System, puncture method, and program

Abstract

Provided is a system for achieving appropriate work by a worker. This system for puncturing an animal to be punctured comprises at least one memory and at least one processor, wherein the at least one processor sets a parameter on the basis of information relating to the animal to be punctured, said parameter being necessary for performing the puncture, and controls the puncture of the animal on the basis of the set parameter.

Description

System, puncture method and program

[0001] The present disclosure relates to a system, a puncture method, and a program.

[0002] In animal experiments and the like, a tail vein injection system is known as an injection system for puncturing the blood vessel of a subject animal and injecting a drug or the like. For example, a tail vein injection system is known, in which the tail vein of a mouse is punctured and a drug or the like is injected. By using this tail vein injection system, an operator can easily puncture the tail vein of a mouse and inject a drug or the like.

[0003] On the other hand, in order for the operator to complete these tasks properly without making any mistakes, it is desirable that the injection system itself be equipped with a foolproof function to prevent mistakes from occurring.

[0004] Patent No. 7316481

[0005] The present disclosure provides a system that enables workers to perform appropriate work.

[0006] A system according to one aspect of the present disclosure has, for example, the following configuration: A system for puncturing an animal to be punctured, comprising at least one memory and at least one processor, wherein the at least one processor sets parameters required for performing puncturing based on information about the animal to be punctured, and controls the puncturing of the animal based on the set parameters.

[0007] FIG. 1 is a diagram showing an example of the external configuration of a tail vein injection system. FIG. 2 is a diagram showing an example of the external configuration of a restraint unit. FIG. 3 is a diagram showing an example of the external configuration of a syringe unit. FIG. 4 is a diagram showing the flow of puncturing and injection operations using the tail vein injection system. FIG. 5 is a diagram showing an example of the system configuration of a tail vein injection system. FIG. 6 is a diagram showing an example of the hardware configuration of an information processing device. FIG. 7 is a diagram showing an example of the functional configuration of an information processing device. FIG. 8A is a diagram showing a specific example of needle tip recognition processing by the setup unit. FIG. 8B is a diagram showing a specific example of preparation position movement processing by the setup unit. FIG. 9A is a first diagram showing a specific example of tail vein detection processing by the tail vein recognition unit. FIG. 9B is a second diagram showing a specific example of tail vein detection processing by the tail vein recognition unit. FIG. 10A is a diagram showing a specific example of puncturing processing and backflow confirmation operation determination processing by the puncturing execution unit. FIG. 10B is a diagram showing a specific example of drug injection processing and injection operation completion processing by the puncturing execution unit. FIG. 11A is a first diagram showing a specific example of display processing by the puncturing recorder. 11B is a second diagram showing a specific example of display processing by the puncture recorder. FIG. 11C is a diagram showing a specific example of storage processing by the puncture recorder.

[0008] Hereinafter, each embodiment will be described with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0009] [First Embodiment] In the first embodiment, as an example of a system, a tail vein injection system will be described in which the animal to be punctured is a mouse and the site and tissue to be punctured is a tail vein. However, the animal, site, and tissue to be punctured by the injection system are not limited to these, and may be other animals, other sites, and other tissues.

[0010] For example, the animal to be punctured may be an animal with a tail other than a mouse, such as a rat, guinea pig, gerbil, hamster, or ferret, or it may be an animal without a tail. Alternatively, the animal to be punctured may be another rodent. The site to be punctured may be a site other than the tail (for example, the groin). The tissue to be punctured may be a tissue other than a vein. Puncturing refers to inserting an injection needle into tissue such as a blood vessel from outside the body to collect body fluids or tissue, or to inject a drug or the like.

[0011] <External Configuration of Tail Vein Injection System> First, the external configuration of the tail vein injection system will be described. Figure 1 is a diagram showing an example of the external configuration of a tail vein injection system. As shown in Figure 1, the tail vein injection system 100 includes a main body mechanism 110 and a camera holding mechanism 120.

[0012] A restraint unit 111, a syringe unit 112, a light panel 113, and an emergency stop unit 114 are provided on the top of the main body mechanism 110, and a touch panel 115 is provided on the side of the main body mechanism 110. In addition, a recognition camera 121 and a monitor camera 122 are provided on the camera holding mechanism 120.

[0013] The restraint unit 111 is a unit for restraining a mouse, which is an animal to be punctured, so that it does not move. The operator places the mouse in the cylindrical container of the restraint unit 111. The operator places the mouse with its head facing the back of the page in FIG. 1 (the negative x-axis direction) and its tail facing the front of the page in FIG. 1 (the positive x-axis direction), exposing the mouse's tail to the outside through the hole in the cylindrical container. The mouse's tail exposed outside the cylindrical container is fixed by a clamp on the restraint unit 111. The restraint unit 111 is equipped with a rotation mechanism, and during puncture, the restraint unit 111 rotates approximately 90° around the z-axis from the orientation shown in FIG. 1. As a result, the mouse's tail, fixed by the clamp, is fixed at the puncture position (the position of the mouse's tail at the time of puncture) while facing the syringe unit 112.

[0014] The syringe unit 112 is a unit in which a syringe is set. The syringe unit 112 is provided with a position adjustment mechanism, which allows the syringe or injection needle to be adjusted to any position and orientation using six degrees of freedom: in the x-axis direction, the y-axis direction, the z-axis direction, and around the x-axis, the y-axis, and the z-axis. With the syringe or injection needle adjusted to an appropriate position and orientation, the syringe unit 112 is moved in the negative y-axis direction, whereby the injection needle is inserted into the tail vein fixed by the clamp. The syringe unit 112 is also provided with a plunger movement mechanism, which, with the injection needle inserted into the tail vein, presses the syringe plunger in the negative y-axis direction, whereby a drug or the like loaded in the syringe is injected into the tail vein.

[0015] The light panel 113 has a light source and emits light in the z-axis direction during puncture. The light emitted from the light panel 113 is used as a backlight when recognizing the injection needle.

[0016] The emergency stop unit 114 is an instruction unit for stopping various operations of the restraint unit 111 and the syringe unit 112. For example, when the operator presses the emergency stop unit 114 in the puncture state, the operation of pressing the plunger of the syringe stops. In this case, the operator manually pulls out the injection needle from the tail vein of the mouse and retracts the mouse and the syringe.

[0017] The touch panel 115 is one of the external devices connected to the information processing device described later. The touch panel 115 provides the worker with a display screen that displays the results of information processing by the information processing device, and also accepts instructions and information input from the worker via the display screen.

[0018] The recognition camera 121 is a camera that photographs the mouse's tail and the injection needle from different directions during puncture. The recognition camera 121 is configured, for example, as a visible light camera. The recognition camera 121 photographs the mouse's tail under illumination from a light source such as an LED built into the tail guide jig (described later). This allows the information processing device to detect the tail vein from the captured image (which may be a still image or a video; the same applies below). Furthermore, the recognition camera 121 photographs the injection needle under illumination from the light panel 113. This allows the information processing device to detect the injection needle from the captured image. This allows the operator to confirm the position of the tail vein and the injection needle on the display screen displayed on the touch panel 115.

[0019] The monitor camera 122 is a camera that captures a wider range than the recognition camera 121. The monitor camera 122 is, for example, a visible light camera. The range captured by the monitor camera 122 includes the puncture position and the position of the syringe needle before puncture, etc. This allows the operator to check, on the display screen displayed on the touch panel 115, the position of the mouse's tail after it has moved to the puncture position, etc. The operator can also check, on the display screen displayed on the touch panel 115, the positions of the syringe and the needle before, during, and after they have moved toward the preparation position (the position of the syringe needle immediately before the puncture operation begins).

[0020] The imaging range of the monitor camera 122 may be further widened to further expand the range that the operator can check on the display screen. For example, the imaging range may be widened so that the position of the mouse's tail can be confirmed before and during movement to the puncture position. Alternatively, the imaging range may be widened so that the operator can record the process of placing the mouse in the cylindrical container. The method for widening the imaging range of the monitor camera 122 is arbitrary. For example, a wide-angle camera may be used as the monitor camera 122, or the monitor camera 122 may be configured with multiple cameras each with a different imaging range.

[0021] 1 is merely an example, and other camera configurations may be used. For example, a camera configuration in which one or more cameras are used to realize multiple functions of the tail vein injection system 100 may be used.

[0022] <External Configuration of Restraint Unit> Next, the external configuration of the restraint unit 111 will be described. Fig. 2 is a diagram showing an example of the external configuration of the restraint unit. As shown in Fig. 2, the restraint unit 111 has a restraint holding unit 210 and a tail clamping unit 220.

[0023] The restraint device holding unit 210 has a cylindrical container 211 for placing the mouse, and a clip 212 for gripping a portion of the mouse's tail exposed on the outside of the cylindrical container 211. The restraint device holding unit 210 also has a restraint device stage 213 for adjusting the position of the cylindrical container 211 in the direction of the dotted arrow. The restraint device holding unit 210 further has a restraint device position adjustment knob 214 for operating the restraint device stage 213, and a fixing knob 215 for fixing the restraint device stage 213 after adjustment. Note that, although the example in FIG. 2 shows a configuration in which the restraint device stage 213 is manually positioned, the restraint device stage 213 may also be configured to be automatically positioned.

[0024] The tail clamping unit 220 has a tail guide jig 221 that guides the mouse tail, exposed outside the cylindrical container 211, to the position of the clamp 222. The mouse tail is guided to the clamp 222 along the groove of the tail guide jig 221. A suction port (not shown) is provided at the bottom of the groove of the tail guide jig 221, which sucks the mouse tail in the negative direction of the z-axis. In addition, a light source such as an LED is built into the bottom of the groove of the tail guide jig 221, which illuminates the tail to make the tail vein easier to see.

[0025] The tail clamp unit 220 also has a clamp 222 that holds the tail of the mouse guided by the tail guide jig 221 , and a clamp knob 223 for operating the clamp 222 .

[0026] <External Configuration of Syringe Unit> Next, the external configuration of syringe unit 112 in which a syringe is set will be described. Generally, the main body of a syringe consists of a syringe barrel (outer barrel, syringe) and an injection rod (push rod), and a syringe consists of a syringe needle attached to this. FIG. 3 is a diagram showing an example of the external configuration of a syringe unit. As shown in FIG. 3, syringe unit 112 has an outer barrel holder 301 that holds syringe 312 of syringe 310, and an outer barrel stopper 302 that fixes the position of syringe 312 of syringe 310. Syringe unit 112 also has a plunger holder 303 that holds plunger 313 of syringe 310.

[0027] With the syringe 312 filled with a drug or the like, the injection needle 311 is inserted into the tail vein of the mouse, and the plunger holder 303 presses the plunger in the negative direction of the y-axis, thereby injecting the drug or the like from the tip of the injection needle 311 into the tail vein of the mouse.

[0028] Furthermore, when the injection needle 311 is inserted into the tail vein of a mouse and the plunger holder 303 is pulled in the positive direction of the y-axis, blood can be collected from the tail vein of the mouse (i.e., the tail vein injection system 100 may be used to collect blood).

[0029] <Flow of Puncture Operation and Injection Operation> Next, the flow of the puncture operation and injection operation using the tail vein injection system 100 will be described. FIG. 4 is a diagram showing the flow of the puncture operation and injection operation using the tail vein injection system. Note that before starting the operation shown in FIG. 4, it is assumed that the operator has previously completed the calibration operation to calibrate the position of the syringe. It is also assumed that the operator has previously input information about the syringe 310 via the touch panel 115.

[0030] In step S401, the operator inputs information about the mouse, which is the animal to be punctured, via touch panel 115. This causes tail vein injection system 100 to execute processing appropriate for the mouse, which is the animal to be punctured (details of the processing will be described later).

[0031] In step S402, the operator sets the syringe 310, in which the syringe 312 is filled with a drug or the like according to the purpose of the experiment, in the syringe unit 112. At this time, the operator confirms via the touch panel 115 that the syringe 310 is set correctly and that the tip of the injection needle 311 is correctly recognized by the information processing device. Then, the operator inputs a command to move to the standby position via the touch panel 115. This causes the syringe unit 112 to operate so that the tip of the injection needle 311 of the syringe 310 moves to the standby position.

[0032] In step S403, the operator places a mouse, which is the animal to be punctured, into cylindrical container 211 and sets the mouse by grasping its tail with clip 212. The operator also pulls clamp knob 223 to fix the mouse's tail to clamp 222. Furthermore, the operator adjusts the position of cylindrical container 211 by operating restraint stage 213 using restraint position adjustment knob 214.

[0033] In step S404, the operator inputs an instruction to move the restraint unit 111 to the puncture position via the touch panel 115. This causes the restraint unit 111 to rotate approximately 90°, and the mouse's tail, fixed to the clamp 222, moves to the puncture position. As described above, in the case of a monitor camera 122 with a wide shooting range, the operator may check the progress of the mouse's tail, fixed to the clamp 222, moving to the puncture position from images captured by the monitor camera 122. The operator can also check the mouse's tail vein and the injection needle 311 from images captured by the recognition camera 121 via the touch panel 115.

[0034] In step S405, the operator inputs a command to start puncturing via the touch panel 115. This causes the syringe unit 112 to start the puncturing operation. Specifically, the syringe unit 112 moves in the negative direction of the y-axis. This causes the tip of the injection needle 311 to move from the preparation position to the puncturing start position, and punctures the tail vein of the mouse at the puncturing start position. The syringe unit 112 then moves further in the negative direction of the y-axis and then stops. This causes the tip of the injection needle 311 to stop at the puncturing end position.

[0035] In step S406, the operator inputs an instruction to pull the plunger via the touch panel 115. This causes the plunger 313 of the syringe 310 to be pulled in the positive direction of the y-axis, causing blood from the tail vein of the mouse to flow into the syringe 312 (backflow). The operator confirms backflow by, for example, visually checking an image captured by the monitor camera 122 via the touch panel 115. Next, the operator inputs an instruction to inject a drug or the like via the touch panel 115. This causes the plunger 313 of the syringe 310 to be pressed in the negative direction of the y-axis, causing the drug or the like filled in the syringe 312 to be injected into the tail vein of the mouse.

[0036] In step S407, the operator confirms that the injection of the drug or the like into the tail vein of the mouse is complete, and inputs an end command via the touch panel 115. This causes the syringe unit 112 to operate to withdraw the injection needle 311 of the syringe 310 from the tail vein of the mouse. The restraint unit 111 also returns to its initial state. Furthermore, the information processing device records the operation results.

[0037] <System Configuration of Tail Vein Injection System> Next, the system configuration of the tail vein injection system 100 will be described. FIG. 5 is a diagram showing an example of the system configuration of the tail vein injection system. As shown in FIG. 5, the tail vein injection system 100 can be broadly divided into a main system 500 and an information processing device 510 in terms of system configuration. However, the main system 500 and the information processing device 510 may be configured as an integrated device in the same housing, or may be configured as separate devices in separate housings. In other words, the tail vein injection system 100 may be configured as a single device or as multiple devices. When configured as multiple devices, each device may be installed in a different location.

[0038] The main body system 500 includes a touch panel 115, a recognition camera 121, and a monitor camera 122. The main body system 500 also includes motors 501 related to the rotation mechanism of the restraint unit 111, motors 502 related to the position adjustment mechanism and plunger movement mechanism of the syringe unit 112, and a motor control device 503 that controls the motors 501 and 502.

[0039] The main body system 500 also includes a suction mechanism 504 that sucks the mouse tail in the tail guide jig 221. The main body system 500 also includes various lights 505, including a light source such as an LED and a light panel 113, that illuminate the mouse tail in the tail guide jig 221. The main body system 500 also includes various switches 506, including an emergency stop unit 114.

[0040] The main system 500 is connected to an information processing device 510 and transmits and receives information to and from the information processing device 510 .

[0041] For example, the touch panel 115 transmits instructions and information input by a worker via the display screen to the information processing device 510, and also receives information and images transmitted from the information processing device 510 and displays them on the display screen.

[0042] Images captured by the recognition camera 121 and the monitor camera 122 are transmitted to the information processing device 510. The motor control device 503 controls the motors 501 and 502 based on information transmitted from the information processing device 510. Similarly, the suction mechanism 504 and the lights 505 operate based on information transmitted from the information processing device 510. A signal output by operating the switches 506 is transmitted to the information processing device 510.

[0043] An injection program is installed in the information processing device 510, and when the program is executed, the information processing device 510 functions as various functional units. The various functional units of the information processing device 510 execute various processes while transmitting and receiving information, etc., to and from the main system 500. Details of the various processes executed by the various functional units will be described later.

[0044] <Hardware Configuration of Information Processing Device> Next, the hardware configuration of the information processing device 510 will be described. Fig. 6 is a diagram showing an example of the hardware configuration of the information processing device. The information processing device 510 has, as components, a processor 601, a main storage device 602 (memory), an auxiliary storage device 603 (memory), a network interface 604, and a device interface 605. The information processing device 510 may be realized as a computer in which these components are connected via a bus 606. Note that, in the example of Fig. 6, the information processing device 510 is shown as having one of each component, but the information processing device 510 may also have multiple of the same component.

[0045] Various calculations of the information processing device 510 may be executed in parallel using one or more processors. Furthermore, various calculations may be distributed to multiple processing cores in the processor 601 and executed in parallel. Furthermore, some or all of the processes, means, etc. disclosed herein may be executed by an external device 630 (at least one of a processor and a storage device) provided on a cloud that can communicate with the information processing device 510 via the network interface 604.

[0046] The processor 601 may be an electronic circuit (processing circuit, processing circuitry, CPU, GPU, FPGA, ASIC, etc.). The processor 601 may also be a semiconductor device including a dedicated processing circuit. The processor 601 is not limited to an electronic circuit using electronic logic elements, but may also be realized by an optical circuit using optical logic elements. The processor 601 may also include an arithmetic function based on quantum computing.

[0047] The processor 601 performs various calculations based on various data and commands input from each device, etc., in the internal configuration of the information processing device 510, and outputs the calculation results and control signals to each device, etc. The processor 601 controls each component included in the information processing device 510 by executing an OS (Operating System), applications, etc.

[0048] Furthermore, the processor 601 may refer to one or more electronic circuits arranged on a single chip, or may refer to one or more electronic circuits arranged on two or more chips or devices. When multiple electronic circuits are used, the respective electronic circuits may communicate with each other via wires or wirelessly.

[0049] The main memory device 602 is a memory device that stores instructions executed by the processor 601 and various data, and the various data stored in the main memory device 602 is read by the processor 601. The auxiliary memory device 603 is a memory device other than the main memory device 602. Note that these memory devices refer to any electronic component that can store various data, and may be semiconductor memory. The semiconductor memory may be either volatile memory or non-volatile memory. The memory device for saving various data in the information processing device 510 may be realized by the main memory device 602 or the auxiliary memory device 603, or may be realized by an internal memory built into the processor 601.

[0050] Furthermore, multiple processors 601 may be connected (coupled) to one main storage device 602, or a single processor 601 may be connected. Alternatively, multiple main storage devices 602 may be connected (coupled) to one processor 601. When the information processing device 510 is configured with at least one main storage device 602 and multiple processors 601 connected (coupled) to this at least one main storage device 602, the information processing device 510 may include a configuration in which at least one processor of the multiple processors 601 is connected (coupled) to at least one main storage device 602.

[0051] The network interface 604 is an interface for connecting to a communication network 620 wirelessly or via a wired connection.

[0052] The device interface 605 is an interface such as a USB that directly connects to an external device 640 .

[0053] The external device 640 may be, for example, an input device. In this embodiment, the input device is, for example, an electronic device such as a camera (the recognition camera 121, the monitor camera 122), a microphone, various sensors, a keyboard, a mouse, or a touch panel (the touch panel 115), and provides acquired information to the information processing device 510. Alternatively, the input device may be various switches (the switches 506).

[0054] Furthermore, the external device 640 may be, for example, an output device. In this embodiment, the output device may be, for example, a display device (touch panel 115) such as an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube), a PDP (Plasma Display Panel), or an organic EL (Electro Luminescence) panel, or may be a speaker that outputs sound or the like. Alternatively, the output device may be an optical output device (lights 505).

[0055] The external device 640 may also be a storage device (memory). For example, the external device 640 may be a network storage or the like, or may be a storage such as an HDD.

[0056] Furthermore, the external device 640 may be a device (the motor control device 503, the suction mechanism 504) having some of the functions of the components of the information processing device 510. In other words, the information processing device 510 may transmit and receive processing results to and from the external device 640.

[0057] <Functional Configuration of Information Processing Device> Next, the functional configuration of the information processing device 510 will be described. Fig. 7 is a diagram showing an example of the functional configuration of the information processing device. As described above, an injection program is installed in the information processing device 510, and by executing this program, the information processing device 510 functions as: an image acquisition unit 701, an information input unit 702, a display control unit 703, a drive control unit 704, an injection control unit 710, and a communication control unit 720. The injection control unit 710 further includes a puncture parameter determination unit 711, a setup unit 712, a tail vein recognition unit 713, a puncture execution unit 714, and a puncture recorder 715.

[0058] The image acquisition unit 701 acquires an image transmitted from the monitor camera 122 and notifies the injection control unit 710. The image acquisition unit 701 also acquires an image transmitted from the recognition camera 121 and notifies the injection control unit 710.

[0059] The information input unit 702 accepts instructions input by the operator via the touch panel 115 and notifies the injection control unit 710. The information input unit 702 also registers the information input by the operator via the touch panel 115 in the registration unit 731 via the injection control unit 710. Furthermore, the information input unit 702 reads out the information registered in the registration unit 731 and notifies each unit in the injection control unit 710 of the read information in accordance with the instructions input by the operator.

[0060] The information registered in the registration unit 731 by the information input unit 702 includes, for example, information about the syringe 310. The information about the syringe 310 here includes the manufacturer and model number of the syringe 310, the capacity of the syringe 312, the cross-sectional area of ​​the syringe 312, the thickness of the injection needle 311, the bevel angle of the injection needle 311, the length of the injection needle 311, etc.

[0061] The information registered in the registration unit 731 by the information input unit 702 also includes, for example, information about the mouse, which is the animal to be punctured. The information about the mouse here includes at least one or more of the mouse's species, strain, size, weight, fur color, physique, tail thickness, information indicating the time elapsed since birth (age in days, weeks, months, and years), sex, body temperature, blood pressure, heart rate, and mouse identification information. The mouse identification information may be any information that can identify each mouse and may be expressed in any format (numbers, symbols, etc.). Using this identification information makes it possible to identify multiple mice to be punctured. Alternatively, the type, size, weight, information indicating the time elapsed since birth, and sex of each mouse may be obtained based on the identification information. In other words, the identification information may be associated with the type, size, weight, information indicating the time elapsed since birth, and sex of each mouse and registered in the registration unit 731.

[0062] The worker may register the information to be registered in the registration unit 731 by manually inputting it via the touch panel 115. Alternatively, the worker may register the information to the registration unit 731 by having the information input unit 702 read a tag (IC, barcode, etc.) in which the information is embedded via the touch panel 115 (i.e., as tag information). Alternatively, the worker may register the tag in which the information is embedded in the registration unit 731 by reading it using the recognition camera 121 or the monitor camera 122 included in the main system 500, or by reading it using a camera (not shown).

[0063] Alternatively, the worker may register the information to be registered in the registration unit 731 in the registration unit 731 by inputting instructions to the information input unit 702 via the touch panel 115 to read the information from another database via the communication control unit 720.

[0064] Alternatively, the operator may input an instruction to the information input unit 702 via the touch panel 115 to receive an image of the mouse, which is the animal to be punctured, via the communication control unit 720, thereby registering part of the information about the mouse in the registration unit 731. In this case, however, the information input unit 702 is assumed to have a function of estimating part of the information about the mouse based on the image of the mouse.

[0065] Alternatively, the operator may register at least a portion of the information about the mouse, which is the animal to be punctured, in the registration unit 731 by inputting an instruction via the touch panel 115 to receive measurement results from the measuring device via the communication control unit 720. Note that the measuring device referred to here refers to, for example, a measuring device that measures mice (e.g., a weight scale, a thermometer, a blood pressure monitor, a heart rate monitor), etc.

[0066] The information registered in the registration unit 731 may also include, for example, the time at which the injection control unit 710 executes various processes (e.g., injection process of a drug or the like). In this case, the various processes (e.g., injection process of a drug or the like) by the injection control unit 710 will be executed based on the time registered in the registration unit 731.

[0067] The display control unit 703 generates a display screen to be displayed on the touch panel 115 based on images, information, etc. notified from the injection control unit 710, and displays the display screen on the touch panel 115.

[0068] The drive control unit 704 controls the motor control device 503, the suction mechanism 504, the lights 505, etc. based on instructions and information from the injection control unit 710. This controls various operations of the restraint unit 111, various operations of the syringe unit 112, the suction operation of the suction mechanism 504, the lighting operation of the light source such as an LED built into the tail guide jig 221 and the light panel 113, etc. The drive control unit 704 also acquires signals from the switches 506 and notifies the injection control unit 710.

[0069] Puncture parameter determination unit 711 determines puncture parameters based on information registered in registration unit 731 (for example, information about a mouse, which is the animal to be punctured), sets the parameters in each unit within injection control unit 710, and registers the parameters in registration unit 731. Note that the puncture parameters determined by puncture parameter determination unit 711 may be values ​​necessary for performing puncture, and may include, for example, one or more of the following: - "Injection time" (the time it takes to inject a drug or the like, or the time it takes to press the plunger 313), - "Puncture start position" (the position of the needle tip of the injection needle 311 at the start of puncturing), - "Puncture distance" (the distance from the puncture start position to the puncture end position, i.e., the distance the injection needle 311 moves after puncturing), - "Puncture speed" (the speed at which the injection needle 311 moves during puncturing), - "Plunger retraction time" (the time it takes to retract the plunger), - "Contrast" (the contrast of the image on the display screen displayed on the touch panel 115), - "Image brightness" (the brightness of the image on the display screen displayed on the touch panel 115), - "Type of drug or the like to be injected", - "Amount of drug or the like to be injected", - "Suction pressure" (the pressure when sucking the mouse's tail), - "Light intensity of the LED built into the tail guide jig 221" (because light transmittance varies when the tail color differs depending on the type of mouse).

[0070] Furthermore, the puncture parameter determination unit 711 determines the puncture parameters based on information registered in the registration unit 731 (for example, information about a mouse, which is the animal to be punctured), and the setting method for setting these in each unit within the injection control unit 710 is arbitrary.

[0071] For example, assume that information about the mouse and the puncture parameters are previously stored in association with each other inside or outside the tail vein injection system 100. In this case, the puncture parameter determination unit 711 may acquire and set the associated puncture parameters based on the information about the mouse to be punctured.

[0072] In this case, the puncture parameters stored in association with the information about the mouse may be puncture parameters used in a previous puncture operation using tail vein injection system 100 or another tail vein injection system, or may be puncture parameters determined based on the knowledge of the operator. Furthermore, the information about the mouse and the puncture parameters may be stored in association with each other based on common technical knowledge in this field.

[0073] Alternatively, it is assumed that a learning process has been performed on a machine learning model using learning data in which information about the mouse is input data and the puncture parameters are correct data. In this case, information about the mouse to be punctured is input to the trained machine learning model, and the puncture parameters output by the trained model are acquired and set by the puncture parameter determination unit 711.

[0074] The machine learning model in this case may be a neural network, a linear regression model, etc. Furthermore, the learning data for the machine learning model may be a set of puncture parameters used in a previous puncture operation using tail vein injection system 100 or another tail vein injection system and information about the mouse that was punctured at that time, or a set of puncture parameters and information about the mouse determined based on the knowledge of the operator. Alternatively, the learning data may be a set of puncture parameters and information about the mouse created based on common technical knowledge in this field.

[0075] Alternatively, the puncture parameter determination unit 711 may acquire and set puncture parameters generated by inputting a prompt generated based on information about the mouse to be punctured into a specified machine learning model (large-scale language model, generative model, basic model).

[0076] In the above description, the puncture parameter determination unit 711 determines the puncture parameters based on information about the mouse. However, when there are multiple puncture parameters, it is sufficient that one or more of the puncture parameters are determined based on information about the mouse, and puncture parameters determined without using information about the mouse may be included. For example, puncture parameters determined based on experimental information (e.g., information about the drug to be administered, information about steps before and after the puncture procedure) may be included. Furthermore, when there are multiple pieces of information about the mouse, it is sufficient that the puncture parameters are determined based on information about one or more of the mouse, and information about the mouse that is not involved in determining the puncture parameters may be included. Furthermore, in the above description, the puncture parameters may be determined based on experimental information and information about the mouse. Furthermore, in the above description, multiple setting values ​​may be acquired for one puncture parameter. In this case, the tail vein injection system 100 may display multiple candidate values ​​acquired via the touch panel 115 to the operator, allowing the operator to select the setting value to be ultimately used.

[0077] In the above description, the puncture parameter determination unit 711 determines puncture parameters based on information registered in the registration unit 731 and sets the determined puncture parameters in each unit within the injection control unit 710. However, the method for setting puncture parameters by the puncture parameter determination unit 711 is not limited to this. For example, the puncture parameter determination unit 711 may set puncture parameters selected by the operator from multiple puncture parameters already registered in the registration unit 731 in each unit within the injection control unit 710. The puncture parameters selected by the operator may be automatically set in each unit within the injection control unit 710, or may be displayed to the operator via the touch panel 115 and changed by the operator before being set in each unit within the injection control unit 710. When the operator changes the puncture parameters, the operator changes each item of the puncture parameters displayed on the touch panel 115 by, for example, operating a slide bar or the like. Furthermore, some puncture parameters may be set by setting other puncture parameters. For example, the "injection time" may be set based on the viscosity of the drug or the like to be injected, which is specified based on the "type of drug or the like to be injected."

[0078] When the setup unit 712 is notified of the "amount of drug or the like to be injected" from the puncture parameter determination unit 711, the setup unit 712 notifies the display control unit 703. As a result, the "amount of drug or the like to be injected" is displayed on the display screen of the touch panel 115, and the operator can fill the syringe 312 of the syringe 310 with an appropriate amount of drug or the like based on the displayed amount, and then set the syringe 310 in the syringe unit 112.

[0079] Furthermore, the setup unit 712 performs needle tip recognition processing on the image notified from the image acquisition unit 701 (here, the image transmitted from the recognition camera 121) and recognizes the needle tip of the injection needle 311 included in the image. For example, suppose that the operator sets the syringe 310 in the syringe unit 112 and then selects, via the touch panel 115, information about the set syringe 310 from information pre-registered in the registration unit 731. In this case, the information selected by the operator is notified to the setup unit 712 via the information input unit 702. As a result, the setup unit 712 can accurately recognize the needle tip of the injection needle 311 by referring to the notified information.

[0080] The setup unit 712 superimposes a marker of a predetermined color (e.g., green) on the recognized needle tip area of ​​the injection needle 311 and notifies the display control unit 703. As a result, an image in which a marker of a predetermined color is superimposed on the needle tip area of ​​the injection needle 311 is displayed on the display screen of the touch panel 115. As a result, the operator can confirm that the needle tip of the injection needle 311 has been correctly recognized. At this time, the operator may also confirm whether the orientation of the bevel of the needle tip (notch direction) is correct. Alternatively, the setup unit 712 may determine whether the orientation of the bevel of the needle tip is correct by performing machine learning processing or various image processing. For example, when determining by performing various image processing, the setup unit 712 estimates the orientation from the shape of the bevel of the needle tip photographed by the recognition camera 121. Specifically, the setup unit 712 estimates the orientation of the bevel of the needle tip from the amount of deviation between the position of the tip of the needle and the position of the center line of the cylindrical portion of the needle. Alternatively, if the orientation of the bevel of the needle tip is uniquely determined with respect to the syringe 312 , the setup unit 712 estimates the orientation of the bevel of the needle tip from the orientation of the syringe 312 based on the scale on the syringe 312 .

[0081] The setup unit 712 may determine whether the orientation of the bevel at the needle tip of the recognized injection needle 311 is correct, based on the information about the syringe 310 notified from the information input unit 702. If the determination result indicates that the orientation of the bevel at the needle tip is not correct, the setup unit 712 may notify the display control unit 703 and display a warning on the display screen via the touch panel 115. This allows the operator to recognize that the orientation of the bevel at the needle tip is not correct.

[0082] Furthermore, the setup unit 712 may calculate the amount of deviation (rotation angle) of the recognized needle tip bevel orientation of the injection needle 311 from the correct orientation based on the information about the syringe 310 notified from the information input unit 702, and notify the display control unit 703. Alternatively, the setup unit 712 may superimpose an image of the needle tip when the recognized needle tip bevel orientation is the correct orientation on an image of the actual needle tip based on the information about the syringe 310 notified from the information input unit 702, and notify the display control unit 703 of the result.

[0083] This allows the operator to manually adjust the orientation of the bevel of the needle tip to the correct orientation based on the rotation angle displayed on the display screen via the touch panel 115. Alternatively, the operator can manually adjust the orientation of the bevel of the needle tip to the correct orientation while viewing an image of the needle tip when the bevel orientation of the needle tip is correct and an image of the actual needle tip.

[0084] Furthermore, the setup unit 712 may rotate the orientation of the syringe 310 about the y-axis by the calculated rotation angle by controlling the motors 502 related to the position adjustment mechanism of the syringe unit 112 via the drive control unit 704. In this case, the operator does not need to manually adjust the orientation of the bevel of the needle tip to the correct orientation, which can reduce the effort required for the puncture operation.

[0085] Furthermore, when the operator inputs an instruction to move the syringe unit 112 to the standby position via the touch panel 115 and the information input unit 702 notifies the setup unit 712 of the instruction to move to the standby position, the setup unit 712 performs a standby position movement process. Specifically, the setup unit 712 instructs the drive control unit 704 to move the tip of the injection needle 311 to the standby position. As a result, the drive control unit 704 controls the motors 502 related to the position adjustment mechanism of the syringe unit 112 via the motor control device 503, thereby moving the tip of the injection needle 311 to the standby position.

[0086] Furthermore, when the setup unit 712 receives an instruction to move to the preparation position from the information input unit 702, it notifies the drive control unit 704 of the "suction pressure" and the "light intensity of the LED built into the tail guide jig 221." As a result, the drive control unit 704 operates the suction mechanism under the notified "suction pressure." Furthermore, the drive control unit 704 lights up the LED built into the tail guide jig 221 under the notified "light intensity of the LED built into the tail guide jig 221."

[0087] The tail vein recognition unit 713 performs tail vein detection processing on the image notified from the image acquisition unit 701 (here, the image notified from the recognition camera 121) and detects tail veins contained in the image.

[0088] Specifically, suppose an operator places a mouse, which is an animal to be punctured, in the restraint unit 111 and inputs an instruction to move it to the puncture position via the touch panel 115. In this case, the information input unit 702 notifies the tail vein recognition unit 713 of the instruction to move it to the puncture position. Accordingly, the tail vein recognition unit 713 instructs the drive control unit 704 to move the restraint unit 111 to the puncture position. Accordingly, the drive control unit 704 controls the motors 501 related to the rotation mechanism of the restraint unit 111 via the motor control device 503, and rotates the restraint unit 111 to move the mouse's tail to the puncture position. Furthermore, the tail vein recognition unit 713 detects the tail vein by referring to the information about the mouse notified by the information input unit 702.

[0089] The tail vein recognition unit 713 superimposes the tail vein detection results on the image and notifies the display control unit 703. At this time, the tail vein recognition unit 713 also notifies the display control unit 703 of the "contrast" and "image brightness" included in the puncture parameters. As a result, an image in which the detection results are superimposed on the tail vein is displayed on the display screen of the touch panel 115. As a result, the operator can confirm that the tail vein has been correctly detected.

[0090] The tail vein recognition unit 713 may further determine whether the detected tail vein is in an abnormal state, such as twisted, based on information about the mouse notified from the information input unit 702. If the result of the determination indicates that the detected tail vein is in an abnormal state, the tail vein recognition unit 713 may notify the display control unit 703 and display a warning on the display screen via the touch panel 115. This allows the operator to recognize that the tail vein is in an abnormal state.

[0091] The tail vein recognition unit 713 may use, for example, machine learning processing or various image processing techniques to determine whether a tail vein is abnormal. For example, the tail vein recognition unit 713 may determine whether a tail vein is abnormal based on the linearity of the detected tail vein. Alternatively, the tail vein recognition unit 713 may determine whether a tail vein is abnormal based on whether the slope of the detected tail vein is within a predetermined threshold. Alternatively, the tail vein recognition unit 713 may calculate a confidence score (score) of the detected tail vein and determine whether the calculated score is equal to or greater than a predetermined threshold. Alternatively, the tail vein recognition unit 713 may calculate in advance a correlation between the detected tail vein and the success or failure of the puncture operation based on past data. In this case, the tail vein recognition unit 713 may search for a tail vein similar to the currently detected tail vein among the detected tail veins in the past data and determine the success or failure of the puncture operation to determine whether a tail vein is abnormal. Alternatively, the tail vein recognition unit 713 may determine whether the tail vein is in an abnormal state by determining whether the mouse's tail is set in an extended position based on the relationship between the length of the mouse's tail in the image and the shooting distance. Alternatively, the tail vein recognition unit 713 may determine whether the tail vein is in an abnormal state by determining whether the amount of light from the LED built into the tail guide jig 221 is appropriate. This is because if the amount of light from the LED leaks around the mouse's tail and exceeds a threshold, it can be determined that the mouse's tail is not set properly and the tail vein is in an abnormal state. Alternatively, the tail vein recognition unit 713 may acquire suction pressure data from the drive control unit 704 and determine whether the tail vein is in an abnormal state based on the acquired suction pressure data. This is because if the mouse's tail is not set properly, a gap will form between the mouse's tail and the tail guide jig 221, reducing the suction pressure.

[0092] The tail vein recognition unit 713 may also generate a yz-plane image (an image of the puncture position viewed from the touch panel 115) based on the image notified from the image acquisition unit 701 (here, an image notified from the recognition camera 121), and notify the display control unit 703. This allows the operator to view an image on the display screen of the touch panel 115 in the same direction as the direction in which the actual puncture position is viewed. The yz-plane image generated by the tail vein recognition unit 713 may include, for example, a thick line indicating the center position of the tail vein, a line indicating the general shape of the tail, and markers indicating the preparation position, puncture start position, and puncture end position of the tip of the injection needle 311. Such an image allows the operator to easily recognize the puncture angle in the yz-plane.

[0093] When the operator inputs an instruction to start puncturing via the touch panel 115 and the information input unit 702 notifies the puncturing start instruction, the puncturing execution unit 714 performs the puncturing process based on the puncturing parameters set by the puncturing parameter determination unit 711.

[0094] Specifically, the puncture execution unit 714 notifies the drive control unit 704 of the "puncture start position," "puncture distance," and "puncture speed," thereby instructing the drive control unit 704 to move the injection needle 311 through the puncture start position to the puncture end position. As a result, the drive control unit 704 controls the motors 502 related to the position adjustment mechanism of the syringe unit 112 via the motor control device 503, thereby moving the tip of the injection needle 311. As a result, the tip of the injection needle 311 moves from the preparation position through the puncture start position to the puncture end position.

[0095] Specifically, the drive control unit 704 may control the tip of the injection needle 311 to move only in the direction of the needle tip until just before puncturing at the puncture start position. Furthermore, once the tip of the injection needle 311 reaches the puncture start position, the drive control unit 704 may change the control frequency to a control period corresponding to the processing period of the tail vein detection process, and update the pitch and yaw while moving the tip of the injection needle 311 by approximately 1 mm per control period. Furthermore, once the tip of the injection needle 311 reaches the puncture start position, the drive control unit 704 may move the tip of the injection needle 311 while pressing the plunger 313 with a predetermined pressing force. Furthermore, the drive control unit 704 may confirm, based on the current applied to the motors 502 associated with the position adjustment mechanism of the syringe unit 112, that resistance acting in the direction opposite to the movement direction has decreased as a result of the tip of the injection needle 311 puncturing the tail vein. Furthermore, after confirming that the tip of the injection needle 311 has punctured the tail vein, the drive control unit 704 may stop the tip of the injection needle 311 at the puncture completion position.

[0096] Furthermore, when an instruction to start puncturing is notified from information input unit 702, puncturing execution unit 714 notifies display control unit 703 that puncturing is in progress. As a result, display control unit 703 displays on the display screen via touch panel 115 that puncturing is in progress.

[0097] At this time, the puncture execution unit 714 may cause the tail vein recognition unit 713 to determine whether the puncture operation was successful (success or failure). In this case, the tail vein recognition unit 713 measures the spatial movement of the mouse's tail from images including the mouse's tail and tail vein from the start to the end of the puncture operation using machine learning processing or various image processing methods, and determines whether the tail vein has shifted due to the movement of the mouse's tail. If it is determined that the tail vein has shifted, the tail vein recognition unit 713 determines that the puncture has failed and notifies the operator of success or failure information via the display control unit 703.

[0098] Next, when the operator inputs a push rod pulling command via the touch panel 115, the puncture execution unit 714 receives a command to perform the backflow check operation from the information input unit 702, and notifies the drive control unit 704 of the "push rod pulling time," thereby instructing the drive control unit 704 to perform the backflow check operation. As a result, the drive control unit 704 controls the motors 502 related to the push rod movement mechanism of the syringe unit 112 via the motor control device 503, thereby pulling the push rod 313 of the syringe 310 in the positive direction of the y-axis.

[0099] At this time, the drive control unit 704 performs a backflow confirmation operation determination process to determine whether the backflow confirmation operation was successful (success or failure). Specifically, the drive control unit 704 monitors the current applied to the motors 502 related to the plunger movement mechanism, and when a certain current is reached, it stops pulling the plunger 313 and notifies the puncturing unit 714 that the backflow confirmation operation was not successful. As a result, the puncturing unit 714 notifies the display control unit 703 that the backflow confirmation operation was not successful, and the display control unit 703 displays on the display screen via the touch panel 115 that the backflow confirmation operation was not successful.

[0100] Alternatively, the puncturing unit 714 may instruct the tail vein recognition unit 713 to perform backflow confirmation operation determination processing to determine whether the backflow confirmation operation was successful (success or failure). In this case, the tail vein recognition unit 713 determines whether blood is present in the syringe 312, and if blood is not present, notifies the puncturing unit 714 that the backflow confirmation operation was not successful. As a result, the puncturing unit 714 notifies the display control unit 703 that the backflow confirmation operation was not successful, and the display control unit 703 displays on the display screen via the touch panel 115 that the backflow confirmation operation was not successful.

[0101] The tail vein recognition unit 713 determines whether blood is present in the syringe 312 by using machine learning processing or various types of image processing. For example, the tail vein recognition unit 713 determines whether blood is present in the syringe 312 by determining whether a photographed image including the syringe 312 has turned red. Alternatively, the tail vein recognition unit 713 determines whether blood is present in the syringe 312 by determining whether the color of the tail vein near the tip of the injection needle has lightened in the photographed image including the tail vein. This is because the color of the tail vein becomes lighter when blood enters the syringe 312 from the tail vein.

[0102] On the other hand, if the backflow confirmation operation is successful and the operator inputs an instruction to inject a drug or the like via the touch panel 115, and the information input unit 702 notifies the operator of the instruction to inject a drug or the like, the puncturing unit 714 performs the drug or the like injection process. Specifically, the puncturing unit 714 notifies the drive control unit 704 of the "injection time" and the "amount of drug or the like to be injected," thereby instructing the drive control unit 704 to perform the drug or the like injection operation. The drive control unit 704 controls the motors 502 related to the plunger movement mechanism of the syringe unit 112 via the motor control device 503 in accordance with the "injection time" and the "amount of drug or the like to be injected," thereby pressing the plunger 313 of the syringe 310. As a result, the plunger 313 of the syringe 310 is pressed at a speed corresponding to the "injection time" and by a feed amount corresponding to the "amount of drug or the like to be injected."

[0103] The injection process of a drug or the like by the puncturing unit 714 may be configured to start when an instruction to inject a drug or the like is input by the operator, or may be configured to start when a pre-specified time is reached. Furthermore, if the puncturing completion time is determined in advance, the completion time of each step may be displayed so that the puncturing process is completed by that time. Furthermore, if each step is not completed by its completion time, a warning may be displayed.

[0104] When the injection process is started, the drive control unit 704 determines whether the injection operation of the drug or the like has been successful (success or failure). Specifically, the drive control unit 704 monitors the current applied to the motors 502 related to the plunger movement mechanism, and when a certain current is reached, the drive control unit 704 stops pressing the plunger 313 and notifies the puncturing unit 714 that the injection operation of the drug or the like has not been successful. As a result, the puncturing unit 714 notifies the display control unit 703 that the injection operation of the drug or the like has not been successful, and the display control unit 703 displays on the display screen via the touch panel 115 that the injection operation of the drug or the like has not been successful.

[0105] Alternatively, the puncturing unit 714 may instruct the tail vein recognition unit 713 to determine whether the injection of the drug or the like was successful (success or failure). In this case, the tail vein recognition unit 713 determines whether the plunger 313 is pressed, whether the drug or the like has leaked, etc. If the plunger 313 is not pressed or if the drug or the like has leaked, the tail vein recognition unit 713 notifies the puncturing unit 714 that the injection of the drug or the like was unsuccessful. As a result, the puncturing unit 714 notifies the display control unit 703 that the injection of the drug or the like was unsuccessful, and the display control unit 703 displays on the display screen via the touch panel 115 that the injection of the drug or the like was unsuccessful. The puncturing unit 714 also instructs the drive control unit 704 to stop the injection of the drug or the like.

[0106] When making the above determination, the tail vein recognition unit 713 first recognizes, based on the captured image, that the plunger 313 has been sufficiently pressed and that no drug or other substance remains in the syringe 312. Next, the tail vein recognition unit 713 determines whether or not a drug or other substance has been injected into the tail vein based on a change in the color of the tail vein. This is because if the drug or other substance is transparent, the color of the tail vein will lighten when the drug or other substance is injected into the tail vein. The tail vein recognition unit 713 also determines whether or not a drug or other substance has leaked based on whether or not droplets have been detected. This is because leakage of the drug or other substance will result in droplets forming on the surface of the mouse's tail.

[0107] Alternatively, the tail vein recognition unit 713 captures a change in blood flow from an image, and when the blood flow changes to the injection direction of the drug or the like, determines that the injection operation of the drug or the like has been successful. This is because when a drug or the like is injected into the tail vein, the blood flow in the tail vein changes.

[0108] Next, when the operator inputs an end instruction via the touch panel 115 and the information input unit 702 notifies the puncturing unit 714 of an end instruction for the injection operation of a drug or the like, the puncturing unit 714 performs an injection operation end process. Specifically, the puncturing unit 714 instructs the drive control unit 704 to withdraw the injection needle 311 from the tail vein. As a result, the drive control unit 704 controls the motors 502 associated with the position adjustment mechanism of the syringe unit 112 via the motor control device 503, thereby withdrawing the injection needle 311 from the tail vein. The puncturing unit 714 also instructs the drive control unit 704 to return to its initial state. As a result, the drive control unit 704 controls the motors 501 associated with the rotation mechanism of the restraint unit 111 via the motor control device 503, thereby returning the restraint unit 111 to the position where the mouse is set. Furthermore, the drive control unit 704 controls the motors 502 related to the position adjustment mechanism of the syringe unit 112 via the motor control device 503, thereby returning the syringe unit 112 to the position where the injector 310 is set.

[0109] The puncture recording unit 715 performs a recording process to record the puncturing operation and injection operation performed by the operator in the recording unit 732. For example, when the puncturing execution unit 714 receives an instruction to start puncturing from the information input unit 702 and executes the puncturing operation, the puncturing recording unit 715 acquires the "puncturing time" from the puncturing execution unit 714. The puncturing recording unit 715 records the acquired "puncturing time" in the recording unit 732. Note that the "puncturing time" is not limited to the time puncturing started, and may be the time puncturing was completed, the time injection of a drug or the like started, or the time injection of a drug or the like ended. Furthermore, the puncturing recording unit 715 may record times other than the "puncturing time" (times when various processes other than puncturing were executed) in the recording unit 732.

[0110] Furthermore, for example, the puncture recording unit 715 acquires a "puncture video" from the tail vein recognition unit 713, which is an image in which the tail vein detection result is superimposed on the image notified to the tail vein recognition unit 713 from the image acquisition unit 701, and which is an image of when the puncture operation and the injection operation of a drug or the like are performed. The puncture recording unit 715 records the acquired "puncture video" in the recording unit 732.

[0111] Furthermore, for example, the puncture recording section 715 acquires the “puncture parameters” determined by the puncture parameter determination section 711. The puncture recording section 715 records the acquired “puncture parameters” in the recording section 732.

[0112] Furthermore, for example, the puncture recording unit 715 acquires “information about the mouse” notified from the information input unit 702. The puncture recording unit 715 records the acquired “information about the mouse” in the recording unit 732.

[0113] Furthermore, for example, the puncturing recording unit 715 acquires from the puncturing execution unit 714 a "backflow blood confirmation operation determination result" indicating whether the backflow blood confirmation operation was successful (success or failure), which the puncturing execution unit 714 has been notified of by the drive control unit 704 or the tail vein recognition unit 713. The puncturing recording unit 715 records the acquired "backflow blood confirmation operation determination result" in the recording unit 732. Note that the "backflow blood confirmation operation determination result" may be either a success or failure of the backflow blood confirmation operation, or may be information indicating the degree of success or the degree of failure.

[0114] Furthermore, for example, the puncturing recording unit 715 acquires from the puncturing execution unit 714 an "injection operation determination result of a drug or the like" indicating whether or not the injection operation of a drug or the like was successful (success or failure), which the puncturing execution unit 714 has been notified of by the drive control unit 704 or the tail vein recognition unit 713. The puncturing recording unit 715 records the acquired "injection operation determination result of a drug or the like" in the recording unit 732. Note that the "injection operation determination result of a drug or the like" may be either a success or failure of the injection operation of a drug or the like, or may be information indicating the degree of success or the degree of failure.

[0115] When puncture recording unit 715 records in recording unit 732, the respective recorded contents are associated with each other. For example, the expression "recording recorded content A and recorded content B in association with each other" includes both the concepts of recording in direct association with each other and recording in indirect association with each other. Specifically, puncture recording unit 715 may record recorded content A and recorded content B as a set, or may record recorded content A with recorded content B added. Alternatively, puncture recording unit 715 may record recorded content A and recorded content C in association with each other, and then record recorded content B and recorded content C. In this case, puncture recording unit 715 can read out recorded content A and recorded content B based on recorded content C.

[0116] Furthermore, the recording destination when the puncture recording unit 715 records is not limited to the recording unit 732. For example, it may be one or more storage devices (including at least one or more memories) included in the tail vein injection system 100, or an external device other than the tail vein injection system 100.

[0117] Recording by the puncture recorder 715 is performed using a method that prevents tampering. A method that prevents tampering may be, for example, output to a medium that cannot be tampered with (e.g., paper or a PDF file). Alternatively, recording may be performed on a server device to which the operator does not have editing rights. Alternatively, recording may be performed using hashing, electronic signatures, blockchain technology, or the like.

[0118] Furthermore, the puncture recording unit 715 acquires information for linking with an external system other than the tail vein injection system 100, and performs a linking process to transmit the information to the external system other than the tail vein injection system 100 via the communication control unit 720. For example, the puncture recording unit 715 acquires the "drug or other injection time" at which the puncture execution unit 714 instructs the drive control unit 704 to perform an injection operation of a drug or other substance from the puncture execution unit 714, and transmits the information to the external system other than the tail vein injection system 100 via the communication control unit 720.

[0119] As a result, for example, when a CT image is taken using a CT device of a mouse into which a contrast agent has been injected using the tail vein injection system 100, the start time of imaging (operation timing) of the CT device can be controlled according to the injection time of the contrast agent. Note that CT is an abbreviation for Computer Tomography.

[0120] In addition, the puncture recording unit 715 acquires from the puncture execution unit 714 the "drug etc. injection time" at which the puncture execution unit 714 instructs the drive control unit 704 to inject a drug etc., and performs synchronization processing to transmit this to another tail vein injection system via the communication control unit 720.

[0121] This makes it possible to synchronize the injection of a drug or the like for multiple mice. In this case, the puncture execution unit 714 of the other tail vein injection system instructs the drive control unit 704 on the timing of the injection of a drug or the like based on the "drug or the like injection time" transmitted from the tail vein injection system 100.

[0122] Furthermore, puncture recording unit 715 performs display processing. Specifically, when a history display instruction or an image display instruction is notified from information input unit 702, puncture recording unit 715 notifies display control unit 703 of the images, information, etc. recorded in recording unit 732, and displays them on the display screen via touch panel 115. This allows the worker to view past work results.

[0123] Furthermore, the puncture recording section 715 performs a storage process. Specifically, the puncture recording section 715 may selectably register the information (for example, the puncture parameters) recorded in the recording section 732 in the registration section 731.

[0124] The communication control unit 720 transmits and receives information to and from external systems or other tail vein injection systems.

[0125] <Specific Examples of Processing by Each Unit of the Tail Vein Injection System> Next, specific examples of processing by each unit of the tail vein injection system 100 will be described.

[0126] (1) Specific Example of Processing by the Setup Unit 712 (1-1) Specific Example of Needle Tip Recognition Processing First, we will explain a specific example of needle tip recognition processing by the setup unit 712. As described above, when the syringe 310 is set, the setup unit 712 processes the image notified by the image acquisition unit 701, recognizes the needle tip of the injection needle 311 included in the image, and superimposes a marker of a predetermined color on the area of ​​the recognized needle tip.

[0127] 8A is a diagram showing a specific example of the needle tip recognition process by the setup section 712. When the needle tip recognition process is performed by the setup section 712, a display screen 810 is displayed on the touch panel 115 as shown in FIG.

[0128] In the display screen 810, reference numeral 811 denotes an example of an image captured by one of the two recognition cameras 121. Furthermore, in the display screen 810, reference numeral 811_1 denotes an example of an injection needle 311 included in an image captured by one of the recognition cameras. Furthermore, in the display screen 810, reference numerals 811_2 and 811_3 indicate a state in which a marker of a predetermined color is added to a predetermined region of the needle tip as a result of recognition by the setup unit 712. Note that the example of FIG. 8A shows a state in which a green x marker is added to the tip position of the needle tip, and a green straight marker indicating the direction of the injection needle 311 is added around the tip of the injection needle 311. Note that the setup unit 712 may calculate the three-dimensional position of the needle tip when recognizing the needle tip in the image captured by the recognition camera.

[0129] In the display screen 810, reference numeral 812 denotes an example of an image captured by the other of the two recognition cameras 121. Also, in the display screen 810, reference numeral 812_1 denotes an example of an injection needle 311 included in the image captured by the other recognition camera. Also, in the display screen 810, reference numerals 812_2 and 812_3 indicate a state in which a marker of a predetermined color is added to a predetermined region of the needle tip as a result of recognition by the setup unit 712. Note that the example of Fig. 8A shows a state in which a green x marker is added to the tip position of the needle tip, and a green straight marker indicating the direction of the injection needle 311 is added around the needle tip of the injection needle 311.

[0130] (1-2) Specific Example of Preparation Position Movement Processing Next, we will explain a specific example of preparation position movement processing by the setup unit 712. As described above, when an instruction to move to the preparation position is notified from the information input unit 702, the setup unit 712 instructs the drive control unit 704 to move the tip of the injection needle 311 to the preparation position.

[0131] 8B is a diagram showing a specific example of the preparation position movement process by the setup unit, depicting the state before movement to the preparation position. Once the syringe 310 is set, the needle tip is recognized, and the needle tip bevel is adjusted to the correct orientation, the operator presses the "Confirm needle tip position" button indicated by the reference numeral 822. This causes the information input unit 702 to notify the setup unit 712 of an instruction to move to the preparation position.

[0132] When the operator presses the "Confirm needle tip position" button 822, and the information input unit 702 issues an instruction to move to the preparation position, the setup unit 712 instructs the drive control unit 704 to turn off the light panel 113. The setup unit 712 also instructs the drive control unit 704 to turn on the LED that illuminates the mouse tail in the tail guide jig 221. Furthermore, the setup unit 712 instructs the drive control unit 704 to perform suction using the suction mechanism 504.

[0133] (2) Specific Example of Processing by Tail Vein Recognition Unit 713 (2-1) Specific Example of Tail Vein Detection Processing Next, we will explain a specific example of tail vein detection processing by the tail vein recognition unit 713. As described above, when the operator: places the mouse on the restraint unit 111; and inputs an instruction to move the mouse to the puncture position, the tail vein recognition unit 713 instructs the drive control unit 704 to move the restraint unit 111 to the puncture position and detects the tail vein.

[0134] 9A is a first diagram showing a specific example of the tail vein detection process by the tail vein recognition unit 713. As a result of the tail vein detection process being performed by the tail vein recognition unit 713, a display screen 910 is displayed on the touch panel 115, as shown in FIG.

[0135] On the display screen 910, reference numerals 911 and 912 denote examples of images on which tail vein detection results 911_1 and 912_1 are superimposed, and which are displayed when the "move to puncture position" button indicated by reference numeral 913 is pressed and an instruction to move the restraint unit 111 to the puncture position is input. Of these, reference numeral 911 denotes an example of an image captured by one of the two recognition cameras 121 and on which the tail vein detection result 911_1 obtained by the tail vein recognition unit 713 is superimposed.

[0136] As indicated by the reference numeral 911, the tail vein detection result 911_1 is displayed as a straight line indicating the center position of the detected tail vein in the width direction. Also, the tail vein detection result 911_1 displays a partial range of the detected tail vein in the length direction.

[0137] Similarly, reference numeral 912 denotes an example of an image captured by the other of the two recognition cameras 121 and on which a tail vein detection result 912_1 obtained by the tail vein recognition unit 713 is superimposed.

[0138] Similar to the reference numeral 911, the tail vein detection result 912_1 is displayed as a straight line indicating the center position of the detected tail vein in the width direction, as indicated by the reference numeral 912. The tail vein detection result 912_1 also displays a partial range of the detected tail vein in the length direction.

[0139] 9A illustrates the case where the tail vein detection results are superimposed on the images captured by the two recognition cameras 121. However, the method of superimposing the tail vein detection results is not limited to this, and the recognition results of the tail vein constructed in three dimensions from the images captured by the two recognition cameras 121 may be superimposed on each image.

[0140] (2-2) Detailed Specific Example of Tail Vein Detection Processing Figure 9B is a second diagram showing a specific example of tail vein detection processing by the tail vein recognition unit, and is an enlarged view of the screen indicated by the reference numeral 912. As shown in Figure 9B, the tail vein detection result 912_1 displays the range from the puncture start position to the puncture end position as part of the length of the detected tail vein.

[0141] The tail vein detection process performed by the tail vein recognition unit 713 may be performed by any method, and in this embodiment, the tail vein recognition unit 713 performs the tail vein detection process using a predetermined recognition module. The predetermined recognition module may, for example, detect tail veins by focusing on low-luminance areas in an image, or may detect tail veins by machine learning.

[0142] 9B , in addition to the tail vein detection result 912_1, a marker indicating the preparation position of the tip of the injection needle 311, a marker indicating the puncture start position, and a marker indicating the puncture end position are superimposed on the image indicated by the reference numeral 912. Furthermore, as shown in FIG. 9B , a straight line connecting the preparation position of the tip of the injection needle 311 and the puncture start position is also superimposed on the image indicated by the reference numeral 912.

[0143] The tail vein recognition unit 713 displays the puncture start position at a position determined based on, for example, the "puncture start position" included in the puncture parameters. The tail vein recognition unit 713 displays the puncture end position at a position determined based on, for example, the "puncture distance" included in the puncture parameters. The tail vein recognition unit 713 displays the puncture start position and the puncture end position on a straight line connecting the puncture start position and the puncture end position, at a position away in the positive y-axis direction so that the needle tip does not touch the mouse's tail.

[0144] The puncture start position, puncture end position, and preparation position determined by the tail vein recognition unit 713 are used to calculate three-dimensional position coordinates using camera parameters.

[0145] (3) Specific Examples of Processing by the Puncturing Execution Unit 714 (3-1) Specific Examples of Puncturing Process and Backflow Blood Confirmation Operation Determination Process Next, a specific example of the puncturing process and backflow blood confirmation operation determination process by the puncturing execution unit 714 will be described. As described above, when a command to start puncturing is notified from the information input unit 702, the puncturing execution unit 714 instructs the drive control unit 704 to move the tip of the injection needle 311 from the preparation position, through the puncturing start position, to the puncturing end position. Furthermore, when a command to perform the backflow blood confirmation operation is notified from the information input unit 702, the puncturing execution unit 714 instructs the drive control unit 704 to perform the backflow blood confirmation operation, and the drive control unit 704 retracts the plunger 313 of the syringe 310.

[0146] FIG. 10A is a diagram showing a specific example of the puncturing process and the backflow blood checking operation determination process performed by the puncturing execution unit.

[0147] On the display screen 1010, the "Start puncturing" button indicated by reference numeral 1011 is a button for inputting an instruction to start puncturing, and is a button for moving the tip of the injection needle 311 from the preparation position to the puncturing start position, and further from the puncturing start position to the puncturing end position. When the "Start puncturing" button indicated by reference numeral 1012 is pressed, an instruction to start puncturing is notified from the information input unit 702. As a result, the puncturing execution unit 714 instructs the drive control unit 704 to move the tip of the injection needle 311 from the preparation position to the puncturing start position, and further from the puncturing start position to the puncturing end position.

[0148] On the display screen 1020, the "(Auto) Push-in Retraction" button indicated by the reference numeral 1021 is a button for inputting a push-in retraction command and for checking for backflow. When the "(Auto) Push-in Retraction" button indicated by the reference numeral 1021 is pressed, a push-in retraction command is input, and when an instruction for the backflow check operation is notified from the information input unit 702, the puncture execution unit 714 instructs the drive control unit 704 to perform the backflow check operation. As a result, the drive control unit 704 retracts the push-in 313 of the syringe 310.

[0149] In the example of Figure 10A, the operator checks for backflow by pressing the "(automatic) plunger pull" button, but the operator can also check for backflow by manually pulling the plunger 313 directly without pressing the "(automatic) plunger pull" button.

[0150] (3-2) Specific Examples of Injection Process of Drug or Other Etc. and Injection Operation End Process Next, a specific example of the injection process of drug or other e.g., and the injection operation end process performed by the puncturing unit 714 will be described. As described above, when an instruction to inject drug or other e.g., is notified from the information input unit 702, the puncturing unit 714 instructs the drive control unit 704 to perform the injection operation of drug or other e.g.,. Furthermore, when an instruction to end the injection operation of drug or other e.g., is input by the operator, the puncturing unit 714 instructs the drive control unit 704 to withdraw the injection needle 311 from the tail vein and to return to the initial state.

[0151] FIG. 10B is a diagram showing a specific example of the process of injecting a drug or the like and the process of completing the injection operation by the puncturing execution unit.

[0152] On the display screen 1030, the "(automatic) drug solution injection" button indicated by reference numeral 1031 is a button for inputting an injection instruction for a drug or the like, and is a button for injecting a drug or the like into the tail vein from the syringe 310. When the "(automatic) drug solution injection" button indicated by reference numeral 1031 is pressed and an instruction to inject a drug or the like is notified from the information input unit 702, the puncture execution unit 714 instructs the drive control unit 704 to perform the injection operation for the drug or the like.

[0153] In the example of Figure 10B, the operator presses the "(automatic) drug solution injection" button to inject a drug or the like, but the operator can also manually press plunger 313 directly to inject a drug or the like without pressing the "(automatic) drug solution injection" button.

[0154] On the display screen 1040, the "End (Success)" button and the "End (Failure)" button indicated by the reference numeral 1041 are buttons for inputting an end instruction and for terminating the injection operation of a drug or the like. If the injection operation of a drug or the like is successful, the operator presses the "End (Success)" button, and if the injection operation of a drug or the like is unsuccessful, the operator presses the "End (Failure)" button. When an instruction to terminate the injection operation of a drug or the like is notified from the information input unit 702, the puncture execution unit 714 instructs the drive control unit 704 to withdraw the injection needle 311 from the tail vein and to return to the initial state.

[0155] (4) Specific Examples of Processing by Puncture Recording Unit 715 (4-1) Specific Example 1 of Display Processing Next, we will explain a specific example of display processing by puncture recording unit 715. As described above, puncture recording unit 715 notifies display control unit 703 of the information recorded in recording unit 732, and displays it on the display screen via touch panel 115.

[0156] 11A is a first diagram showing a specific example of display processing by the puncture recording unit. As shown in FIG. 11A , when a "history" button 1111 is pressed on a display screen 1110 after the injection operation of a drug or the like is completed, a history display instruction is sent from the information input unit 702. This causes the puncture recording unit 715 to read out the information recorded in the recording unit 732 and notify the display control unit 703, thereby displaying it on the touch panel 115.

[0157] Reference numeral 1112 indicates that puncture recording unit 715 reads out the puncture parameters from recording unit 732 and displays them on touch panel 115. As shown by reference numeral 1112, puncture recording unit 715 reads out all the puncture parameters recorded in recording unit 732, arranges them in chronological order, and notifies display control unit 703, thereby displaying them on the display screen via touch panel 115.

[0158] 11A shows only some of the puncture parameters as information read by the puncture recording unit 715 from the recording unit 732, but other puncture parameters may also be read. Alternatively, the puncture recording unit 715 may read information other than the puncture parameters. The information other than the puncture parameters may include, for example, information about the mouse. The information other than the puncture parameters may also include, for example, images captured by the recognition camera 121 and the monitor camera 122. The information other than the puncture parameters may also include, for example, the success or failure of the puncture operation, the result of the backflow confirmation operation determination, and the result of the injection operation of a drug or the like.

[0159] (4-2) Specific Example 2 of Display Processing Next, we will explain another specific example of display processing by puncture recording unit 715. As described above, when an image display instruction is notified from information input unit 702, puncture recording unit 715 notifies display control unit 703 of the images recorded in recording unit 732, and displays them on the display screen via touch panel 115. Note that the images recorded in recording unit 732 may include both still images and videos.

[0160] 11B is a second diagram showing a specific example of display processing by the puncture recording unit. As indicated by reference numeral 1120 in FIG. 11B, the image read out by the puncture recording unit 715 from the recording unit 732 includes a yz-plane image. As described above, the yz-plane image includes a thick line 1121 indicating the center position of the tail vein, as well as the preparation position, puncture start position, and puncture end position of the tip of the injection needle 311.

[0161] Furthermore, the puncture recording unit 715 may also read out a video of the puncture (1130) when reading out the yz-plane image, as shown by reference numeral 1120. This allows the operator to watch the video of the puncture while looking at the yz-plane image.

[0162] (4-3) Specific Example of Storage Processing Next, we will explain a specific example of storage processing by puncture recording section 715. As described above, puncture recording section 715 selectably registers information (e.g., puncture parameters) recorded in recording section 732 in registration section 731.

[0163] 11C is a diagram showing a specific example of storage processing by the puncture recording unit. Display screen 1140 in FIG. 11C shows how puncture recording unit 715 has read out the puncture parameters recorded in recording unit 732 in an editable manner. As shown in display screen 1140, when puncture recording unit 715 has read out the puncture parameters in an editable manner, the puncture parameters are displayed in editing area 1141.

[0164] Editing area 1141 includes each puncture parameter item and its set value. The operator can edit the set value by operating a slide bar. At this time, the operator may display a video of the puncture and edit the puncture parameters while referring to the video of the puncture. Editing area 1141 also includes a "Save" button 1142. When the operator presses "Save" button 1142, puncture recording unit 715 registers the edited puncture parameters in registration unit 731.

[0165] In this way, the operator can read out past puncture parameters and register them as the next puncture parameters. At this time, the operator may select from the past puncture parameters those puncture parameters that resulted in successful backflow confirmation and a successful injection operation, and register them as the next puncture parameters. Alternatively, the operator may register, for the same type of mouse, the puncture parameters that resulted in successful backflow confirmation and a successful injection operation, as the puncture parameters for the next mouse of the same type.

[0166] <Summary> As is clear from the above description, the tail vein injection system 100 according to the first embodiment is an injection system that injects a drug or the like by puncturing the tail vein of a mouse, and sets puncture parameters based on information about the mouse. Puncture of the tail vein of the mouse is controlled based on the set puncture parameters.

[0167] Therefore, the tail vein injection system 100 according to the first embodiment allows the operator to perform the puncture and injection operations based on puncture parameters appropriate for the mouse, which is the animal to be punctured. As a result, the tail vein injection system 100 according to the first embodiment allows the operator to perform the operations appropriately.

[0168] Second Embodiment In the first embodiment, the case where a drug or the like is injected using tail vein injection system 100 has been mainly described, but tail vein injection system 100 may also be used to draw blood. When drawing blood, as in the case where a drug or the like is injected, puncture parameter determination unit 711 determines puncture parameters based on information about the mouse and sets the parameters in puncture execution unit 714. When drawing blood, the puncture parameters determined by puncture parameter determination unit 711 based on information about the mouse may be values ​​necessary for executing puncture, and may include, for example, one or more of the following: - "Puncture position" (position of the needle tip of the injection needle 311 at the start of puncturing), - "Puncture distance" (distance from the puncture start position to the puncture end position, i.e., the distance the injection needle 311 moves after puncturing), - "Puncture speed" (speed at which the injection needle 311 moves during puncturing), - "Push rod retraction time" (time required to retract the plunger), - "Contrast" (contrast of the image on the display screen displayed on the touch panel 115), - "Image brightness" (brightness of the image on the display screen displayed on the touch panel 115), - Amount of blood collected, - Suction pressure (pressure when sucking the mouse's tail), - Light intensity of the LED built into the tail guide jig 221 (because light transmittance differs when the tail color differs depending on the type of mouse).

[0169] Furthermore, in the first embodiment, when the "amount of drug or the like to be injected" is determined based on information about the mouse, the determined amount is displayed on the touch panel, allowing the operator to adjust the amount of drug or the like to be filled into the syringe 310, or the amount of feed of the plunger is controlled according to the determined amount, thereby injecting an appropriate amount of drug or the like. However, the configuration for injecting an appropriate amount of drug or the like based on information about the mouse is not limited to this. For example, when the "amount of drug etc. to be injected" is determined based on information about the mouse, - the determined amount is displayed on touch panel 115, allowing the operator to adjust the amount of drug etc. to be filled into syringe 310, and - when the operator sets syringe 310 filled with the adjusted amount of drug etc. into syringe unit 112, setup section 712 determines whether or not an appropriate amount of drug etc. has been filled, based on an image taken by monitor camera 122, and - if it is determined that an appropriate amount of drug etc. has not been filled, display control section 703 is notified, and this is displayed on the display screen of touch panel 115, The configuration may be such that injection of an inappropriate amount of drug etc. is avoided.

[0170] In the first embodiment, the cylindrical container 211 of the restraint device holding unit 210 is described as having a fixed size, but the cylindrical container 211 may include containers of multiple sizes. In this case, the setup unit 712 may be configured to determine an appropriate container based on information about the mouse and notify the display control unit 703, thereby displaying the appropriate container on the touch panel 115. This allows the operator to select an appropriate container and set the mouse in it.

[0171] Alternatively, the cylindrical container 211 of the restraint device holding unit 210 may be configured to be changeable in size, and may be configured to automatically change in size according to information about the mouse.

[0172] In the first embodiment, the puncture parameter determination unit 711 determines the puncture parameters based on the information about the mouse and sets them in each component, but the setting method by the puncture parameter determination unit 711 is not limited to this. For example, the puncture parameter determination unit 711 may notify the display control unit 703 of the puncture parameters determined based on the information about the mouse and display the parameters on the touch panel 115 in an editable manner. This allows the puncture parameter determination unit 711 to set the puncture parameters edited by the operator in each component.

[0173] [Third Embodiment] In the above-described first embodiment, an example was given of a method for an operator to input information about a mouse, but the method for inputting information about a mouse is not limited to that exemplified in the above-described first embodiment. For example, in the above-described first embodiment, an example was given in which an operator inputs information about a mouse via the touch panel 115, but in this case, the input may be configured to be via an image user interface, or may be configured to be input by voice or the like.

[0174] Furthermore, although the first embodiment described an example of a method for acquiring information about the mouse, the method for acquiring information about the mouse is not limited to the example described in the first embodiment. For example, the first embodiment described an example in which a mouse image is received and some information about the mouse is estimated based on the received mouse image. However, any estimation method may be used. For example, estimation may be performed using a model (e.g., a neural network) trained using learning data in which the mouse image is input data and the information about the mouse is correct data. Alternatively, estimation may be performed using other machine learning algorithms or various image processing methods. The information about the mouse estimated in this manner may be displayed to the operator via the touch panel 115.

[0175] In the first embodiment, when registering information about the mouse, the operator inputs a predetermined instruction via the touch panel 115. However, the method for registering information about the mouse is not limited to this. For example, the information may be automatically registered in the registration unit 731 based on data indicating an experimental plan that has been created and registered in advance.

[0176] Specifically, suppose data indicating an experimental plan for injecting type B of drug or the like into type A of mouse is registered. In this case, information about the mouse may be obtained from the registered data indicating the experimental plan and automatically registered in registration unit 731. At this time, puncture parameters may be read out from the data indicating the experimental plan.

[0177] Furthermore, in the first embodiment, the method for obtaining information about the mouse was described as reading it from another database via the communication control unit 720. However, the object of reading it via the communication control unit 720 is not limited to another database. For example, information about the mouse may be obtained from another experimental device connected to the network. The other experimental device here refers to an experimental device that was used before the mouse was punctured in the tail vein injection system 100. Therefore, the tail vein injection system 100 may obtain information about the mouse that has already been registered in the other experimental device.

[0178] That is, if the work performed using the tail vein injection system 100 is one of multiple work processes, the tail vein injection system 100 may acquire information about the mouse registered in another work process. Furthermore, if puncture parameters have been registered in the other work process, the system may be configured to acquire the puncture parameters.

[0179] If the information about the mouse registered in another work step is registered in a device other than the experimental device used in that other work step, the tail vein injection system 100 may acquire the information about the mouse from that device. Furthermore, if the puncture parameters are registered in a device other than the experimental device, the system may be configured to acquire the puncture parameters from that device. Furthermore, these acquisition methods may be used in combination.

[0180] [Fourth Embodiment] In the above embodiments, a warning is output by displaying it on the touch panel 115, but the method of outputting a warning in the tail vein injection system 100 is arbitrary. For example, a warning sound may be output, or a voice message indicating the warning may be output. Alternatively, a light indicating the warning may be emitted.

[0181] In addition, in each of the above embodiments, the tail vein injection system 100 has been described as including a main body system 500 and an information processing device 510, but the tail vein injection system 100 may also be a system that does not include the main body system 500 but includes an information processing device 510.

[0182] [Other Embodiments] In this specification (including the claims), when the expression "at least one of a, b, and c" or "at least one of a, b, or c" (including similar expressions) is used, it includes any of a, b, c, a-b, a-c, bc, or a-bc. It may also include multiple instances of any element, such as a-a, a-bb-b, a-a-bb-cc-c, etc. Furthermore, it also includes adding elements other than the enumerated elements (a, b, and c), such as having d, as in a-b-c-d.

[0183] Furthermore, in this specification (including claims), when expressions such as "using data as input / based on / according to / in response to" (including similar expressions) are used, unless otherwise specified, this includes cases where various data itself is used as input, or where various data that has been processed in some way (e.g., noise-added, normalized, intermediate representation of various data, etc.) is used as input. Furthermore, when it is stated that a result is obtained "based on / according to / in response to data," this includes cases where the result is obtained based solely on the data in question, as well as cases where the result is obtained in response to other data, factors, conditions, and / or states other than the data in question. Furthermore, when it is stated that "data is output," unless otherwise specified, this includes cases where various data itself is used as output, or where various data that has been processed in some way (e.g., noise-added, normalized, intermediate representation of various data, etc.) is output.

[0184] Furthermore, when the terms "connected" and "coupled" are used in this specification (including the claims), they are intended as open-ended terms that include any of direct connection / coupling, indirect connection / coupling, electrically connection / coupling, communicatively connection / coupling, functionally connection / coupling, and physically connection / coupling. These terms should be interpreted appropriately depending on the context in which they are used, but any connection / coupling form that is not intentionally or naturally excluded should be interpreted as being included in these terms without any restrictions.

[0185] Furthermore, in this specification (including the claims), when the expression "A configured to B" is used, it may include the physical structure of element A having a configuration capable of performing operation B, and the permanent or temporary setting / configuration of element A being configured / set to actually perform operation B. For example, if element A is a general-purpose processor, it is sufficient that the processor has a hardware configuration capable of performing operation B, and is configured to actually perform operation B by setting a permanent or temporary program (instruction). Furthermore, if element A is a dedicated processor or dedicated arithmetic circuit, it is sufficient that the circuit structure of the processor is implemented to actually perform operation B, regardless of whether control instructions and data are actually attached.

[0186] Furthermore, when words implying containing or possessing (e.g., "comprising / including" and "having") are used in this specification (including the claims), they are intended to be open-ended terms that include cases where something other than the object indicated by the object of the term is contained or possessed. When the object of such words implying containing or possessing does not specify a quantity or suggests a singular number (e.g., an expression using the article "a" or "an"), the expression should be construed as not being limited to a specific number.

[0187] Furthermore, although expressions such as "one or more" or "at least one" are used in some places in this specification (including the claims) and expressions that do not specify a quantity or suggest a singular number (expressions using the articles "a" or "an") are used in other places, the latter expressions are not intended to mean "one." In general, expressions that do not specify a quantity or suggest a singular number (expressions using the articles "a" or "an") should be interpreted as not necessarily being limited to a specific number.

[0188] Furthermore, if a particular advantage / result is described in this specification as being obtained with respect to a particular configuration of an embodiment, it should be understood that the same advantage / result can also be obtained with one or more other embodiments having the same configuration, unless otherwise stated. However, it should be understood that the presence or absence of the effect generally depends on various factors, conditions, and / or states, etc., and that the effect is not necessarily obtained with the configuration. The effect is merely obtained by the configuration described in the embodiment when various factors, conditions, and / or states, etc. are satisfied, and the effect does not necessarily occur in a claimed invention that defines the same or a similar configuration.

[0189] Furthermore, in this specification (including claims), when multiple pieces of hardware perform a predetermined process, the pieces of hardware may cooperate to perform the predetermined process, or some of the hardware may perform all of the predetermined process. Furthermore, some of the hardware may perform part of the predetermined process, and other hardware may perform the rest of the predetermined process. In this specification (including claims), when an expression such as "one or more pieces of hardware perform a first process, and the one or more pieces of hardware perform a second process" is used, the hardware performing the first process and the hardware performing the second process may be the same or different. In other words, it is sufficient that the hardware performing the first process and the hardware performing the second process are included in the one or more pieces of hardware. Note that hardware may include an electronic circuit, a device including an electronic circuit, etc.

[0190] Furthermore, in this specification (including the claims), when multiple storage devices (memories) store data, each of the multiple storage devices (memories) may store only a portion of the data, or may store the entire data.

[0191] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, modifications, substitutions, partial deletions, etc. are possible within the scope of the conceptual idea and spirit of the present invention derived from the content defined in the claims and their equivalents. For example, in all of the above-described embodiments, the numerical values ​​used in the explanations are shown as examples and are not limited to these. Furthermore, the order of each operation in the embodiments is shown as an example and is not limited to these.

[0192] The disclosed technology may take the following forms: (Supplementary Note 1) A system for puncturing an animal to be punctured, comprising at least one memory and at least one processor, wherein the at least one processor sets puncture parameters based on information about the animal to be punctured, and controls the puncturing of the animal based on the set puncture parameters. (Supplementary Note 2) The system described in Supplementary Note 1, wherein the at least one processor acquires information about the animal to be punctured based on at least one of information input by an operator, a measurement result of the animal measured using a measuring device, a recognition result of recognizing tag information attached to the animal, a recognition result of recognizing an image of the animal, information about an experimental plan including the execution of the puncturing, and information acquired from another device. (Supplementary Note 3) The system described in Supplementary Note 1 or Supplementary Note 2, wherein the information about the animal to be punctured includes at least one of the animal's species, size, weight, information indicating the time elapsed since birth, sex, and identification information of the animal. (Supplementary Note 4) The system according to any one of Supplementary Notes 1 to 3, wherein the puncture parameters include, as parameters for controlling a syringe, at least one of: a puncture start position indicating the position of the tip of the injection needle at the start of puncture, a puncture distance which is the distance the tip of the injection needle moves after puncture, a puncture speed which is the speed at which the tip of the injection needle moves during puncture, a plunger retraction time when the plunger of the syringe is retracted after puncture, an injection time when a drug is injected, an amount of the drug to be injected, and an amount of body fluid or tissue to be collected. (Supplementary Note 5) The system according to any one of Supplementary Notes 1 to 4, wherein the puncture parameters include, as parameters for adjusting an image of the animal, at least one of: image contrast, image brightness, and intensity of light irradiated on the animal. (Appendix 6) A system described in any of Appendices 1 to 5, wherein the puncture parameters include at least one of the following parameters for controlling a unit in which the animal is set: a suction pressure for suctioning the animal; and a size of a container for holding the animal.(Supplementary Note 7) The system according to any one of Supplementary Notes 1 to 6, wherein the at least one processor determines the condition of the part of the animal based on an image of the part, and outputs a warning when it is determined that the condition of the part is abnormal. (Supplementary Note 8) The system according to any one of Supplementary Notes 1 to 7, wherein the at least one processor detects the position of the tip of the injection needle from the image of the part of the animal, and displays a marker indicating the detected position of the tip of the injection needle by superimposing it on the image. (Supplementary Note 9) The system according to Supplementary Note 8, wherein the at least one processor detects the position of the tip of the injection needle based on information related to a syringe. (Supplementary Note 10) The system according to any one of Supplementary Notes 1 to 9, wherein the at least one processor determines a notch direction of the needle tip based on an image of the needle tip of the injection needle before puncturing, and, if the notch direction of the needle tip does not satisfy a predetermined condition, performs at least one of outputting a warning, adjusting the notch direction of the needle tip, and displaying an image relating to a notch direction that satisfies the predetermined condition. (Supplementary Note 11) The system according to any one of Supplementary Notes 1 to 10, wherein the at least one processor determines whether puncturing the animal was successful. (Supplementary Note 12) The system according to Supplementary Note 11, wherein the at least one processor determines whether puncturing was successful based on at least one of an image of a part of the animal when the plunger of the syringe is retracted after puncturing, or a current applied to a motor when the plunger of the syringe is retracted after puncturing. (Supplementary Note 13) The system according to any one of Supplements 1 to 12, wherein the at least one processor determines whether the injection of the drug into the animal was successful. (Supplementary Note 14) The system according to Supplementary Note 13, wherein the at least one processor determines whether the injection was successful based on either an image of a part of the animal taken during the injection of the drug, or a current applied to a motor when a plunger of a syringe is pressed during the injection of the drug.(Supplementary Note 15) The system according to Supplementary Note 4, wherein, when injecting the drug, the at least one processor presses the plunger of the syringe by a feed amount corresponding to the amount of the drug to be injected. (Supplementary Note 16) The system according to any of Supplements 1 to 15, wherein the at least one processor selectably registers the set puncture parameters or the edited puncture parameters. (Supplementary Note 17) The system according to Supplementary Note 15, wherein the at least one processor transmits a time of the injection to an external system in which the animal into which the drug has been injected is set, and controls the operation timing of the external system. (Supplementary Note 18) The system according to any of Supplements 1 to 17, wherein the at least one processor controls the puncture of the animal based on an image of the animal taken during puncture. (Supplementary Note 19) The system according to any of Supplements 1 to 18, wherein the at least one processor records at least information about the animal and the puncture parameters in association with each other. (Supplementary Note 20) The system according to Supplementary Note 19, wherein the at least one processor further records in the record at least one or more of information on the success or failure of the puncturing of the animal, the time of the puncturing, and an image taken during the puncturing, in association with each other. (Supplementary Note 21) The system according to any of Supplementary Notes 1 to 20, further comprising: one or more cameras that photograph the animal; a unit in which a syringe that performs the puncturing is set; and a restrainer that restrains the animal. (Supplementary Note 22) An injection method in a system for puncturing an animal to be punctured, wherein at least one processor sets puncturing parameters based on information on the animal to be punctured, and controls the puncturing of the animal based on the set puncturing parameters. (Supplementary Note 23) In a system for puncturing an animal to be punctured, an injection program for causing at least one processor to execute the following process: setting puncture parameters based on information about the animal to be punctured; and controlling puncturing of the animal based on the set puncture parameters.

[0193] This application claims priority based on Japanese Patent Application No. 2024-064478 filed on April 12, 2024, the entire contents of which are incorporated herein by reference.

Claims

1. A system for puncturing an animal to be punctured, comprising at least one memory and at least one processor, wherein the at least one processor sets parameters required to perform the puncture based on information about the animal to be punctured, and controls the puncturing of the animal based on the set parameters.

2. The system described in claim 1, wherein the at least one processor acquires information about the animal to be punctured based on at least one of the following: information input by an operator, measurement results of the animal measured using a measuring device, recognition results of recognizing tag information attached to the animal, recognition results of recognizing an image of the animal, information about an experimental plan including the execution of the puncture, and information acquired from another device.

3. The system according to claim 1, wherein the information about the animal to be punctured includes at least one of the animal's species, size, weight, information indicating the time since birth, sex, and identification information of the animal.

4. The system according to claim 1, wherein the parameters include puncture parameters, and the puncture parameters include, as parameters for controlling the syringe, at least one of the following: a puncture start position indicating the position of the tip of the injection needle at the start of puncture; a puncture distance which is the distance the tip of the injection needle moves after puncture; a puncture speed which is the speed at which the tip of the injection needle moves during puncture; a plunger retraction time when the plunger of the syringe is retracted after puncture; an injection time when a drug is injected; an amount of drug to be injected; and an amount of body fluid or tissue to be collected.

5. The system of claim 1, wherein the parameters include at least one of the following parameters for adjusting an image of the animal: image contrast; image brightness; and intensity of light irradiated onto the animal.

6. The system according to claim 1, wherein the parameters include at least one of the following parameters for controlling a unit in which the animal is set: a suction pressure for sucking the animal; and a size of a container for holding the animal.

7. The system according to claim 1, wherein the at least one processor determines the condition of the part of the animal based on an image of the part, and outputs a warning if it determines that the condition of the part is abnormal.

8. The system according to claim 1, wherein the at least one processor detects the position of the tip of the injection needle from an image of the part of the animal, and displays a marker indicating the detected position of the tip of the injection needle superimposed on the image.

9. The system of claim 8, wherein the at least one processor detects the position of the needle tip based on information about the syringe.

10. The system according to claim 1, wherein the at least one processor determines the notch direction of the needle tip based on an image of the needle tip of the injection needle before puncture, and if the notch direction of the needle tip does not satisfy a predetermined condition, performs at least one of the following: outputting a warning, adjusting the notch direction of the needle tip, or displaying an image showing a notch direction that satisfies the predetermined condition.

11. The system of claim 1, wherein the at least one processor determines whether the animal was successfully punctured.

12. The system described in claim 11, wherein the at least one processor determines whether the puncture was successful based on at least one of an image of the part of the animal taken when the plunger of the syringe is retracted after the puncture, or a current applied to a motor when the plunger of the syringe is retracted after the puncture.

13. The system of claim 1, wherein the at least one processor determines whether the injection of the drug into the animal was successful.

14. The system according to claim 13, wherein the at least one processor determines whether the injection has been successful based on either an image of the animal's body part taken during injection of the drug, or a current applied to a motor when the plunger of the syringe is pressed during injection of the drug.

15. The system according to claim 4, wherein the at least one processor, when injecting the drug, presses the plunger of the syringe by a feed amount corresponding to the amount of the drug to be injected.

16. The system according to claim 1, wherein the at least one processor selectably registers the set parameters or the edited parameters.

17. The system according to claim 15, wherein the at least one processor transmits the time of the injection to an external system in which the animal into which the drug has been injected is set, and controls the operation timing of the external system.

18. The system of claim 1, wherein the at least one processor controls the puncturing of the animal based on images of the animal taken during the puncturing.

19. A system according to any one of claims 1 to 18, wherein the at least one processor is configured to record at least information relating to the animal in association with the parameters.

20. The system described in claim 19, wherein the at least one processor further associates and records in the record at least one or more of the following: information on the success or failure of the puncture of the animal; the time of the puncture; and images taken during the puncture.

21. The system of claim 1, further comprising: one or more cameras for photographing the animal; a unit in which a syringe for performing the puncture is set; and a restrainer for restraining the animal.

22. A puncture method in a system for puncturing an animal to be punctured, wherein at least one processor executes processing to set parameters required for performing the puncture based on information about the animal to be punctured, and to control the puncturing of the animal based on the set parameters.

23. A program for causing at least one processor in a system for puncturing an animal to be punctured to execute the following process: setting parameters necessary for performing puncture based on information about the animal to be punctured; and controlling the puncture of the animal based on the set parameters.

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