11 and the reservation edit key K21 is operated to start changing the reservation details for the preparation data, it is determined in step S56 that the change operation has been performed (S56: Yes). In this case, the first control unit 400 pops up a reservation change screen P12 similar to the reservation registration screen P10 on the schedule setting screen P11, as shown in Fig. 33. Note that the reservation change screen P12 displays information similar to that on the reservation registration screen P10, and the first control unit 400 changes the reservation details of the preparation data in accordance with the operation on the reservation change screen P12.

[0282] Furthermore, when the monitor key K22 is operated on the schedule setting screen P11, the first control unit 400 displays information indicating the current status of each of the preparation data on the schedule setting screen P11, as shown in Fig. 34. Specifically, the schedule setting screen P11 displays, for each of the preparation data, a status such as waiting for dispensing, waiting for inspection, preparing, preparation error, or waiting, as well as a preparation time indicating the time required for the mixed injection process based on the preparation data. The status of the preparation data also includes "procured," which indicates that the confirmation process (S2 to S8) when the equipment such as the medicine container 10 to be used in the mixed injection process based on the preparation data is completed, and "loaded," which indicates that the tray 101 on which the equipment such as the medicine container 10 is placed has been loaded into the storage unit 700.

[0283] Further, the schedule setting screen P11 displays an operation unit P114 that accepts operations regarding the mixed injection process based on each of the preparation data, and an operation unit P115 that accepts operations regarding the tray 101 corresponding to each of the preparation data. For example, the operation unit P114 displays various operation keys, such as an inspection key that accepts an operation to start an inspection of the mixed injection process based on the preparation data, and a change key that accepts an operation to change the reservation details of the mixed injection process. Further, the operation unit P115 displays an ejection key for removing the tray 101 from the tray ejection port 206. Note that if the mixed injection process of the preparation data has not been inspected, the ejection key is not displayed on the operation unit P115, and the ejection key is displayed on the operation unit P115 on the condition that the inspection of the mixed injection process has been performed.

[0284] Furthermore, the schedule setting screen P11 displays a tab key P31 for displaying details of the preparation data selected on the schedule setting screen P11, and a tab key P32 for displaying the status of the co-infusion apparatus 1. When the tab key P31 is selected, the first control section 400 displays details of the preparation data as shown in Fig. 32, and when the tab key P32 is selected, the first control section 400 displays the status of the co-infusion apparatus 1 as shown in Fig. 35. For example, as the status of the co-infusion apparatus 1, the number of unused tray accommodation sections 811 among the tray accommodation sections 811 in the accommodation unit 700 is displayed.

[0285] In addition, another embodiment is also possible in which the touch panel monitor 208 is omitted, and the prescription selection screen P0, the reservation registration screen P10, the schedule setting screen P11, etc. related to the schedule management function are displayed on the display 203, and user operations are accepted by the operation unit 405.

[0286] Furthermore, the storage unit 700 may be used not only for storing the trays 101 on which equipment such as the medicine containers 10 used in the mixed injection process based on the preparation data is placed, but also for storing empty trays 101. Specifically, the first control unit 400 executes a process for storing the empty trays 101 in the storage unit 700 and a process for discharging the empty trays 101 from the storage unit 700 in response to a user operation. This makes it possible to use the unused tray storage section 811 in the storage unit 700 for storing the trays 101, and for example, a user working can obtain the tray 101 from the storage unit 700 without leaving the medicine loading section 200.

[0287] [Third embodiment] In this embodiment, another example of the loading preparation process will be described. Here, Fig. 36 is a flowchart showing another example of the loading preparation process. In the first and second embodiments, a case has been described in which, after the reservation work for the preparation data is executed (S1), a confirmation process (S2 to S8) is executed when various instruments are placed on the tray 101 corresponding to the preparation data. That is, in the first and second embodiments, the reservation work for the preparation data corresponding to the tray 101 and the placement work of the instruments on the tray 101 are executed as a series of operations in this order.

[0288] 36, in the loading preparation process according to this embodiment, processes of steps S81 to S82 are executed between the step S8 and the step S9. In this embodiment, the first control unit 400 does not accept the reservation operation in the step S1, but accepts the reservation operation in steps S81 to S82.

[0289] <Step S81> First, in steps S2 to S8, a confirmation process is executed when placing instruments such as the medicine container 10, the syringe 11, and the infusion bag 12 on the tray 101 corresponding to the preparation data. In the following step S81, the first control unit 400 displays on the display 203 a selection screen for whether or not to make a time-specified reservation for the mixed injection process based on the preparation data, and accepts the presence or absence of the time-specified reservation through a user operation. Then, in step S81, if it is determined that "with time specification" has been selected (S81: Yes), the process proceeds to step S82, and if it is determined that "without time specification" has been selected (S81: No), the process proceeds to step S83.

[0290] <Step S82> In step S82, the first control unit 400 displays an operation screen such as the reservation registration screen P10 (see FIG. 31) and accepts a reservation for the mixed injection process based on the preparation data. Note that the method for accepting a reservation for the mixed injection process may be the same as that of the first embodiment or the second embodiment, and therefore, description thereof will be omitted here.

[0291] That is, in the co-infusion device 1 according to this embodiment, the first control unit 400 can reserve a time for the co-infusion process based on the preparation data, on the condition that the confirmation process when various instruments are placed on the tray 101 corresponding to the preparation data has been completed. Therefore, the work of placing the instruments on the tray 101 and the work of reserving the preparation data corresponding to the tray 101 are performed as a series of operations. As a result, the work of reserving the preparation data is performed on the condition that the instruments have been correctly placed on the tray 101, and the work of reserving the preparation data is prevented from being performed before the instruments have been correctly placed on the tray 101.

[0292] [Fourth embodiment] 37 is a diagram showing another embodiment of the storage unit 700. As shown in FIG. 37, the storage unit 700 according to this embodiment includes a fourth transport unit 950 and a fifth transport unit 960 for temporarily retracting the tray 101 stored in the tray storage section 811. The fourth transport unit 950 can transport the tray 101 in the front-rear direction, and the fifth transport unit 960 can transport the tray 101 in the left-right direction between the first transport unit 910 and the fourth transport unit 950. The fourth transport unit 950 and the fifth transport unit 960 are belt conveyors including a motor, gears, tension rollers, a belt, etc., and the belt is driven by the motor, the gears, and the tension rollers to transport the tray 101 held on the belt.

[0293] Furthermore, in the storage unit 700 according to this embodiment, the tray discharge opening 206 is disposed in front of the fourth transport unit 950 instead of in front of the first transport unit 910. The fourth transport unit 950 is configured to be movable in the vertical direction, and is movable between a usable state in which the tray 101 placed on the fifth transport unit 960 can be transported in the front-rear direction, and a retracted state in which the tray 101 is retracted downward from the usable state. More specifically, the fourth transport unit 950 can transport the tray 101 placed on the fifth transport unit 960 toward the tray discharge opening 206. That is, in the storage unit 700, the tray 101 stored in the storage unit 700 is transported to the tray discharge opening 206 by the first transport unit 910, the second transport unit 920, the fifth transport unit 960, and the fourth transport unit 950 in this order.

[0294] The fourth conveying unit 950 and the fifth conveying unit 960 can also be used to temporarily evacuate the tray 101 accommodated in the storage unit 700. Specifically, if all of the tray accommodation units 811 in the storage unit 700 are in use when the mixed injection process based on the preparation data is executed by the immediate start operation, the tray 101 to be used in the mixed injection process started in response to the immediate start operation cannot be loaded into the mixed injection processing unit 300 via the tray discharge port 701 and the tray loading port 114. On the other hand, if all of the tray accommodation units 811 in the storage unit 700 are in use when the mixed injection process based on the preparation data is executed by the immediate start operation, the second control unit 500 evacuates the tray 101 accommodated in any of the tray accommodation units 811 in the storage unit 700 to the fourth conveying unit 950 or the fifth conveying unit 960. Then, the second control section 500 controls the storage unit 700 to load the tray 101, on which medicines and the like used in the mixed injection process executed by the immediate start operation are placed, into the tray loading port 114, and executes the mixed injection process. Note that the tray 101 retracted to the fourth conveying section 950 or the fifth conveying section 960 is thereafter returned to the tray storage section 811.

[0295] In particular, when the co-infusion process based on the preparation data is executed by the immediate start operation, if all of the tray storage units 811 in the storage unit 700 are in use, the second control unit 500 evacuates the tray 101 stored in the tray storage unit 811 in the storage unit 700 that corresponds to the co-infusion process based on the preparation data to be executed next to the tray 101 stored in the tray storage unit 811 in the storage unit 700 to the fourth conveying unit 950 or the fifth conveying unit 960. Then, the second control unit 500 controls the storage unit 700 to load the tray 101 on which the medicines etc. to be used in the co-infusion process executed by the immediate start operation are placed into the tray loading port 114, and executes the co-infusion process. Thereafter, the tray 101 evacuated to the fourth conveying unit 950 or the fifth conveying unit 960 is supplied from the tray discharge port 701 to the co-infusion processing unit 300 by the fifth conveying unit 960, the second conveying unit 920, and the third conveying unit 940. [Explanation of symbols]

[0296] 1 Mixed injection device 10. Medicine containers 11 Syringe 12 infusion bags 21 First Robot Arm 22 Second Robot Arm 31 Ampoule cutter 32 Stirring device 33 Storage shelf 34 Medicine reading unit 35 Weighing scale 36 Needle bending detector 37 Mixed injection connecting port 100 Mixed injection control unit 101 Tray 101a Electronic Paper 101b IC tag 101c IC reader 110 Tray transport section 200 Chemical Loading Section 300 Mixed Injection Processing Unit 400 First Control Section 500 Second Control Section 600 Upper System 700 containment units 800 Lifting Unit 900 Tray transport unit

Claims

1. a mixed injection processing unit that performs a mixed injection process of injecting a medicine from a medicine container into an infusion container; A display unit provided in a medicine loading unit used to place the medicine container or the infusion container on a tray on which the medicine container or the infusion container used in the mixed injection process is placed at a predetermined position; a control unit that executes a display process that displays the type of the medicine container or the type of the infusion container used in the mixed injection process on the display unit, a collation process that collates preparation data to be subjected to the mixed injection process with identification information read from the medicine container or the infusion container by a code reading unit provided in the medicine loading unit, and a reservation process that reserves the timing to perform the mixed injection process based on the preparation data for each of the preparation data; A storage unit including a plurality of tray storage units that store the trays, and a tray transport unit that is provided separately from a drive unit that performs the mixed injection processing in the mixed injection processing unit and can move the tray between the mixed injection processing unit and the tray storage unit; Equipped with The control unit supplies the tray corresponding to the preparation data from the tray storage unit to the mixed injection processing unit by the tray transport unit, executes the mixed injection processing based on the preparation data, and automatically executes a series of processes of storing the tray, on which the infusion container into which the medicine has been injected by the mixed injection processing, from the mixed injection processing unit to the tray storage unit by the tray transport unit, at the timing corresponding to the preparation data reserved by the reservation processing. Mixed injection device.

2. The control unit displays information for guiding the placement of the medicine containers or the placement of the infusion containers on the tray on the display unit, and when a user operation indicating that loading preparation is completed is performed after the display, opens one shutter that is provided in the co-infusion device on a movement path of the tray from the medicine loading unit to the plurality of tray storage units and opens and closes the movement path. The co-infusion device according to claim 1.

3. The control unit displays information for guiding the placement of syringes used in the co-infusion process on the display unit, and when a user operation indicating that loading preparation is completed is performed after the display, the control unit opens one shutter that is provided in the co-infusion device on the movement path of the tray from the drug loading unit to the plurality of tray storage units and opens and closes the movement path. The co-infusion device according to claim 1.

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