Component mounting device, control program

Abstract

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

Description

[Technical Field]

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

[0002] There is known a co-infusion device that performs a co-infusion process by drawing up a drug such as an anti-cancer drug contained in a drug container such as a vial using a syringe and injecting the drug into a dispensing container such as an infusion bag containing an infusion (see, for example, Patent Document 1).

[0003] In preparation for administering a drug contained in a dispensing container to a patient, a relay member that relays the connection between the dispensing container and an administration device, such as an infusion device, used for administering the drug to the patient may be attached to the dispensing container. For example, the relay member may be a closed drug transfer system. This allows a worker at the site of administering the drug to the patient to simply connect the administration device to the relay member, thereby reducing the risk of drug leakage from the dispensing container or exposure of the worker and patient to radiation, compared to connecting the administration device directly to the dispensing container at the site. [Prior art documents] [Patent documents]

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

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

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

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

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

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

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

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

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

[0013] [Mixed injection device 1] As shown in FIGS. 1 and 2, the co-infusion device 1 according to this embodiment includes a co-infusion control device 100, a drug loading unit 200, a co-infusion processing unit 300, and a storage unit 700. The co-infusion device 1 is installed in a medical facility such as a hospital. The co-infusion control device 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 one or more drug containers containing a predetermined amount of drug into a dispensing container such as an infusion bag. In this embodiment, the co-infusion device 1 that executes the co-infusion process is described as an example of a component mounting device according to the present invention. However, the component mounting device according to the present invention may be configured as a device separate from the co-infusion device 1. In this case, after the co-infusion process is executed in the co-infusion device 1, the component mounting operation (described below) is executed in the component mounting device.

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

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

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

[0017] The first control unit 400 is capable of communicating with the host system 600 and receiving the preparation data from the host system 600. The host system 600 includes a control unit 601 and a storage unit 602. The control unit 601 is capable of accepting input of the preparation data or generating the preparation data based on prescription data and transmitting the preparation data to the first control unit 400. The storage unit 602 stores the prescription data or the preparation data. The preparation data is data for preparation generated based on the prescription data or the prescription data itself. The storage unit 602 may also store various databases such as a drug master, a patient master, a doctor master, a prescription category master, a medical department master, and a ward master, which will be described later.

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

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

[0020] The CPU 401 is a processor that executes 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.

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

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

[0023] The data storage unit 404 stores various databases, such as a drug master, a patient master, a doctor master, a prescription classification master, a medical department master, and a ward master. The drug master includes information such as drug code, drug name, JAN code (or RSS), medicine bottle code, classification (dosage form: powder (powder), tablet, liquid medicine, topical medicine, etc.), specific gravity, viscosity, 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), container shape information of the medicine container, and medicine container weight. The drug master also includes information on infusion bags 12 (an example of a dispensing container) containing infusions such as saline or glucose. In addition, in the pharmaceutical master, the pharmaceuticals to be used as leftover medicines are pre-registered as pharmaceuticals to be stored as leftover medicines, and the first control unit 400 may determine that the pharmaceutical container 10 of the pharmaceuticals registered as leftover medicines to be stored as leftover medicines is to be used as leftover medicines.

[0024] Furthermore, in the drug master, drugs to which a relay member 90 (described below) is to be attached to the infusion bag 12 before being injected into the infusion bag 12 and dispensed are registered in advance as drugs to which the relay member 90 is to be attached. For example, highly volatile drugs are not suitable for the pre-attachment of the relay member, and are therefore excluded from the list of drugs to which the relay member 90 is to be attached. Furthermore, in the drug master, infusion bags 12 to which the relay member 90 is to be attached are registered in advance as dispensing containers to which the relay member 90 is to be attached. For example, infusion bags 12 larger than a predetermined size are not suitable for the attachment of the relay member 90 in the co-infusion device 1, and are therefore excluded from the list of dispensing containers to which the relay member 90 is to be attached. Then, information on the drug to which the relay member 90 is to be attached or the information on the dispensing container to which the relay member 90 is to be attached in the drug master is used to determine whether or not the relay member 90 should be attached to the infusion bag 12. In addition, the pharmaceutical master may register information that can determine whether or not the relay member 90 needs to be attached, such as information that indicates that a type of pharmaceutical that does not use the relay member 90 or a type of infusion bag 12 is not eligible for attachment.

[0025] The type of regimen indicated in the preparation data may be used to determine whether or not the relay member 90 needs to be attached. Furthermore, information regarding whether or not to use an administration pump during infusion using the infusion bag 12, which is output in the preparation data, may be pre-registered in the data storage unit 404, and whether or not the relay member 90 needs to be attached may be determined based on this information. Furthermore, when administering medicine to a single patient from multiple infusion bags 12, i.e., when it is necessary to change the connection between the infusion equipment and the infusion bag 12 during the infusion, if the relay member 90 is attached to each of the infusion bags 12, the operation of changing the connection of the infusion bag 12 is easy. Therefore, for example, based on the preparation data, it may be determined that the relay member 90 should be attached when medicine is administered to a single patient from multiple infusion bags 12, and that the relay member 90 should not be attached when there is only one infusion bag 12.

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

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

[0028] As shown in FIG. 29(B), the waiting information D31 associates a "preparation ID" which is identification information of the preparation data, a "tray ID" which is identification information of the tray 101, and a "storage section No." which is identification information of the tray storage section 811 where the tray 101 is stored. In addition, in the waiting information D31, each of the preparation data is also associated with information such as the "drug name," "usage amount," "predetermined amount," "whether remaining medicine is used," "whether medicine is loaded," and "execution timing" of the medicine used in the mixed injection process based on the preparation data. Note that in the waiting information D31 shown in FIG. 29(B), each of the preparation data is displayed from the top in the order in which the mixed injection process will be executed first.

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

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

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

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

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

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

[0035] The CPU 501 is a processor that executes 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.

[0036] The data storage unit 504 is a hard disk or the like that stores various application programs and various data for causing the CPU 501 to execute various processes. Specifically, the data storage unit 504 stores a second co-infusion control program for causing the CPU 501 to execute a co-infusion control process, etc., which will be described later. 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 be able to acquire information about the drug master from the first control unit 400.

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

[0038] [Chemical Loading Unit 200] Next, a schematic configuration of the medicine loading section 200 will be described with reference to Figures 2 and 3. Note that Figure 3 is a diagram showing a main part of the internal configuration of the medicine loading section 200, and the containing unit 700 is not shown.

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

[0040] The door 201 is a transparent member that is provided on the front surface of the medicine loading unit 200 and 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, and then performs preparations for the co-infusion process to be performed by the co-infusion device 1.

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

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

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

[0044] The puncture portion 91 is a needle portion that is punctured into the infusion bag 12. The relay member 90 is attached to the infusion bag 12 by puncturing the infusion bag 12 with the puncture portion 91. An opening 91A is formed in the puncture portion 91, and the opening 91A and the connecting portion 92 are connected via the internal space of the body portion 93. When an administration tool such as an intravenous drip tool is attached to the relay member 90, a connecting portion provided on the administration tool is connected to the connecting portion 92. This allows the administration tool to communicate with the inside of the infusion bag 12 via the relay member 90, making it possible to administer a drug in the infusion bag 12 to a patient using the administration tool. For example, the relay member 90 may be a ChemoSafe Lock "KL-BS01" manufactured by Terumo Corporation, and the connecting portion 92 and the connecting portion of the administration tool can be connected without using a needle. The relay member 90 is not limited to the one described here, and may be any member used to reduce radiation exposure when the infusion bag 12 and the administration device are connected. For example, in another embodiment, a rubber stopper may be provided at the connecting portion 92 of the relay member 90, and when the connecting portion 92 and the connecting portion of the administration device are connected, the needle of the connecting portion may pierce the connecting portion 92, thereby connecting the connecting portion 92 and the connecting portion of the administration device.

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

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

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

[0048] The work table 202 is used to perform preparation work for the co-infusion process executed by the co-infusion device 1, and the touch panel monitor 203, the barcode reader 204, the tray 101, and the like are placed on the work table 202. In addition, the tray discharge port 206, which 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, the work table 202 is provided with the IC reader 207, which can read information from the IC tag 101b of the tray 101 placed on the work table 202. The reading result by the IC reader 207 is input to the first control unit 400.

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

[0050] 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.

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

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

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

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

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

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

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

[0058] Returning to the explanation of Figure 6, the instrument placing section 102 is provided with a plurality of instrument support sections 102A that support the medicine container 10, the syringe 11, etc. In particular, the instrument placing section 102 has an inclined surface that supports the medicine container 10, the syringe 11, etc. in an inclined state. As shown in Figure 18, the syringe 11 includes a syringe 11a, a plunger 11b, and an injection needle 11c, and when the syringe 11 is placed on the instrument support section 102A, the syringe 11a, the plunger 11b, and the injection needle 11c may be in an assembled state, or the syringe 11a, the plunger 11b, and the injection needle 11c may be in a separated state.

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

[0060] 14(A) and 14(B), the placement portion 102C includes a component support portion 102D, a fitting portion 102E, a sidewall portion 102E1, a bottom surface 102F, a bottom surface 102G, and a top surface 102H. The fitting portion 102E is an opening formed in the component support portion 102D, penetrating the component support portion 102D in the up-down direction, and is fittable with the fitting portion 94 of the relay member 90. The opening size of the fitting portion 102E is large enough to allow the fitting portion 94 of the relay member 90 to pass therethrough and to restrict movement of the fitting portion 94 inserted into the fitting portion 102E in the front-rear and left-right directions. The fitting portion 102E may be a groove or a recess into which the fitting portion 94 can be fitted.

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

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

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

[0064] In particular, the positional displacement of the relay member 90 on the mounting portion 102C is restricted by the fitting portion 94 being inserted into the fitting portion 102E. Specifically, the engagement of the fitting portion 94 with the fitting portion 102E restricts the rotation of the relay member 90 about the axis of the puncturing portion 91, and restricts the movement of the relay member 90 in the left-right and front-rear directions. This allows the relay member 90 to be stably supported by the mounting portion 102C. On the other hand, if the relay member 90 is not in the specific position, i.e., if the relay member 90 is placed on the mounting portion 102C without the fitting portion 94 being inserted into the fitting portion 102E, the displacement of the relay member 90 is not restricted and the relay member 90 becomes unstable. Therefore, when placing the relay member 90 on the placement section 102C, the user can easily determine whether the relay member 90 is placed in the correct position or posture, and the relay member 90 is prevented from being placed in an incorrect posture.

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

[0066] Incidentally, the task of attaching the relay member 90 to the infusion bag 12 as a preparation for administering a drug from the infusion bag 12 to a patient using an administration device such as a drip infusion device places a burden on the worker. In contrast, the co-infusion device 1 according to this embodiment makes it possible to dispense the infusion bag 12 with the relay member 90 attached thereto, thereby facilitating the task of attaching the relay member 90 to the infusion bag 12.

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

[0068] 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.

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

[0070] The waste storage chamber door 13 is opened and closed to remove waste from a 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 the mixed injection process in the mixed injection process chamber 104 has been performed.

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

[0072] [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 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. Also, as shown in FIG. 16, the ceiling of the mixed injection processing chamber 104 is provided with 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. The needle insertion confirmation camera 44 can photograph the puncture state of the syringe 11 or the relay member 90 into the rubber stopper 12D of the infusion bag 12.

[0073] [First robot arm 21, second robot arm 22] The first robot arm 21 and the second robot arm 22 are 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. The first robot arm 21 is an example of a first drive unit according to the present invention, and the second robot arm 22 is an example of a second drive unit according to the present invention.

[0074] For example, the first robot arm 21 and the second robot arm 22 each have 5 to 8 joints. In the co-infusion device 1, each work step in the co-infusion process is performed by the double-armed first robot arm 21 and the second robot arm 22.

[0075] 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.

[0076] 16, the first robot arm 21 includes a holder 25 capable of displaceably holding instruments such as the drug container 10, the syringe 11, and the relay member 90, 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 displaceably holding instruments such as the drug container 10, the syringe 11, and the relay member 90, and is capable of moving the drug container 10, the syringe 11, the relay member 90, etc. to any position within a predetermined movable range. The holder 26 is also an operating unit capable of performing suction and injection operations using the syringe 11.

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

[0078] The pair of gripping portions 25a are gripping portions having recesses suitable for holding the medicine container 10. The pair of gripping portions 25a are fixed to the nut blocks 254 and 255, respectively. The nut blocks 254 and 255 move as the screw shafts 252 and 253 rotate, and the pair of gripping portions 25a move toward and away from each other, causing the holding portion 25 to hold or release the medicine container 10, the relay member 90, or the like. The holding portion 25 can also hold the injection needle 11c or the syringe 11 with the pair of gripping portions 25a.

[0079] 18, the holder 26 of the second robot arm 22 includes a syringe holder 261 (an example of a first holder), a plunger holder 262 (an example of a second holder), and a moving unit 263. The syringe holder 261 includes a pair of grippers 261a that hold the syringe 11a of the syringe 11. The pair of grippers 261a are grippers 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 grippers 261a, inclined portions 261b that slope downward from the upper end surfaces of the grippers 261a toward the opposing surfaces are formed on opposing surfaces of the pair of grippers 261a.

[0080] The plunger holding portion 262 includes a pair of gripping portions 262a that hold the flange of the plunger 11b of the syringe 11. The pair of gripping portions 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.

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

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

[0083] The pair of holding portions 264 move toward and away from each other along with the movement of the pair of gripping portions 262b, thereby gripping and releasing the relay member 90. The pair of holding portions 264 also hold the relay member 90 such that the puncturing portion 91 of the relay member 90 protrudes in one direction (forward) beyond the plunger holding portion 262 in the movement direction of the plunger holding portion 262 (the front-to-rear direction in FIGS. 18 to 20).

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

[0085] The moving unit 263 is capable of moving the plunger holding unit 262 in 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.

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

[0087] [Tray 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. 16 and the tray conveying terminal end 110a at the left end.

[0088] 21 is a plan view schematically illustrating an example of a transport path of the tray 101 in the tray transport unit 110. As shown in FIG. 21, the tray transport unit 110 transports the tray 101 by passing through the rear side of the waste storage chamber 13a located below the mixed injection processing chamber 104 and below the waste lid 132a.

[0089] 21, in order to show the transport path of the tray transport section 110, the trays 101 moving within the tray transport section 110 are indicated by two-dot chain lines, and it is not the case that multiple trays 101 are present simultaneously within the tray transport section 110. Furthermore, the tray transport section 110 may be configured to be able to transport multiple trays 101 simultaneously between the tray loading opening 114 and the tray transport terminal end 110a within the tray transport section 110.

[0090] The tray transport start section 110b of the tray transport 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. The tray transport unit 110 is also provided with 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 103A of the tray 101. For example, the IC reader 101c and the IC reader 15a are RFID readers that read information from an RFID tag. The IC reader 101c is provided at the tray transport start section 110b where the tray 101 is loaded from the tray loading opening 114. 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.

[0091] 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.

[0092] 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 slides and opens a shutter 111 that connects and shields the tray conveying unit 110 and the mixed injection processing chamber 104 in the horizontal direction. When the shutter 111 is opened, the instrument placing unit 102 is exposed in the mixed injection processing chamber 104. Figure 21 shows a state in which the instrument placing unit 102 is exposed in the mixed injection processing chamber 104.

[0093] 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. As shown in Figure 22, 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.

[0094] 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 from above the medicine containers 10, the syringes 11, the relay members 90, etc. placed on the predetermined instrument placing unit 102. The second control unit 500 executes image recognition processing using the image photographed by the tray confirmation camera 41, and determines whether the numbers of the medicine containers 10, the syringes 11, the relay members 90, etc. indicated in the preparation data are present on the instrument placing unit 102, etc.

[0095] 22, 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 103A. After the second control unit 500 transports the tray 101 to the front of the bag lifting unit 113, the second control unit 500 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 the motor 113c, thereby raising the infusion bag holding unit 103A and positioning the opening portion 12A of the infusion bag 12 at the mixed injection communication port 37. In addition, the second control unit 500 can control the motor 113c to drive the bag lifting unit 113 to tilt the infusion bag holding unit 103A and orient the mouth portion 12A of the infusion bag 12 upward or downward.

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

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

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

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

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

[0101] The storage shelf 33 is provided with an equipment storage area where the equipment to be used in the mixed injection process is stored, and a remaining medicine storage area for storing the medicine containers 10 containing remaining medicines used in the mixed injection process. One or more preset medicine containers 10 can be stored in the remaining medicine storage area.

[0102] [Medicine reading unit 34] The medicine reading unit 34 reads barcodes that indicate medicine information about the medicine contained in the medicine containers 10, such as the ampules and vials, and are written on labels affixed to the medicine containers 10. Specifically, as shown in FIG. 24 , 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 causes the medicine container 10 to rotate in the circumferential direction, so that the entire area of ​​the label affixed 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 rollers 34a.

[0103] [Weighing scale 35] The weighing scale 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 scale 35 is input to the second control unit 500. The weighing scale 35 is disposed within the movable range of the second robot arm 22, and measures the weight of the syringe 11 placed by the second robot arm 22.

[0104] [Mixed injection connecting port 37] As shown in FIG. 3, the mixed injection communication port 37 is an opening formed in a dome-shaped portion that protrudes outward in the wall portion that separates the tray conveying terminal end 110a and the mixed injection processing chamber 104. The dome-shaped portion also has a notch formed in the vertical direction for passing the mouth portion 12A of the infusion bag 12 through. Therefore, when the infusion bag holding portion 103A rises, the mouth portion 12A 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 or the puncture portion 91 of the relay member 90 to be inserted into the mouth portion 12A of the infusion bag 12.

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

[0106] The storage unit 700 includes a tray loading section 712, a lifting unit 800, and the like, and is controlled by the co-infusion control device 100. The tray loading section 712 and the lifting unit 800 are disposed behind the work table 202. The storage unit 700 can store a plurality of trays 101, and the co-infusion control device 100 can transport any of the trays 101 from the storage unit 700 to the co-infusion processing unit 300. 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.

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

[0108] The lifting unit 800 includes a movable housing 810 supported so as to be able to move up and down in the vertical direction, and a plurality of tray storage sections 811 arranged in the vertical direction within the movable housing 810. 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 storage unit 700. The movable housing 810 can move up and down between a state in which at least the uppermost tray storage section 811 is positioned above the tray loading section 712 and a state in which the lowermost tray storage section 811 is positioned below the tray loading section 712.

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

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

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

[0112] Here, the description will be made of a mixed injection process in which the medicine contained in the medicine container 10 is a medicine such as 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. Also, the description will be made of a process after the tray 101 is supplied from the storage unit 700 to the mixed injection processing unit 300.

[0113] When the tray 101 is supplied to the tray conveying 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.

[0114] 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 placed on the object placing unit 102, such as the medicine container 10, the syringe 11, and the relay member 90, by image recognition processing based on the image photographed by the tray confirmation camera 41. In particular, the second control unit 500 photographs the object placing unit 102 with the tray confirmation camera 41 every time the medicine container 10, the syringe 11, or the relay member 90 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.

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

[0116] Next, the second control unit 500 causes the first robot arm 21 to temporarily place the syringe 11 placed on the instrument placement unit 102 exposed in the mixed injection processing chamber 104 on the placement shelf 33. Note that the second control unit 500 may cause the first robot arm 21 to set the syringe 11 on the second robot arm 22 instead of temporarily placing it on the placement shelf 33. Next, the first robot arm 21 temporarily places the relay member 90 placed on the instrument placement unit 102 on the placement shelf 33. Thereafter, the second control unit 500 causes the first robot arm 21 to set the medicine container 10 placed on the instrument placement unit 102 on the medicine reading unit 34. Then, the second control unit 500 reads information such as the type of medicine contained in the medicine container 10 by the medicine reading unit 34.

[0117] Next, when all the objects on the object placement 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.

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

[0119] 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.

[0120] 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.

[0121] It is also possible that the injection needle 11c is set on the tray 101 while attached to the syringe 11a of the syringe 11. In this case, the step of setting the injection needle 11c on the syringe 11 is omitted. However, if the injection needle 11c of the syringe 11 set on the tray 101 is not sufficiently threaded with the syringe 11a, there is a risk of liquid leakage from the injection needle 11c or the injection needle 11c falling off during the mixed injection process. Furthermore, if the injection needle 11c is threaded with the syringe 11a more than necessary, there is a risk of the injection needle 11c being tilted. Therefore, when the injection needle 11c is set on the tray 101 while attached to the syringe 11a of the syringe 11, the second control unit 500 may perform an operation to properly thread the injection needle 11c with the syringe 11a using the injection needle attaching / detaching device 43.

[0122] For example, the second control unit 500 controls the second robot arm 22 and the injection needle attaching / detaching device 43 to rotate the injection needle 11c threaded onto the syringe 11a in a direction to loosen the thread, and then rotate the injection needle 11c in a direction to re-thread the injection needle 11c (referred to as a first threading mode). Then, the second control unit 500 stops the rotation of the injection needle 11c when the torque applied when the injection needle attaching / detaching device 43 rotates the injection needle 11c reaches a predetermined value at which the threaded state becomes appropriate. As a result, the injection needle 11c and the syringe 11a are threaded together in an appropriate threaded state. The second control unit 500 may switch between executing and not executing the first threading mode in response to a user operation.

[0123] It is also conceivable that the second control unit 500 only performs an operation of rotating the injection needle 11c in a direction to screw the injection needle 11c into the syringe 11a, without rotating the injection needle 11c in a direction to loosen the screwing (referred to as a second screwing mode). The second control unit 500 may be able to switch between executing and not executing the second screwing mode. Furthermore, the second control unit 500 may be able to switch between the first screwing mode and the second screwing mode in response to a user operation.

[0124] Next, the second control unit 500 executes an infusion suction step in which the second robot arm 22 pierces the rubber stopper 12C of the opening 12A of the infusion bag 12 transported to the tray transport terminal 110a with the injection needle 11c of the syringe 11, and aspirates the amount of infusion indicated in the preparation data from the infusion bag 12. Note that in the infusion suction step, the infusion may be aspirated from a dissolution infusion container, such as a dissolution infusion bag, pre-loaded in the co-infusion device 1 for common use in multiple co-infusion processes for multiple patients, rather than from the infusion bag 12 placed on the tray 101. Meanwhile, the second control unit 500 causes the first robot arm 21 to remove the medicine container 10 placed on the storage shelf 33.

[0125] 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 medicine container 10 with the injection needle 11c of the syringe 11. Thereafter, the second control unit 500 performs an infusion injection process of injecting the infusion solution in the syringe 11 into the medicine container 10 by operating the plunger 11b with the second robot arm 22. In this way, when the medicine is a powder, the mixed injection process performs the infusion suction process of extracting the infusion solution from the infusion bag 12 with the syringe 11, and the infusion injection process of injecting the infusion solution from the syringe 11 into the medicine container 10. As a result, the medicine in the medicine container 10 is dissolved in the infusion solution to form a medicinal solution. At this time, the syringe 11 and the medicine container 10 are in a state where the injection needle 11c of the syringe 11 is directed vertically downward and the opening of the medicine container 10 is directed vertically upward.

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

[0127] Here, the second control unit 500 may perform a low-position movement step in which the first robot arm 21 removes the mixed drug container 10 and then moves the drug container 10 to a preset low position using the first robot arm 21, allowing the operator to see the liquid level in the drug container 10. For example, the low position is a position lower than the eye level of an operator standing in front of the co-infusion device 1 and is determined in advance according to the operator's height. That is, the low position is a position at which the operator can visually confirm the liquid level in the drug container 10 from above. This allows the operator to easily check the degree of drug solubility by looking at the liquid level in the drug container 10.

[0128] The second control unit 500 may execute the low-position movement step only when the chemical to be dissolved in the chemical container 10 is a predetermined specific chemical. The specific chemical may be, for example, a chemical that floats to the surface when the chemical is not sufficiently dissolved in the chemical container 10. The second control unit 500 may execute the low-position movement step for a chemical that floats to the surface when the chemical is not sufficiently dissolved in the chemical container 10, and may execute a high-position movement step, instead of the low-position movement step, for a chemical that sinks to the bottom when the chemical is not sufficiently dissolved in the chemical container 10. The high-position movement step involves moving the chemical container 10 to a predetermined high position using the first robot arm 21, allowing the operator to see the bottom of the chemical container 10. For example, the high position is a position higher than the eye height of an operator standing in front of the co-infusion device 1 and is determined according to the operator's height. That is, the high position is a position where the operator can see the bottom of the chemical container 10 from below.

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

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

[0131] Furthermore, the second control unit 500 opens the waste lid 132a, and causes the first robot arm 21 to drop the medicine container 10 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, and causes the syringe 11 to drop into the waste storage chamber 13a for disposal. An optical sensor capable of detecting the passage of waste such as the medicine container 10 or the syringe 11 may be provided in the waste storage chamber 13a or the like. Then, the second control unit 500 may control the first robot arm 21 or the second robot arm 22 to perform an operation to drop the waste such as the medicine container 10 or the syringe 11, and then determine that the waste has been stored in the waste storage chamber 13a based on the detection result by the optical sensor.

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

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

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

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

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

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

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

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

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

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

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

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

[0144] The second control unit 500 may perform the pulling back operation and the pushing in operation multiple times, and the number of times the pulling back operation and the pushing in operation are repeated may be set in advance depending on either or both of the type of the infusion bag 12 and the type of the relay member 90. The relationship between the first predetermined amount, the second predetermined amount, and the third predetermined amount may be set in advance, and is not limited to that described here.

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

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

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

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

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

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

[0151] FIG. 27 shows an example of the prescription selection screen M1. The prescription selection screen M1 shown in FIG. 27 includes a search condition display section D1 in which an input field for search conditions for narrowing down the selection candidates is arranged, and a prescription display section D2 in which the preparation data of the selection candidates is arranged. Note that the prescription display section D2 displays information on one adjustment data per line. The search condition display section D1 has an extraction key D11 arranged to start an extraction process for narrowing down the selection candidates for the preparation data according to the search conditions.

[0152] <Step S21> In step S21, the first control unit 400 determines whether a request for execution of the co-infusion process based on the target preparation data has been made. If it is determined that the request for execution has been made (S21: Yes), the process proceeds to step S22, and the process waits in step S21 until the request for execution is made (S21: No).

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

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

[0155] 28, the execution instruction screen P10 displays information about the target preparation data, such as a patient ID and patient name for identifying the patient, a control number (preparation ID) for identifying the target preparation data, and the preparation time required for the mixed injection process based on the target preparation data. The preparation time required for the mixed injection process is stored in the data storage unit 404 for each preparation content (regimen) specified in the target preparation data. The data storage unit 404 may also store calculation information for calculating the preparation time required, and the first control unit 400 may calculate the preparation time required for the mixed injection process based on the calculation information. The first control unit 400 may also reflect the presence or absence of the component mounting operation in which the relay component 90 is mounted when calculating the preparation time required.

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

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

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

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

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

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

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

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

[0164] For example, when the operation key K11 is operated and the reservation without time designation is selected, the first control unit 400 updates the waiting information D31 so that the co-infusion processing based on the target preparation data is executed in the order in which the execution instructions were issued. On the other hand, when the operation key K12 is operated and the reservation with time designation is selected, the first control unit 400 sets the execution timing of the co-infusion processing based on the target preparation data so that the execution timings of the co-infusion processing do not overlap, based on the preparation date included in the target preparation data and the expected completion time or the expected start time, and updates the waiting information D31.

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

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

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

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

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

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

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

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

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

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

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

[0176] Then, the first control unit 400 reads the identification information of the infusion bag 12 and the medicine container 10 by the barcode reader 204, and when the collation result with the target preparation data matches, causes the first control unit 400 to shift the process to step S24. Note that, when the collation result between the identification information of the infusion bag 12 or the medicine container 10 and the target preparation data does not match, the first control unit 400 causes an error message or the like to be displayed on the touch panel monitor 203. Furthermore, in step S23, the first control unit 400 also executes a process of using the IC reader 207 to read the identification information of the tray 101 currently placed on the work table 202 from the IC tag 101b of the tray 101 as information for identifying the tray 101 corresponding to the target preparation data.

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

[0178] <Step S24> In step S24, the first control unit 400 determines whether a confirmation operation has been performed to indicate that the loading preparation for the target preparation data has been completed. Specifically, the first control unit 400 displays an operation key or the like for accepting the confirmation operation on the touch panel monitor 203, and determines that the confirmation operation has been performed when the operation key has been operated. Here, if the confirmation operation has been performed (S24: Yes), the process proceeds to step S25, and the process waits in step S24 until the confirmation operation is performed (S24: No).

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

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

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

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

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

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

[0185] Furthermore, in step S27, when transmitting the target preparation data to the second control unit 500, the first control unit 400 transmits attachment necessity information indicating whether or not the relay member 90 needs to be attached to the infusion bag 12 to the second control unit 500 together with the target preparation data. This enables the second control unit 500 to determine whether or not the relay member 90 needs to be attached to the infusion bag 12 based on the attachment necessity information in the mixed injection process based on the target preparation data.

[0186] [Mixed injection control processing] Next, with reference to FIG. 31, an example of the procedure of the co-infusion control process executed by the second control section 500 will be described.

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

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

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

[0190] Specifically, the second control unit 500 determines whether or not to use the remaining medicine in the mixed injection process based on the execution preparation data based on the remaining medicine information D30 and the standby information D31. For example, the second control unit 500 determines that the remaining medicine will be used in the mixed injection process based on the execution preparation data when the standby information D31 indicates that the remaining medicine will be used for the execution preparation data and the contents of the remaining medicine information D30 satisfy preset use conditions. The use conditions include, for example, that the expiration date of the remaining medicine stored in the remaining medicine information D30 has not passed, that a predetermined time has not passed since the date and time the remaining medicine was opened, or that the number of times the injection needle 11c has punctured the medicine container 10 has not reached the upper limit.

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

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

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

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

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

[0196] Furthermore, when remaining medicine is used in the mixed injection process, the second control unit 500 may store remaining medicine actual information regarding the use of the remaining medicine and its effects in the data storage unit 504, etc. For example, when remaining medicine is used in the mixed injection process, the second control unit 500 may associate the preparation ID (identification information) of the preparation data from which the remaining medicine was generated in the mixed injection process with the preparation ID (identification information) of the preparation data used to use the remaining medicine, and record the association as the remaining medicine actual information. Furthermore, the second control unit 500 may record identification information of the medicine reduced by using the remaining medicine and the amount of reduction as the remaining medicine actual information. For example, the reduction amount is the difference between the number of medicine containers 10 required when the remaining medicine is not used and the number of medicine containers 10 required when the remaining medicine is used. Note that when calculating the difference in the number of medicine containers 10, any fraction less than one may be rounded up. This allows the worker to easily understand the usage history of the remaining medicines and the effects of using the remaining medicines by referring to the remaining medicine usage history information.

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

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

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

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

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

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

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

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

[0205] Incidentally, when an operator such as a pharmacist performs a mixing operation similar to the mixing process based on the preparation data, the drug containers 10 and the syringes 11a are connected using connecting devices such as vial adapters for safety, and the same number of connecting devices as the drug containers 10 are required. However, because the billable amount (billable points) that can be billed to a patient for the mixing operation is fixed, even if there are multiple connecting devices, the cost cannot be added to the billed amount. Therefore, depending on the number of connecting devices used in the mixing operation, i.e., the number of drug containers 10, the cost of the connecting devices may exceed the billed amount if the mixing operation were performed by an operator. Therefore, it is conceivable that the first control unit 400 executes a presentation process that presents a decision index to the user to determine whether to perform the mixing operation using the mixing device 1 or whether to perform the mixing operation manually. For example, when the preparation data is selected on the prescription selection screen M1 shown in FIG. 27, the first control unit 400 calculates the expenses for the co-infusion work performed by the worker based on the number of drug containers 10 used in the co-infusion work based on the preparation data and the unit price of the connecting device. If the calculated expenses exceed the billable amount, the first control unit 400 then displays a message such as "The cost of the devices used for manual preparation will exceed the billable cost for manual preparation by approximately XX yen" on the display unit 25. Furthermore, the first control unit 400 may display, for each of the preparation data on the prescription selection screen M1 shown in FIG. 27, determination index information such as a character, flag, or icon indicating whether the expenses exceed the billable amount. The presentation process may be performed by either the co-infusion device 1 or the host system 600, and the presentation process may be executed when the co-infusion device 1 or the host system 600 receives the preparation data. Furthermore, the first control section 400 or the upper system 600 may automatically switch between performing the co-infusion process by the co-infusion device 1 and performing the co-infusion work by an operator, depending on the expenses.

[0206] [Other embodiments] Hereinafter, various functions of the co-infusion system 2 and other embodiments of the co-infusion system 2 will be described.

[0207] [Relay component storage component] Generally, there are various types of relay members 90, and the structure of the relay member 90 differs depending on the type of relay member 90. Even when only one type of relay member 90 can be used with the co-infusion device 1, it is necessary to match the shape of the holding part 264 with a shape that can hold the relay member 90. Therefore, it is considered that the co-infusion device 1 uses a storage member 900 that can store one or more types of relay members 90 as an attachment member for using multiple types of relay members 90 with the co-infusion device 1.

[0208] 32(A) and 32(B), the storage member 900 is a cylindrical member with a bottom having openable / closable members 901 and 902, and has a shape that allows the gripping portion 261a or the gripping portion 262a of the holding portion 26 to easily hold the storage member 900. The openable / closable members 901 and 902 are pivotally supported by a rotation shaft 903 so as to be openable and closable. Specifically, when a portion of the openable / closable members 901 and 902 behind the rotation shaft 903 is clamped, the tip ends of the openable / closable members 901 and 902 rotate around the rotation shaft 903 and are opened.

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

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

[0211] According to this configuration, the relay member 90 housed in the accommodating member 900 can be attached to the infusion bag 12 using the gripping portions 261a and 262a of the holding portion 26 of the second robot arm 22. Therefore, the gripping portions 261a and 262a for holding and manipulating the medicine container 10 and the syringe 11, etc., can also be used for the member attaching operation, and the holding portion 264 for gripping the relay member 90 can be omitted. Note that, by placing the accommodating member 900 on the instrument placing portion 102 of the tray 101 in the same manner as the medicine container 10, the placing portion 102C for placing the relay member 90 can also be omitted. Furthermore, if the accommodating member 900 has a structure capable of housing multiple types of relay members 90, multiple types of relay members 90 can be used in the co-infusion device 1. Furthermore, since the relay member 90 is contained in the containing member 900 until it is attached to the infusion bag 12, contamination of the relay member 90 within the mixed injection processing chamber 104 is also suppressed.

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

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

[0214] [Resin pharmaceutical container gripping function] As shown in Figure 33, in the co-infusion process in the co-infusion device 1, a resin pharmaceutical liquid container 10D may be used as the medicine container 10. The resin pharmaceutical liquid container 10D has a flexible body 10a, a rigid neck 10b that is harder than the body 10a, an opening 10c formed at the top of the rigid neck 10b, a stopper 10d that closes the opening 10c and is formed to be detachable from the opening 10c, a gripping piece 10e formed on the stopper 10d, and ribs 10f formed at two locations along the outer wall surfaces of the body 10a and the rigid neck 10b within a plane (hereinafter referred to as the "rib-forming plane") passing through the central axis of the body 10a. The gripping piece 10e is also formed within the rib-forming plane.

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

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

[0217] Specifically, a label 10g made of, for example, an opaque material is affixed to the body 10a of the resin liquid pharmaceutical container 10D. Information about the contents, volume, and expiration date, as well as a barcode 10h containing this information, are printed on the label 10g. The barcode 10h may be a one-dimensional code or a two-dimensional code. For example, the positional relationship between the barcode 10h and the rib portion 10f can be determined by comparing the information about the resin liquid pharmaceutical container 10D specified in the preparation data with the pharmaceutical master data. Furthermore, the height positions of the rigid neck portion 10b and the gripping piece 10e of the resin liquid pharmaceutical container 10D, etc., can also be determined by comparing the information about the resin liquid pharmaceutical container 10D specified in the preparation data with the pharmaceutical master data.

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

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

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

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

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

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

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

[0225] Even if the relative position when the injection needle 11c is inserted into the rubber stopper 10C or when the injection needle 11c is withdrawn from the rubber stopper 10C is the first state shown in FIG. 34(D), the second control unit 500 may transition to the second state shown in FIG. 34(A) when aspirating liquid with the syringe 11. Furthermore, the puncture target of the injection needle 11c is not limited to the medicine container 10, and the same applies when the injection needle 11c is inserted into or withdrawn from another container that contains liquid. Note that, instead of the second control unit 500, the first control unit 400 may perform a similar determination process and send a control instruction to the second control unit 500.

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

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

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

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

[0230] In addition, when there are multiple co-infusion devices 1 that can perform the co-infusion process based on the preparation data, the control unit 601 may select the co-infusion device 1 that is suitable for performing the co-infusion process.

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

[0232] Furthermore, the control unit 601 may be capable of selecting, from among the multiple co-infusion devices 1, a co-infusion device 1 in which remaining drugs are usable in the co-infusion process based on the preparation data as the co-infusion device 1 suitable for executing the co-infusion process. In this case, the control unit 601 acquires the remaining drug information D30 stored in the data storage unit 404 of each co-infusion device 1 and stores the remaining drug information D30 in the storage unit 602 together with information identifiable by the co-infusion device 1. This allows the control unit 601 to grasp information on remaining drugs present in each co-infusion device 1 based on the remaining drug information D30 corresponding to each co-infusion device 1. Then, when the code information is read by the code reading unit, the control unit 601 selects, based on the remaining drug information D30, a co-infusion device 1 in which remaining drugs are usable in the co-infusion process based on the preparation data corresponding to the code information. Thereafter, the control unit 601 presents the selected co-infusion device 1 to the operator, or automatically causes the selected co-infusion device 1 to execute the co-infusion process. For example, the control unit 601 presents the operator with a message urging them to use the co-infusion device 1 that can use the remaining drugs, such as "There is remaining drug in the co-infusion device of device No. XX. Please use the co-infusion device of device No. XX." This allows the co-infusion system 2 as a whole to use the remaining drugs efficiently.

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

[0234] [Error notification function] The co-infusion apparatus 1 is provided with various sensors that detect the status of various control objects, such as the first robot arm 21, the second robot arm 22, the agitator 32, the drug reader 34, the weighing scale 35, and the needle bending detector 36. The first control unit 400 or the second control unit 500 has an error notification function that, when an abnormality is detected in the co-infusion process performed by the co-infusion apparatus 1 based on the detection results of the various sensors, notifies the abnormality using a speaker or display unit provided in the co-infusion apparatus 1. This allows workers such as pharmacists using the co-infusion apparatus 1 to recognize abnormalities in the co-infusion apparatus 1.

[0235] However, a pharmacist or other worker using the co-infusion apparatus 1 may not necessarily be near the co-infusion apparatus 1 when the co-infusion process is being performed by the co-infusion apparatus 1. Therefore, when an abnormality is detected in the co-infusion apparatus 1, the first control unit 400 or the second control unit 500 issues a notification to the co-infusion apparatus 1 and then waits for a user operation to confirm the abnormality. If the user operation is not performed within a preset waiting time, the first control unit 400 or the second control unit 500 transmits abnormality information to a preset destination. The destination may be an email address, social media address, or telephone number for transmitting the abnormality information to an information processing device, such as a personal computer, mobile device, or smartphone, used by the worker separately from the co-infusion apparatus 1. The information processing device then notifies the worker of the abnormality information. Therefore, even if the worker is located far from the co-infusion apparatus 1, the occurrence of an abnormality in the co-infusion apparatus 1 can be detected.

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

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

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

Claims

[Claim 1] A pair of gripping parts that are driven by a driving means to move toward and away from each other and grip a medicine container that contains a medicine; A mixed injection processing unit that performs a mixed injection process of injecting the medicine in the medicine container gripped by the pair of grippers into a dispensing container; a pair of holding parts fixed to the pair of gripping parts, which hold a relay member that relays connection between the dispensing container and an administration instrument used to administer the medicine from the dispensing container to a patient; A member mounting processing unit that mounts the relay member held by the holding unit to the dispensing container after the mixed injection processing unit injects the medicine into the dispensing container; A co-infusion device comprising:

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