51 results about "Electronic Prescriptions" patented technology

The invention provides a medical wholesale and retail comprehensive service method and system based on the Internet, and relates to the technical field of medicines.The medical wholesale and retail comprehensive service method comprises the steps that a hospital HIS system is docked in real time through an API, and electronic prescription data are collected; the collected electronic prescription data is connected with a medicine wholesale enterprise ERP system, the inventory state, batch number and validity period information of each medicine are obtained, and inventory information is obtained. According to the invention, through real-time connection of the hospital HIS system, the drug wholesale enterprise ERP system and the retail terminal POS system, inventory information can be obtained and dynamic management can be carried out. The real-time data updating not only improves the inventory turnover rate, but also can automatically warn the medicines close to the expiration date, and reduces the loss of the expired medicines. The LSTM neural network is adopted to predict the drug demand, and the replenishment suggestion is generated in combination with the linear programming model, so that the replenishment process can be optimized while the operation cost is minimized, and sufficient and efficient inventory is ensured.

The invention relates to the technical field of electronic prescriptions, in particular to a dynamic electronic prescription generation method and system based on artificial intelligence. The method comprises the following steps: collecting the latest physiological state parameter flow of a patient, carrying out real-time health state evaluation, and generating a personalized patient state map; historical medical records of a patient are extracted, time sequence pathological evolution tracking is carried out, and a pathological evolution trajectory is generated; performing multi-parameter time sequence difference comparison calculation and drug curative effect quantitative evaluation based on the personalized patient state map and the pathological evolution trajectory to obtain a curative effect evaluation report; performing allergic drug identification on the patient based on the historical medical record of the patient, and performing secondary drug screening to obtain a drug candidate set; and performing intelligent matching calculation on the drug candidate set according to the curative effect evaluation report, and performing combinatorial optimization analysis to generate a final effective electronic prescription. The electronic prescription is automatically updated and adjusted based on the state change of the patient, the risk of allergic prescriptions is reduced, and the safety of the prescriptions is improved.

The invention belongs to the technical field of medical informatization, and particularly relates to a medical insurance medication rationality interception system and method based on deep reinforcement learning and an FP-Growth algorithm, and the method comprises the following steps: S1, receiving electronic prescription data transmitted by a hospital HIS system in real time; s2, according to original diagnosis information in the prescription, performing standardization processing to obtain a diagnosis set; according to the original medicine information in the prescription, cleaning and integrating to obtain a medicine set; s3, based on an FP-Growth association rule algorithm, performing diagnosis-drug association analysis and drug-drug association analysis on the diagnosis set and the drug set, and identifying a low-association prescription according to a preset condition and marking the low-association prescription as a suspicious prescription; s4, starting deep reinforcement learning analysis on the suspicious prescription through DRL decision optimization, and outputting a prescription reinforcement learning feature set; and S5, outputting a prescription qualitative analysis result and a corresponding confidence score according to the prescription reinforcement learning feature set.

The invention relates to the technical field of medical informatization, and discloses a hospital electronic prescription full-process circulation management system based on the Internet. Comprising a prescription information acquisition module, a patient identity and authorization management module, a prescription validity judgment module, a drugstore selection and matching module, a distribution mode management module, a payment management module, an informed agreement and electronic signature module, an order circulation and state tracking module, a cold-chain medicine temperature control module and a data security and privacy protection module. The system solves the problems of low efficiency, high risk, difficulty in cooperation and the like in traditional prescription circulation through digitization and intelligentization, further promotes medical services to be converted from hospital-centered medical services to patient-centered medical services, and is an important support for constructing an efficient, safe and cooperative medical service system.

The invention relates to the technical field of traditional Chinese medicine treatment, and discloses a traditional Chinese medicine cart capable of sorting and recording and a sorting and recording method thereof. The traditional Chinese medicine cart comprises a movable cart body, a weighing table and a recording assembly integrating a control panel, a code scanner and a monitoring and shooting device. The method comprises the steps that prescription identification is obtained through a code scanner, an electronic prescription is called, a monitoring and photographing device is started to monitor traditional Chinese medicine weighing and storage areas, during sorting and weighing, the monitoring and photographing device synchronously records the operation process, weighing data of each medicinal material is bound with visual data of the corresponding operation process, and a traceable sorting record is generated. Through deep fusion of weighing data and visual evidences, traceability and error prevention of the whole process of the sorting process are achieved, and the sorting accuracy, safety and working efficiency of the traditional Chinese medicine formula are remarkably improved.

The invention discloses an anesthesia medical material management system based on Internet of Things and cloud data collaboration, and the system comprises intelligent medicine vehicle terminals which are disposed in operation rooms and are used for storing, issuing and recovering anesthesia essence medicines; the cloud data collaborative management and control platform is in communication connection with the intelligent medicine vehicle terminal (100) and is used for receiving and processing the medicine operation data from the intelligent medicine vehicle terminal and generating a whole-process management instruction; and the hospital management platform is in butt joint with the cloud data collaborative management and control platform and is used for providing operation schedule information of the patient, receiving medication charging information and generating an electronic prescription. According to the invention, automatic, visual and traceable closed-loop management of the whole process of applying, storing, taking, recycling and charging traceability of the hemp essence medicine can be realized, and integrated, centralized and standardized management of consumables and airway management tools is realized, so that the management precision, the medication safety and the operating room operation efficiency are remarkably improved.

The invention relates to the technical field of medical information, in particular to a medication safety management method, device and equipment and a readable medium. The method comprises the following steps: acquiring electronic prescription data containing medicine names, specifications, dosage, usage, medication time and basic information of patients; performing multi-dimensional risk analysis on the electronic prescription data based on the medication safety knowledge base, including incompatibility analysis, dose safety analysis, medication time conflict analysis and special usage suitability analysis, and generating medication risk prompt information and a personalized medication guidance scheme; the medication guidance scheme comprises a text abstract and instruction data used for generating a two-dimensional code; driving label printing equipment to print the intelligent medication two-dimensional code; a detailed text, a voice interpretation file or a medicine use demonstration video file in the medicine use guidance scheme is associated with the two-dimensional code and stored in a server; a user can access the multimedia guidance file by scanning the two-dimensional code through terminal equipment, so that the medication compliance and safety of a patient are improved.

An electronic prescription is obtained over a network. A synthetic prescription is generated from the electronic prescription and provided to an insurance switching system. Insurance information of a patient is received from the insurance switching system based on the synthetic prescription. An auto-reversal of the synthetic prescription with the insurance switching system is triggered. A patient payment amount associated with the particular pharmaceutical is determined based on the insurance information. One or more pharmacies to fulfill the electronic prescription are identified based on patient information. An interactive routing request data message is provided to the patient, the data message including the patient payment amount and a request for selection of a particular pharmacy of the one or more pharmacies. The selection of the particular pharmacy is received from a computing device associated with the patient. In response to receiving the selection, the electronic prescription is routed to the particular pharmacy.

The invention discloses an intelligent medicine taking system and method, and belongs to the field of medicine sorting. The intelligent medicine taking system comprises a prescription setting module capable of setting an electronic prescription; a prescription identification module capable of acquiring and identifying an electronic prescription; the intelligent medicine taking module can be controlled by the prescription identification module to automatically take medicines; the prescription setting module, the prescription identification module and the intelligent medicine taking module are connected in sequence. Compared with the prior art, through cooperation of the prescription setting module, the prescription recognition module and the intelligent medicine taking module, automatic medicine dispensing of the traditional Chinese medicine prescription can be achieved, the labor cost can be reduced, the medicine dispensing efficiency can be improved, and the medicine dispensing time of workers and the waiting time of patients can be saved.

The application provides an internet-based medical wholesale and retail comprehensive service method and system, relates to the technical field of medicine, and comprises the following steps: collecting electronic prescription data by real-time docking a hospital HIS system through an API interface; and docking the collected electronic prescription data with an ERP system of a medicine wholesale enterprise to obtain the stock status, batch number and valid period information of each medicine, and obtain stock information. In the application, the stock information can be obtained and dynamically managed by real-time docking the hospital HIS system, the ERP system of the medicine wholesale enterprise and a retail terminal POS system. The real-time data updating not only improves the stock turnover rate, but also automatically warns about medicines with a near expiration date, thereby reducing the loss of expired medicines; the LSTM neural network is used to predict the demand for medicines, and a linear programming model is used to generate replenishment suggestions, so that the replenishment process can be optimized while minimizing the operating cost, and the stock can be ensured to be sufficient and efficient.

The invention relates to the technical field of intelligent medical equipment and automatic dispensing, and discloses a dynamic stock management and environment control method and system for intelligent dispensing. The method comprises the following steps: reading bar code identification information of a medicine bottle body through a photoelectric scanner for establishing a medicament file; dynamically calculating the remaining amount in the medicine bottle according to the initial bottle weight in the medicine file and the accumulated medicine taking amount collected by the intelligent cover weight sensor in real time; controlling an environment control assembly to adjust a storage environment in the machine body according to storage conditions in the medicament file, recording and storing environment parameters collected by a temperature and humidity sensor according to a preset frequency, and forming an environment data log; when the electronic prescription is received, medicament information and dosage requirements in the electronic prescription are analyzed, the conveying assembly is dispatched to convey the corresponding medicine bottles to a dispensing station, the intelligent cover is controlled to carry out weight and volume two-dimensional metering according to the prescription dosage, and after metering is completed, mixed medicaments are subpackaged and sealed.

The invention belongs to the technical field of medical orthopedic rehabilitation, and discloses an electronic prescription generation method and device for a Taylor space scaffold, and the method comprises the steps: obtaining image data of an affected limb with the Taylor space scaffold; performing modeling segmentation to obtain a far-end broken bone model, a near-end broken bone model and a Taylor space stent model; acquiring the length of each extension rod in the current state, namely the original length; binding the near-end fixing ring model with the near-end broken bone model, and binding the far-end fixing ring model with the far-end broken bone model; virtual restoration between the near-end broken bone model and the far-end broken bone model is achieved, and the length, namely the target length, of each extension rod in the restoration state is obtained; and generating the electronic prescription based on the original length and the target length of each extension rod. According to the method, accurate calculation of the target adjusting amount of each extension rod in the Taylor space stent can be realized without depending on parameters of the stent and malformation parameters of fracture, and the treatment effect is ensured.

The present invention relates to an electronic prescription real-time circulation system and a circulation method. A target electronic prescription is issued by a doctor terminal, a drug purchase information form is constructed, and the target electronic prescription is encrypted, and then transmitted to the server side through the network. When the person picking up the medicine logs in to the medicine-picking mobile terminal, the analysis and navigation module in the server side is triggered to analyze each preset networked pharmacy based on the real-time positioning location of the person picking up the medicine, with the drug purchase information form as the target, considering whether a single networked pharmacy meets the drug purchase information form situation and whether multiple networked pharmacies meet the drug purchase information form situation, and create a recommended ranking under economic priority for pharmacies, a recommended ranking under distance priority, and a recommended ranking under comprehensive priority; finally, based on the forwarding of the feedback selection of the person picking up the medicine by the medicine-picking mobile terminal, the analysis and navigation module navigates the person picking up the medicine to the target networked pharmacy to purchase medicine. While realizing information encryption protection, the present invention recommends pharmacy navigation from multiple dimensions, improving the privacy and efficiency of the prescription drug purchase process.

This invention relates to the technical fields of intelligent diagnostic equipment for traditional Chinese medicine (TCM), medical IoT, and equipment and systems for internet-based TCM hospitals. Specifically, it relates to an integrated terminal and system for the four diagnostic methods (inspection, auscultation, inquiry, and palpation), incorporating a built-in TCM health model, wireless networking capabilities, and access to an internet-based TCM hospital platform for online registration, AI-based diagnosis, physician review, and electronic prescription processing. It aims to address the problems of single-function diagnostic equipment, data disconnect, and lack of a closed-loop diagnosis and treatment system. The terminal includes an integrated shell and integrated multimodal sign acquisition, edge computing core, interactive touch display, and secure communication gateway module. The acquisition module consists of inspection, auscultation, inquiry, and palpation units, synchronously acquiring tongue appearance, voice, chief complaint, and pulse wave features under a unified clock. The edge computing core incorporates a built-in TCM health model, deeply fusing multimodal features through a cross-modal attention mechanism.

The invention relates to the technical field of intelligent medicine cabinets, in particular to an intelligent medicine cabinet accurate information interaction system based on multimode adaptive Internet of Things communication, and the system comprises a management module which is used for updating the storage information of various medicines in the intelligent medicine cabinet in real time; the uploading module is used for uploading electronic prescriptions and identifying medicine names in the electronic prescriptions; the mechanical arm module is used for moving in the intelligent medicine cabinet and grabbing the medicine based on the medicine name identified in the electronic prescription in the uploading module; according to the intelligent medicine cabinet, real-time storage information of various medicines in the intelligent medicine cabinet is managed by combining camera monitoring with a sensing technology, and meanwhile, operation support is provided for a mechanical arm configured for the intelligent medicine cabinet based on medicine name identification in an electronic prescription; according to the intelligent medicine cabinet, it is ensured that the mechanical arm can correctly grab the target medicine based on the recognition result of the medicine name in the electronic prescription, and meanwhile after medicine dispensing is completed through medicine grabbing, whether the medicine dispensing result of the intelligent medicine cabinet is correct or not is further judged based on specific continuous analysis logic.

The embodiments of the present invention propose a combined payment method, apparatus, device, and storage medium, including: generating a medical consultation card based on an electronic prescription and recommended product information sent by a doctor client and sending the card to a user client; receiving a synchronous call instruction from the user client for a designated interface, obtaining medical consultation parameters matching the medical consultation card through the designated interface according to the synchronous call instruction, generating a combined payment order page based on the medical consultation parameters based on a combined payment routing decision corresponding to the designated interface, and sending the combined payment order page to the user client; receiving a payment request from the user client for the combined payment order page, and performing a combined payment for the prescription drugs and recommended products on the combined payment order page according to the payment request. The server supports information interaction between the user client and the doctor client, and directly generates a combined payment order page based on the medical consultation parameters based on the combined payment routing decision according to the synchronous call instruction from the user client, thereby improving the efficiency of combined payment.

To provide a medical product provision application processing system, a medical product provision application processing method, and a medical product provision application processing program, which can provide a customer with an amount of the cost of providing a medical product in advance.SOLUTION: In a communication system in which a medical product pickup reservation server, a plurality of pharmacy terminals, a plurality of customer terminals, an electronic prescription management system, and a payment server are connected to a network, a system control section 11 of the medical product pickup reservation server includes: a prescription information acquisition section that acquires prescription information indicating a prescription of a medical product to be provided to a customer; a prescription information transmission section that transmits the acquired prescription information to a pharmacy terminal used by a pharmacy; an estimated amount information reception section that receives, from the pharmacy terminal, estimated amount information indicating an estimated amount of the cost of providing the medical product based on the prescription indicated by the transmitted prescription information; and an estimated amount information transmission section that transmits the received estimated amount information to the customer terminal used by the customer.SELECTED DRAWING: Figure 5

The invention discloses an intelligent prescription circulation and self-service payment system based on a medicine station, and relates to the field of intelligent medical treatment, and the system comprises an analysis module which is used for receiving an electronic prescription which a patient belongs to and is issued by a hospital, extracting the name, the manufacturer, the specification, the dosage and the basic information of the patient, and converting the information into standardized prescription information; the checking module is used for checking medication rationality and prescription making validity of the standardized prescription information and eliminating illegal prescriptions to construct a list of medicines capable of customizing prescriptions; according to the method, electronic prescriptions are converted into standardized information, medication rationality and prescription effectiveness are accurately verified, illegal prescriptions are eliminated to guarantee medication safety, patients can autonomously select prescription drugs, adaptive drugstores are screened in combination with drugstore inventory and drug supply time efficiency, graded recommendation is given by fusing prices, commuting costs or distribution related factors, and the system is high in efficiency and high in efficiency. The patient can conveniently select an optimal medicine purchasing channel, and the medicine purchasing process is simplified through an online payment channel.

This invention discloses a method, system, and storage medium for online drug purchase and delivery based on prescriptions for rational drug use. It belongs to the field of online prescription drug purchase and delivery, and solves the problem in existing technologies where patients find it inconvenient and uneconomical to purchase and receive drugs online based on prescriptions for rational drug use, particularly addressing the issues of prioritizing nearby patients for delivery and centralized drug retrieval. The technical solution involves: an electronic device connecting to a cloud pharmacy server; the cloud pharmacy matching the retrieved drug name with available online pharmacies near the patient's address; the cloud pharmacy recommending options to the patient based on the distance between the online pharmacy address and the patient's address, and the drug price; the patient selecting a recommended option on the electronic device, making payment, and generating an information code; the cloud pharmacy transferring payment to the online pharmacy included in the purchase plan; and the online pharmacy delivering the purchased drugs offline to the patient's address. This method is primarily for patients with limited mobility, offering fast and economical delivery, with the drugs delivered directly to the patient's electronic prescription box at their address.

A method and system may provide an automated pharmacy processing system which automatically processes an electronic prescription by converting the electronic prescription into a pharmacy prescription record. In this way, an electronic prescription can be filled by a pharmacist without manual data entry. The system receives an electronic prescription and compares data from the electronic prescription with entries in one or more pharmacy database(s). When one or more data from the electronic prescription is different from the entries in the one or more pharmacy database(s), the electronic prescription data is combined into a combined component that is compatible with the pharmacy prescription record. The combined component is then automatically entered in the pharmacy prescription record, enabling the pharmacist to fill the electronic prescription.

A system and method for detecting prescription fraud in real time utilizes machine-learned models to analyze prescription histories and identify outlier behavior among clinicians. The system generates outlier scores representing the probability that a clinician's prescribing behavior deviates from norms. These scores can be used to evaluate prescription events, generating event scores that indicate the likelihood of illicit activity. The system employs a graph database to model relationships between clinicians, pharmacies, medications, and prescription events. Upon determining that an outlier or event score meets an alert threshold, the system can deny access to electronic prescription applications or alert pharmacies to potential fraud. Reinforcement learning is used to improve model accuracy, minimizing false positives while identifying complex fraud patterns.

The invention discloses a prescription information compression method and device and a paper prescription, and relates to the technical field of medical prescription data information processing. The method comprises the following steps: acquiring structured electronic prescription information; generating a binary coding sequence of each medical named entity in the electronic prescription information according to pre-established medical named entity dictionaries of different categories; the medical named entity dictionary comprises various medical named entities sorted according to statistical frequencies and integer indexes corresponding to the medical named entities, and the integer indexes corresponding to the medical named entities with higher statistical frequencies are smaller; splicing the binary coding sequences corresponding to all the medical named entities in the electronic prescription information end to end to form a binary long coding sequence, and complementing the binary long coding sequence to obtain a byte array; and encoding the byte array into a compressed character string, adding the compressed character string as a parameter into the URL, and generating a two-dimensional code according to the URL. The compression ratio of prescription information can be greatly improved.

The present invention provides a system and method for medical providers to give electronic prescriptions (“eRx”) to patients. When an eRx is generated by a medical provider, a blockchain is initiated that stores all the information of the eRx. This eRx is given to the patient on their digital storage device. The eRx can be provided to a permissioned peer, such as a pharmacy, whereby the permissioned peer is able to confirm the authenticity of the eRx.

The invention discloses a prescription circulation management system for multi-role permission subdivision, and relates to the technical field of medical informatization, and the system comprises a prescription generation and verification module which is in butt joint with an HIS system, and automatically checks and archives an electronic prescription; the role permission dynamic adaptation module adjusts the permission based on a risk algorithm and generates an encryption token; the prescription circulation scheduling module distributes prescriptions according to authority and pushes medicine purchasing information; the abnormal behavior recognition module recognizes violation through a knowledge graph and an algorithm and generates an early warning; the medicine service module provides personalized guidance and encrypts whole-process data; through a dynamic permission adaptation mechanism, the permission boundary is adjusted in real time in combination with scene and behavior risks, the limitation of static management is broken through, and the safety and compliance of medical data are improved; meanwhile, a medical rule knowledge graph and a causal model are constructed, complex violation behaviors are accurately identified, an early warning report is generated to assist supervision, and the industry risk prevention and control capability is remarkably enhanced.

Apparatuses, systems, and methods relate to technology to receive an electronic request from a user device of a user to fill a prescription, identify that the prescription is associated with a first medicine, identify a first pharmacy that is capable of providing the first medicine, and predict site capacities for the first pharmacy for a plurality of dates. The technology further determines a subset of dates from the plurality of dates based on the site capacities, determines delivery dates for the first medicine based on the subset of dates, and provides the delivery dates to the user device.

The utility model belongs to the technical field of medical treatment, and provides a medicine injection label device based on two-dimensional code recognition, which comprises a label body, a medicine tracing two-dimensional code is mounted on the surface of the label body, adhesive paper is mounted at the rear end of the label body, and a penicillin bottle is connected to the rear end of the adhesive paper; the pasting strip is installed on the surface of the label body at the bottom of the medicine tracing two-dimensional code, and the top of the pasting strip is connected with a protective film; by scanning the medicine tracing two-dimensional code on the medicine bottle body, automatic filling of information such as medicine names, specifications, use information, manufacturers, dates and batch numbers is achieved, it is ensured that each medicine is bound with a patient during use, medical advice entries and numb essence electronic prescriptions are generated by scanning the code in a one-key mode, operation is easy, input cost is low, and efficiency is high. Burdens such as making medical advices, typewriting and making prescriptions are relieved, human intervention on batch numbers of the hemp essence medicine is reduced, and the hemp essence medicine is prevented from flowing out.

The invention relates to the technical field of prescription payment, in particular to an intelligent prescription payment system and method. The method comprises the following steps: firstly, obtaining representative delivery duration and an aging coefficient of each medicine so as to classify the medicines, and further obtaining an aging expansion coefficient and an aging contribution degree of each medicine in each medicine purchasing record of a current user; and then obtaining the aging weight of the current user when the current user purchases the medicine at present, and further determining a medicine purchasing scheme and paying in combination with the aging coefficient of each medicine in the electronic prescription. According to the method, the medicines are classified by analyzing the general aging tendency of each medicine purchased by the user, the purchase interference influence among the medicines with different aging demand properties is further analyzed, the aging expansion deviation condition of each medicine in each purchase process is corrected, the medicine purchase tendency of the user in the historical medicine purchase record is accurately analyzed, and the user experience is improved. Therefore, a personalized medicine purchasing scheme can be determined for the user, so that timeliness and economy are balanced, and the payment efficiency and user experience of the user in the prescription payment process are improved.

This invention discloses a digital intelligent medical rehabilitation diagnosis method and system based on closed-loop management, comprising the following steps: analyzing data using hierarchical reasoning and interpretable generation mechanisms to provide relevant suggestions, mapping these suggestions to training action templates; dynamically calculating training intensity based on the patient's current functional state, and dynamically assembling prescription parameters based on the training intensity using an incremental prescription update mechanism to update the prescription; updating the prescription and follow-up plan based on a dynamic strategy of clinical status. This invention supports dynamically assembling training intensity and frequency according to the patient's real-time status, forming truly personalized electronic prescriptions; finally, through prescription versioning management, intelligent follow-up node planning, and an automatic re-evaluation triggering mechanism, a data-driven closed loop covering the entire rehabilitation cycle is constructed, ensuring that the intervention plan continuously evolves with the patient's recovery process.

This invention discloses an electronic prescription review method and system for smart pharmacies, relating to the field of smart pharmacy transaction control technology. It addresses the problem of how to achieve an electronic prescription review method that can adaptively adapt to inventory status, intelligently match prescriptions with physical medications, and accurately manage the risks of substitute dispensing. The method includes: obtaining the set of individual items to be dispensed corresponding to the electronic prescription to be reviewed and the set of actually scanned individual items obtained from actual scanning; generating an inventory constraint identifier for each individual item based on the real-time inventory status of the medication corresponding to each individual item in the set of individual items; determining the optimal mapping relationship between each individual item in the set of individual items and the individual items in the set of actually scanned individual items; determining the compliance risk value of each individual item based on the optimal mapping relationship and the inventory constraint identifier; and executing corresponding control instructions for the current transaction based on the compliance risk values ​​of all individual items in the set of individual items.

The invention belongs to the technical field of intelligent medical equipment, and discloses an intelligent pharmacy automatic medicine dispensing system and a remote control method, S1, an image acquisition device obtains liquid medicine package visual features, bar code scanning and RFID reading information are combined, multi-element identification is carried out, medicine information and package type parameters are obtained, and the medicine information and the package type parameters are stored in a database; the medicine information, the packaging type parameters and the position parameters are stored in the system, S2, electronic prescription data are received and analyzed, and the medicine information of the liquid medicine is extracted; packaging type parameters and position parameters are obtained through matching according to the medicine information; s3, according to the packaging type parameters, a matched special actuator type is selected through a preset mapping relation, the bottled preparation corresponds to a clamping type actuator, and the bagged preparation corresponds to a lifting type actuator; and S4, the selected special actuator is driven to complete taking and placing operation of the liquid medicament according to the position parameters.