JP2023155420A - Drug registration device, program, and drug delivery device - Google Patents

Abstract

To allow users such as pharmacists can easily register shape models.SOLUTION: A control unit (190) of an injection drug dispensing device includes: an information acquisition unit (211) for acquiring input container type information and container size information; a model creation unit (212) for identifying a shape template corresponding to the type indicated by the type information, and creating a shape model by enlarging or reducing the identified shape template on the basis of the size information; and a model registration unit (214) for registering the shape model created by the model creation unit.SELECTED DRAWING: Figure 65

Description

The present invention relates to a drug cassette handling device that handles cassettes containing drugs, and a drug dispensing device equipped with the drug cassette handling device.

BACKGROUND ART Conventionally, drug sorting devices that sort returned (collected) drugs and drug dispensing devices that dispense drugs stored in trays have been developed. For example, an example of a drug sorting device is disclosed in Patent Document 1.

In the medicine sorting device of Patent Document 1, after determining the type of medicine taken out from a sorting tray installed in a sorting tray installation section, the medicine is stored in a storage box. Specifically, a plurality of sorting trays can be stored in the sorting tray installation section, and among the stored sorting trays, the drug in the sorting tray stored at the top is taken out as a target for drug type determination. .

Note that techniques related to peripheral devices (eg, printer devices) for medicine dispensing devices are disclosed, for example, in Patent Documents 2 to 5.

Japanese Patent Application Publication No. 2015-51040 (published on March 19, 2015) Japanese Patent Application Publication No. 2005-132565 (published on May 26, 2005) Japanese Patent Application Publication No. 2015-13177 (published on January 22, 2015) Japanese Patent Application Publication No. 2012-136240 (published on July 19, 2012) WO2011/138857 (published on November 10, 2011)

A drug orientation registration device according to one aspect of the present invention includes a graphic orientation identifying unit that identifies the orientation of the graphic by reading a graphic attached to the medication from the medication, and a medication orientation setting that sets the orientation of the medication. direction information indicating a relationship between the orientation of the graphic and the orientation of the drug based on the orientation of the graphic specified by the graphic orientation specifying unit and the orientation of the medication set by the medication orientation setting unit. and an information registration unit that registers the information in association with the type of drug.

FIG. 1 is a block diagram showing the configuration of an injection drug dispensing device according to the present embodiment. 1 is a diagram showing an example of the configuration of an injection drug dispensing system including an injection drug dispensing device according to the present embodiment. FIG. 1 is a perspective view of an injection drug dispensing device according to the present embodiment. It is an enlarged perspective view of a cassette shelf. It is a front view of a specific processing part and a cassette holding part. It is a top view of a cassette holding part. FIG. 4 is a perspective view of a specific processing section and a drug sorting section from a different angle from that shown in FIG. 3; It is a top view of a part of specific processing part and medicine sorting part. FIG. 3 is a front view of the drug transfer unit. (a) is a perspective view of the cassette transfer section from a different angle from that shown in FIG. 3, and (b) is an enlarged view of the main parts of the cassette transfer section shown in (a). FIG. 3 is a cross-sectional view of the orientation cassette in a plane parallel to the front surface of the injection dispensing device. FIG. 3 is a diagram showing the shape of a large-sized returned medicine cassette, in which (a) is a plan view and (b) is a cross-sectional view taken along the line AA in (a). FIG. 3 is a diagram showing the shape of a small and medium-sized returned medicine cassette, in which (a) is a plan view, (b) is a cross-sectional view taken along line BB in (a), and (c) is a cross-sectional view along line C in (a). - It is a sectional view taken along the C line. It is a flowchart which shows the operation when an injection medicine dispensing device dispenses an injection medicine. It is a flowchart showing the operation of the injection medicine dispensing device for returned medicines. It is a figure showing an example of arrangement of a cassette held by a cassette holding part. FIG. 2 is a diagram for explaining the registration process of a shape model, (a) is a flowchart showing an example of the registration process, and (b) is a diagram schematically representing the shape of the injection drug indicated by the shape model. . 3 is a flowchart illustrating an example of initial setting processing. FIG. 3 is a diagram for explaining each coordinate system. (a) to (c) are diagrams for explaining coordinate transformation processing. It is a figure which shows an example of the process which determines the adsorption position of the injection medicine accommodated in the cassette. (a) and (b) are diagrams for explaining detection of a cassette in an image. (a) and (b) are diagrams for explaining correction of positional deviation caused by lens distortion. FIG. 3 is a diagram for explaining correction of positional deviation caused by the width of an injection drug. (a) to (c) are diagrams for explaining correction of positional deviation related to projection. It is a figure which shows an example of a cassette, (a) is a state before attachment of a dividing member, (b) is a figure which shows the state after attachment of a dividing member. (a) and (b) are detailed views of the cassette transfer section. FIG. 2 is a block diagram showing the configuration of an injection drug dispensing device. 7 is a flowchart illustrating an example of a process for specifying a storage position of a cassette. (a) and (b) are diagrams for explaining an example of installation positions of a sensor and a reflector. It is a table showing an example of moving speed information. (a) is a diagram showing an example of the configuration of a moving mechanism of the drug transport unit, and (b) and (c) are diagrams showing an example of the operation of the adsorption mechanism of the medicine transport unit. (a) and (b) are diagrams for explaining an example of timing adjustment of image processing by a time limit reading camera. (a) to (f) are diagrams for explaining an example of processing when there is an injection drug that cannot be dispensed. FIG. 3 is a diagram showing a state in which a small tray is placed on a transport tray. (a) is a perspective view showing an example of a small tray, (b) is a plan view showing an example of the small tray, and (c) is a sectional view taken along line A-A' showing an example of the small tray. FIG. 1 is a perspective view showing an example of a printer device. FIG. 1 is a block diagram showing an example of a printer device. FIG. 3 is a plan view showing an example of the bottom of the printer device. FIG. 2 is a front view showing an example of a conveyance tray printing device. (a) is a perspective view showing an example of an infusion label dispensing device and an infusion label transport mechanism, and (b) and (c) are perspective views showing an example of an infusion label receiving section included in the infusion label dispensing device. be. FIG. 2 is a plan view showing an example of an infusion label dispensing device. (a) to (d) are diagrams for explaining an example of an operation of grasping an infusion label by the infusion label transport mechanism. (a) to (d) are diagrams for explaining an example of an operation of transporting an infusion label by an infusion label transport mechanism. (a) and (b) are diagrams for explaining placement positions of infusion labels on the transport tray. 1 is a diagram showing an example of a injection tablet dispensing device, in which (a) is a front view showing an example of the injection tablet dispensing device, and (b) and (c) are perspective views showing an example of an injection tablet receiving section. be. (a) and (b) are perspective views showing an example of an injection tablet transport mechanism. (a) to (d) are diagrams for explaining an example of the operation of transporting the injection tablet by the injection tablet gripping mechanism. (a) and (b) are perspective views showing an example of a transport label gripping part included in the infusion label transport mechanism. (a) is a diagram showing an example of a cassette when a dividing member is attached, and (b) is a diagram showing an example of a data table when the cassette is divided into two parts. It is a perspective view which shows an example of the injection medicine dispensing device provided with the cassette holding part of another example. FIG. 3 is a diagram showing an example of a cassette-cum-drug holding part, (a) is a schematic exploded sectional view of the cassette-cum-drug holding part, and (b) is a perspective view showing an example of a rolling prevention sheet. c) is a plan view showing an example of the cassette-cum-drug holding part in a state where the light source is turned on; It is a figure showing an example of rough arrangement of lighting members. It is a flowchart which shows another example of operation of an injection medicine dispensing device for returned medicine. FIG. 3 is a diagram showing an example of an image displayed on a touch panel. It is a figure which shows the infusion label receiving part of another example, Comprising: (a) is a perspective view, (b) is a front view. (a) to (d) are diagrams for explaining an example of transportation of an infusion label. It is a perspective view showing an example of a large-sized returned medicine cassette. (a) is a plan view of a large-sized returned medicine cassette, and (b) and (c) are side views of small and medium-sized returned medicine cassettes. It is a sectional view showing an example of the inclination of the recessed part in a large-sized return medicine cassette. It is a perspective view showing an example of a small and medium-sized returned medicine cassette. (a) is a plan view of a small and medium-sized returned medicine cassette, and (b) and (c) are side views of the small and medium-sized returned medicine cassette. FIG. 3 is a cross-sectional view showing an example of the slope of a recess in a medium-sized medicine placement area. FIG. 3 is a cross-sectional view showing an example of the slope of a recess in a small medicine placement area. FIG. 2 is a block diagram showing an example of the configuration of an injection drug dispensing device. It is a figure which shows an example of a vial, and an example of the shape template and simple shape model of a vial. FIG. 2 is a diagram showing an example of an ampoule, and an example of a shape template and a simple shape model of the ampoule. It is a figure which shows an example of a plastic ampoule, and an example of the shape template and simple shape model of a plastic ampoule. It is a figure which shows an example of a stick ampoule, and an example of the shape template and simple shape model of a stick ampoule. It is a figure which shows an example of the correspondence between the mounting direction of the injection medicine in a position change part, and the direction of the injection medicine identification information attached|subjected to the injection medicine. 12 is a flowchart illustrating an example of a simple shape model registration process and an orientation registration process of injection drug identification information. It is a figure which shows an example of a model registration image. It is a figure which shows an example of a model registration image. It is a figure which shows an example of a model registration image. It is a figure which shows an example of a model registration image. It is a figure which shows an example of a model registration image.

In this specification, "prescription data regarding administration to one patient" may refer to at least any of the following (1) to (3).
(1) Data regarding drugs administered to one patient (prescription data for each patient).
(2) Data regarding one dose of drug administered to one patient (prescription data for one prescription unit).
(3) When a classification is assigned to one dose of a drug administered to one patient at the time of prescription, data regarding the classification (prescription data in units of 1 RP (recipe)).

Further, the term "medicine" includes not only the drug itself that is not contained in a container or the like, but also the drug that is contained in a container or the like (eg, an ampoule, a vial, an injection kit, and a PTP (Press Through Pack) sheet). In this embodiment, the explanation will be given mainly on the assumption that the drug is an injection drug (including an ampoule or a vial containing an injection drug).

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

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

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

As shown in FIGS. 1 and 3, the injection drug dispensing device 100 includes a cassette shelf 110, a specific processing section 120, a cassette holding section 130, a cassette transfer section 140, a drug sorting section 150, and a storage section 180. , and a control unit 190. In particular, the cassette shelf 110, the specific processing section 120, the cassette holding section 130, and the cassette transfer section 140 are collectively referred to as a drug cassette handling device 200.

The cassette shelf 110 is a shelf that stores m cassettes Ca containing injection drugs (drugs). m is an integer of 3 or more. In this embodiment, the cassette shelf 110 stores cassettes Ca in a matrix in a vertical plane. Each of the m cassettes Ca stores injection drugs for each drug type in advance. Furthermore, different types of injection drugs are stored in at least two cassettes Ca. Furthermore, as will be described later, all of the m cassettes do not necessarily need to be cassettes Ca, and for example, a cassette for handling returned medicines may be included as part of the m cassettes.

In the following description, the direction in which the cassette Ca is inserted into the cassette shelf 110 will be referred to as the depth direction. Further, a direction perpendicular to the depth direction in a plane parallel to the horizontal plane is referred to as a width direction.

FIG. 4 is an enlarged perspective view of the cassette shelf 110. As shown in FIG. 4, the cassette shelf 110 includes a plurality of wall materials 111 that are parallel to the vertical direction and parallel to the depth direction. The interval between the plurality of wall materials 111 is larger than the width of the cassette Ca.

A plurality of support members 112 extend from each wall material 111 in the width direction. On the opposing surfaces of the wall materials 111 adjacent to each other, the heights of the respective support members 112 are equal to each other. Further, the distance between the ends of the supporting members 112 that face each other is smaller than the width of the cassette Ca. Therefore, in the cassette shelf 110, the cassette Ca inserted between the wall materials 111 is stored with both ends in the width direction supported by the support members 112.

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

The injection drug contained in the cassette Ca is contained in a container such as an ampoule or a vial. In this embodiment, the injection drugs are housed in the cassette Ca in an unaligned manner. However, the injection drugs may be housed in the cassette Ca in an aligned state. Furthermore, the cassette Ca may contain medicines such as tablets and ointments instead of injection medicines. Furthermore, the cassette Ca may contain items other than medicines.

Ampules and vials have different shapes depending on the type of injection drug they contain. The cassette Ca may have a different shape (for example, height) depending on the shape of the ampoule or vial accommodated in the cassette Ca. The cassette Ca may include, for example, a small cassette that accommodates ampoules or vials with a diameter of 28 mm or less, and a large cassette that accommodates ampoules or vials with a diameter of more than 28 mm.

FIG. 5 is a front view of the specific processing section 120 and the cassette holding section 130. A cassette shelf 110 is also shown in FIG. 5 for the purpose of aiding understanding.

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

FIG. 6 is a plan view of the cassette holding section 130. As shown in FIG. 6, the cassette holding section 130 is a collection of four cassette holding sections 130a to 130d. Note that the number of cassette holding sections 130 is not limited to four, and is equal to the value of n mentioned above, that is, the number of cassettes Ca that the cassette holding section 130 can hold. The cassette Ca is held by being placed on one of the cassette holding sections 130a to 130d. Furthermore, drive mechanisms 133a to 133d for reciprocating the cassette holders 130a to 130d in the depth direction are provided below each of the cassette holders 130a to 130d.

The cassette holding sections 130a to 130d include a cassette receiving position 131 that receives the cassette Ca from the cassette transfer section 140, and a processing position 132 where the cassette Ca undergoes specific processing by the specific processing section 120. Specifically, each of the cassette holders 130a to 130d has cassette receiving positions 131a to 131d and processing positions 132a to 132d. The cassette holding parts 130a to 130d reciprocate in the depth direction by drive mechanisms 133a to 133d, thereby reciprocating the cassette Ca between the cassette receiving positions 131a to 131d and the processing positions 132a to 132d. In other words, the cassette holding section 130 moves the cassette Ca toward the processing position 132 in the horizontal direction. FIG. 6 shows a state in which the cassette holding section 130b is located at the processing position 132b, and the other cassette holding sections 130a, 130c, and 130d are located at the cassette receiving positions 131a, 131c, and 131d, respectively. In this way, each of the cassette holders 130a to 130d can reciprocate the cassette Ca independently of each other. Note that two or more of the cassette holders 130a to 130d may be located at corresponding processing positions 132a to 132d.

Further, the cassette holding section 130a is provided with a load cell 134 for measuring the weight of the cassette Ca. The weight of the cassette Ca itself (ie, not including the weight of the injection drug) and the weight of each injection drug contained in the cassette Ca are known. Therefore, by measuring the weight of the entire cassette Ca using the load cell 134, it is possible to calculate the number of injections stored in the cassette Ca, that is, the inventory of injections in the injection medicine dispensing device 100. This calculation process is performed, for example, after all the injection drug dispensing processes for that day are completed in the evening of a certain day and each cassette Ca is filled with injection drugs, until the injection drug dispensing process starts the next morning. executed.

The specific processing unit 120 performs specific processing on the injection drug accommodated in the cassette Ca. In this embodiment, the identification process includes at least a process from taking out the cassette Ca containing the injection drug to be dispensed from the cassette shelf 110 to specifying the type and expiration date of the injection drug. In addition, the identification process includes a returned medicine receiving cassette 161 (see FIG. 16) containing returned medicines, which will be described later, a large returned medicine cassette 163 (see FIG. 12), or a small and medium-sized returned medicine cassette 164 (see FIG. 13) from the cassette shelf 110. It may also include at least processing up to specifying the type and expiration date of the medicine to be returned. In order to realize the above identification process, the identification processing unit 120 includes a drug transport unit 121, a position identification camera 122 (first imaging unit), barcode readers 123 and 124 (reading unit), and an expiration date reading camera 125. (second imaging section), a position change section 126, a drug rotation section 127, a first discrimination processing section 195 (described later), and a second discrimination processing section 196 (described later).

The position specifying camera 122 is a camera provided below the cassette shelf 110. The position specifying camera 122 performs photographing to specify the injection drug to be taken out from the cassette Ca.

As shown in FIGS. 5 and 6, the injection drug dispensing device 100 of this embodiment includes two position specifying cameras 122a and 122b as the position specifying camera 122. As shown in FIG. 6, the position specifying camera 122a is provided directly above the center of the boundary line between the processing positions 132a and 132b, and photographs a photographing area 122c including the processing positions 132a and 132b. Further, the position specifying camera 122b is provided directly above the center of the boundary line between the processing positions 132c and 132d, and photographs a photographing area 122d including the processing positions 132c and 132d. Therefore, the two position specifying cameras 122a and 122b can photograph the inside of the cassette Ca located at the four processing positions 132a to 132d.

FIG. 7 is a perspective view of the specific processing section 120 and the medicine sorting section 150 from a different angle from that of FIG. In FIG. 7, the cassette holding section 130 is omitted. FIG. 8 is a plan view of part of the specific processing section 120 and medicine sorting section 150.

The position changing unit 126 is a turntable that is rotatable around an axis perpendicular to the horizontal plane. A first mounting section 126a (mounting section) and a second mounting section 126b (mounting section) are provided on the upper surface of the position changing section 126 for mounting the medicine received by the specific processing section 120. In this embodiment, the first mounting part 126a and the second mounting part 126b are recessed parts provided at positions facing each other across the rotation axis of the position changing part 126.

The position changing unit 126 changes the positions of the first mounting unit 126a and the second mounting unit 126b to a drug receiving position for receiving an injection from the drug transporting unit 121, and a drug moving position for dispensing the injection. 153. Specifically, the positions of the first mounting part 126a and the second mounting part 126b are changed between the medicine receiving position and the medicine delivery position by the position changing part 126 rotating around the above-mentioned axis. In FIG. 8, the first mounting section 126a is located at the drug receiving position, and the second mounting section 126b is located at the drug delivery position.

The drug rotating section 127 receives the injection drug transported by the drug transport section 121 for reading by the barcode reader 123 or photographing by the expiration date reading camera 125, and rotates the received injection drug in the axial direction. The drug rotating section 127 is provided in the first mounting section 126a and the second mounting section 126b. Specifically, the drug rotating section 127 is a belt conveyor provided at the bottom of the first mounting section 126a and the second mounting section 126b, and the drug rotation section 127 is a belt conveyor provided at the bottom of the first mounting section 126a and the second mounting section 126b, and the medicine rotation section 127 is a belt conveyor provided at the bottom of the first mounting section 126a and the second mounting section 126b. rotate in the axial direction. The first loading section 126a and the second loading section 126b load the injection medicine received by the medicine rotating section 127. Specifically, of the first loading section 126a and the second loading section 126b, the loading section located at the medicine receiving position loads the injection medicine transported by the medicine transporting section 121.

In addition, in this embodiment, as shown in FIG. 8, both the first mounting part 126a and the second mounting part 126b are provided with the drug rotating part 127, but the present invention is not limited to this. For example, the positions of the first mounting part 126a and the second mounting part 126b are fixed, and the second mounting part 126b has a cross section such that the injection drug placed on the second mounting part 126b is oriented in a fixed direction. In the case where the medicine rotating part 127 has a shape, it is sufficient that the medicine rotating part 127 is provided only in the first mounting part 126a. Examples of the cross-sectional shape include a substantially V-shape. Note that in this case, the injection drug dispensing device 100 has a transport mechanism that transports the injection drug from the first mounting section 126a to the second mounting section 126b. Further, the barcode reader 124, which will be described later, is not necessary.

Moreover, the number of mounting parts with which the injection medicine dispensing device 100 is provided may be three or more, or may be one. However, when the number of loading units is one, there is a time period of waiting for loading of other injection drugs until the identification of one injection drug is completed, which increases the time required for dispensing the injection drugs. Considering this point, it is preferable that the injection drug dispensing device 100 is configured to include a plurality of mounting sections and to change the position of the mounting sections between a drug receiving position and a drug delivery position.

The drug transport unit 121 takes out and transports the injection medicine from the cassette Ca in order to dispense the injection medicine stored in the cassette Ca. In this embodiment, the drug transport unit 121 includes an adsorption mechanism 121a, a movement mechanism 121b, and a slider 121c, as shown in FIG. The adsorption mechanism 121a is an adsorption mechanism that adsorbs an injection drug, and can extend vertically downward. The moving mechanism 121b is a mechanism capable of moving the suction mechanism 121a in the depth direction and reciprocating itself in the width direction. The moving mechanism 121b reciprocates in the width direction along the slider 121c.

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

Barcode reader 124 has substantially the same configuration as barcode reader 123. The barcode reader 124 reads a barcode to check the posture of the injection drug loaded on the first loading section 126a or the second loading section 126b at the medicine delivery position. For example, when an injectable drug has an elliptical cross section, the injectable drug has positions suitable for adsorption and positions not suitable for adsorption. Therefore, by attaching a bar code to a position that can be read by the barcode reader 124 when the injection drug is in a position suitable for adsorption, and by rotating the injection drug by the drug rotation unit 127 so that the bar code can be read, the injection drug is It can be placed in a position suitable for suction. Information indicating injection drugs whose postures need to be confirmed based on whether or not the barcode can be read is stored in the storage unit 180.

Note that the posture of the injection drug may be confirmed by another method. In this case, it is not necessary to attach the barcode to the above-mentioned position.

The expiration date reading camera 125 photographs information (second identification information) attached to an injectable drug and indicating the expiration date of the injectable drug. In this embodiment, information indicating the expiration date of the injection drug is attached to the injection drug in text.

With the above configuration, in the drug cassette handling device 200, the cassette Ca is transferred from the cassette shelf 110 to the cassette holding section 130 by the cassette transfer section 140. Furthermore, the specific processing unit 120 performs specific processing on the injection drug accommodated in the cassette Ca.

The drug sorting unit 150 sorts the injection drugs that have been processed by the specific processing unit 120. The medicine sorting section 150 includes a tray holding section 151, a non-dispensing medicine storage section 152, and a medicine moving section 153, as shown in FIG.

The tray holding unit 151 holds a transport tray 151a from which injections are dispensed. The tray holding section 151 is provided as a part of the path along which the transport tray 151a flows in the injection drug dispensing system 1.

The non-dispensable drug storage unit 152 stores injection drugs determined to be non-dispensable. The non-dispense medicine storage unit 152 classifies and stores injection medicines into a plurality of types. Specifically, the non-dispense medicine storage unit 152 classifies, for example, medicines with inappropriate types and medicines with inappropriate expiration dates into large medicines and medium or small medicines. .

The medicine moving unit 153 moves the injection medicine to either the transport tray 151a held in the tray holding unit 151 or the non-dispensing medicine storage unit 152 based on the determination result regarding the type and expiration date of the injection medicine. Note that the transport tray 151a may be partitioned into a plurality of areas, and injection drugs with different prescription data (for example, for one patient) may be dispensed in each area.

Note that the above-mentioned specifying process may include a process of sorting the injection drug whose type and expiration date have been specified to the transport tray 151a or the non-dispense drug storage section 152. In this case, the specific processing section 120 includes a drug sorting section 150.

FIG. 9 is a front view of the drug transfer unit 153. The medicine moving unit 153 of this embodiment includes an adsorption mechanism 153a, a moving mechanism 153b, and a slider 153c. The adsorption mechanism 153a is an adsorption mechanism that adsorbs an injection drug, and can extend vertically downward. The moving mechanism 153b is a mechanism that can move the suction mechanism 153a in the width direction and can itself reciprocate in the depth direction. The moving mechanism 153b reciprocates in the depth direction along the slider 153c.

Specifically, the drug transfer unit 153 dispenses injection drugs determined to be appropriate in terms of both type and expiration date to the transport tray 151a. On the other hand, the drug transfer unit 153 moves injection drugs determined to be inappropriate in at least one of the type and expiration date to the non-dispense drug storage unit 152.

The cassette transfer unit 140 transfers the cassette Ca between the cassette shelf 110 and the cassette holding unit 130 in order to replace the cassette Ca held in the cassette holding unit 130. In this embodiment, the cassette transfer unit 140 pulls out the cassette Ca from the cassette shelf 110, transfers it in the vertical direction, and places it on the cassette holding unit 130 at the cassette receiving position 131. In particular, when the received prescription data includes two or more types of injection drugs related to administration to one patient, the cassette transfer unit 140 transfers the received prescription data and correspondence relationship data to be described later. Based on this, each cassette Ca containing the injection drug is transferred to the cassette holding section 130.

Note that prescription data regarding administration to one patient may include multiple recipes (combinations) of injection drugs. In this case, it is conceivable to dispense injections for each recipe and administer the injections of the plurality of recipes dispensed multiple times to the patient at once. In this case, when one recipe contains two or more types of injection drugs, the cassette transfer section 140 transfers each cassette Ca containing the injection drugs to the cassette holding section 130. There may be.

FIG. 10(a) is a perspective view of the cassette transfer unit 140 from a different angle from that in FIG. To aid understanding, a cassette shelf 110 is also shown in FIG. FIG. 10(b) is an enlarged view of a main part of the cassette transfer section 140 shown in FIG. 10(a). As shown in FIGS. 10A and 10B, the cassette transfer section 140 includes a claw section 141, a claw section moving mechanism 142, a beam section 143, and a support section 144.

The claw portion 141 is a claw-shaped member that projects vertically upward. The cassette Ca is provided with an engaging portion shaped to protrude vertically downward on the near side edge in the depth direction. By engaging the claw portion 141 with the engaging portion, the cassette transfer portion 140 can pull out the cassette Ca from the cassette shelf 110.

The claw moving mechanism 142 is a mechanism that reciprocates the claw 141 in the depth direction. When the cassette Ca is pulled out from the cassette shelf 110, it is located below the claw moving mechanism 142. The beam portion 143 is a beam parallel to the width direction and arranged on the upper part of the injection drug dispensing device 100. The claw portion moving mechanism 142 can move along the beam portion 143 in parallel to the width direction. The strut portions 144 are two struts arranged at both ends in the width direction near the front surface of the injection drug dispensing device 100. The beam portion 143 is movable in the vertical direction while being supported by the support portions 144 at both ends. By combining these (i) movement of the claw part 141 in the depth direction, (ii) movement of the claw part moving mechanism 142 in the width direction, and (iii) movement of the beam part 143 in the vertical direction, The cassette Ca hooked onto the claw portion 141 can be transferred.

Further, the cassette transfer section 140 includes a shock absorbing plate 145 on the lower surface of the claw section moving mechanism 142. The shock absorbing plate 145 covers the upper side of the cassette Ca when the cassette Ca is pulled out from the cassette shelf 110. The shock absorbing plate 145 is configured to be movable up and down in response to a shock. When the injection medicine jumps up due to the impact applied to the cassette Ca, the injection medicine collides with the shock absorption plate 145. The shock absorbing plate 145 alleviates the shock caused by the collision of the injection drug by moving up and down. This reduces the possibility that the injection drug will be damaged due to the impact applied to the cassette Ca.

Further, when taking out the cassette Ca from the cassette shelf 110, the cassette transfer unit 140 pulls out the cassette Ca with the front side of the cassette Ca raised above the height of the protrusion 113. Therefore, the cassette transfer unit 140 can take out the cassette Ca from the cassette shelf 110 without getting the cassette Ca caught on the protrusion 113.

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

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

The suction position determining unit 194 analyzes the image taken by the position specifying camera 122, and determines the suction position where the medicine transport unit 121 adsorbs the injection drug in order to take out the injection medicine from the cassette Ca.

The first discrimination processing unit 195 converts the information indicating the type of injection drug read by the barcode reader 123 into the information indicating the type of injection drug included in the prescription data related to administration to one patient (injection drug type information). Based on the results of the comparison with unique information), it is determined whether or not the injection drug can be dispensed. The second determination processing unit 196 determines whether or not the injection drug can be dispensed based on information indicating the expiration date of the injection photographed by the expiration date reading camera 125. Specifically, the second determination processing unit 196 may determine whether or not the injection drug can be dispensed, for example, based on the result of comparing the expiration date and the date and time at which the determination process is performed. Alternatively, the second determination processing unit 196 may determine whether or not the injection drug can be dispensed, for example, based on the result of comparing the expiration date with the date and time when the injection drug is administered to the patient. In this case, data on the date and time when the injection drug is administered to a patient may be included in, for example, prescription data regarding administration to one patient.

The processing by the first discrimination processing section 195 and the second discrimination processing section 196 is part of the above-described specific processing. Therefore, as described above, the specific processing section 120 includes the first discrimination processing section 195 and the second discrimination processing section 196.

The drug position control section 197 controls the operations of the position change section 126 and the drug rotation section 127. Specifically, the drug position control section 197 controls the positions of the first mounting section 126a and the second mounting section 126b by rotating the position changing section 126. Further, the drug position control section 197 operates the drug rotation section 127 to rotate the injection drug in the first mounting section 126a or the second mounting section 126b.

In addition, the control unit 190 further includes a dispensing order determining unit (not shown) that determines the dispensing order of injection drugs when a plurality of types of injection drugs are indicated in prescription data related to administration to one patient. The dispensing order determining unit may determine, for example, the order indicated in the prescription data regarding administration to one patient as the dispensing order of the injection medicine. Further, the dispensing order determining unit may determine the dispensing order of the injection medicine based on the name of the injection medicine, for example. Based on the dispensing order of injection drugs and the correspondence relationship data described later, the order in which the cassettes Ca are transferred by the cassette transfer unit 140 and the order in which the cassettes Ca held in the cassette holding unit 130 are moved from the cassette receiving position 131 to the processing position 132 are determined. The order in which the files are moved to, etc. is determined.

The storage unit 180 stores information necessary for controlling the injection drug dispensing device 100. The storage unit 180 stores, for example, programs for controlling the operations of the medicine transport unit 121, the cassette transport unit 140, the medicine transfer unit 153, and the like. Furthermore, the storage unit 180 stores correspondence relationship data indicating the correspondence relationship between each of the m cassettes Ca and the injection drug contained in each of the m cassettes Ca. Furthermore, the storage unit 180 stores information indicating the above-mentioned injection drugs whose postures need to be confirmed based on whether or not the barcode can be read.

Further, the storage unit 180 stores a drug master in which information regarding each injection drug is recorded. Specifically, the drug master includes injection drug identification information (injection drug code, injection drug ID) for identifying each injection drug, and various information (e.g., injection drug width information indicating the width of the injection drug). are registered in a linked state.

Note that the drug master and the other information described above may be stored in a server (not shown) that can be connected to the injection drug dispensing device 100 via a network.

(About returned medicines)
Furthermore, in hospital operations, injection drugs that have been dispensed may not be administered to the patient and may be returned due to changes in the patient's condition. It takes time and effort to return such returned injection drugs (returned drugs) to the cassettes Ca for each type. Therefore, the injection medicine dispensing device 100 has a function of specifying the type and expiration date of returned medicines, storing them, and reusing the returned medicines. A specific configuration for realizing this function will be described below.

As shown in FIGS. 11 to 13, the cassette shelf 110 includes a returned medicine receiving cassette 161, a direction alignment cassette 162, a large returned medicine cassette 163, and a small and medium sized returned medicine cassette 164. These cassettes may be held, for example, in the rightmost row in the width direction of the cassette shelf 110.

The returned medicine receiving cassette 161 is a cassette that initially receives returned medicines. When putting returned medicine into the returned medicine receiving cassette 161, the user can do so without worrying about the type or direction of the returned medicine.

The direction alignment cassette 162 is a cassette for aligning the orientation of returned medicines in a fixed direction. The orientation cassette 162 has a bottom surface with a substantially V-shaped cross section. Therefore, the direction of the returned medicines put into the returned medicine receiving cassette 161 is aligned in a constant direction along the shape of the bottom surface.

FIG. 11 is a cross-sectional view of the orientation cassette 162 in a plane parallel to the front surface of the injection dispensing device 100. As shown in FIG. 11, the cross section of the bottom surface of the orientation cassette 162 is not a simple V-shape, but has a shape that is a combination of an upwardly convex curve and a downwardly convex curve. As will be described below, operations regarding returned medicines include a step in which the location camera 122 photographs the interior of the orientation cassette 162. At this time, if the cross section of the bottom surface of the direction alignment cassette 162 is completely V-shaped, there is a possibility that proper photographing may not be performed due to light reflected from the bottom surface. Therefore, for the purpose of suppressing reflection in the direction of the position specifying camera 122, the cross section of the bottom surface of the direction alignment cassette 162 is shaped as a combination of curved lines.

The large returned medicine cassette 163 and the small and medium sized returned medicine cassette 164 are both cassettes that contain injection medicines whose types have been determined. The large returned medicine may be, for example, a returned medicine with a diameter of 26 mm or more. Further, the returned medicine of medium size or smaller may be, for example, a returned medicine with a diameter of less than 26 mm. Note that the size that is the boundary between medium and small size may be set as appropriate, and the size that is the boundary between large and medium and smaller is not limited to the above example.

FIG. 12 is a diagram showing the shape of the large returned medicine cassette 163, in which (a) is a plan view and (b) is a cross-sectional view taken along the line AA in (a). FIG. 13 is a diagram showing the shape of a small and medium-sized returned medicine cassette 164, in which (a) is a plan view, (b) is a cross-sectional view taken along the line BB in (a), and (c) is a FIG. 3 is a sectional view taken along line CC in (a). In (b) of FIG. 12, (b) and (c) of FIG. 13, the plane of the paper is a plane parallel to both the depth direction and the vertical direction of the injection drug dispensing device 100.

As shown in FIGS. 12A and 12B, a plurality of recesses 163a are formed on the bottom surface of the large returned medicine cassette 163. On the other hand, as shown in FIGS. 13A to 13C, a plurality of recesses 164a shallower than the recesses 163a are formed on the bottom surface of the small and medium-sized returned medicine cassette 164 at intervals narrower than the intervals between the recesses 163a. There is. Furthermore, a plurality of recesses 164b that are shorter and shallower than the recesses 164a are formed between the recesses 164a.

A large returned medicine is stored in one of the recesses 163a in the large returned medicine cassette 163. A medium-sized returned medicine is accommodated in one of the recesses 164a in the small and medium-sized returned medicine cassette 164. The small returned medicine is stored in the recess 164b in the small and medium sized returned medicine cassette 164. Note that a small returned medicine may be stored in the recess 164a.

Note that the direction alignment cassette 162, the large-sized returned medicine cassette 163, and the small and medium-sized returned medicine cassette 164 may be configured by, for example, disposing a bottom plate having the shape described above on the bottom of the cassette Ca. Alternatively, the orientation cassette 162, the large returned medicine cassette 163, and the small and medium sized returned medicine cassette 164 may be dedicated cassettes each having a bottom shaped as described above.

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

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

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

The first discrimination processing section 195 and the second discrimination processing section 196 specify the type and expiration date of the injection medicine loaded on the first loading section 126a (SA5). Specifically, the first discrimination processing section 195 reads the type using the barcode reader 123, and the second discrimination processing section 196 analyzes the expiration date.

The first determination processing unit 195 determines whether the type of injection drug is appropriate (SA6). If the type of injection drug is appropriate (YES in SA6), the second determination processing unit 196 determines whether the expiration date of the injection drug is appropriate (SA7). If the expiration date of the injection drug is appropriate (YES in SA7), the transport control section 193 causes the drug transfer section 153 to dispense the injection drug onto the transport tray 151a (SA8). On the other hand, if the type of injection is inappropriate (NO in SA6) or the expiration date of the injection is inappropriate (NO in SA7), the transport control unit 193 causes the drug transfer unit 153 to transfer the injection It is moved to the non-dispense medicine storage section 152 and stored (SA9).

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

In addition, in the example mentioned above, although the process of step SA6 and SA7 was performed in this order, these steps may be performed in reverse order or may be performed in parallel.

The cassette Ca from which the injection medicine has been taken out may be returned from the cassette holding section 130 to the cassette shelf 110 by the cassette transfer section 140 at any timing while the processes from step SA3 onwards are being executed. However, if it is determined in step SA6 or SA7 that the type or expiration date of the injection taken out from the cassette Ca is inappropriate, it is necessary to take out the injection again from the cassette Ca. For this reason, it is preferable that the cassette Ca after taking out the injection drug be returned to the cassette shelf 110 after the determination in step SA7 is YES.

Further, in step SA6, if the determination is NO multiple times in a row and the types of injections used in the multiple injections are the same, an injection different from the correspondence stored in the storage unit 180 is placed in the cassette Ca. It may be contained. The control unit 190 may include a notification unit (not shown) that notifies the administrator of the injection drug dispensing system 1 of the possibility in such a case.

Note that the injection drug dispensing device 100 does not need to perform the above processing independently for each cassette Ca, and may perform the processing in parallel. That is, for example, after executing step SA1 for one cassette Ca, the transfer control unit 191 may execute step SA1 for another cassette Ca while the drive control unit 192 is executing step SA2. Further, while the conveyance control unit 193 is executing step SA4 for the other cassette Ca, the cassette holding unit 130 moves the cassette Ca for which step SA4 has already been completed to the cassette receiving position 131, and the cassette transfer unit 140 It may be returned to the cassette shelf 110. In this way, by performing the specifying process in parallel on some of the many cassettes Ca stored on the cassette shelf 110, it is possible to speed up the specifying process. The speeding up of the processing by executing specific processing in parallel in this manner becomes more effective as more cassettes Ca are stored on the cassette shelf 110.

[Example of operation when returning injection drugs]
FIG. 15 is a flowchart showing the operation of the injection medicine dispenser 100 for returned medicines. FIG. 16 is a diagram showing an example of the arrangement of cassettes held in the cassette holding section 130. The operation when an injection drug is returned will be explained below.

First, the transfer control unit 191 causes the cassette transfer unit 140 to transfer the returned medicine receiving cassette 161, the direction alignment cassette 162, the large returned medicine cassette 163, and the small and medium sized returned medicine cassettes 164 to the cassette holding unit 130 (SB1). . These cassettes may be arranged as shown in FIG. 16, for example. That is, the direction alignment cassette 162 is arranged at the position closest to the position changing unit 126, and the returned medicine receiving cassette 161, the large returned medicine cassette 163, and the small and medium sized returned medicine cassettes 164 are arranged in the order of distance from the position changing unit 126. It's fine. However, the order is not limited to this.

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

The suction position determination unit 194 takes an image of the inside of the returned medicine receiving cassette 161 using the position specifying camera 122, analyzes the position (and orientation) of the returned medicine from the image, and determines the suction position by the medicine transport unit 121. Decide (SB3). The transport control unit 193 uses the drug transport unit 121 to adsorb the returned medicine at the suction position determined by the suction position determination unit 194, and transports the returned medicine from the returned medicine receiving cassette 161 to the direction alignment cassette 162 (SB4).

The returned medicines transported to the direction alignment cassette 162 are aligned in direction due to the shape of the bottom surface of the direction alignment cassette 162 and the action of gravity. The suction position determining unit 194 captures an image of the inside of the direction alignment cassette 162 using the position specifying camera 122, and determines the suction position by the drug transport unit 121 based on the position of the returned medicine (SB5). The transport control unit 193 uses the medicine transport unit 121 to adsorb the returned medicine at the suction position determined by the suction position determination unit 194, and transports it from the orientation cassette 162 to the first mounting unit 126a (SB6).

Regarding the returned medicine transported to the first loading section 126a, the first discrimination processing section 195 and the second discrimination processing section 196 specify the type and expiration date, similarly to step SA5 described above (SB7). The second determination processing unit 196 determines whether the expiration date of the returned medicine is appropriate (SB8). Whether or not the expiration date is appropriate is determined, for example, based on the result of comparing the expiration date with the date and time when step SB8 is executed.

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

Through the above process, one returned medicine is stored in the large returned medicine cassette 163 or the small and medium returned medicine cassette 164 with the correspondence between the position and type recognized. The injection medicine dispensing device 100 repeats this process until there are no returned medicines in the returned medicine receiving cassette 161.

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

[Specific processing related to removal of injection drugs]
Next, an example of a specific process related to taking out the injection medicine from the cassette Ca will be explained using FIGS. 17 to 25.

In order to take out the injection drug from the cassette Ca placed on the cassette holding section 130, the adsorption position determining section 194 analyzes the image taken by the position specifying camera 122, thereby extracting the injection drug stored in the cassette Ca. Among them, identify the injection drug to be adsorbed. Then, the suction position determining unit 194 determines the approximately central portion of the specified injection drug (in the case of a vial, approximately the vicinity of the central portion of the cylindrical portion) as the suction position. The transport control unit 193 controls the drug transport unit 121 to lower the suction mechanism 121a to the determined suction position to adsorb the injection drug.

First, a description will be given of a shape model, a shape model registration process, and an initial setting process that are necessary in the suction position determination process by the suction position determination unit 194.

(shape model)
First, the shape model will be explained. The shape model is data indicating a plurality of shape patterns calculated by applying a plurality of conditions to the shape information of the injection drug. The shape model is data referenced by the suction position determining unit 194 in order to specify the shape of the injection drug included in the image captured by the position specifying camera 122.

The shape information is contour information (edge information) indicating the contour of each injection drug. In this embodiment, the shape information is expressed as a set of point sequences of position information in adjacent pixels indicating the outline of the injection drug, and has an accuracy on the order of sub-pixels.

Examples of the plurality of conditions include (1) to (5) below.
(1) The range in which the injection drug is rotated as indicated by the shape information (eg, 0° or more and less than 360°).
(2) The pitch at which the injection drug is rotated.
(3) Range of magnification for expanding and contracting the injection drug in the X-axis direction.
(4) Range of magnification for expanding and contracting the injection drug in the Y-axis direction.
(5) Contrast of the injection drug (brightness difference between the foreground and background of the injection drug).

The shape model is registered in the drug master in association with the injection drug identification information of each injection drug. However, instead of the drug master, the shape model may be managed by a drug shape master in which each injection drug identification information and shape model are registered in association with each other. Further, it is preferable that the shape model is created in advance and registered in the drug master. However, it is possible to update the shape model at any time. In other words, the latest shape model is registered in the drug master.

(Geometry model registration process)
Next, the shape model registration process will be described using FIG. 17. FIG. 17 is a diagram for explaining the shape model registration process, (a) is a flowchart showing an example of the registration process, and (b) is a diagram schematically showing the shape of the injection drug indicated by the shape model. This is a diagram.

First, the user places an injection drug to be registered in a cassette Ca and places it on the cassette shelf 110. The cassette transfer unit 140 takes out the cassette Ca from the cassette shelf 110 and places it on any cassette holding unit 130 located at the cassette receiving position 131. Note that the user may also place the cassette Ca on the cassette holding section 130.

Thereafter, as shown in FIG. 17A, after the transport control unit 193 transports the cassette holding unit 130 on which the cassette Ca is placed to the processing position 132, the position specifying camera 122 detects the cassette Ca (i.e. , the injection drug in the cassette Ca) is photographed (SC1).

Next, the suction position determining unit 194 detects an injection drug area indicating an area assumed to be an injection drug in the image acquired by the position specifying camera 122 (SC2). For example, the suction position determining unit 194 performs a binarization process on the image and detects a region including pixels having gradation values within a predetermined range as an injection drug region. Since the cassette Ca has a specific color (eg, blue), the suction position determination unit 194 only needs to detect an area having a color different from the specific color. Therefore, the suction position determination unit 194 can easily specify the injection drug area. In other words, by using the cassette Ca of a specific color, it becomes possible to easily specify the injection drug area.

Next, the suction position determination unit 194 performs a smoothing process on the outline of the injection drug region (SC3), and then detects the orientation (angle) of the injection drug (SC4). The suction position determining unit 194 aligns the orientation of the registered injection medicine in a certain direction (angle 0°) based on the detected orientation of the injection medicine (SC5: normalization process). In addition, this direction is, for example, when the Y-axis direction (the direction in which the coordinate ImgCol is set) is the reference line in the image Im1 shown in FIG. 19, and the reference line and the center and bottom of the head of the injection drug. It is defined as the angle formed by the straight line connecting the center.

Next, the suction position determining unit 194 specifies the shape of the injection region after the smoothing process and the normalization process as shape information indicating the shape of the injection drug, and then applies the shape information described in (1) to A plurality of shape patterns are calculated by applying the condition (5). The shape and orientation of the injection drug indicated by the shape model are schematically shown in FIG. 17(b). The plurality of shape patterns are then registered in the drug master as shape models of the injection drug (SC6).

As a result, the suction position determination unit 194 compares the injection drug area detected from the image taken by the position identification camera 122 with the shape model registered in the medicine master during the suction position determination process. It becomes possible to specify the shape of the injection drug to be adsorbed.

(Initial setting)
Next, the initial setting process will be explained using FIGS. 18 to 20. FIG. 18 is a flowchart illustrating an example of initial setting processing. FIG. 19 is a diagram for explaining each coordinate system. FIGS. 20(a) to 20(c) are diagrams for explaining coordinate transformation processing.

The injection drug dispensing device 100 performs initial settings at least at the time of shipment. The initial settings include parameter setting processing and coordinate transformation processing.

As shown in FIG. 18, parameter setting processing is first performed. The parameter setting process is a process of setting (calculating) internal parameters and external parameters.

The internal parameter is a lens-specific (camera-specific) parameter that indicates the characteristics of the lens of the position specifying camera 122, and its value is published by the camera manufacturer. The internal parameters define, for example, the type of lens distortion (eg, barrel distortion or pincushion distortion) and the degree of distortion.

The external parameter is a parameter that indicates the attitude of the position specifying camera 122 (the attitude of the lens) installed in the injection drug dispensing device 100. In other words, the external parameter is a value determined when the position specifying camera 122 is installed and fixed on the cassette shelf 110. The external parameter indicates, for example, the position of the positioning camera 122 in the world coordinate system (for example, the x coordinate, y coordinate, z coordinate of the positioning camera 122, the rotation angle with respect to the x axis, and the rotation angle with respect to the y axis). .

Specifically, the drug transport unit 121 places the cassette holding unit 130 to which the parameter setting plate is fixed at the processing position 132 that is within the field of view of the position specifying camera 122 (SD1). Thereafter, the position specifying camera 122 acquires a parameter setting image by photographing the parameter setting plate (SD2).

The parameter setting plate is a plate used to calculate internal and external parameters, and has many small black dots (dot patterns) printed on it, for example. Note that the process of SD1 may be performed by the user.

Next, the suction position determination unit 194 determines whether or not the image has been photographed a predetermined number of times (SD3). If the image has not been photographed the predetermined number of times (NO in SD3), the process returns to SD1. That is, if the image has not been photographed a predetermined number of times, the drug transport unit 121 places a parameter setting plate printed with a dot pattern different from the dot pattern printed on the photographed parameter setting plate at the processing position 132. In this embodiment, six to ten parameter setting plates having mutually different dot patterns are prepared. As long as internal and external parameters can be calculated, the number of parameter setting plates prepared may be 5 or less or 11 or more. Further, the predetermined number of times is set to the number of prepared parameter setting plates.

If the image has been photographed a predetermined number of times (YES in SD3), the suction position determination unit 194 calculates internal and external parameters by analyzing the images of the plurality of parameter setting plates (SD4).

As mentioned above, the internal parameters are fixed values published by the camera manufacturer, but due to individual differences in lenses, there may be errors from the published values even for lenses of the same type. There is also gender. By calculating the internal parameters, the actual internal parameters of the lens used in the position identification camera 122 can be accurately identified.

Next, coordinate transformation processing is performed. The coordinate transformation process is a process of calculating a transformation matrix (Vector) for performing coordinate transformation to match the suction position in the image with the actual suction position on the cassette Ca. It can be said that the transformation matrix is used to specify the positional relationship between the image coordinate system and the robot coordinate system. In reality, as will be described later, distortion occurs in the captured image. Therefore, in this embodiment, a transformation matrix is calculated for specifying the positional relationship between the robot coordinate system and the world coordinate system, which is obtained by transforming the image coordinate system and has no distortion.

The image coordinate system is a coordinate system set to an image captured by the position specifying camera 122. In this embodiment, as shown in FIG. 19, one corner of the image Im1 (the back side of the injection medicine dispensing device 100 (processing position 132 side)) is set as the origin (Img (0,0)), and the injection medicine dispensing An X-axis is defined from the back side of the apparatus 100 toward the front side (cassette receiving position 131 side), and coordinates (ImgRow, ImgCol) are defined.

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

The world coordinate system is an absolute coordinate system in the injection drug dispensing device 100. In this embodiment, as shown in FIG. 19, an arbitrary position in the injection drug dispensing device 100 is set as the origin (World (0, 0)), and the and the coordinates (WorldX, WorldY) are defined. Note that the direction in which the lens of the position specifying camera 122 is positioned when viewed from the origin (World (0, 0)) is defined as the Z axis, and the coordinates (WorldZ) are defined. The origin (World (0, 0)) (reference position) is, for example, the center of the cassette holding sections 130a and 130b (or the cassette holding sections 130c and 130d).

After the process of SD4, as shown in FIG. It is placed at processing positions 132a and 132b (or processing positions 132c and 132d) that exist within the angle of view of the identification camera 122a (or the position identification camera 122b) (SD5). The two robot origin jigs 501 are inserted into jig holes 502a formed in the coordinate conversion plate 502 when the coordinate conversion plate 502 shown in FIG. 20(b) is placed on the cassette holders 130a and 130b. is fixed in the desired position. Further, the two robot origin jigs 501 are fixed to such an extent that no displacement occurs due to pressing or suction of the suction mechanism 121a. Note that the process of SD5 may be performed by the user.

In this state, the transport control unit 193 lowers the suction mechanism 121a onto each robot origin jig 501 and brings the tip end thereof into contact with the suction mechanism 121a. Thereby, the suction position determining unit 194 specifies the positions of the two robot origin jigs 501 in the robot coordinate system.

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

After processing SD5, as shown in FIG. 20(c), the user inserts the coordinate conversion plate 502 into a cassette so that the robot origin jig 501 is inserted into the jig hole 502a formed in the coordinate conversion plate 502. The holding parts 130a and 130b are placed (SD6). After placement, the position specifying camera 122 acquires a coordinate transformation image by photographing the coordinate transformation plate 502 (SD7).

Next, the suction position determining unit 194 detects the position (ImgRow, ImgCol) of the target 503 in the image coordinate system by analyzing the coordinate transformed image (SD8).

Next, the suction position determining unit 194 converts the position of the target 503 in the image coordinate system to the position (WorldX, WorldY) of the target 503 in the world coordinate system in order to correct distortion of the coordinate transformed image (SD9). . Specifically, the suction position determining unit 194 uses the internal parameters and external parameters calculated in SD4 and the target height information indicating the height of the target 503 to determine the world position from the position of the target 503 in the image coordinate system. The position of the target 503 in the coordinate system is calculated. Note that the target height information is stored in the storage unit 180 in advance.

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

In this embodiment, since two position specifying cameras 122 are provided, internal parameters and external parameters are calculated, and a transformation matrix is calculated for each position specifying camera 122a and 122b. Further, the external parameters depend on the installation position of the position specifying camera 122. Therefore, the position specifying camera 122 is firmly fixed to the cassette shelf 110, and if the installation position shifts, the external parameters are calculated again.

(Determination process of suction position)
Next, the process of determining the adsorption position of the injection drug accommodated in the cassette Ca will be explained using FIGS. 21 and 22. FIG. 21 is a diagram illustrating an example of a process for determining an adsorption position of an injection drug contained in a cassette Ca. The process in FIG. 21 specifically explains the SA3 process shown in FIG. 14. (a) and (b) of FIG. 22 are diagrams for explaining detection of the cassette Ca in an image.

As shown in FIG. 21, the suction position determining unit 194 compares the injection drug identification information included in the prescription data provided to the injection drug dispensing system 1 with the injection drug identification information included in the drug master. Thereby, the suction position determining unit 194 reads the shape model of the injection drug (the injection drug to be photographed) stored in the cassette Ca placed at the processing position 132 (SE1).

Next, the position specifying camera 122 photographs the cassette holder 130 (that is, the cassette Ca placed on the cassette holder 130 and the injection medicine stored in the cassette Ca) transferred to the processing position 132. (SE2). For example, when a cassette Ca containing an injection drug to be photographed is placed on the cassette holder 130b, an image Im2 as shown in FIG. 22(a) is photographed by the position specifying camera 122a. .

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

Note that even if two cassette holding units 130 are placed in the imaging area 122c or 122d, the suction position determining unit 194 identifies the injection drug to be imaged based on the determined dispensing order. can. Therefore, the suction position determination unit 194 can identify the cassette Ca containing the injection drug to be imaged, among the two cassette holding units 130 placed in the imaging area 122c or 122d.

Here, FIG. 22(b) is a diagram of the cassette Ca viewed from above. The drug transport unit 121 may not be able to adsorb the injection drug present in the end region inside the cassette Ca (the region having the width W2 from the inside of the side wall). Furthermore, the side wall portion (thickness W1) of the cassette Ca cannot be specified as a region that adsorbs the injection drug. Therefore, the suction position determining unit 194 injects an area excluding the side wall portion and the end area (area having a thickness W1 and a width W2 from the outer edge of the cassette Ca) from the area detected as the cassette Ca in the image. It is specified as the drug adsorption area Ra.

Note that if an injection exists in an area other than the adsorption possible area Ra, the suction position determining unit 194 does not determine the injection as the injection to be adsorbed. That is, only the injection drugs existing within the adsorption possible area Ra are specified as injection drugs to be adsorbed. If the injection medicine exists only in an area other than the adsorption possible area Ra, the suction position determination unit 194 may issue a notification (warning) that the injection medicine cannot be adsorbed. Further, when a plurality of types of cassettes Ca are prepared (for example, cassettes Ca having different heights are prepared), the adsorption possible area Ra is specified for each type of cassette Ca.

After the process of SE3, the suction position determining unit 194 performs preprocessing to emphasize the injection drug area in the image (SE4). For example, the suction position determination unit 194 may erase the label in the image by converting the area assumed to be a label into a specific color, or erase the area assumed to be the outline defining the outer edge of the injection drug (e.g. adjacent For example, processing is performed to emphasize areas where there is a predetermined brightness difference or color difference in pixels. After that, the suction position determining unit 194 detects an injection drug area included in the image from the image (SE5). For example, by performing binarization processing on the image processed in SE4, the suction position determining unit 194 can generate an area including pixels having gradation values within a predetermined range (that is, a color different from the specific color of the cassette Ca). area) as the injection drug area. Thereafter, the suction position determination unit 194 compares the specified injection region with the shape model read in SE1 (SE6).

Next, the suction position determining unit 194 verifies the validity of the collated results (SE7). In the process of SE6, the outline of the injection drug is identified, so if multiple injection drugs are adjacent or overlap, the multiple injection drugs will be identified as one injection drug. There are cases. In this case, the exact suction position cannot be specified.

For example, when two injections exist, the cassette Ca as a background will exist in the area between the two injections. Therefore, in the identified injection drug area, if there is an area that penetrates the injection drug area and includes a specific color, the suction position determination unit 194 recognizes that multiple injection drugs exist, and as a result of the comparison. is determined to be inappropriate. In this case, the process of SE6 is performed until it is determined that the verification result is valid.

In SE7, if it is determined that the collated result is valid, the suction position (suction coordinates) in the injection drug area on the image and the orientation of the injection drug area are calculated (SE8). That is, the suction position in the image coordinate system is calculated.

When verification is performed in SE6, the position of the head of the injection drug in the image can be specified, so the orientation of the injection drug region can be specified. This direction is, for example, between the reference line and the head of the injection drug when the Y-axis direction (the direction in which the coordinate ImgCol is set, the left-right direction on the page) is the reference line in the image Im2 shown in FIG. 22(a). It is defined as the angle formed by the straight line connecting the center of the part and the center of the bottom. It may be calculated based on a registered shape model (angle 0°). Note that a method for calculating the suction position will be described later.

Next, the suction position determining unit 194 changes the calculated suction position in the image coordinate system to the suction position in the world coordinate system in order to correct the distortion of the lens of the position specifying camera 122 and the installation position of the lens. Convert (SE9). Similar to the process of SD9 shown in FIG. 18, this conversion is performed by using the internal parameters and external parameters calculated in SD4 shown in FIG. 19, and the injection width information indicating the width of the injection.

Next, the suction position determination unit 194 converts the converted suction position in the world coordinate system into a suction position in the robot coordinate system (SE10). As a result, the adsorption position for the injection drug in real space is specified. This transformation is performed by applying the transformation matrix calculated in the process of SD10 shown in FIG. 18 to the suction position in the world coordinate system.

Note that the adsorption position when the injection drug is returned can be determined using, for example, a known method. Therefore, a detailed explanation of the determination method will be omitted.

(Correction processing related to suction position determination)
Next, the correction process related to the determination of the suction position will be explained using FIGS. 23 to 25. FIGS. 23A and 23B are diagrams for explaining correction of positional deviation caused by lens distortion. FIG. 24 is a diagram for explaining correction of positional deviation caused by the width of the injection drug. FIGS. 25A to 25C are diagrams for explaining correction of positional deviation related to projection.

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

In conventional injection drug dispensing devices, a position specifying camera is provided on the ceiling of the injection drug dispensing device, and the injection drug whose drug type is to be determined is placed directly below the camera. That is, in the injection drug dispensing device 100, the distance is shorter than in the case of the conventional injection drug dispensing device, so it is necessary to increase the viewing angle of the lens used in the position specifying camera 122. Note that, for example, in the injection drug dispensing device 100, the above-mentioned distance is about 465 mm, whereas in the conventional injection drug dispensing device, the above-mentioned distance is about 1.1 to 1.2 m.

Further, generally, the viewing angle of a lens becomes smaller as the lens diameter becomes larger. Since the above-mentioned distance is relatively large, a lens having a relatively large lens diameter (eg, 16 mm) can be used in the conventional injection drug dispensing device. However, when the lens is used in the injection drug dispensing device 100, the viewing angle is too small for the above distance, and the entire cassette Ca placed at the processing position 132 cannot be photographed. Therefore, in consideration of the above distance, it is necessary to use a lens with a relatively small diameter as the lens of the position specifying camera 122.

When the above-mentioned distance is about 465 mm, it is also possible to use a lens having a lens diameter of, for example, 8 mm. However, in this case, in order to photograph the entire processing positions 132a to 132d, it is necessary to provide one position identification camera 122 for each processing position 132a to 132d (that is, a total of four cameras 122 are required for the entire apparatus). (requires a localization camera 122). Therefore, in this embodiment, a lens having a lens diameter of 6 mm is used. As a result, one position specifying camera 122a common to processing positions 132a and 132b is provided, or one position specifying camera 122b is provided common to processing positions 132c and 132d (that is, the entire apparatus Only by providing a total of two position specifying cameras 122), it is possible to photograph the entire processing positions 132a to 132d.

However, the smaller the lens diameter, the greater the degree of distortion in the captured image. This distortion causes an error between the actual position of the injection medicine in the cassette Ca and the position of the injection medicine in the image. Therefore, if the suction position of the injection drug is specified without correcting this distortion, there is a possibility that the suction mechanism 121a will be lowered to a position different from the actual position of the injection medicine.

Further, since the position specifying camera 122 is provided in common to the two processing positions 132, the cassette Ca placed at the processing position 132 is photographed from an oblique direction. Since the injection medicine has a certain width, when the injection medicine is photographed from an oblique direction, the position of the injection medicine in the image may be different from the actual position of the injection medicine. Moreover, the suction position assumed for an actual injection drug may be a different position from the suction position in the image. Therefore, if these possibilities are not taken into account, there is a possibility that the adsorption mechanism 121a will be lowered to a position different from the actual position of the injection drug, as described above.

Therefore, the suction position determining unit 194 corrects the suction position (suction coordinates) in the image by analyzing the image taken by the position specifying camera 122 and taking into account the positional deviation on the image shown below.

(Correction of positional deviation caused by lens distortion)
As mentioned above, lenses have their own distortion. In this embodiment, a convex lens is used as the lens of the position specifying camera 122. Therefore, barrel distortion occurs in the image.

FIG. 23(a) shows an ideal image Ii without lens distortion. In this case, the positional relationship of each target (four circles in the figure) in the image Ir is proportional to the positional relationship of each target in real space. However, in reality, barrel distortion occurs. In this case, an image Ir as shown in FIG. 23(b) is photographed. In image Ir, the farther a target is from the center of image Ir, the more the target is affected by lens distortion. When compared with the image Ii shown in FIG. 23(a), it can be seen that the target is closer to the center position. Therefore, in order to correct the positional shift caused by lens distortion, it is necessary to perform correction for each position in the image by moving the image existing at that position outward from the center position.

As mentioned above, the intrinsic parameter defines the degree of distortion inherent to the lens. In other words, by referring to the internal parameters, the degree of distortion at each position of the image can be specified, so the amount of correction for moving the image outward from the center position can be calculated for each position.

Further, the center position in the image Ir depends on the attitude of the lens of the position specifying camera 122. Therefore, by referring to the external parameters that define the posture, the center position in the image Ir can be specified. In other words, by calculating the above-mentioned correction amount after specifying the center position, an accurate correction amount can be calculated.

In the process of SE9 in FIG. 21, the suction position determining unit 194 calculates the suction position in the world coordinate system using the calculated internal parameters and external parameters in order to shift the suction position in the image coordinate system by the above correction amount. are doing.

(Correction of positional deviation caused by the width of the injection drug)
Further, even if the injection medicines are placed at the same position, their positions differ in the image depending on the width of the injection medicine (the height of the injection medicine when placed at the processing position 132). As shown in FIG. 24, consider a case where two injection drugs DA and DB having different widths are placed at a position other than directly below the position specifying camera 122. In this case, the position of the injection drug in the image corresponding to the position farthest from the mounting surface Fa differs depending on the width of the injection drug.

Specifically, as shown in FIG. 24, the position DAi in the image corresponding to the position PA of the injection drug DA farthest from the placement surface Fa is a distance d from the position where the injection drug DA is placed. The distance will be (A). Further, a position DBi in the image corresponding to the position PB of the injection drug DB farthest from the mounting surface Fa is a position separated by a distance d(B) from the position where the injection drug DB is placed. In other words, it can be seen that the larger the width of the injection, the further away the position in the image is from the position where the injection is actually placed. Therefore, in order to correct the positional deviation caused by the width of the injection drug, it is necessary to perform correction according to each position in the image by moving the image existing at the position inward from the center position.

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

In the process of SE9 in FIG. 21, the suction position determination unit 194 uses the calculated external parameters and the registered injection width information to shift the suction position in the image coordinate system by the above correction amount. The suction position in the coordinate system is calculated.

From the above, it can be said that the suction position in the world coordinate system is the suction position as a result of correcting the positional deviation caused by lens distortion and the positional deviation caused by the width of the injection drug.

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

Since the position Pa of the injection drug is the closest position to the opposing adsorption mechanism 121a, it is preferable that the position Pa is specified as the adsorption position of the injection drug. However, if the center position Pr2 in the projected image DCi1 is specified as the injection drug adsorption position, the position will be shifted from the actual injection drug center position (that is, the above-mentioned position Pa). In particular, if the deviation is large, the adsorption mechanism 121a may not be able to adsorb the injection drug. Therefore, it is necessary to correct this deviation.

Therefore, as shown in FIG. 25(a), the suction position determining unit 194 converts the projected image DCi1 into a projected image DCi2 that is moved in the direction (vertical direction) of the position specifying camera 122 by the radius of the injection drug DC. Convert. Since the width of the injection drug DC is registered in the drug master as injection drug width information, the suction position determination unit 194 can specify the radius of the injection drug DC. Note that injection drug radius information indicating the radius of the injection drug may be registered in the drug master.

By converting the projection image DCi1 into the projection image DCi2 using the radius of the injection drug DC, the center position Pc in the projection image DCi2 becomes approximately the same as the above-mentioned position Pa. In other words, the above conversion generates a projected image DCi2 as a result of rotating the projected image DCi1 shown in FIG. 25(c) so that it becomes approximately the same as the injection drug DC shown in FIG. 25(b). I can say that. Calculating the suction position in the image coordinate system in the process of SE8 in FIG. 21 means performing the above conversion.

(others)
Note that when a relatively expensive lens is used for the position specifying camera 122, positional displacement due to lens distortion and the height of the injection drug is unlikely to occur. Therefore, when a relatively expensive lens is used, the suction position determination unit 194 only needs to correct at least the positional deviation related to projection. However, in this embodiment, lens distortion and positional deviation caused by the height of the injection drug are corrected, thereby making it possible to use a relatively inexpensive lens.

Moreover, although the case where the lens diameter used the lens of 6 mm was illustrated and demonstrated above, it is not restricted to this. It is possible to use a lens having a lens diameter capable of photographing the entire cassette Ca placed at each processing position 132. For example, by increasing the distance above 465 mm, it becomes possible to use a lens with a lens diameter of 8 mm.

(effect)
As described above, the injection drug dispensing device 100 of the present embodiment can automatically determine the type and expiration date of an injection drug to be administered to one patient and dispense it based on the input prescription data. Therefore, it is possible to improve the efficiency of dispensing of injection drugs in hospitals and the like.

Particularly, in the drug cassette handling device 200 included in the injection drug dispensing device 100, the injection drug is moved together with the cassette Ca, or is moved by being adsorbed by an adsorption mechanism. Therefore, in the injection drug dispensing device 100, the possibility that the injection drug will be damaged during the process of dispensing the injection drug is reduced compared to the conventional random type injection drug dispensing device.

Furthermore, in the injection drug dispensing device 100, a drug transport section 121 and a drug moving section 153 are separately provided. Therefore, (i) taking out the injection medicine from the cassette Ca and (ii) discharging the injection medicine to the transport tray 151a can be performed in parallel. Therefore, according to the injection drug dispensing device 100, high-speed dispensing of the injection drug can be realized.

[Another expression of the above structure]
The above configuration can be expressed as follows.

[1] In order to solve the above problems, a drug cassette handling device according to one aspect of the present invention includes a cassette shelf for storing m cassettes containing drugs, and a device for handling drugs stored in the cassettes. a specific processing unit for performing specific processing; a cassette holding unit capable of temporarily holding up to n (m>n≧2) cassettes to be subjected to the specific processing among the cassettes; and holding in the cassette holding unit. and a cassette transfer section that transfers the cassette between the cassette shelf and the cassette holding section in order to replace the cassette.

For example, when attempting to perform a specific process on a cassette shelf where a large number (m) of cassettes are stored, it is necessary to move a transport mechanism that takes out and transports medicines to each cassette storage position on the cassette shelf. Therefore, in this case, the mechanism of the medicine cassette retrieval device becomes complicated, and it takes time to move the transport mechanism.

According to the above configuration, it is possible to temporarily hold some (n) of the large number of cassettes in the cassette holding section, and perform specific processing intensively in that area. Therefore, it becomes possible to perform specific processing efficiently.

Furthermore, since the cassette holding section can hold two or more cassettes, it is possible to replace one cassette with another while the specific process is being performed on one cassette. Therefore, it is possible to suppress the waiting time that occurs between the specific processing for one cassette and the specific processing for another cassette.

[2] Furthermore, in the drug cassette handling device according to one aspect of the present invention, the cassette holding section has a cassette receiving position for receiving the cassette from the cassette transfer section and a processing position for the cassette to undergo the specific processing. The cassette may be moved back and forth between.

According to the above configuration, interference between the operation of the specific processing section and the operation of the cassette transfer section can be avoided.

[3] Furthermore, in the drug cassette handling device according to one aspect of the present invention, the cassette shelf stores the cassettes in rows and columns within a vertical plane, and the cassette transfer unit transports the cassettes from the cassette shelf. The cassette may be pulled out, vertically transferred, and placed on the cassette holder at the cassette receiving position, and the cassette holder may horizontally move the cassette toward the processing position.

According to the above configuration, unnecessary operations are less likely to occur in the cassette transfer operation. Therefore, cassettes can be replaced efficiently. Moreover, the space of the drug cassette handling device can be effectively utilized.

[4] Further, a medicine dispensing device according to one aspect of the present invention is a medicine dispensing device including the medicine cassette handling device according to any one of [1] to [3] above, wherein the specific processing section includes: In order to dispense the medicine stored in the cassette, the medicine transporting unit may include a medicine transporting section that takes out and transports the medicine from the cassette.

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

[5] Furthermore, in the medicine dispensing device according to one aspect of the present invention, the identification processing section may include a first imaging section that performs imaging for identifying the medicine to be taken out from the cassette.

According to the above configuration, the medicine to be taken out from the cassette can be specified based on the photographed image data.

[6] Furthermore, in the medicine dispensing device according to one aspect of the present invention, the identification processing unit includes a reading unit that reads first identification information attached to the medicine, and a reading unit that reads first identification information attached to the medicine. and a first determination processing unit that determines whether or not the medicine can be dispensed based on the result of comparing the medicine with input unique information of the medicine.

According to the above configuration, it is possible to determine whether medicine can be dispensed based on the first identification information. Note that the first identification information includes, for example, a barcode for reading the type of medicine.

[7] Furthermore, in the medicine dispensing device according to one aspect of the present invention, the identification processing unit includes a second imaging unit that photographs second identification information attached to the medicine, and a second imaging unit that photographs the second identification information attached to the medicine. and a second determination processing section that determines whether or not the medicine can be dispensed based on the second identification information.

According to the above configuration, it is possible to determine whether medicine can be dispensed or not based on the second identification information. Note that the second identification information includes, for example, the expiration date of the medicine.

[8] Furthermore, in the drug dispensing device according to one aspect of the present invention, the specific processing section may store the drug transported by the drug transport section for reading by the reading section or photographing by the second photographing section. The device may also include a drug rotating section that receives the drug and rotates the received drug in the axial direction.

In order for the reading section or the second imaging section to acquire the first identification information or the second identification information, the position on the medicine where the first identification information or the second identification information is attached is detected by the reading section or the second imaging section. It is necessary to face it.

According to the above configuration, since the medicine rotation unit can rotate the medicine in the axial direction, the position is read so that the reading unit or the second imaging unit can acquire the first identification information or the second identification information. or the second imaging section.

[9] Furthermore, the medicine dispensing device according to one aspect of the present invention has a plurality of loading parts on which received medicines are loaded, and at least one of the plurality of loading parts includes the medicine rotating part, The specific processing section changes the position of each of the plurality of loading sections between a drug receiving position for receiving a drug from the drug transporting section and a drug delivery position for delivering the drug to dispense the drug. It is also possible to include a modified part.

In order to acquire the first identification information or the second identification information by the reading section or the second imaging section, the medicine taken out from the cassette needs to be received by the mounting section by being transported to the mounting section. On the other hand, the medicine for which it has been determined whether or not to be dispensed based on the first identification information or the second identification information is transferred from the loading section to another location, thereby being delivered to another location. When there is only one loading section that is subject to this medicine receiving operation and delivery operation, the next medicine is received by the loading section after the medicine received by the loading section is transported to another location. That is, in this case, interference occurs between the receiving operation and the handing operation.

According to the above configuration, since the position of each loading section is changed between the drug receiving position and the drug delivery position, it is possible to avoid interference between the receiving operation and the delivery operation as described above. Moreover, as a result of being able to avoid this interference, it is possible to improve the speed of the dispensing operation.

[10] Further, in the medicine dispensing device according to one aspect of the present invention, correspondence data indicating a correspondence between each of the m cassettes and the medicine stored in each of the m cassettes is stored. Among the received prescription data, if the prescription data related to administration to one patient includes two or more types of drugs, the cassette transfer unit transfers the data based on the prescription data and the correspondence relationship data. Then, the cassettes each containing the drug may be transferred to the cassette holding section.

According to the above configuration, when two or more types of drugs are included in the prescription data related to administration to one patient, after the cassettes containing each drug are transported to the cassette holding section, each cassette is It becomes possible to perform specific processing on the contained medicine. Therefore, it becomes possible to efficiently dispense medicine based on the prescription data.

Note that the correspondence data is not limited to data indicating the correspondence between each of the m cassettes Ca and the medicines contained in each of the m cassettes Ca. When the m cassettes are composed of the cassette Ca and the large returned medicine cassette 163 and/or the small and medium sized returned medicine cassette 164, the correspondence data is the cassette Ca and the large returned medicine cassette 163 and/or the small and medium sized returned medicine cassette 164. Any data may be used as long as the data indicates the correspondence between each of the m cassettes including the returned medicine cassette 164 and the medicine contained in each of the m cassettes.

≪Other configurations≫
Below, the further configuration, processing, etc. of the injection drug dispensing device 100 will be mainly explained. However, it should be noted that in the following explanation, there may be parts that overlap with the content described above, or parts that are specifically described.

[Injection drug dispensing system]
As described above with reference to FIG. 2, the injection drug dispensing system 1 has been described with the printer device 13 printing information indicating the type of injection drug shown in the prescription data, etc. on the transport tray 151a. It is not limited to this. The printer device 13 may function as an infusion label issuing device that issues an infusion label to be attached to an infusion container (infusion bag). In this case, the injection drug dispensing system 1 is a system including an injection drug dispensing device 100 and an infusion label issuing device (printer device 13).

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

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

Note that the printer device 13 only needs to have at least one of a function of printing information indicating the type of injection drug and the like on the transport tray 151a, and a function of issuing an infusion label.

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

[Cassette transfer process]
<Specific example of cassette>
First, a specific example of the cassette Ca will be explained. FIG. 26 is a diagram showing an example of the cassette Ca, in which (a) shows the state before the dividing member SP (partition plate) is attached, and (b) shows the state after the dividing member SP is attached. FIGS. 27(a) and 27(b) are detailed views of the cassette transfer section 140.

As shown in FIG. 26(a), a first barcode BC1 and a second barcode BC2 are attached to the cassette Ca. Further, as shown in FIGS. 27A and 27B, the cassette transfer section 140 is provided with a barcode reader 146 for reading the first barcode BC1 attached to the cassette Ca.

Each of the plurality of cassettes Ca stored on the cassette shelf 110 is given cassette unique information (cassette identifier) (eg, cassette number) for identifying the cassette Ca. The first barcode BC1 indicates cassette-specific information attached to the cassette Ca. The first barcode BC1 is located on the outer surface of the cassette Ca that faces the cassette transfer unit 140 when stored on the cassette shelf 110 (specifically, at a position where it can be read by the barcode reader 146). It is attached to.

Further, the cassette-specific information of the cassette Ca is stored in the storage unit 180 in association with information indicating the type of injection drug contained in the cassette Ca (injection drug identification information, drug-specific information). The control unit 190 links the cassette specific information of the cassette Ca with the injection drug identification information of the injection drug accommodated in the cassette Ca, for example, in accordance with user input.

Further, the cassette unique information of the cassette Ca and the storage position information indicating the storage position (cassette storage position) where each of the plurality of cassettes Ca is stored on the cassette shelf 110 are stored in the storage unit 180 in a linked manner. There is. For example, by scanning the cassette shelf 110, the cassette transfer unit 140 reads the first barcode BC1 of the cassette Ca with the barcode reader 146 if the cassette Ca is stored in the storage position. Specifically, a cassette ejecting mechanism including a claw part 141, a claw part moving mechanism 142, and a shock absorbing plate 145 of the cassette transfer unit 140 scans the cassette shelf 110, so that the barcode reader 146 is stored at each storage position. The first barcode BC1 of the cassette Ca is read. The position of the cassette ejecting mechanism and the storage position are linked and stored in the storage unit 180 in advance. Therefore, the transfer control unit 191 can link the cassette specific information of the cassette Ca with the storage position information by specifying the position of the cassette ejecting mechanism when reading the first barcode BC1.

In this way, the storage unit 180 stores the cassette-specific information of the cassette Ca, the information indicating the type of injection drug contained in the cassette Ca, and the storage position information of the cassette Ca in association with each other. Therefore, even if an arbitrary injection drug is stored in an arbitrary cassette Ca and the cassette Ca is stored at an arbitrary storage position, if each piece of information is linked, the control unit 190 can refer to the storage unit 180. This makes it possible to specify the injection drug accommodated in any cassette Ca and the storage position of the cassette Ca. In other words, it is possible to freely store any injection drug in any cassette Ca and to freely store the cassette Ca at any storage position. In other words, the degree of freedom in storing the cassette Ca on the cassette shelf 110 can be increased.

Further, as described above, the cassette transfer section 140 is provided with a barcode reader 146. Specifically, the barcode reader 146 is provided at a position facing the cassette shelf 110 (in this example, at the top of the cassette ejecting mechanism). Therefore, the following processing is possible.

Based on the received prescription data, the transfer control unit 191 reads cassette-specific information and storage position information that are stored in the storage unit 180 and are linked to information indicating the type of injection indicated by the prescription data. The transfer control unit 191 moves the cassette ejecting mechanism to the storage position indicated by the read storage position information.

When the movement of the cassette ejecting mechanism to the storage position is completed, the transfer control unit 191 reads the first barcode BC1 (that is, the cassette specific information) with the barcode reader 146. The transfer control unit 191 compares the read cassette specific information with the cassette specific information read from the storage unit 180 before moving the cassette ejecting mechanism.

If the cassette specific information matches, the transfer control unit 191 identifies the cassette Ca that has read the cassette specific information as the cassette Ca containing the injection drug to be dispensed, and takes out the cassette Ca from the cassette shelf 110. On the other hand, if the cassette specific information does not match, the transfer control unit 191 does not take out the cassette Ca from the cassette shelf 110, for example, moves the cassette ejecting mechanism to another storage position, and moves the cassette Ca at the storage position. Verification is performed again by reading the cassette specific information. Further, the transfer control unit 191 may notify that the cassette Ca containing the injection drug based on the prescription data cannot be taken out.

If the degree of freedom in storing the cassettes Ca on the cassette shelf 110 increases, for example, the possibility that the user will store the cassette Ca at a position different from the predetermined storage position increases. That is, compared to the case where the degree of freedom is low, the possibility that a cassette Ca different from the cassette Ca containing the injection drug to be dispensed will be taken out increases.

As mentioned above, based on the cassette-specific information, it is determined whether the injection drug stored in the cassette Ca to be taken out is the injection drug to be dispensed (that is, whether or not the cassette Ca can be taken out). The occurrence of such possibilities can be reduced. In other words, the degree of freedom in storing the cassettes Ca on the cassette shelf 110 can be guaranteed.

Note that, as shown in FIG. 26(a), the cassette Ca may be provided with a second bar code BC2 used when filling the cassette Ca with an injection drug. The second barcode BC2 is for verifying whether the cassette Ca is suitable for filling with an injection drug. By reading the second barcode BC2 with a dedicated barcode reader (not shown), the user confirms whether the second barcode BC2 is suitable for filling an injection.

Further, the cassette-specific information does not need to be attached to the cassette Ca in the form of the first barcode BC1, but as long as the cassette-specific information attached to the cassette Ca is attached in a form that can be read by the cassette transfer unit 140. good. In this case, a cassette-specific information reading member may be provided in the cassette transfer section 140 in place of the barcode reader 146.

Furthermore, as shown in FIGS. 26A and 26B, the cassette Ca may be divided into a plurality of injection drug storage areas by a dividing member SP (partition plate) that is detachable from the cassette Ca. In this case, different types of injections can be stored in each of the plurality of divided injection storage areas. Therefore, the cassette Ca can be used more efficiently.

The divided member SP may be provided with a third barcode BC3. The third barcode BC3 has the same function as the second barcode BC2. By attaching the third barcode BC3 to the divided member SP, it becomes possible to support filling of the injection drug into each of the plurality of injection drug storage areas.

<Example of identifying the storage location of the cassette>
Next, an example of specifying the storage position of the cassette Ca will be described. FIG. 28 is a block diagram showing the configuration of the injection drug dispensing device 100. FIG. 29 is a flowchart illustrating an example of a process for specifying the storage position of the cassette Ca.

(Configuration of injection drug dispensing device 100)
As shown in FIG. 28, the injection drug dispensing device 100 includes a storage position determining section 198, a notification control section 199, and a touch panel 210 when performing the process of specifying the storage position of a cassette.

Further, in this example, the cassette unique information of an arbitrary cassette Ca and the storage position information indicating the storage position of the cassette Ca are stored in the storage unit 180 in a linked manner. In particular, in this example, it is assumed that cassette specific information and storage position information are linked in advance. That is, in this example, the storage position of the cassette Ca is set in advance. Further, a first barcode BC1 is given to the cassette Ca, and the cassette transfer section 140 is provided with a barcode reader 146.

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

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

For the cassette Ca that the storage position determination unit 198 has determined is not stored at a predetermined storage position, the cassette transfer unit 140 moves the cassette Ca from the storage position where the cassette Ca is stored to the storage where the cassette Ca should be located. transport to position.

Furthermore, for the cassette Ca that the storage position determination unit 198 has determined is not stored in a predetermined storage position, the notification control unit 199 controls the touch panel 210 so that the cassette Ca is stored in the storage position where the cassette Ca should be located. Have the information department notify you.

In this example, the explanation will be made assuming that the device has the functions of both transporting the cassette to the storage position where it should be located and notifying that the cassette is to be stored at the storage position where it should be located. However, the invention is not limited thereto, and the injection drug dispensing device 100 may have only one of the functions.

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

When the cassette Ca is present in the storage position, the barcode reader 146 reads the first barcode BC1. The storage location determination unit 198 refers to the storage unit 180 to identify the storage location indicated by the storage location information linked to the cassette specific information indicated by the read first barcode BC1. The storage position determining unit 198 determines whether the specified storage position matches the position of the cassette ejecting mechanism that read the cassette specific information.

If it is determined that there is a mismatch, the storage position determining unit 198 determines that the cassette Ca is not stored at the preset storage position. In this case, the storage location determining unit 198 refers to the storage unit 180 to identify the storage location indicated by the storage location information linked to the cassette specific information of the cassette Ca. The transfer control unit 191 moves the cassette Ca to the specified storage position. On the other hand, if they match, no particular processing is performed.

Further, if the cassette specific information cannot be read at any storage position, the storage position determination unit 198 determines that the cassette Ca does not exist at the storage position. The storage position determining unit 198 refers to the storage unit 180 to determine whether or not the cassette Ca was stored at the storage position. If it is determined that the cassette Ca is stored at the storage position, the storage position determination unit 198 determines whether or not the cassette Ca is stored at another storage position. If it is determined that the cassette Ca is not on the cassette shelf 110, the notification control unit 199 notifies the user via the touch panel 210 to store the cassette Ca that should originally be stored in the storage position.

In addition, when the storage position determination unit 198 determines that there is a mismatch, the storage position determination unit 198 associates the cassette specific information read at this time with the storage position information and stores it as information indicating the cassette Ca in the incorrect storage position. It may be stored in the section 180. In this case, during the cassette Ca replacement operation, the transfer control unit 191 causes the cassette ejecting mechanism to scan all the storage positions, and then refers to the information to identify the cassette Ca that is in the wrong storage position. , and can be removed and returned to the correct storage location.

Further, this process may be performed at any timing. However, this process checks whether the cassette Ca is properly stored at the storage position of the cassette Ca set by the user, and also stores the cassette Ca at the original storage position. Taking this point into consideration, this process may be performed during a time period (eg, once a day, at night) when no injection drug dispensing process is performed. Note that this process may be performed when a user input to confirm the storage position of the cassette Ca is received.

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

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

When the storage position determining unit 198 determines that the current position of the cassette ejecting mechanism is at the predetermined storage position (YES in SF2), it determines that the cassette Ca is in the storage position where it should originally be located. In this case, the storage position determination unit 198 does not perform a movement process on the cassette Ca existing at the storage position. On the other hand, if it is determined that the current position of the cassette ejecting mechanism is not at the predetermined storage position (NO in SF2), it is determined that the cassette Ca is not at the storage position where it should be located. In this case, the transfer control unit 191 controls the cassette transfer unit 140 to move the cassette Ca to the storage position indicated by the storage position information linked to the cassette specific information of the cassette Ca (SF3).

If the cassette-specific information cannot be read in SF1 (NO in SF1), the storage location determining unit 198 determines that there is no cassette Ca at the storage location where the cassette-specific information was read. In this case, the storage position determination unit 198 determines whether or not the cassette Ca was stored at the storage position. When the storage position determining unit 198 determines that the cassette Ca has been stored, the cassette Ca having the cassette unique information linked to the storage position information indicating the storage position is moved to another location by scanning the cassette ejecting mechanism. It is determined whether it is in the storage position (SF4). Note that if the cassette Ca is not originally stored at the storage location where the cassette specific information was read (if the cassette specific information is not linked to the storage location information indicating the storage location), this process is performed. finish.

If the cassette Ca to be stored at the storage position where the cassette specific information was read is located at another storage position (YES in SF4), the process of SF3 is performed. On the other hand, if the cassette Ca is not found in any other storage position (NO in SF4), the storage position determination unit 198 determines that the cassette Ca has been removed from the cassette shelf 110. In this case, the notification control unit 199 notifies the user via the touch panel 210 to store (return) the cassette Ca at its original storage position (SF5).

In SF3, the storage position determination unit 198 determines whether another cassette Ca (second cassette Ca) exists at the storage position to which the cassette Ca (first cassette Ca) is to be moved (that is, the storage position where it should originally be located). You may decide whether or not to do so. When the storage position determination unit 198 determines that the second cassette Ca is stored at the storage position to which the first cassette Ca has been moved, the storage position determination unit 198 performs, for example, the following process.

The transfer control unit 191 moves the second cassette Ca to a storage position in the cassette shelf 110 where cassette specific information and storage position information are not linked (a storage position where no cassette Ca is originally stored) (evacuation position). Temporarily evacuate to. Thereafter, the transfer control unit 191 moves the first cassette Ca to the storage position where it should be located.

Further, it is determined whether or not the second cassette Ca is stored at the storage location to which the first cassette Ca has been moved, based on whether or not the cassette-specific information of the second cassette Ca can be read. That is, when the second cassette Ca is to be evacuated, the cassette specific information of the second cassette Ca is read before being evacuated. Therefore, the transfer control unit 191 may use the cassette-specific information to move the second cassette Ca to the storage position where it should originally be located.

<Example of operation of support mechanism>
Next, an example of the operation of the support mechanism 147 included in the cassette transfer section 140 will be described. As shown in FIGS. 27(a) and 27(b), the support mechanism 147 is provided on the side facing the cassette shelf 110, and when the cassette Ca is taken out from the cassette shelf 110 or when the cassette Ca is placed on the cassette shelf 110. Supports (holds) the cassette Ca during storage. Furthermore, the support mechanism 147 moves up and down depending on the size (height) of the cassette Ca. Further, the support mechanism 147 is provided with a roller. This allows the cassette Ca to move smoothly in the support mechanism 147.

A plurality of types of cassettes Ca may be stored on the cassette shelf 110. In this case, for example, cassettes Ca of mutually different heights (eg, two types of cassettes Ca of mutually different heights) are stored on the cassette shelf 110. If the support mechanism 147 does not move up and down, the relatively high cassette Ca will collide with the cassette take-out mechanism when taking out the cassette Ca, and the cassette transfer unit 140 will not be able to hold the cassette Ca.

Since the support mechanism 147 has the function of moving up and down, it is possible to hold a plurality of types of cassettes Ca having different heights in the cassette transfer section 140 and transfer them to the cassette holding section 130. That is, in the injection drug dispensing device 100, multiple types of cassettes Ca having different heights can be used.

The transfer control unit 191 moves the support mechanism 147 up and down depending on the type of cassette Ca. For example, lifting amount information indicating the lifting amount of the support mechanism 147 is stored in the storage unit 180 in association with the cassette specific information. In addition, when the cassette unique information is linked with cassette height information indicating the height of the cassette Ca, the lifting amount information may be linked with the cassette height information.

When the cassette specific information attached to the cassette Ca to be taken out is read by the barcode reader 146, the transfer control unit 191 refers to the storage unit 180 to obtain the lifting amount information linked to the read cassette specific information. Identify. The transfer control unit 191 raises and lowers the support mechanism 147 according to the lifting amount indicated by the specified lifting amount information.

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

Here, the suction position determination unit 194 may determine the position of the center of gravity of the injection drug as the suction position. In this case, each piece of information indicating the position of the center of gravity and the total length of the injection drug is registered in the drug master in association with the injection drug identification information. The center of gravity of the injection drug is registered, for example, as a distance from the bottom of the injection drug.

The suction position determination unit 194 identifies the bottom of the injection drug in the image by analyzing the image. The suction position determination unit 194 specifies the suction position of the injection drug in the image using information indicating the center of gravity position of the injection drug linked to the injection drug identification information included in the prescription data. For example, the suction position determination unit 194 converts the distance from the bottom stored in the drug master to a distance in the image, and then specifies a position on the injection drug that is separated from the bottom by the converted distance as the suction position in the image. do. That is, the suction position determination unit 194 determines the center of gravity of the injection drug or its vicinity as the suction position. Note that this suction position determination process does not include the process of specifying the orientation of the injection drug.

<Example of identifying the placement position of an injection drug using a sensor>
Next, an example of specifying the placement positions of injection drugs in the first mounting section 126a and the second mounting section 126b of the position changing section 126 will be described.

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

Here, it is assumed that the transport control unit 193 incorrectly recognizes the head of the injection drug as the bottom as a result of image analysis. The transport control unit 193 places the injection medicine on the first mounting part 126a or the second mounting part 126b taking into account the position of the bottom, so if the injection medicine deviates from the actual position where it should be placed due to misrecognition of the bottom. There is a possibility that the injection drug may be placed in the position. In some cases, the injection drug may be placed in a position that protrudes from the first mounting section 126a or the second mounting section 126b. If the injection drug is, for example, a glass vial, the injection drug may collide with the first mounting portion 126a or the second mounting portion 126b, resulting in breakage.

In this example, as shown in FIGS. 30(a) and 30(b), the injection drug dispensing device 100 removes the injection drug that may collide with the end portion E1 or E2 of the first mounting portion 126a or the second mounting portion 126b. It is equipped with sensors 171a and 171b and reflecting plates 172a and 172b for detection.

The sensors 171a and 171b are mechanisms that each emit light for detecting an injection drug and receive the light reflected by the reflecting plates 172a and 172b, respectively.

The sensor 171a and the reflection plate 172a are arranged so that the light emitted from the sensor 171a and the light reflected by the reflection plate 172a pass on the dotted line L1 shown in FIG. 30(b). The dotted line L1 is a straight line passing outside the first mounting section 126a and the second mounting section 126b and near the end E1 of the first mounting section 126a or the second mounting section 126b. Similarly, the sensor 171b and the reflection plate 172b are arranged so that the light emitted from the sensor 171b and the light reflected by the reflection plate 172b pass along the dotted line L2 shown in FIG. 30(b). The dotted line L2 is a straight line passing outside the first mounting section 126a and the second mounting section 126b and near the end E2 of the first mounting section 126a or the second mounting section 126b.

When the injection drug adsorbed by the adsorption mechanism 121a passes over the dotted line L1 or L2, the progress of the light is blocked by the injection drug, and therefore the sensor 171a or 171b cannot receive the light emitted by its own device. In this case, the conveyance control unit 193 controls the suction mechanism 121a to move in the straight line direction (Y-axis direction) connecting the ends E1 and E2 until the sensors 171a and 171b can receive light. Reposition the injection.

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

By arranging the sensors 171a and 171b and the reflectors 172a and 172b in this manner, it is possible to detect an injection that may collide with the end E1 or E2 of the first mounting section 126a or the second mounting section 126b. Further, the transport control unit 193 controls the position of the suction mechanism 121a in the Y-axis direction based on the detection results of the sensors 171a and 171b. Thereby, the injection can be placed on the first mounting section 126a or the second mounting section 126b without colliding with the end E1 or E2 of the first mounting section 126a or the second mounting section 126b.

In other words, even if the suction position determination unit 194 misrecognizes the direction of the injection (head direction) (in other words, regardless of whether the direction of the injection is the +Y-axis direction or the -Y-axis direction) , collision of the injection drug with the end E1 or E2 can be avoided. Therefore, it is possible to avoid stopping the dispensing operation due to a collision, so that the injection can be dispensed intermittently.

Note that the configuration is not limited to the above configuration as long as the injection medicines present on the dotted lines L1 and L2 can be detected. For example, a light emitting element may be placed at the position of the sensor 171a or 171b, and a light receiving element may be placed at the position of the reflecting plates 172a and 172b. That is, a sensor consisting of a light emitting element and a light receiving element may be used without providing the reflecting plates 172a and 172b. Further, the positions of the reflecting plate 172a and the reflecting plate 172b in the X-axis direction may be made to substantially match.

<Example of operation of suction mechanism>
Next, an example of the operation of the suction mechanism 121a will be described. First, adjustment of the moving speed of the suction mechanism 121a will be explained.

In the injection drug dispensing device 100, for example, the speed at which the cassette Ca is transferred by the cassette transfer section 140 and the speed at which the cassette holding section 130 is moved is made as high as possible. Furthermore, for example, the speeds of movement of the suction mechanism 121a and movement mechanism 121b of the medicine transport section 121 and the movement speeds of the suction mechanism 153a and movement mechanism 153b of the medicine movement section 153 are increased as much as possible. This increases the speed at which injections are dispensed.

However, if the cassette Ca or the injection drug is transferred or moved at a uniform speed regardless of the type of injection drug, there is a possibility that the injection drug cannot be transported appropriately. For example, the longer the length of the injection drug and the lighter the weight, the more inertia acts on the injection drug when the adsorption mechanism 121a is stopped on the position changing part 126. In other words, the injection medicine shakes more when stopped. If large inertia acts on the injection, there is a possibility that the injection will fall from the adsorption mechanism 121a.

Therefore, in this example, the transport control unit 193 adjusts the moving speed of the suction mechanism 121a depending on the type of injection drug. Specifically, the X-axis direction, Y-axis direction, and /or Set the movement speed in the Z-axis direction. That is, the storage unit 180 stores movement speed information indicating the movement speed of the adsorption mechanism 121a in association with the type information regarding the type of injection drug. FIG. 31 is a table showing an example of movement speed information linked to type information. In the example of FIG. 31, the moving speed in the X-axis direction, where inertia tends to work, is set to differ depending on the type of injection drug.

For example, the transport control unit 193 reads the type information linked to the injection drug identification information included in the prescription data by referring to the storage unit 180. The type information indicating the length, weight, material, etc. of the injection drug may be registered in the drug master in association with the injection drug identification information. The transport control unit 193 transfers the injection drug adsorbed by the cassette Ca of the cassette holding unit 130 (that is, the adsorption mechanism 121a that adsorbed the injection drug) at the movement speed indicated by the movement speed information linked to the read type information. It is moved to the position changing section 126.

This makes it possible to reduce the inertia that acts on the injection drug, for example, when it is moving or when it is stopped. Therefore, stable movement of the injection drug can be achieved.

Note that the moving speed of the suction mechanism 153a can be similarly controlled. However, the suction mechanism 153a is required to move stably mainly when moving from the position changing section 126 to the transport tray 151a. Therefore, the moving speed in the Y-axis direction in particular is set depending on the type of injection drug.

Furthermore, if the cassette Ca is suddenly stopped while being moved in the Z-axis direction by the cassette transfer unit 140, the lighter the weight of the injection, the more likely it will jump up due to inertia. In addition, when the movement in the X-axis direction is abruptly stopped, the lighter the weight of the injection drug or the more approximately circular the cross-sectional shape, the easier the injection drug will roll within the cassette Ca. Therefore, if the injection drug is made of glass, there is a possibility that it will break as a result of collision with the cassette Ca or other injection drugs.

Regarding the transfer of the cassette Ca by the cassette transfer unit 140, similarly to the adsorption mechanism 121a, by controlling the moving speed (particularly the moving speed in the X-axis direction and/or Z-axis direction) according to the type of injection drug, for example, injection It is possible to avoid situations such as the medicine breaking.

Next, adjustment of the amount of movement of the suction mechanism 121a in the Z-axis direction will be explained. (a) of FIG. 32 is a diagram showing an example of the configuration of the moving mechanism 121b, and (b) and (c) are diagrams showing an example of the operation of the suction mechanism 121a.

As shown in FIG. 32(a), the moving mechanism 121b of this example includes a photosensor 121d and a plate 121e. The photosensor 121d and the plate 121e function as a limit sensor that detects an object having a diameter larger than a predetermined diameter (eg, the diameter of the injection drug indicated by the injection identification information included in the prescription data). That is, the photosensor 121d and the plate 121e function as a limit sensor for detecting objects other than the predetermined injection drug. Note that the adsorption mechanism 121a is moved up and down in the Z-axis direction by the ball screw 121f.

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

Here, in the drug master, diameter information indicating the diameter of the injection drug is registered in association with each injection drug identification information. Furthermore, the storage unit 180 stores movement amount information indicating the movement amount of the suction mechanism 121a in the Z-axis direction in association with the diameter information.

The distance between the initial position of the suction mechanism 121a (the position when the suction mechanism 121a is farthest from the processing position 132) and the processing position 132 (distance in the Z-axis direction) remains unchanged. Therefore, depending on the diameter of the injection, the first movement amount of the suction mechanism 121a when directed toward the treatment position 132 may be set in advance so as not to collide with the injection on the treatment position 132. can. In this case, it becomes possible to move the suction mechanism 121a to an appropriate position where the injection drug can be adsorbed without calculating the first movement amount for each injection drug. Moreover, it becomes possible to move the suction mechanism 121a to the appropriate position at high speed.

Further, the cassette Ca used in the injection drug dispensing device 100 is determined in advance. That is, the height of the side wall of the cassette Ca is predetermined. Therefore, the height of the suction mechanism 121a when transporting the injection from the processing position 132 to the position changing unit 126 can be set in advance so that the injection during transport does not collide with the side wall of the cassette Ca. Therefore, the second movement amount of the suction mechanism 121a when pulling up the suction mechanism 121a adsorbing the injection can be set in advance according to the diameter of the injection. In this case, without calculating the second movement amount for each injection, it is possible to move the suction mechanism 121a to a position where the injection can be efficiently transported without colliding with the side wall of the cassette Ca. Moreover, it becomes possible to move the suction mechanism 121a to that position at high speed.

The control unit 190 specifies the type of injection drug contained in the cassette Ca at the time when the cassette Ca is taken out by the cassette transfer unit 140. Therefore, the transport control unit 193 specifies movement amount information for each cassette Ca. For example, the transport control unit 193 identifies the diameter information linked to the injection drug identification information included in the prescription data by referring to the drug master when taking out the first drug from the cassette Ca. The conveyance control unit 193 specifies movement amount information (information indicating the first movement amount or the second movement amount) linked to the specified diameter information by referring to the storage unit 180. Note that the identified movement amount information may be stored in the storage unit 180 in association with the cassette specific information.

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

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

As shown in FIG. 32(b), when the diameter of the injection drug in the cassette Ca placed at the processing position 132 is φa, the transport control unit 193 controls the first movement amount when the diameter is φa. Accordingly, the suction mechanism 121a is moved to the suction position Ap (stop position). Thereafter, the transport control unit 193 pulls up the suction mechanism 121a by a distance Da according to the second movement amount when the diameter is φa.

Here, as shown in FIG. 32(c), an injection (diameter: φb>φa) different from the injection (diameter: φa) assumed to be stored in the cassette Ca is placed in the cassette Ca. Suppose it was included. In this case, if the injection drug with diameter φb is to be transported, the transport control unit 193 moves the adsorption mechanism 121a by the first movement amount based on the injection drug with diameter φa, so that It collides with the injection drug.

In response to this reaction, the suction mechanism 121a moves (raises) in the +Z-axis direction, so that the plate 121e enters the groove of the photosensor 121d. Thereby, the transport control unit 193 determines that the injection drug whose suction mechanism 121a has a diameter (φb) larger than the predetermined diameter (φa) is to be transported.

In this case, the transport control unit 193 moves the second movement indicated by the movement amount information linked to the injection drug identification information indicating the injection drug having the maximum diameter (diameter: φmax) instead of the second movement amount of the diameter φa. The injection drug is pulled up by a distance Dmax according to the amount. Note that the second movement amount corresponding to the distance Dmax is such that the injection drug having the largest diameter among the injection drugs assumed to be handled by the injection drug dispensing device 100 is moved to the processing position without colliding with the side wall of the cassette Ca. 132 to the position changing unit 126.

Even though the injection to be adsorbed is larger than the diameter φa, if the injection is pulled up according to the second movement amount of the diameter φa, the amount of lifting is insufficient and the injection will collide with the side wall of the cassette Ca. there is a possibility. However, in the cassette Ca that accommodates the injection drug with the diameter φa, when the injection drug with the diameter φb, which is larger than the diameter φa, is to be taken out, the transport control unit 193 moves the second movement corresponding to the injection drug with the largest diameter. Since the injection drug is pulled up based on the amount, collision with the side wall of the cassette Ca can be avoided.

Note that when the diameter of the injection to be taken out is larger than the expected diameter of the injection, the second movement amount corresponding to the largest diameter injection is used; however, the second movement amount is not limited to this. The injection drug may be pulled up using the second movement amount corresponding to the second movement amount.

Next, a process for determining the completion of release of the injection drug by the adsorption mechanisms 121a and 153a will be described. The drug transport unit 121 and the drug transfer unit 153 have a vacuum source (not shown) for adsorbing the injection drug. The transport control unit 193 turns off the vacuum source when releasing the injection drug onto the position change unit 126 or the transport tray 151a.

The transport control unit 193 may turn the vacuum source off and then turn it on again to release the injection drug. When the vacuum source is turned on, the transfer control unit 193 controls the load in the air pipe connecting the vacuum source and the suction pad 121g (see (a) in FIG. 32) (e.g., the pressure in the air pipe or the Determine whether or not the amount of air changes. Note that the structures related to adsorption of the drug transport section 121 and the drug transfer section 153 are the same.

If the load does not change, the transport control unit 193 determines that nothing is being adsorbed on the suction pad 121g. That is, in this case, the transport control unit 193 determines that the adsorption mechanisms 121a and 153a are able to appropriately release the injection drug. On the other hand, when the load changes, the conveyance control unit 193 determines that something is adsorbed to the suction pad 121g. That is, in this case, the transport control unit 193 determines that the adsorption mechanisms 121a and 153a are unable to appropriately release the injection drug.

In this way, by controlling on and off of the vacuum source when releasing the injection drug, it can be confirmed whether the adsorption mechanisms 121a and 153a are properly releasing the injection drug.

<Example of image processing timing adjustment>
Next, an example of adjusting the timing of image processing by the deadline reading camera 125 will be described. (a) and (b) of FIG. 33 are diagrams for explaining an example of timing adjustment of image processing by the deadline reading camera 125.

When the injection drug is placed on the first mounting section 126a by the drug transport section 121, the drug rotation section 127 rotates the injection drug. Due to this rotation, when the barcode attached to the injection drug faces the barcode reader 123, the barcode reader 123 reads the barcode. This allows the first discrimination processing unit 195 to discriminate the type of injection drug.

A barcode is expressed by varying the thickness of each of a plurality of lines and the spacing between the lines for each type of injection drug. Therefore, by analyzing the barcode read by the barcode reader 123, the first discrimination processing unit 195 can recognize the sequence of numbers or letters shown in the barcode as injection drug identification information. In other words, since the first discrimination processing unit 195 can recognize the sequence of numbers or letters shown in the barcode, by linking the sequence with the orientation of the injection drug (the direction in which the injection drug is placed), the first discrimination processing unit 195 can It is also possible to recognize which direction the head or bottom of the medicine is facing.

Further, the second discrimination processing unit 196 recognizes the expiration date attached to the injection drug by analyzing the image taken by the expiration date reading camera 125.

Here, the barcode is instantaneously read by the barcode reader 123. Therefore, when reading the barcode, the medicine rotation unit 127 can rotate the injection medicine at a certain high speed. On the other hand, the expiration date is read by taking an image with the expiration date reading camera 125. Therefore, when reading the expiration date, the medicine rotating section 127 needs to rotate at a slower speed than when reading the barcode.

Therefore, after the barcode reader 123 reads the barcode, the drug rotation unit 127 lowers its rotation speed, and then the expiration date reading camera 125 starts photographing the injection drug. The expiration date reading camera 125 takes pictures a plurality of times (for example, about 20 times) while the injection drug is rotated about once. The second discrimination processing unit 196 recognizes the expiration date by analyzing all images taken multiple times. In this case, since images that do not include an expiration date are also subject to analysis, unnecessary processing will occur due to the analysis of the images.

Therefore, in this example, the second discrimination processing unit 196 uses a recognition area ( (Expiry date writing area). In other words, the second discrimination processing unit 196 determines the expiration date photographing area Pha in which the expiration date reading camera 125 photographs to read the expiration date, based on the position of the barcode attached to the injectable medication and the orientation of the injectable medication. decide.

Here, in the medicine master, the orientation of the injection medicine and the orientation of the barcode (the order in which the alphanumeric characters attached to the barcode are arranged) are linked and registered for each injection medicine identification information. In addition, in the drug master, first distance information indicating the first distance in the circumferential direction of the injection drug from the position where the barcode is attached to the position where the expiration date is attached is registered for each injection drug identification information. has been done.

For example, when the barcode reader 123 reads a barcode attached to an injection drug, the second discrimination processing section 196 temporarily stops the rotation of the drug rotation section 127 at that point. Thereafter, the second discrimination processing unit 196 determines the expiration shooting area Pha based on the information indicating the orientation of the injection drug registered in the medicine master and the first distance information.

Specifically, the second discrimination processing unit 196 identifies the orientation of the injection drug by comparing the read barcode with the drug master. Further, the second discrimination processing unit 196 determines the expiration shooting area Pha according to the orientation of the injection drug by referring to the first distance information of the drug master.

For example, when the rotation direction of the injection drug is in the arrow direction as shown in FIGS. 33(a) and (b), the second discrimination processing unit 196 Suppose that the direction is specified. In this case, the second discrimination processing unit 196 determines, based on the first distance information, an area from the vicinity of the position where the barcode is attached to the vicinity of the position where the expiration date is attached as the expiration shooting area Pha. More specifically, as shown in (a) of FIG. 33, the second determination processing unit 196 determines the imaging start position Pha1 (reading start position) and the imaging end position Pha2 (reading end position).

On the other hand, when the second discrimination processing unit 196 specifies the orientation of the injection medicine as shown in FIG. 33(b), it is also determined as the expiration photography area Pha, similarly to FIG. 33(a). However, as shown in FIG. 33(b), the second discrimination processing unit 196 determines the shooting start position Pha1 and the shooting end position Pha2.

After determining the expiration date imaging area Pha, the medicine position control unit 197 rotates the medicine rotation unit 127 at a rotation speed when photographing an injection medicine. In the state in which the injection drug is rotated, the expiration reading camera 125 starts photographing when its own device faces the photographing start position Pha1, and ends photographing when its own device faces the photographing end position Pha2. As shown in FIGS. 33A and 33B, the time limit reading camera 125 photographs the time limit photographing area Pha indicated by the solid arrow, but does not photograph the region indicated by the dotted arrow.

That is, the expiration date reading camera 125 photographs only within the determined expiration photographing area Pha (in other words, not the entire circumferential direction of the injection drug, but only a part of the area) in order to read the expiration date. In this way, by excluding the area that is assumed to have no expiration date (area other than the expiration photography area Pha) from being photographed, the number of images to be photographed can be reduced. Therefore, it becomes possible to efficiently perform image processing for recognizing the expiration date.

Note that the rotational speed of the drug rotation unit 127 may be used as the rotational speed at the time of barcode reading until the time limit reading camera 125 faces the imaging start position Pha1. In this case, it becomes possible to perform the expiration date recognition process more efficiently (at high speed).

Further, the expiration date photographing area Pha may be set so as to include the expiration date. Therefore, it is not necessary to set the photographing start position Pha1 near the position where the barcode is attached. For example, the second discrimination processing unit 196 may specify a position with an expiration date based on the first distance information, and then determine a position a predetermined distance away from the position as the photographing start position Pha1. However, the imaging start position Pha1 needs to be determined so that the expiration date is included in the expiration imaging area Pha.

Furthermore, if the first distance information is not registered, the expiration date reading camera 125 photographs the entire circumference of the injection drug. The second discrimination processing unit 196 reads the expiration date attached to the injection drug by analyzing the photographed image. At this time, the second discrimination processing unit 196 also specifies the position of the barcode attached to the injection drug, so by analyzing the photographed image, the position of the barcode and the expiration date are determined. Based on this, the first distance information (that is, the position of the expiration photography area Pha) is determined. The second discrimination processing unit 196 registers the determined first distance information in the drug master in association with the injection drug identification information indicating the injection drug. Thereby, the registered first distance information can be used from the next time the expiration date is read.

Furthermore, instead of the first distance, the imaging area information (information regarding the expiration date description area) indicating the expiration imaging area Pha (including the imaging start position Pha1 and imaging end position Pha2) may be registered in the drug master. .

<Example of processing when there are injection drugs that cannot be dispensed>
Next, an example of processing when there is an injection that cannot be dispensed will be described. (a) to (f) of FIG. 34 are diagrams for explaining an example of the process when there is an injection drug that cannot be dispensed. If the first discrimination processing unit 195 or the second discrimination processing unit 196 determines that the injection drug cannot be dispensed, dispensing of the injection drug may be stopped at that point.

In the injection medicine dispensing device 100, in order to recognize the type and expiration date of the injection medicine, the barcode attached to the injection medicine is read on the medicine transporting part 121 side (processing position 132 side) of the position changing part 126, and Take a photo of the expiration date on the injection drug. The first discrimination processing unit 195 performs recognition processing of the type of injection drug based on the read barcode, and the second discrimination processing unit 196 performs recognition processing of the expiration date by analyzing the captured image. conduct. These processes (particularly the expiration date recognition process) require a certain amount of time.

Therefore, when the reading of the barcode and the photographing of the expiration date are completed on the medicine transporting unit 121 side, the medicine position control unit 197 changes the position change unit 126 without waiting for the results of the recognition processing of the type of injection medicine and the expiration date. Rotate. As a result, the injection medicine is located on the medicine moving part 153 side (on the non-dispensing medicine storage part 152 side). Thereby, the next injection drug to be subjected to the recognition process of the type and expiration date of the injection drug can be placed on the drug transport unit 121 side. In this way, it becomes possible to efficiently dispense the injection (that is, increase the injection speed). Note that the results of the recognition process for the type and expiration date of the injection drug are performed while the injection drug is located on the medicine transfer unit 153 side.

In other words, in order to efficiently dispense injections one after another, injections are waiting to be dispensed at the following locations.
- Adsorption mechanism 121a (position P1) of drug transport section 121. In other words, the adsorption mechanism 121a is in a state where the injection drug is adsorbed.
- The drug transport unit 121 side of the position change unit 126 (position P2). In other words, the injectable drug is in a position where the barcode attached to the injectable drug is read and the expiration date attached to the injectable drug is photographed. - The drug transfer unit 153 side of the position change unit 126 (position P3). In other words, this is the state before the medicine moving section 153 moves the injection medicine to the transport tray 151a or the non-dispensing medicine storage section 152.

Here, it is assumed that the injection drug dispensing device 100 stores injection drugs to be dispensed to one patient in the same transport tray 151a. In other words, if an injection drug to be dispensed and the next injection drug to be dispensed are not injection drugs to be dispensed to the same patient, the injection drug dispensing device 100 transports these injection drugs in different ways. It is assumed that the tray 151a accommodates it.

In this case, the first discrimination processing unit 195 or the second discrimination processing unit 196 determines that the injection cannot be dispensed, and the prescription data of the injection and the next injection to be dispensed are for administration to the same patient. If it is determined that the injection drug is not one of the above, the injection drug cannot be dispensed. Specifically, in this case, the injection determined to be undispensable and the next injection to be dispensed are accommodated in different transport trays 151a. Therefore, unless an injection of the same type as the injection determined to be non-dispensable is dispensed, the next injection to be dispensed cannot be dispensed. In other words, in this case, it is not possible to overtake the previous injection and dispense it. As a result, dispensing of the injection medicine stops.

Therefore, even if an injection determined to be non-dispensable is moved from position P3 to the non-dispensable medicine storage section 152, the next injection to be dispensed will be moved to position P2 or P3, and the next injection to be dispensed will remain at position P1 or P2.

In particular, the injection drug dispensing system 1 operates in conjunction with various devices other than the injection drug dispensing device 100. Therefore, the stoppage of the injection drug dispensing device 100 affects the processing of the injection drug dispensing system 1.

In addition, if the injectable drug determined to be non-dispensable and the next injectable drug to be dispensed are indicated in the prescription data for administration to the same patient, they are generally placed in the same transport tray as described above. It is accommodated in 151a. Therefore, the next injection to be dispensed may be dispensed without waiting for the same type of injection as the one determined to be dispensable.

Therefore, in this example, when it is determined that the injection medicine cannot be dispensed, the first discrimination processing unit 195 and the second discrimination processing unit 196 keep the same type of medicine as the injection medicine in the dispensable state until it is determined that the injection medicine can be dispensed. It functions as a payout determination unit that is subject to determination. Furthermore, when it is determined that the injection cannot be dispensed, the transport control unit 193 functions as a dispensing control unit that waits for dispensing the next injection after the injection.

In particular, as described above, when the first discrimination processing section 195 and the second discrimination processing section 196 make the following determinations (1) and (2), the transport control section 193 causes the second injection to stand by. .
(1) If it is determined that the injection drug cannot be dispensed.
(2) The injection drug (first injection drug) and the injection drug dispensed after the injection drug (second injection drug, next drug) are indicated in prescription data related to administration to different patients. If it is determined that it is a drug.

In order to realize the above-mentioned processing, the injection medicine dispensing device 100 is equipped with a temporary storage section in which the second injection medicine is temporarily stored. The temporary storage section may be provided, for example, in a part of the non-dispense medicine storage section 152, or may be provided in the vicinity of the non-dispensation medicine storage section 152.

An example of processing when injection drugs MA, MB, and MC are dispensed will be described using FIG. 34. In this example, in (a) of FIG. 34, it is assumed that the first discrimination processing section 195 and/or the second discrimination processing section 196 has determined that the injection drug MA is an injection drug that cannot be dispensed. Specifically, for the injection drug MA, the first discrimination processing unit 195 determines that the injection drug identification information indicated by the read barcode and the injection drug identification information indicated by the prescription data do not match, or , the second determination processing unit 196 determines that the expiration date has expired.

In this case, as shown in FIG. 34(b), after the medicine moving part 153 moves the injection medicine MA to the non-dispensing medicine storage part 152, the position changing part 126 rotates, thereby moving the injection medicine MB. is moved from position P2 to position P3. In this state, the medicine transport unit 121 places the injection medicine MC on the position change unit 126, thereby moving it from the position P1 to the position P2. Thereafter, after the drug moving section 153 moves the injection drug MB to the temporary storage section, the position changing section 126 rotates to move the injection drug MC from the position P2 to the position P3.

Next, as shown in FIG. 34(c), the drug transport unit 121 transfers the same type of injection MA (injection MA' here) to the injection MA that has been determined to be non-dispensable to the processing position 132. It is taken out from inside the cassette Ca and placed on the position changing section 126. That is, the injection drug MA' is moved from position P1 to position P2. Thereafter, the first discrimination processing section 195 and the second discrimination processing section 196 determine whether or not the injection medicine MA' can be dispensed.

Next, as shown in FIG. 34(d), the position change unit 126 rotates to move the injection drug MA' from position P2 to position P3 (injection drug MC from position P3 to position P2). . When it is determined that the injection drug MA' cannot be dispensed, the medicine moving unit 153 moves the injection medicine MA' to the non-dispensing medicine storage unit 152, and then returns to the process shown in FIG. 34(c). In other words, until the injection MA is dispensed onto the transport tray 151a, the next injections MB and MC are on standby. On the other hand, if it is determined that the injection drug MA' can be dispensed, the medicine moving unit 153 moves the injection drug MA' to the transport tray 151a.

When it is determined that the injection drug MA' can be dispensed, after dispensing the injection drug MA', as shown in FIG. The injection medicine MB that was being held is returned to the position changing unit 126 (specifically, position P3). Thereafter, the position change unit 126 rotates to move the injection drug MB from position P3 to position P2 (injection drug MC from position P2 to position P3). Thereby, the first discrimination processing unit 195 and the second discrimination processing unit 196 can determine whether or not the injection drug MB, which is the next dispensing target of the injection drug MA, can be dispensed.

When the reading of the barcode and expiration date attached to the injection drug MB at position P2 is completed, the position change unit 126 rotates to move the injection drug MB from position P2 to position P3 (to move the injection drug MC from position P3 to position (to P2). When it is determined that the injection medicine MB can be dispensed, the medicine moving unit 153 moves the injection medicine MB to the transport tray 151a. Thereafter, as shown in FIG. 34(f), the first discrimination processing unit 195 and the second discrimination processing unit 196 determine whether or not the injection drug MC can be dispensed.If it is determined that the injection drug MC can be dispensed, the drug The moving unit 153 moves the injection drug MC to the transport tray 151a.

On the other hand, in (e) of FIG. 34, when it is determined that the injection drug MB cannot be dispensed, the drug moving section 153 moves the injection drug MB to the non-dispensing drug storage section 152, and then moves the injection drug MB to the position changing section. The rotation of 126 moves the injection drug MC from position P2 to position P3. Thereafter, the drug transport unit 121 takes out an injection drug MB of the same type as the injection drug MB determined to be undispensable (herein referred to as an injection drug MB') from within the cassette Ca of the processing position 132, Specifically, it is placed at position P2). Then, the first discrimination processing section 195 and the second discrimination processing section 196 determine whether or not the injection medicine MB' can be dispensed. This process is repeated until the injection drug MB is dispensed. In other words, until the injection medicine MB is delivered to the transport tray 151a, the injection medicine MC to be delivered next is in a waiting state.

Further, in FIG. 34(f), when it is determined that the injection drug MC cannot be dispensed, the medicine moving unit 153 moves the injection medicine MC to the non-dispensing medicine storage unit 152. Thereafter, the drug transport unit 121 takes out an injection MC (herein referred to as an injection MC') of the same type as the injection MC determined to be undispensable from the cassette Ca of the processing position 132, Specifically, it is placed at position P2). Then, the first discrimination processing section 195 and the second discrimination processing section 196 determine whether or not the injection medicine MC' can be dispensed. This process is repeated until the injection drug MC is dispensed.

When the dispensing process for injection drugs MA, MB, and MC is completed, the injection next to injection drug MC is transported to the position changing unit 126 according to the prescription data. If it is determined that the injection cannot be dispensed, the above-described process is performed.

In this way, when it is determined that an injectable drug cannot be dispensed, the next injectable drug to be dispensed is temporarily evacuated to the temporary storage area (evacuation position), and the same type of injectable drug as the injectable drug that was determined to be non-dispensable is temporarily evacuated to the temporary storage area (evacuation position). Re-dispensing of the injection drug is automatically executed. Therefore, it becomes possible to continuously dispense injections.

In the example of FIG. 34, a case has been described in which the injection drugs MA, MB, and MC are injection drugs shown in prescription data related to administration to different patients (injection drugs MA, MB, and MC are prescribed separately). Regarding the injection drugs indicated in the prescription data for the same patient, as described above, the injection drug following the injection drug determined to be non-dispensable may be dispensed.

Moreover, in the above, the dispensing of the next injection is in a standby state until an arbitrary injection is dispensed to the transport tray 151a. However, the dispensing of the next injection may be in a standby state until the shortage of any injection is confirmed (eg, until the cassette Ca containing the injection MA is empty).

<Example of placing injections on the transport tray>
Next, a description will be given of an example of a process of placing an injection drug on the transport tray 151a (small tray 151b) for accommodating different types of drugs. In the description of this example, it is assumed that the printer device 13 is an infusion label issuing device.

(Example of structure of small tray)
First, the small tray 151b placed on the transport tray 151a will be described as a prerequisite configuration for the injection drug placement example. FIG. 35 is a diagram showing a state in which the small tray 151b is placed on the transport tray 151a. FIG. 36(a) is a perspective view showing an example of the small tray 151b, FIG. 36(b) is a plan view showing an example of the small tray 151b, and FIG. 36(c) is an AA' cross section showing an example of the small tray 151b. It is a diagram.

As described above, in the injection drug dispensing system 1, the transport tray 151a is transported from the supply lifter 11 to the discharge lifter 14 via the injection drug dispensing device 100 and the printer device 13. That is, the transport tray 151a of this example is a tray that accommodates a plurality of types of injections dispensed by the injection dispensing device 100 and an infusion label issued by the printer device 13.

As shown in FIG. 35, a small tray 151b can be placed on the transport tray 151a of this example. In this case, for example, it is possible to divide and dispense the injection drug indicated in the prescription data regarding administration to one patient by the time of use of the injection drug (eg, morning, noon, evening, and before bedtime). In the example of FIG. 35, four small trays 151b can be provided in the direction in which the transport tray 151a is transported.

Further, as shown in FIGS. 36A to 36C, a protrusion 151c is provided at the bottom of the small tray 151b. The protrusion 151c divides the bottom into a plurality of divided regions 151d.

As shown in FIG. 36(b), the width 151w of the divided region 151d is, for example, from 1 to It is long enough to hold two books. In this case, for example, one vial of a relatively thick injection drug can be placed, and two vials of a relatively thin injection drug can be placed.

In the injection drug dispensing device 100, the injection drug adsorbed by the adsorption mechanism 153a of the drug transfer unit 153 is placed on the transport tray 151a. Therefore, the position of the injection medicine on the transport tray 151a can be specified and placed. In other words, the adsorbed injection drug can be placed on each divided area 151d of the small tray 151b. Further, since it is possible to place the injection drugs in the same direction, the injection drugs can be placed in the divided area 151d in a somewhat orderly manner.

Further, as the transport tray 151a moves, the injection drug may move in the width direction. If the amount of movement is large, the injection drugs may collide with each other and break as a result. By providing the divided region 151d, the amount of movement of the injection drug in the width direction can be reduced. Therefore, the possibility of collision between injection drugs can be reduced. Furthermore, even if there is a collision, the amount of movement is small, so the possibility that the injection drug will break can be reduced.

Further, as shown in FIG. 36C, the bottom of the small tray 151b has an inclined portion 151s that is inclined from the protrusion 151c toward the side wall of the small tray 151b (from the protrusion 151c in the width direction). The inclined portion 151s is lower on the side wall side of the small tray 151b than on the protruding portion 151c side. Thereby, as shown in FIG. 36(c), if the injection medicine is placed near the protrusion 151c, the injection medicine can be placed in order from the side wall side of the small tray 151b due to its own weight. Therefore, if the injection drug can be placed in the predetermined divided area 151d, there is no need to specify the placement position more precisely. Moreover, when the injection drugs are placed, it is possible to prevent the injection drugs from colliding with each other and breaking.

Note that a mechanism for preventing movement of the injection drug may be provided at the bottom of the small tray 151b. Examples of the movement prevention mechanism include a sponge or a member having a fine approximately V-shape. The movement prevention mechanism can further reliably prevent injections from colliding and breaking as the transport tray 151a moves, for example.

Further, as shown in FIG. 36(b), in the small tray 151b, an infusion label issued by the printer device 13 is placed on at least a part of one of the plurality of divided regions 151d. An infusion label placement area 151r is provided.

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

Furthermore, by providing the protrusion 151c and placing the injection drug and the infusion label in different areas, it is possible to prevent the infusion label from being pushed out of the small tray 151b. There is no need to place an injection drug as a weight. Therefore, it is possible to place an infusion label on the small tray 151b after placing an injection drug thereon. That is, by using the small tray 151b, it is possible to construct an injection drug dispensing system 1 that includes the injection drug dispensing device 100 and the printer device 13 in order from the side where the transport tray 151a is transported. However, the installation order of the injection drug dispensing device 100 and the printer device 13 may be reversed.

In this example, a configuration in which the small tray 151b is provided with a plurality of divided areas 151d and an infusion label placement area 151r has been described, but the present invention is not limited to this, and these configurations may be provided directly on the transport tray 151a. I don't mind. That is, in this case, the transport tray 151a itself has the function of the small tray 151b, and the small tray 151b is not placed on the transport tray 151a.

Further, the printer device 13 includes an infusion label conveyance mechanism that conveys and places the issued infusion label on the infusion label placement area 151r based on information regarding the position of the infusion label placement area 151r. The infusion label transport mechanism includes, for example, a gripping mechanism that grips or releases an issued infusion label, and a movement mechanism that moves the gripping mechanism between the issuing mechanism that issues the infusion label and the transport tray 151a.

(Example of placement of injection drugs)
Next, an example of a process for placing an injection on the transport tray 151a will be described. Although the following description will be made assuming that the injection medicine is transported to the small tray 151b, the present invention is not limited to this, and the injection medicine may be transported directly to the transport tray 151a.

As described above, the control unit 190 can identify the orientation of the injection drug by the barcode reader 123 acquiring the barcode. Based on the same principle, the control unit 190 can identify the orientation of the injection drug by having the barcode reader 124 acquire the barcode.

In addition, the drug master also includes the second location in the circumferential direction of the injectable drug, from the position of the barcode attached to the injectable drug to the approximately center position of the injectable drug label where the injectable drug name (drug name), etc. is written. The second distance information indicating the distance may be registered in association with each injection drug identification information. The medicine position control unit 197 controls the medicine rotation unit 127 based on the orientation of the injection medicine, the position of the barcode when the barcode reader 124 reads the barcode, and the second distance indicated by the second distance information. Determine the amount of rotation. The drug position control unit 197 rotates the drug rotation unit 127 by the determined amount of rotation, so that the injection drug label affixed to the injection drug faces upward (in the +Z-axis direction).

In other words, in this example, the drug position control unit 197 controls the position of the injection drug identification information (information for comparing with the injection drug identification information included in the prescription data) attached to the injection drug based on the position of the injection drug identification information attached to the injection drug. It functions as a position specifying unit that specifies the position of the injection drug name. Then, the medicine position control unit 197 controls the medicine rotation unit 127 to rotate the injection medicine in the axial direction so that the position of the injection medicine name faces upward.

The transport control unit 193 adsorbs the injection drug with the injection drug label facing upward, and then places it in a predetermined position on the small tray 151b in that state. That is, by controlling the drug moving unit 153, the transport control unit 193 transfers the injection drug rotated by the drug rotation unit 127 to the small tray 151b and places it on the small tray 151b without changing the direction of the injection drug.

Further, as described above, since the direction of the injection drug is also specified, the transport control unit 193 places the injection drug on the small tray 151b so that the injection drug faces the predetermined direction. In this case, the injection drugs can be placed on the small tray 151b with the letters attached to the injection drug labels aligned in a certain direction.

By placing the injection on the small tray 151b in this way, the user does not need to lift or rotate the injection when visually inspecting the contents of the small tray 151b. Therefore, visual inspection can be easily performed. Furthermore, by providing the injection drug dispensing system 1 with a photographing mechanism (not shown) for photographing the contents of the small tray 151b, it is also possible to perform visual inspection using images photographed by the photographing mechanism.

Although the injection drug is placed on the small tray 151b with the injection drug label facing upward, the present invention is not limited to this, and the injection drug may be placed with the bar code facing upward, for example. It is sufficient if the injection drug can be placed in an orientation that makes it easy for the user to perform image inspection using a portable barcode reader (not shown).

Further, although the barcode reader 124 side specifies the direction of the injection drug and makes the injection drug face upward, the present invention is not limited to this, and these processes may be performed on the barcode reader 123 side.

Further, the transport control unit 193 may place the injection medicine in the divided area 151d, for example, as described below. For example, the order of divided regions 151d on which injection drugs are to be placed and the order of the placement positions of injection drugs within any divided region 151d may be determined in advance. In this case, the medicine moving unit 153 places the injection medicines in accordance with that order. For example, the transport control unit 193 may sort the identified injections by type or shape and specify the placement position of the injections.

Furthermore, by reading the barcode with the barcode reader 123 or 124, the direction of the injection drug can be identified. The direction of the injection may be used to determine the suction position when the medicine transfer unit 153 transports the injection to the transport tray 151a.

For example, as described above, assume that information indicating the position of the center of gravity of an injection drug as a distance from the bottom of the injection drug is registered in the medicine master. Further, the injection drug is placed on the first mounting section 126a or the second mounting section 126b such that the bottom of the injection drug is near the end of the first mounting section 126a or the second mounting section 126b. . In this case, the suction position determination unit 194 specifies the end of the first mounting portion 126a or the second mounting portion 126b on the side where the bottom of the injection is located by specifying the direction of the injection. The suction position determining unit 194 determines a position away from the end by a distance obtained by adding a preset distance between the end and the bottom to the distance from the bottom of the injection, as the center of gravity of the injection. Specify as. The suction position determination unit 194 determines the identified center of gravity position as the suction position.

[Supplementary information regarding the operation when returning goods]
An example of the operation of the injection drug dispensing device 100 at the time of return has been described using FIG. 15. However, the present invention is not limited to this, and for example, the drug transport section 121 and the drug transfer section 153 may return the injection drug to the cassette Ca by transferring the injection drug from the transport tray 151a side to the cassette Ca side. .

Here, at the time of dispensing, the medicine transport section 121 and the medicine transfer section 153 transport the injection medicine from the cassette Ca side to the transport tray 151a side. That is, in the above example, the injections are returned to the cassette Ca in the reverse order of the transfer order of the injections at the time of dispensing. If the mode at the time of payout is referred to as the first mode, the mode at the time of return can also be referred to as the second mode.

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

If it is determined that the expiration date has expired, the medicine transfer unit 153 places the returned medicine in the non-dispense medicine storage unit 152. On the other hand, if it is determined that the expiration date has not expired, the cassette transfer unit 140 takes out the cassette Ca containing the same type of injection medicine as the returned medicine, based on the recognized type of the returned medicine, and holds the cassette. 130. The medicine transport unit 121 stores the returned medicine placed on the position changing unit 126 in the cassette Ca that has been moved to the processing position 132. The cassette transfer unit 140 stores the cassette Ca containing the returned medicine on the cassette shelf 110 again.

Such processing is performed for all returned medicines. Note that if there is no cassette Ca containing an injection drug of the same type as the returned drug, the returned drug may be stored in an empty cassette Ca or placed in the non-dispatch drug storage section 152. .

<Another expression of the above configuration>
The above configuration can be expressed as follows.

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

According to the above configuration, some (n) cassettes out of a large number (m) of cassettes are temporarily held in the cassette holding section, and the drug stored in the cassette is determined as a target for determining the type of the drug. and transfer to the tray. Therefore, in a medicine handling device in which a large number of cassettes are stored, it is possible to efficiently determine the type of medicine and carry it to the tray.

In addition, as the drug discrimination section in the above configuration, a mechanism including barcode readers 123, 124, expiration date reading camera 125, position change section 126, first mounting section 126a, second mounting section 126b, and drug rotation section 127 is used. Can be mentioned. Further, the first drug transfer section corresponds to the drug transfer section 121, and the second drug transfer section corresponds to the drug transfer section 153. The tray corresponds to the transport tray 151a or the small tray 151b.

Further, the above configuration is mainly based on the matters explained above in the <<Other Configuration>> column.

Furthermore, in the drug handling device according to one aspect of the present invention,
The first drug transfer section and the second drug transfer section may operate in a first mode in which the drug is transferred from the cassette side to the tray side.

According to the above configuration, in the first mode, the medicine in the cassette can be stored in the tray. Note that the above configuration is mainly based on the matters described above in the <<Other Configuration>> column.

Furthermore, in the drug handling device according to one aspect of the present invention,
The first drug transfer section and the second drug transfer section may operate in a second mode in which the drug is transferred from the tray side to the cassette side.

According to the above configuration, in the second mode, the medicine contained in the tray can be returned to the cassette.

[B] <Processing when there is a drug that cannot be dispensed>
A drug dispensing device (injection drug dispensing device 100) according to one aspect of the present invention includes:
When it is determined that the above medicine cannot be dispensed, the dispensing possibility determination unit (first determination processing unit 195, second determination processing unit 196) and
A dispensing control unit (transport control unit 193) that waits for dispensing of the next dispensing medicine when it is determined that the above-mentioned medicine cannot be dispensed is provided.

The drug dispensing device sequentially dispenses drugs based on, for example, prescription data related to administration to one patient. Therefore, if it is determined that the drug cannot be dispensed, dispensing of the drug will stop at that point. If the drug dispensing device is linked to other devices, the processing of the entire system will stop, so the impact of stopping the drug dispensing will be large.

According to the above configuration, when it is determined that a medicine cannot be dispensed, dispensing of the next medicine is made to wait until it is determined that a medicine of the same type as the medicine concerned can be dispensed. Therefore, even if there is a drug that cannot be dispensed, dispensing of the drug can be continued.

Furthermore, in the drug dispensing device according to one aspect of the present invention,
The dispensing permission determination unit (1) determines that the drug cannot be dispensed, and (2) administers the drug to a patient where the drug and the next drug, which is the drug to be dispensed next, are different from each other. If it is determined that the next drug is the drug indicated in the prescription data, the dispensing control section may make the next drug stand by.

Medications dispensed based on prescription data for administration to the same patient are generally stored in the same tray. Therefore, it is difficult to change the order of drugs shown in prescription data regarding administration to different patients because this involves changing the order of the trays. On the other hand, since there is no need to change the order of trays for drugs indicated in prescription data related to administration to the same patient, the order in which they are dispensed may be arbitrary.

According to the above configuration, even if it is determined that a drug cannot be dispensed, if the drug and the next drug are drugs indicated in the prescription data related to administration to the same patient, the next drug will be dispensed. You can pay out without having to wait. Therefore, it is possible to speed up the dispensing process when it is determined that the medicine cannot be dispensed.

[C] <Processing when placing the drug on the tray with the drug name facing upward>
A drug handling device (injection drug dispensing device 100) according to one aspect of the present invention includes:
a position specifying unit (drug position control unit 197) that specifies the position of the drug name attached to the drug based on the position of the identification information attached to the drug;
a drug rotating unit that rotates the drug in the axial direction so that the position of the drug name specified by the position specifying unit is directed upward;
A drug transfer unit (drug transfer unit 153) that transfers the drug rotated by the drug rotation unit to a tray for accommodating different types of drugs and places the drug on the tray without changing the direction of the rotated drug; , is provided.

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

According to the above configuration, it is possible to dispense the medicine into the tray so that the position of the medicine name attached to the medicine faces upward. Further, since the medicine is placed on the tray in this way, by photographing the medicine in the tray, the photographed image can be used as an image for visual inspection, and furthermore, an audit history can be kept. That is, according to the above configuration, it is possible to reduce the user's effort during visual inspection.

Note that the above-mentioned identification information is information (first identification information) indicating the type of injection drug. Examples of the above-mentioned identification information include a barcode indicating injection drug identification information.

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

Furthermore, the drug cassette handling device according to one aspect of the present invention includes:
Based on storage location information indicating the storage location where each of the plurality of cassettes is stored and cassette-specific information for identifying the cassette, it is determined whether each of the plurality of cassettes is stored at a predetermined storage location. a storage position determination unit that determines;
A notification unit (notification control unit 199, touch panel 210) that notifies the cassette to be stored in the storage position where the cassette should originally be located, for the cassette that the storage position determination unit determines is not stored in the predetermined storage position; Equipped with

For example, when the storage position of each cassette is predetermined by the user, if the cassette is not stored at the storage position where it should be located, the user will have to spend more time searching for the desired cassette when taking out the cassette. Therefore, the efficiency of work such as filling the cassette with medicine may be reduced.

According to the above configuration, even if the cassette does not exist at the storage position where it should originally be located, the cassette can be stored at the storage position. Therefore, reduction in work efficiency can be suppressed.

[E] <Tray structure>
A tray according to one aspect of the present invention includes:
A tray that stores a plurality of types of drugs dispensed by a drug dispensing device that dispenses drugs and an infusion label issued by an infusion label issuing device (printer device 13) that issues an infusion label to be attached to an infusion container. ,
The bottom of the tray is provided with a protrusion that divides the bottom into a plurality of divided areas,
At least a portion of one of the plurality of divided areas is an infusion label placement area where an infusion label issued by the infusion label issuing device is placed.

When an infusion container is placed on the tray, an infusion label that a user attaches to the infusion container is also placed on the tray. Since the infusion label is thin, when placed on a tray, it is likely to be blown off the tray, for example, when the tray is moved. In particular, when an infusion label is placed on a tray after a medicine is placed on the tray, the infusion label is placed on top of the medicine, so the infusion label is likely to be blown off the tray.

If an infusion label slips from one tray into another, the contents of the infusion container will not match what is written on the infusion label, potentially causing a serious accident.

Therefore, in general, after placing the infusion label on the tray, placing a drug (specifically, a container containing the drug, such as a vial) on top of the infusion label will prevent the infusion label from flying off. prevent.

According to the above configuration, the infusion label can be placed in the infusion label placement area, and the medicine can be placed in the other area. Therefore, the infusion label is not placed on top of the medicine. As a result, the possibility of the infusion label being blown away can be reduced. Further, it is possible to prevent the medicine from being placed on the infusion label. Therefore, the user can easily check the infusion label, and the infusion label can be prevented from being pushed out of the tray due to the medicine moving onto the infusion label.

Furthermore, since the infusion label is placed in the infusion label placement area, it is not necessarily necessary to place the drug as a weight on the infusion label. Therefore, the infusion label can be placed on the tray after the medicine is placed on the tray. That is, by using the tray having the above configuration, it is possible to construct a medicine dispensing system that includes a medicine dispensing device and an infusion label issuing device in order from the side where the tray is transported.

Note that the tray may be a small tray (151b). In this case, a plurality of small trays having the above-mentioned protrusions are placed on a large tray (transport tray 151a) that accommodates a plurality of types of medicines.

[F] <Return function>
The drug dispensing device (injection drug dispensing device 100, drug cassette handling device 200) according to one aspect of the present invention includes:
a cassette shelf for storing m cassettes containing drugs;
a cassette holding unit capable of temporarily holding a first cassette containing a plurality of types of drugs among the m cassettes and a second cassette containing drugs whose types have been determined;
a drug discrimination unit that temporarily holds the drug contained in the first cassette and discriminates the type of the drug;
A drug transfer section that transfers the drug contained in the first cassette to the drug discrimination section and transfers the drug whose type has been discriminated by the drug discrimination section to the second cassette.

According to the above configuration, the drugs can be sorted from the first cassette containing a plurality of types of drugs into the plurality of second cassettes containing drugs whose types have been determined.

In addition, as the drug discrimination section in the above configuration, a mechanism including barcode readers 123, 124, expiration date reading camera 125, position change section 126, first mounting section 126a, second mounting section 126b, and drug rotation section 127 is used. Can be mentioned. Further, the drug transport section corresponds to the drug transport section 121. Further, the first cassette corresponds to the returned medicine receiving cassette 161, and the second cassette corresponds to the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164.

Further, the above configuration is mainly based on the matters explained above in the <<Other Configuration>> column.

≪Other configuration 2≫
Below, the further structure and processing of the injection drug dispensing device 100, and the further structure and processing of the printer device 13, which is a peripheral device of the injection drug dispensing device 100, will be mainly described. However, it should be noted that in the following explanation, there may be parts that overlap with the content described above, or parts that are specifically described.

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

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

Here, the sizes of the first divided area CaA and the second divided area CaB change the mounting position of the divided member SP depending on the shape (size) or the number of injectables or solutions to be accommodated. It doesn't matter if it is changed.

Furthermore, each cassette Ca is given cassette specific information that allows the cassette Ca to be uniquely identified. As shown in FIG. 50(b), the cassette specific information (cassette barcode) includes cassette area information for specifying the area where the injection drug is stored, and the type of injection drug stored in the cassette Ca. information (uniquely identifiable information (drug code) about the type of injection drug). By referring to this data table, the transfer control unit 191 can determine which injection drug is stored in which region of which cassette Ca.

As shown in FIG. 50(b), in this example, "0", "1", and "2" are set as the cassette area information. "0" indicates that the entire area of the cassette Ca is to accommodate injection drugs, "1" indicates that the first divided area CaA is to accommodate injection drugs, and "2" indicates that the second divided area CaB is a target for storing injection drugs.

Note that the cassette area information may be any information as long as these three accommodation patterns can be specified. Further, the number of divisions of the cassette Ca is not limited to two, and may be three or more. In this case, the cassette area information may be any information that allows the accommodation pattern to be specified according to the number of divided areas.

When one cassette Ca is divided into two in this way and has the above data table, the cassette Ca can contain injections and the like as follows.
(A) Pattern accommodating different types of injectable drugs. In this case, each injection drug of the same type is divided into a first divided area CaA and a second divided area CaB and stored therein.
(B) A pattern that accommodates the same type of injection drug. In this case, the injection medicine is divided into a first divided area CaA and a second divided area CaB based on the expiration date.
(C) Pattern containing an injection drug with a solution. In this case, the solution and the injection drug are stored separately. For example, when an injection drug is stored in the first divided area CaA, a solution is stored in the second divided area CaB.

<(A) Pattern for accommodating different types of injection drugs>
In the case of this pattern, data is stored in the data table in the form shown in data pattern DP2. In other words, different types of injection drugs are stored in the first divided area CaA and the second divided area CaB (the same type of injection medicine is stored in the same divided area), and the storage status is reflected in the data table above. be done. In the example of FIG. 50(b), in the cassette Ca of "00005", the first divided area CaA contains the injection drug "CCC01", and the second divided area CaB contains the injection drug "DDD03". It is shown that there is.

When the injection drug dispensing device 100 receives an instruction to dispense prescription data related to administration to one patient from a control device (not shown) that centrally controls the entire injection drug dispensing system 1, the transfer control unit 191: An injection drug is taken out from the cassette Ca based on the prescription data and the data table. In the above example, if the injection drug indicated in the prescription data is the injection drug "CCC01", the transfer control unit 191 determines that the injection drug "CCC01" is a cassette of "00005" by referring to the data table. It is specified that it is accommodated in the first divided area CaA of Ca. By this identification, the transfer control unit 191 can take out the injection drug "CCC01" from the first divided area CaA of the cassette Ca of "00005".

In addition, the first determination processing unit 195 determines whether or not the injection medicine can be dispensed based on the information indicating the type of injection medicine read by the barcode reader 123 in the position changing unit 126 . Therefore, even if an injection different from the injection to be dispensed is taken out, it is possible to prevent the injection from being dispensed based on the determination by the first discrimination processing unit 195. For example, even if there is a discrepancy between the injections actually stored in the first divided area CaA and the second divided area CaB and the information shown in the data table, incorrect injections may be dispensed. can be prevented.

In addition, even when the area of the cassette Ca is divided into three or more areas, it is sufficient that the same type of injection drug is accommodated in the same divided area, and different types of injection drugs are accommodated in the plurality of divided areas. .

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

In the case of this pattern, data is stored in the data table in the form shown in data pattern DP1. That is, although the same type of injection drugs are physically divided and housed in the first divided area CaA and the second divided area CaB based on the expiration date, they are not divided on the data table. In the example of FIG. 50(b), even if the injection drug "AAA03" is divided and stored in the cassette Ca "00003" based on the expiration date, the first divided area CaA and the second divided area CaA are stored in the above data table. It is only shown that the injection drug is contained in both divided areas CaB.

When the injection drug is taken out from the cassette Ca based on the above-mentioned dispensing instruction, the transfer control section 191 transfers the cassette Ca to the cassette holding section 130. Thereafter, the cassette Ca placed on the cassette holding section 130 is imaged by the position specifying camera 122 at the processing position 132. The suction position determining unit 194 recognizes that the cassette Ca is divided by analyzing the image captured by the position specifying camera 122. In other words, the suction position determining unit 194 determines the expiration date only when it specifies that the cassette Ca is physically divided and the cassette area information of the cassette Ca is "0" on the data table. It can be recognized that this is the extraction of the injection drug that has been divided and stored in the cassette Ca.

The transport control unit 193 takes out the injection medicine from the cassette Ca in a predetermined order. In the initial state, the region from which the injection drug is taken out by the transport control unit 193 is set to the first divided region CaA. In this case, the transport control unit 193 sequentially takes out the injection drugs stored in the first divided area CaA. Thereafter, when the first divided area CaA is out of stock, the transport control unit 193 takes out the injection from the second divided area CaB.

In this way, by dividing the cassette Ca, accommodating the same type of injection drugs in the first divided area CaA and the second divided area CaB based on the expiration date, and determining the order of taking out, the transport control unit 193 The injection drugs can be taken out in the order in which they are stored. That is, the injection medicine dispensing device 100 can dispense the injections in the order in which they are stored in the cassette Ca (performing what is called "first in, first out").

Furthermore, by storing relatively old injections in the first divided area CaA and storing relatively new injections in the second divided area CaB, the transport control unit 193 can take out the injections in order starting from the oldest one. becomes possible.

In addition, when the first divided area CaA is out of stock or when the first divided area CaA is filled with an injection, the injection stored in the second divided area CaB is moved to the first divided area CaA. After that, the second divided area CaB is filled with an injection that is newer than the transferred injection. Also, at this time, the control unit 190 returns the injection medicine extraction region to its initial state. This makes it possible to take out the injection medicine from the first divided area CaA again (take out the old injection medicine).

For example, when the control unit 190 recognizes that the state of the first divided area CaA has changed from an empty state to a state in which an injection drug is accommodated based on the image captured by the position specifying camera 122, The above-mentioned injection drug extraction region is returned to its initial state. In addition, the control unit 190 may return to the initial state when it detects that the payout process is interrupted by a user input and the cassette Ca is removed.

Here, in an injection medicine dispensing device that arranges and stores injection medicines in a cassette, it is possible to store the injection medicines in chronological order at the time of storage. However, in the case of an injection medicine dispensing device that stores injection medicines in cassettes randomly (that is, in a non-aligned state), it is difficult to store injection medicines from one cassette in chronological order. By performing the above-described processing and storing the injection medicine, the injection medicine dispensing device 100 can realize a so-called "first in, first out" system.

Note that even when the area of the cassette Ca is divided into three or more areas, the same type of injection drug with a different expiration date may be accommodated in each divided area. In this case as well, the order of taking out the three or more divided areas is determined in advance, and the injectables are stored in each divided area so that the injectables stored first are taken out, thereby achieving the so-called "first in, first out" system. realizable.

Further, the order of taking out the injection medicines can be set arbitrarily. For example, the order for taking out injections is set to the second divided area CaB in the initial state, and if there is a shortage in the second divided area CaB, the injection medicine is set to be taken out from the first divided area CaA. It doesn't matter if it is done.

<(C) Pattern for accommodating injection drugs with solution>
Among the injection drugs, there are injection drugs with a dissolving solution, which are used after being dissolved in a dissolving solution. In this case, the injection drug and the solution are stored in different containers, but the injection drug and the solution need to be delivered as a set to the transport tray 151a.

In the case of this pattern, data is stored in the data table in the form shown in data pattern DP2. That is, the injection drug is accommodated in either the first divided area CaA or the second divided area CaB, and the solution is accommodated in the other. Then, the accommodation state is reflected in the data table. For example, consider a case where an injection drug is stored in the first divided area CaA and a solution is stored in the second divided area CaB. In this case, in the example of FIG. 50(b), in the cassette Ca of "00005", the first divided area CaA contains the injection drug "CCC01", and the second divided area CaB contains the solution "DDD03". It is shown that it is contained. By referring to the data table, the injection drug dispensing device 100 can take out the injection drug from the first divided area CaA and the solution from the second divided area CaB, as in the case of (A) above. .

Injectables and solutions are often packaged in the same package upon delivery, and are always dispensed as a set. Therefore, the cassette Ca is divided into two parts, and the injectables and solutions are stored separately in each divided area. It's easy to do. Further, by storing the cassette in such a divided manner, the injection drug and the solution can be taken out as a set in one operation of taking out the cassette Ca. In other words, by storing the injection drug and solution in the same cassette Ca, the injection drug and solution can be dispensed more efficiently than when the injection drug and solution are stored in separate cassettes Ca. can.

Generally, drugs are given drug identification information for uniquely identifying the drug. For example, injection drug identification information (eg, GS1 code as an injection drug code) is assigned to an injection drug. On the other hand, unlike drugs, drug identification information (eg, GS1 code) is not attached to the solution. That is, the container in which the solution is stored does not have a barcode that can be read by the barcode reader 123.

Therefore, as a result of analyzing the prescription data received from the host system (not shown), if the prescription data includes an injection drug with a solution, the above-mentioned control device controls the injection drug and the solution respectively. Reference is made to master data regarding drugs in which predetermined drug codes are registered. These drug codes are then added to the prescription data. Moreover, the drug code corresponding to the solution and the cassette specific information are stored in association with each other in the data table. Thereby, the injection drug dispensing device 100 can identify the cassette Ca containing the injection drug and the solution by analyzing the prescription data received from the control device and referring to the data table.

Note that for injection drugs, a drug code is linked to the injection drug identification information in the prescription data. Furthermore, the shape model is registered in association with the drug code. Furthermore, for injection drugs, the injection drug identification information may be used as is, and for the solution, a drug code linked to the injection drug identification information may be assigned. That is, it is sufficient that at least the dissolving solution is provided with dissolving solution identification information for identifying the dissolving solution.

Here, since injection drug identification information is attached to the injection drug, it can be read by the barcode reader 123. Therefore, the first determination processing unit 195 can determine whether or not the injection placed on the position changing unit 126 is the injection that should be dispensed before actually dispensing the injection onto the transport tray 151a. . On the other hand, as described above, no information readable by the barcode reader 123 is attached to the solution. Therefore, the first determination processing unit 195 cannot determine whether the solution placed on the position changing unit 126 is the solution to be dispensed based on the reading result of the barcode reader 123.

Therefore, the first discrimination processing unit 195 determines that when the received prescription data regarding administration to one patient includes an injection drug with a solution, and the reading result is not received from the barcode reader 123 for a predetermined period of time (i.e. , the object placed on the position change unit 126 is determined to be a solution to be dispensed. Thereby, the solution can also be delivered to the transport tray 151a.

Here, the suction position determination unit 194 refers to the shape model when specifying the suction position at the processing position 132, thereby determining the shape of the injection drug to be adsorbed (actually, the container in which the injection drug is stored). Identify. In addition, since the shape model is linked to the drug code, the adsorption position determination unit 194 can detect the solution to be adsorbed (actually, the container in which the solution is stored) for the solution as well as for injection drugs. Identify the shape of. In this way, the adsorption position determination unit 194 specifies the solution to be adsorbed based on the shape model linked to the drug code. Therefore, it can be inferred that the solution to be dispensed has been accurately identified at this point.

That is, regarding the solution, the injection drug dispensing device 100 places the solution to be dispensed on the position changing unit 126 based on the prescription data related to administration to one patient, the data table, the shape model, etc. Therefore, even if the first discrimination processing unit 195 does not make a discrimination based on the reading result of the barcode reader 123, it is possible to dispense the solution based on the prescription data.

As described above, in this example, the first discrimination processing unit 195 determines whether or not the injection drug can be dispensed based on the injection drug identification information, and also determines whether information corresponding to the injection drug identification information can be read for the solution. Whether or not the dissolving solution can be dispensed is determined based on whether or not the dissolving solution can be dispensed. Specifically, as described above, the first discrimination processing unit 195 determines whether the received prescription data for administration to one patient includes an injection drug with a solution, and if the injection drug is to be dispensed together with the injection drug. If information similar to injection drug identification information cannot be read from the object, the object is determined to be a solution to be dispensed. Thereby, the solution can also be dispensed with an easy method.

Further, the suction position determining unit 194 specifies the injection drug and solution to be taken out from the cassette Ca based on the shape model and the like as described above. Therefore, it can be said that the injection drug dispensing device 100 discriminates the injection drug and solution to be dispensed in two stages: identification based on a shape model, etc., and discrimination by the first discrimination processing unit 195. Further, when dispensing an injection with a solution, the control unit 190 includes a first determination unit that determines whether or not the solution can be dispensed based on at least the shape, and a first determination unit that determines whether or not the injection can be dispensed based at least on the type of drug. It can also be said to include a second determination section. Furthermore, regarding the dissolving liquid, it can be said that the determination based on the shape model complements the determination by the first determination processing unit 195.

[Outline of printer device]
Next, the printer device 13 will be explained. The printer device 13 functions as a printing device that prints information regarding the injection drug contained in the transport tray 151a (tray) that transports the injection drug (drug) or the small tray 151b (tray). In the above, the printer device 13 has a function of printing information indicating the type of injection drug, etc. on the transport tray 151a, and issues an infusion label on which content information indicating the contents of the infusion container is printed ( The explanation has been made as having at least one of the following functions. In the following, in addition to these two functions, the printer device 13 has a function of dispensing a stored item printing sheet (prescription (e.g., injection tablet)) on which stored item information is printed, and a function of dispensing a stored item printing sheet (prescription (e.g., injection tablet)) on which stored item information is printed, and a function to dispense a stored item printing sheet on which stored item information is printed. A configuration having a function of dispensing an object-printed sheet (for example, a missing item note) will be described. That is, hereinafter, a configuration in which the printer device 13 has the above four functions (a printer device 13 in which four devices each having the above four functions are provided in one housing) will be described.

By providing the above four devices in one housing, space saving of the injection drug dispensing system 1 can be achieved. Furthermore, as will be described later, in addition to the four devices described above, the processing of the printer device 13 can be performed efficiently by arranging a conveyance mechanism that conveys each of the infusion label and the printed matter printed sheet.

FIG. 37 is a perspective view showing an example of the printer device 13. Further, FIG. 38 is a block diagram showing an example of the printer device 13. As shown in FIG.

Specifically, as shown in FIGS. 37 and 38, the printer device 13 includes a transport tray printing device 300 (tray writing section), an infusion label dispensing device 400 (label dispensing section, infusion label dispensing section), and an injection label. It includes a dispensing device 500 (first sheet dispensing unit) and an out-of-stock note dispensing device 600 (second sheet dispensing unit). The printer device 13 also includes an infusion label transport mechanism 700 (label transport unit), an injection tablet transport mechanism 800, and a tray transport mechanism 900. Further, as shown in FIG. 38, the printer device 13 includes a control section 1000 that controls each of these devices or mechanisms.

Below, first, before explaining the specific configuration of each device and each mechanism, the flow of operations in the printer device 13 will be explained. Furthermore, in the following description, it is assumed that the stored item printed sheet is an injection prescription, and the non-accommodated item printed sheet is an out-of-stock item.

[Operation in printer device]
The flow of operations in the printer device 13 will be explained. FIG. 39 is a diagram for explaining the flow of operations in the printer device 13. Specifically, FIG. 39 is a plan view showing an example of the bottom of the printer device 13 for explaining the order in which the transport tray 151a is transported.

In the printer device 13, the conveyance tray 151a conveyed from the injection dispensing device 100 provided at the front stage is conveyed by the tray conveyance mechanism 900 to the discharge lifter 14 provided at the rear stage. The tray transport mechanism 900 first moves the transport tray 151a, which has been transported from the injection dispensing device 100 to the first position P101, to the second position P102. That is, the first position P101 is a tray receiving position that receives the transport tray 151a from the injection drug dispensing device 100.

The transport tray printing device 300 writes transport destination information on the transport tray 151a located at the second position P102 based on the prescription data. Examples of the transport destination information include a patient name and a ward name. The destination information may include information indicating the type of injection drug. Further, the infusion label transport mechanism 700 transports and places the infusion label dispensed by the infusion label dispensing device 400 based on the prescription data to the transport tray 151a disposed at the second position P102. That is, the second position P102 is a position where the transport destination information is written on the transport tray 151a and where the infusion label is placed on the transport tray 151a.

Two infusion label dispensing devices 400a and 400b are arranged above the second position P102, and a through hole 400h is formed between them (see FIG. 42). Specifically, the through hole 400h is provided at a position facing at least a portion of the second position P102. The infusion labels discharged from the two infusion label dispensing devices 400a and 400b are placed on the conveyance tray 151a via the through hole 400h by the infusion label conveyance mechanism 700.

In this embodiment, since the destination information is printed and the transport label is placed at one location, the second position P102, these processes can be performed efficiently. Therefore, the processing speed of the printer device 13 can be improved.

Note that in this embodiment, the transport tray 151a is moved from the first position P101 to the second position P102, but if it is possible due to the design of the injection dispensing system 1, the second position P102 is moved from the first position P101 ( It may also function as a tray receiving position). For example, the printer device 13 may receive the transport tray 151a transported from the injection drug dispensing device 100 from the front of the printer device 13, and move the transport tray 151a to the second position P102. In the case of this configuration, in the injection drug dispensing system 1 that dispenses printed materials such as infusion labels and injection slips after dispensing injection drugs, maintenance of the injection drug dispensing device 100 can be easily performed, and the discharge lifter 14 can be made small. This makes it possible to achieve Moreover, in the case of this configuration, in the injection drug dispensing system 1, it becomes possible to efficiently print on the side surface of the conveyance tray 151a by the conveyance tray printing device 300.

When the printing of the destination information and the placement of the transport label at the second position P102 are completed, the tray transport mechanism 900 moves the transport tray 151a to the third position P103. The injection tablet transport mechanism 800 transports and places the injection tablet dispensed by the injection tablet dispensing device 500 based on the prescription data to the transport tray 151a disposed at the third position P103.

Further, above the third position P103, a missing item note dispensing device 600 is arranged. When an injection to be stored in the transport tray 151a is not stored, the out-of-stock note dispensing device 600 delivers an out-of-stock note on which out-of-stock information indicating the injection is printed onto the transport tray 151a.

When the placement of the injection tablets and, in some cases, the placement of the missing medicine tablets, is completed at the third position P103, the tray conveyance mechanism 900 conveys the conveyance tray 151a to the discharge lifter 14.

In this way, the printer device 13 of this example prints an infusion label corresponding to an infusion container placed (or placed) on the transport tray 151a, and an infusion label corresponding to an injection drug placed on the transport tray 151a. The injection tablet is dispensed onto the transport tray 151a. Further, the printer device 13 writes the patient name and the like of the patient corresponding to the injection medicine etc. placed on the transport tray 151a on the transport tray 151a. Further, the printer device 13 delivers out-of-stock notes to the transport tray 151a as the case may be.

In the above example, the injection tablet is placed on the top surface of the transport tray 151a. The injection tablet is placed after printing the destination information and after placing the infusion label. By arranging the injection tablet on the top surface, convenience for the user who visually inspects the injection drug etc. is improved. However, unless this point is taken into account, the printing and placement order is not limited to the above example. In other words, the order (printing or dispensing position) of printing the destination information and dispensing the infusion label and the injection label (in some cases, the missing one) is not limited to the above order.

Here, the control unit 1000 is, for example, a control device that centrally controls the entire injection drug dispensing system 1, for prescription data related to administration to one patient, for which dispensing of the injection drug has been completed by the injection drug dispensing device 100. (not shown). Further, when receiving prescription data related to administration to the one patient, the transport tray 151a on which the injection drug has been dispensed is received from the injection drug dispensing device 100.

For example, when the injection drug dispensing device 100 completes dispensing the injection drug indicated in the prescription data regarding administration to one patient, it transmits dispensing completion information indicating completion of the dispensing to the control device. In addition, if there is a shortage of the injection drug indicated in the prescription data related to administration to the one patient, the injection drug dispensing device 100, for example, completes dispensing of the shortage information indicating the missing injection drug. It is linked to information and sent to the control device. By confirming this dispensing completion information, the control device transmits to the printer device 13 prescription data (in some cases, out-of-stock information) related to administration to one patient for which dispensing has been completed. Based on this confirmation, the control device also instructs the injection drug dispensing device 100 to transfer the transport tray 151a on which the injection drug indicated in the prescription data regarding administration to the one patient is placed to the printer device 13. Instruct.

Thereby, the control unit 1000 can print the destination information based on prescription data regarding administration to one patient on the conveyance tray 151a without misrecognizing the conveyance tray 151a to be printed. In addition, the control unit 1000 transfers infusion labels and injection tablets (in some cases, missing items) to the transport tray 151a to be delivered without misrecognizing the transport tray 151a to be dispensed. 151a.

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

[Tray transport mechanism]
As shown in FIG. 39, the tray conveyance mechanism 900 moves the conveyance tray 151a conveyed from the injection dispensing device 100 to the first position P101 to the second position P102 and the third position P103 based on the control of the control unit 1000. It is conveyed to the discharge lifter 14 via the discharge lifter 14. The tray transport mechanism 900 is provided at the bottom of the printer device 13 to transport the transport tray 151a. In this embodiment, the tray transport mechanism 900 includes a first movement mechanism that moves the transport tray 151a between the first position P101 and the second position P102, and a transport mechanism that transports the transport tray 151a between the first position P101 and the third position P103. It has a second moving mechanism that moves the tray 151a.

By controlling the tray transport mechanism 900, the control unit 1000 moves the transport tray 151a, which was transported to the first position P101 when prescription data related to administration to one patient is received, from the first position P101 to the second position. Move to P102.

When the control unit 1000 determines that the transport of the infusion label dispensed by the infusion label dispensing device 400 to the transport tray 151a is completed, the control unit 1000 controls the tray transport mechanism 900 to move the transport tray 151a to the third position P103. transport to. For example, when the infusion label transport mechanism 700 places the infusion label on the transport tray 151a and then returns the infusion label gripping unit 701 to a standby position (described later), the control unit 1000 determines that the transport is completed. I don't mind.

Thereafter, when the control unit 1000 determines that the injection tablet dispensed by the injection tablet dispensing device 500 has been completely transported to the transport tray 151a, the controller 1000 controls the tray transport mechanism 900 to move the transport tray 151a to the discharge lifter. 14. For example, the control unit 1000 determines that the transport is completed when the injection tablet transport mechanism 800 returns the injection tablet gripping unit 801 to a standby position (described later) after placing the injection tablet on the transport tray 151a. I don't mind.

Note that in the case of the above-described configuration in which the transport tray 151a is received from the front of the printer device 13, the control unit 1000 determines whether printing of the transport destination information on the transport tray 151a received at the second position P102 and storage of the infusion label are completed. Thereafter, the transport tray 151a is moved to the third position P103 via the first position P101. In other words, in this case, the tray transport mechanism 900, under the control of the control unit 1000, transports the transport tray 151a transported from the injection dispensing device 100 to the second position P102 via the first position P101 and the third position P103. It is conveyed to the discharge lifter 14.

[Transport tray printing device]
Next, the transport tray printing device 300 will be explained. FIG. 40 is a front view showing an example of the conveyance tray printing device 300.

The transport tray printing device 300 prints transport destination information (eg, patient name and ward name) indicating the transport destination of the transport tray 151a at a predetermined position on the transport tray 151a. When the control unit 1000 recognizes that the transport tray 151a is placed at the second position P102, it controls the transport tray printing device 300 to print the data included in the received prescription data for administration to one patient, or Transport destination information linked to the prescription data is printed on the transport tray 151a. The conveyance tray printing device 300 prints conveyance destination information near the approximate center of one side of the conveyance tray 151a conveyed before the conveyance tray printing device 300.

Note that, for example, a plurality of sensors (not shown) are provided on the path of the transport tray 151a. Thereby, the control unit 1000 may recognize which of the first position P101, the second position P102, and the third position P103 the transport tray 151a is arranged based on the output of each sensor.

The conveyance tray printing device 300 is a device that can print conveyance destination information on the conveyance tray 151a without contacting it. In this embodiment, the conveyance tray printing device 300 is a laser marker that prints information on an object by emitting a laser Ls.

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

For example, if a magnetic card is used, destination information will be written on the magnetic card while it is removed. In this case, when removing the magnetic card from the transport tray 151a, there is a possibility that the magnetic card gets caught in a part of the transport tray 151a. Further, when using an electronic card, this problem does not occur, but the cost is relatively high.

By using a laser marker as the conveyance tray printing device 300, conveyance destination information can be printed on the conveyance tray 151a at low cost and without the hassle of using a magnetic card.

[Infusion label dispensing device and infusion label transport mechanism]
Next, the infusion label dispensing device 400 and the infusion label transport mechanism 700 will be explained. FIG. 41(a) is a perspective view showing an example of the infusion label dispensing device 400 and the infusion label transport mechanism 700, and FIG. It is a perspective view showing an example. FIG. 42 is a plan view showing an example of the infusion label dispensing device 400.

The infusion label dispensing device 400 dispenses an infusion label to be attached to an infusion container. Further, the infusion label transport mechanism 700 grips the infusion label dispensed by the infusion label dispensing device 400 and transports it to the transport tray 151a. The infusion label dispensing device 400 and the infusion label transport mechanism 700 function as a label dispensing device that dispenses an infusion label onto the transport tray 151a.

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

The infusion label dispensing device 400 includes a printed sheet storage section 401, a first main body section 402, an infusion label receiving section 403, and a receiving section rotating mechanism 404, as shown in FIG. 41(a). The print sheet storage unit 401 stores print sheets on which content information is printed. The first main body section 402 issues an infusion label by printing the content information indicated in the received prescription data for administration to one patient on a print sheet stored in the print sheet storage section 401. be.

The infusion label receiving section 403 receives the infusion label issued by the first main body section 402 and temporarily stores it. As shown in FIG. 41(b), a space for accommodating an infusion label is formed in the infusion label receiving section 403 by a side wall 403c standing up from the bottom 403b. Further, the side wall 403c forms an opening 403a through which the infusion label is received from the first main body part 402 and through which the infusion label gripping section 701 of the infusion label transport mechanism 700 extracts the infusion label. In addition, a gap 403d is formed by the side wall 403c to enable the pair of claws 702 of the infusion label gripping section 701 to open and close.

The pair of claws 702 opens when gripping the infusion label accommodated in the infusion label receiving section 403, as shown in FIG. 43(b). In this embodiment, as shown in FIG. 41(b), the side wall 403c has a shape having a gap 403d at its center. Therefore, the pair of claws 702 can open and close through the gap 403d without colliding with the side wall 403c when gripping the infusion label.

On the other hand, if the gap 403d is not formed, it is necessary to form a space large enough to open the pair of claws 702 inside the infusion label receiving part 403 when grasping the infusion label. Become. In this case, the thickness W10 needs to be thick enough to form the space. However, since the infusion label is thin and the number of infusion labels that can be accommodated at one time is about several (for example, about 1 to 5), there is no need to increase the thickness W10 so much. As described above, since the side wall 403c has the gap 403d, the infusion label receiving section 403 can be made relatively small. Unless this point is taken into account, the infusion label receiving section 403 does not need to have the gap section 403d.

The infusion label receiving section 403 is provided so that the direction of the opening 403a can be changed. Specifically, in the label receiving position (the state shown in FIG. 43(a)), the infusion label receiving section 403 is fixed with the opening 403a facing the first main body section 402 side. The label receiving position is the position of the infusion label receiving section 403 when the infusion label receiving section 403 receives the infusion label issued from the first main body section 402. On the other hand, in the label gripping position (states of (b) and (c) in FIG. 43), the infusion label receiving part 403 is in a state in which the opening 403a is directed toward the infusion label gripping part 701 side (Z-axis direction; upward direction). is fixed. The label grasping position is the position of the infusion label receiving section 403 when the infusion label grasping section 701 grasps the infusion label accommodated in the infusion label receiving section 403.

Note that an attachment 403e may be attached to the infusion label receiving section 403, as shown in FIG. 41(c). The attachment 403e is for adjusting the height of the bottom of the infusion label receiving section 403, and is fitted into the inside of the infusion label receiving section 403 from the opening 403a. If the attachment 403e is not attached and a relatively small infusion label is accommodated in the infusion label receiving section 403, the infusion label gripping section 701 may not be able to grip the infusion label. By attaching the attachment 403e to the infusion label receiving section 403, the bottom of the infusion label receiving section 403 can be made higher. Therefore, even if the infusion label is dispensed, the infusion label gripping section 701 can grasp the infusion label.

The receiver rotation mechanism 404 includes a shaft portion extending in the Y-axis direction and a drive mechanism that rotates the shaft portion. An infusion label receiving portion 403 (eg, side wall 403c) is attached to the shaft portion. The receiving section rotating mechanism 404 rotates the infusion label receiving section 403 around the shaft by rotating the shaft using a drive mechanism. Thereby, the infusion label receiving section 403 can be moved between the label receiving position and the label gripping position such that the opening 403a is oriented in the above-described direction in each of the label receiving position and the label gripping position.

Further, as shown in FIG. 43(a), at the label receiving position, the opening 403a of the infusion label receiving section 403 and the label dispensing opening 402a of the first main body part 402 for dispensing the infusion label (or the vicinity thereof) are located opposite each other. That is, at the label receiving position, the infusion label receiving section 403 and the receiving section rotating mechanism 404 are arranged so as to have the above positional relationship. In other words, the infusion label receiving section 403 is a member that can be rotated to be positioned opposite the label dispensing port 402a (or the vicinity thereof).

Further, near the infusion label receiving section 403 or in the label dispensing port 402a of the first main body section 402, a label for counting the infusion labels accommodated in the infusion label receiving section 403 (infusion labels dispensed by the first main body section 402) is provided. A counting section (not shown) may be provided. Based on the notification from the label counting unit (eg, sensor), the control unit 1000 can determine whether a specified number of infusion labels have been dispensed.

<Details of the infusion label transport mechanism>
Next, the infusion label transport mechanism 700 will be explained. (a) and (b) of FIG. 49 are perspective views showing an example of the infusion label gripping section 701.

As shown in FIG. 41(a), in this embodiment, the infusion label transport mechanism 700 includes infusion label gripping parts 701a and 701b (also collectively referred to as infusion label gripping parts 701), a first support part 711, a first support part 711, A second support part 712 and a third support part 713 are provided.

The infusion label gripping section 701 grips (pinches) the infusion label delivered to the infusion label receiving section 403. Further, the infusion label gripping section 701 releases the infusion label on the transport tray 151a in order to place the gripped infusion label on the transport tray 151a. In order to realize this gripping and releasing operation, the infusion label gripping parts 701a and 701b are provided with a pair of claw parts 702a and 702b, respectively, which can perform opening and closing operations at their tips ((a) in FIG. 49). and (b)). Note that the pair of claws 702a and 702b are also collectively referred to as a pair of claws 702.

In addition, as shown in FIGS. 49(a) and 49(b), the infusion label gripping part 701 includes a fixture 703, a gripping part driving mechanism 704 that opens and closes a pair of claw parts 702, and a gripping part driving mechanism 704. A support column 705 that is supported and supports the fixture 703 is provided.

The fixture 703 is fixed to the grip drive mechanism 704 via a support 705. The fixture 703 is provided facing the surface of one of the pair of claws 702 (herein referred to as one claw 7021) on the side opposite to the side on which the infusion label is gripped. In addition, by being supported by the support column 705, the fixture 703 does not move together with the pair of claws 702 even when the gripping portion drive mechanism 704 performs the opening/closing operation of the pair of claws 702. There is no

The fixture 703 is provided with a rod-shaped member 703a extending toward one claw portion 7021. Furthermore, one claw portion 7021 is provided with an opening 7021a through which the rod-shaped member 703a can pass. When the pair of claws 702 are closed, the rod-shaped member 703a is located at a position where it does not pass through the opening 7021a (a position where the entire rod-shaped member 703a faces the opposite surface). On the other hand, when the pair of claws 702 of the rod-shaped member 703a is open, the tip end of the rod-like member 703a extends from the opening 7021a to the inside of the pair of claws 702, as shown in FIGS. 49(a) and (b). located in a prominent position.

As a result, even if the gripped infusion label is attached to one of the claws 7021 due to static electricity when the pair of claws 702 is opened, the bar-like member 703a protruding from the opening 7021a will allow the infusion label to be held on one side by the rod-shaped member 703a protruding from the opening 7021a. The infusion label can be physically peeled off from the claw portion 7021. Therefore, by providing the fixture 703, the gripped infusion label can be reliably released when the pair of claws 702 opens. In other words, it can be said that the fixture 703 functions as a label peeling unit that peels off the infusion label attached to the pair of claws 702.

Note that the fixture 703 may be provided on the other claw portion 7022. In other words, the fixture 703 may be provided on one claw portion 7021 and/or the other claw portion 7022.

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

The third support section 713 moves the infusion label gripping section 701 between the standby position and the infusion label receiving section 403 at the label gripping position. Further, the third support section 713 holds the infusion label gripping section 701 between a position above the transport tray 151a (a position at the same height as the standby position) and a position near the transport tray 151a (label release position). move it. Note that the standby position is above the infusion label receiving section 403 and is a position where the infusion label stored in the infusion label receiving section 403 is on standby for gripping.

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

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

<Operation of the infusion label dispensing device and infusion label transport mechanism>
Next, the gripping operation and transporting operation of the infusion label by the infusion label transport mechanism 700 will be explained. FIGS. 43A to 43D are diagrams for explaining an example of the gripping operation of the infusion label La by the infusion label transport mechanism 700. FIGS. 44A to 44D are diagrams for explaining an example of the operation of transporting the infusion label La by the infusion label transport mechanism 700.

As shown in FIG. 43(a), in the infusion label dispensing device 400, when the first main body section 402 dispenses the infusion label La under the control of the control section 1000, the infusion label La is received in the infusion label receiving section 403. be done. When the control unit 1000 determines that the prescribed number of infusion labels La have been accommodated, as shown in FIG. The infusion label receiving section 403 is rotated so as to face the section 701 side. In this state, the control unit 1000 moves the infusion label gripping unit 701 from the standby position to the infusion label receiving unit 403.

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

Note that by providing a sensor (not shown) inside the infusion label receiving section 403, the control section 1000 can determine whether or not the infusion label La is present inside the infusion label receiving section 403. For example, by providing a sensor on the pair of claws 702 (not shown), the control unit 1000 determines whether or not the pair of claws 702 are gripping the infusion label La.

Further, the control unit 1000 is triggered by receiving a notification from the sensor provided in the infusion label receiving unit 403 and the label counting unit provided in the label dispensing port 402a described above, and causes the infusion label gripping unit 701 to hold the infusion label. You may start the operation. Specifically, the control unit 1000 is triggered by recognizing that a specified number of infusion labels La have been dispensed from the first main body unit 402 and that the infusion labels La are present in the infusion label receiving unit 403. The above-mentioned gripping operation may be started. Also, at this time, the control unit 1000 rotates the infusion label receiving unit 403 so that the opening 403a faces the infusion label gripping unit 701 side. With this configuration, the gripping operation can be started earlier than when the gripping operation is performed upon receiving a notification from the infusion label dispensing device 400 that the dispensing of the infusion label La has been completed.

FIG. 44(a) shows a state in which the infusion label gripping section 701 is grasping the infusion label La at the standby position. From this state, as shown in FIG. 44(b), the control section 1000 moves the infusion label gripping section 701 that has been moved to each standby position to near the center of the first support section 711. After moving the infusion label gripping section 701 to the vicinity of the center, the control section 1000 moves the first support section 711 to the upper part of the through hole 400h (that is, the second position P102 where the transport tray 151a is placed). Specifically, the control unit 1000 moves the infusion label La held by the infusion label gripping unit 701 to above the position (infusion label placement area) in the transport tray 151a where the infusion label La is to be placed.

Thereafter, as shown in FIG. 44(d), the control unit 1000 lowers the infusion label gripping part 701 that grips the infusion label La, and opens the pair of claws 702 at the label release position. is placed on the transport tray 151a.

Next, the placement position of the infusion label La on the transport tray 151a will be explained. FIGS. 45A and 45B are diagrams for explaining the placement position of the infusion label La on the transport tray 151a. As mentioned above, it is assumed that four small trays 151b are accommodated inside the transport tray 151a. It is also assumed that each small tray 151b is provided with an infusion label placement area 151r, which is an area where the injection drug is not dispensed and where the infusion label La is dispensed. In addition, the content information shown in the received prescription data for administration to one patient includes four pieces of information: morning dose, afternoon dose, evening dose, and bedtime dose. shall be.

Here, in FIG. 45, for convenience of explanation, the four small trays 151b are referred to as small trays 151b1, 151b2, 151b3, and 151b4 in order from the transport direction of the transport tray 151a. Further, it is assumed that the small trays 151b1, 151b2, 151b3, and 151b4 are dispensed with injections for morning administration, afternoon administration, evening administration, and bedtime administration, respectively. Note that the received prescription data regarding administration to one patient is associated with information indicating the placement position of the injection drug on the transport tray 151a. Therefore, the control unit 1000 can realize the above-described dispensing of the injection medicine to the small trays 151b1, 151b2, 151b3, and 151b4 (dispensing of the injection to a predetermined position) by analyzing the prescription data.

The control unit 1000 specifies which of the infusion label dispensing devices 400a and 400b should print and dispense the infusion label La regarding the content information shown in the received prescription data regarding administration to one patient. For example, the control unit 1000 causes the infusion label La for the morning dose and the evening dose to be dispensed from the infusion label dispensing device 400a, and causes the infusion label La for the midday dose and the bedtime dose to be dispensed from the infusion label dispensing device 400b. In other words, the infusion label La dispensed from the infusion label dispensing device 400a is delivered to the small tray 151b1 (first section of the transport tray 151a) and the small tray 151b3 (third section). The infusion label La discharged from the infusion label dispensing device 400b is discharged to a small tray 151b2 (second compartment) and a small tray 151b4 (fourth compartment).

In addition, at the time of first dispensing, the control unit 1000 causes the infusion label dispensing device 400a to dispense the infusion label La for the morning dose onto the small tray 151b1, and also causes the infusion label dispensing device 400b to dispense the infusion label La for the midday dose in a small size tray 151b1. It is discharged onto the tray 151b2. As shown in FIG. 45(a), during the first dispensing, the infusion label La for the morning dose dispensed from the infusion label dispensing device 400a is transferred to the infusion label placement area of the small tray 151b1 by the infusion label gripping portion 701a. It will be paid out at 151r. Further, the infusion label La for the daytime dose dispensed from the infusion label dispensing device 400b is delivered to the infusion label placement area 151r of the small tray 151b2 by the infusion label gripping section 701b.

In addition, at the time of second dispensing, the control unit 1000 causes the infusion label dispensing device 400a to dispense the infusion label La for the evening dose onto the small tray 151b3, and also causes the infusion label dispensing device 400b to dispense the infusion label La for the bedtime dose from the infusion label dispensing device 400b. The small tray 151b4 is made to dispense. As shown in FIG. 45(b), during the second dispensing, the infusion label La for the evening dose dispensed from the infusion label dispensing device 400a is transferred to the infusion label placement area of the small tray 151b3 by the infusion label gripping portion 701b. It will be paid out at 151r. Further, the infusion label La for bedtime administration dispensed from the infusion label dispensing device 400b is delivered to the infusion label placement area 151r of the small tray 151b4 by the infusion label gripping section 701b.

Note that the above-described method of dispensing the infusion labels La is just an example, and the infusion labels La may be dispensed in any order. For example, the infusion label dispensing device 400a may dispense infusion labels La for midday doses and pre-bedtime doses, and the infusion label dispensing device 400b may dispense infusion labels La for morning doses and evening doses. Further, the first payout and the second payout may be reversed.

As described above, in this embodiment, for each of the plurality of infusion label dispensing devices 400, the infusion label gripping section 701, the first support section 711 and the third support section 713 for conveying the infusion label gripping section 701 are provided. It is equipped with Further, a second support section 712 for conveying the infusion label gripping section 701 is provided. Therefore, as described above, in one dispensing operation, a plurality of infusion label dispensing devices 400 are operated in parallel, and the infusion labels La dispensed from each infusion label dispensing device 400 are placed at a predetermined position ( (section). That is, a plurality of infusion labels La can be efficiently dispensed.

Further, the printer device 13 includes a plurality of infusion label dispensing devices 400. Therefore, even if any infusion label dispensing device 400 becomes unable to dispense the infusion label La (a failure has occurred in the infusion label dispensing device 400), the remaining infusion label dispensing devices 400 can It is also possible to dispense the infusion label La corresponding to the quantity dispensed. For example, even if the infusion label dispensing device 400a is out of order or the printed sheet is missing, and the infusion label La cannot be dispensed, the infusion label La dispensed by the infusion label dispensing device 400a is transferred to the infusion label dispensing device. It can be paid out from 400b. In this case, the control unit 1000 sequentially prints each piece of information (e.g., the above four doses) included in the content information shown in the received prescription data for administration to one patient on a printing sheet. The infusion label La related to the information is dispensed from the infusion label dispensing device 400b.

Note that the number of the infusion label dispensing device 400 may be one, as long as the efficiency of processing as described above or alternative processing in the event of a failure is not considered. Further, the number of infusion label dispensing devices 400 may be three or more. However, in this case, an infusion label gripping section 701 or the like is provided corresponding to each infusion label dispensing device 400.

In addition, in the infusion label transport mechanism 700, the infusion label gripping part 701 grips the infusion label La, and moves the infusion label gripping part 701 along the first support part 711, the second support part 712, and the third support part 713. let Therefore, it can be placed at a predetermined position on the transport tray 151a (eg, infusion label placement area 151r of each small tray 151b) with high accuracy.

[Injection tablet dispensing device and injection tablet transport mechanism]
Next, the injection tablet dispensing device 500 will be explained. 46 is a diagram showing an example of the injection tablet dispensing device 500, (a) is a front view showing an example of the injection tablet dispensing device 500, and (b) and (c) are diagrams showing the injection tablet receiving section 512. It is a perspective view showing an example.

<Details of injection tablet dispensing device>
The injection tablet dispensing device 500 dispenses injection tablets on which stored item information indicating the injection medicines contained in the transport tray 151a is printed. As shown in FIG. 46(a), the injection tablet dispensing device 500 includes a second main body portion 511 and a injection tablet receiving portion 512.

The second main body section 511 issues an injection prescription by printing, on a stored sheet of paper, storage information indicating the injection drug indicated in the received prescription data for administration to one patient. When out-of-stock information has been received, the injection drug indicated in the out-of-stock information has not been dispensed from the injection drug dispensing device 100 to the transport tray 151a. Therefore, the second main body portion 511 may print information regarding injections other than the injections shown in the out-of-stock information among the injections shown in the prescription data on a sheet of paper as stored item information. Further, the second main body section 511 has an injection tablet dispensing port 511a for dispensing the injection tablet to the injection tablet receiving section 512.

The injection tablet receiving section 512 is a place where the injection tablet issued by the second main body part 511 is received and the injection tablet is temporarily placed. As shown in FIG. 46(b), the injection tablet receiving portion 512 has a raised portion 512a and a cutout portion 512b.

The raised portion 512a is for receiving the injection tablet issued by the second main body portion 511 in a lifted state from the bottom (receiving plate) of the injection tablet receiving portion 512. The raised portions 512a are a plurality of plate-like members having a convex cross-sectional shape (curved shape), as shown in FIG. 46(b).

The height of the plate-like member on the side of the injection tablet dispensing port 511a is low enough to prevent the injection tablet dispensed from the injection tablet dispensing port 511a from colliding with the plate-like member. Furthermore, the height of the plate-like member is at its maximum on the side closer to the injection tablet dispensing port 511a than near the center of the raised portion 512a.

The position where the above-mentioned height becomes the maximum is a position (or a position near thereto) where the injection tablet gripping section 801 of the injection tablet transport mechanism 800 grips the injection tablet from the notch 512b side. Therefore, by providing a plate-like member having the above-described shape as the raised portion 512a, the injection tablet gripping portion 801 can be easily gripped. Note that the injection tablet is placed on the raised portion 512a as shown in FIG. 46(c).

The raised portion 512a may have any shape as long as it lifts the injection tablet so that the injection tablet can be easily grasped by the injection tablet gripping portion 801. For example, the raised portion 512a is not composed of a plurality of plate-like members, but may be a single member having the same cross-sectional shape as the plate-like members.

The cutout portion 512b is provided at a position where the injection tablet gripping portion 801 approaches. Thereby, when the injection tablet gripping section 801 approaches the injection tablet receiving section 512, it can grip the injection tablet without coming into contact with (colliding with) the injection tablet receiving section 512.

Further, in this embodiment, as shown in FIG. 37, two injection tablet dispensing devices 500 are provided. The control unit 1000 transfers the injection tablets indicating the injection medicines (for example, the injection medicines dispensed into the small trays 151b1 and 151b2) indicated as part of the received prescription data for administration to one patient to one injection tablet dispenser. It is dispensed from the device 500. Further, the control unit 1000 causes the other injection tablet dispensing device 500 to dispense the injection tablets indicating the injections shown in the remainder of the prescription data (eg, the injections dispensed into the small trays 151b3 and 151b4). Note that the number of injection tablet dispensing devices 500 is not limited to two, and may be one, or three or more.

<Details of the injection tablet dispensing transport mechanism>
Next, the injection tablet transport mechanism 800 will be explained. FIGS. 47A and 47B are perspective views showing an example of the injection tablet transport mechanism 800.

As shown in FIG. 47(a), the injection tablet transport mechanism 800 includes an injection tablet gripping part 801, a gripping part rotating mechanism 803, a fourth support part 811, and a fifth support part 812.

The injection tablet gripping section 801 grips (pinches) the injection tablet delivered to the injection tablet receiving section 512. Further, the injection tablet gripping unit 801 releases the gripped injection tablet on the transport tray 151a in order to place the gripped injection tablet on the transport tray 151a. The injection tablet gripping section 801 includes a pair of claws 802 that can open and close in order to realize the gripping and releasing operations.

The injection tablet grip part 801 is provided so that the direction of a pair of claw parts 802 can be changed. Therefore, the injection tablet gripping section 801 is attached to a gripping section rotation mechanism 803. Specifically, the grip rotation mechanism 803 includes a shaft extending in the X-axis direction and a drive mechanism for rotating the shaft, and the injection tablet grip 801 is attached to the shaft. As a result, the gripping portion rotation mechanism 803 rotates the pair of claw portions 802 around the shaft portion by rotating the shaft portion using the drive mechanism.

For example, in the injection tablet gripping position P201 and the injection tablet raising/lowering position P202, the injection tablet gripping section 801 moves a pair of claws 802 to the injection tablet receiving section 512 of the injection tablet dispensing device 500, as shown in FIG. 47(a). (facing in the +Y-axis direction). The injection tablet gripping position P201 is the position of the injection tablet gripping part 801 when the injection tablet gripping part 801 grips the injection tablet placed on the injection tablet receiving part 512. Further, the injection tablet elevating position P202 is the position of the injection tablet gripping portion 801 when the fifth support portion 812 moves (elevating and lowering) the injection tablet gripping portion 801 in the Z-axis direction.

For example, FIG. 47(b) shows a state in which the injection tablet gripping part 801 is rotated from this state so that the pair of claw parts 802 face diagonally downward. The rotation of the injection tablet gripping section 801 to this state is performed, for example, at the injection tablet raising/lowering position P202. Furthermore, in the injection tablet dispensing position, the injection tablet gripping section 801 is configured such that the pair of claws 802 faces the transport tray 151a placed at the third position P103, as shown in FIG. 48(d). - rotated (to face the Z-axis direction). The injection tablet dispensing position is the position of the injection tablet gripping section 801 when the injection tablet held by the injection tablet gripping section 801 is released and placed on the transport tray 151a.

In this way, the grip rotation mechanism 803 rotates the injection tablet grip 801 so as to change the orientation of the pair of claws 802 between the +Y-axis direction and the -Z-axis direction.

The fourth support portion 811 supports the injection tablet gripping portion 801 via the gripping portion rotation mechanism 803. The fourth supporter 811 is a moving mechanism that moves the injection tablet gripper 801 in the Y-axis direction. When the fourth support part 811 grips the injection tablet placed on the injection tablet receiving part 512, it moves the injection tablet gripping part 801 and the gripping part rotating mechanism 803 to the injection tablet gripping position P201. On the other hand, the fourth support part 811 moves the injection tablet gripping part 801 and the gripping part rotation mechanism 803 to the injection tablet lifting position P202 when lowering the injection tablet gripping part 801 holding the injection tablet to the vicinity of the transport tray 151a. let

The injection tablet gripping section 801 includes a pair of claws 802 and an opening/closing mechanism for opening and closing the pair of claws 802 . Furthermore, the gripping portion rotation mechanism 803 includes a drive mechanism and the like that rotates the injection tablet gripping portion 801. Therefore, the members including the injection tablet gripping part 801 and the gripping part rotation mechanism 803 attached to the fourth support part 811 have a certain size. Therefore, when the injection tablet gripping part 801 and the gripping part rotation mechanism 803 are directly lowered from the injection tablet gripping position P201 to the conveying tray 151a side, the injection tablet gripping part 801 or the gripping part rotation mechanism 803 moves to the injection tablet receiving part 511. There is a possibility of contact (collision) with the

When the injection tablet gripping part 801 and the gripping part rotation mechanism 803 are raised and lowered, by moving them from the injection tablet gripping position P201 to the injection tablet raising and lowering position P202, the injection tablet gripping part 801 or the gripping part rotation mechanism 803 and the injection tablet receiving Contact with the portion 512 can be avoided.

The fifth support portion 812 supports the fourth support portion 811 that supports the injection tablet gripping portion 801. The fifth support section 812 is a moving mechanism that moves the fourth support section 811 (that is, the injection tablet gripping section 801) in the Z-axis direction. As shown in FIG. 37, the fifth support portion 812 stands up near the third position P103 of the printer device 13, and is provided near the third position P103 and above the infusion label dispensing device 400. The injection tablet grip part 801 can be moved between the two injection tablet dispensing devices 500. That is, as shown in FIG. 37, the two injection tablet dispensing devices 500 are provided above the infusion label dispensing device 400 along the fifth support portion 812.

<Operation of injection tablet transport mechanism>
Next, the operation of transporting the injection tablet Pr by the injection tablet transport mechanism 800 will be explained. FIGS. 48A to 48D are diagrams for explaining an example of the operation of transporting the injection tablet Pr by the injection tablet transport mechanism 800. Note that when the injection tablet gripping section 801 does not carry out the transport operation of the injection tablet Pr, the injection tablet gripping section 801 is, for example, at the position shown in FIG. position).

When printing and placement of the infusion label on the transport tray 151a are completed at the second position P102, the control unit 1000 moves the transport tray 151a to the third position P103 by controlling the tray transport mechanism 900. . Thereafter, the control unit 1000 causes the injection tablet dispensing device 500 to dispense the injection tablet Pr on which the stored item information is printed. Note that, before the transport tray 151a is transported to the third position P103 (for example, while the transport tray 151a is placed at the second position P102 and the above-mentioned printing and transport label placement are being performed), the control unit 1000 ), the injection tablet dispensing device 500 may be caused to dispense the injection tablet Pr.

When the injection tablet dispensing device 500 completes dispensing the injection tablet Pr, the control unit 1000 controls the fifth support unit 812 to move the injection tablet gripping device from the standby position to the injection tablet dispensing device 500 that has dispensed the injection tablet Pr. 801 is moved.

Note that the injection tablet dispensing port 511a of the second main body portion 511 may be provided with an injection tablet counter (not shown) that counts the injection tablets Pr dispensed to the injection tablet receiving unit 512. In this case, the control unit 1000 can determine whether a prescribed number of injection tablets Pr have been dispensed based on the notification from the injection tablet counter (eg, sensor). Further, the control unit 1000 uses the reception of this notification as a trigger to move the injection tablet gripping unit 801 from the standby position to the injection tablet dispensing device 500 that has dispensed the injection tablet Pr (that is, the injection tablet gripping unit 801 moves the injection tablet It is also possible to start the gripping operation of Pr. In the case of this configuration, the movement can be started earlier than when the above-mentioned movement is performed upon receiving a notification from the injection tablet dispensing device 500 that the dispensing of the injection tablet Pr has been completed.

After the control unit 1000 moves the injection tablet gripping unit 801 to the injection tablet dispensing device 500 that has dispensed the injection tablet Pr, as shown in FIG. 48(a), by controlling the fourth support unit 811, The injection tablet is moved from the raising/lowering position P202 to the injection tablet gripping position P201. The control unit 1000 grips the injection tablet Pr placed on the injection tablet receiving unit 512 by controlling the injection tablet gripping unit 801. Note that the control unit 1000 determines whether or not the pair of claws 802 are gripping the injection prescription Pr by providing a sensor (not shown) in the pair of claws 802, for example.

The control unit 1000 controls the fourth support unit 811 to convey the injection tablet gripping unit 801 holding the injection tablet Pr to the third position P103, thereby holding the injection tablet Pr. The grip portion 801 is moved from the injection tablet gripping position P201 to the injection tablet lifting position P202.

After the control unit 1000 moves the injection tablet gripping part 801 holding the injection tablet Pr to the injection tablet lifting position P202, as shown in FIG. 48(c), by controlling the fifth support part 812, The injection tablet gripping section 801 is moved to a standby position, and once stopped (decelerated) at the standby position. By temporarily decelerating at this position, it is possible to avoid collision of the injection tablet gripping section 801 with the transport tray 151a.

As shown in FIG. 48(d), the control unit 1000 controls the fifth support unit 812 to move the injection tablet gripping unit 801 from the standby position to the transport tray 151a placed at the third position P103. Move to nearby location. Thereafter, the control unit 1000 controls the grip rotation mechanism 803 to rotate the injection tablet grip 801 so that the pair of claws 802 face the transport tray 151a, and also The control opens the pair of claws 802 that grip the injection tablet Pr. Thereby, the injection prescription Pr can be placed on the transport tray 151a. Furthermore, by rotating and opening the pair of claws 802, the injection prescription Pr can be placed quietly (that is, reliably) on the transport tray 151a.

Thereafter, the control unit 1000 controls the grip rotation mechanism 803 to orient the pair of claws 802 in the Y-axis direction, and then controls the fifth support unit 812 to move the injection tablet grip 801. Move it to the standby position. The injection tablet dispensing device 500 is in a standby state until the injection tablet dispensing device 500 dispenses the injection tablet Pr.

In the present embodiment, the gripping portion rotating mechanism 803 rotates the injection tablet gripping portion 801 such that the pair of claw portions 802 face diagonally downward at the injection tablet raising/lowering position P202. After that, the fifth support part 812 lowers the injection tablet gripping part 801 from the injection tablet lifting position P202 to the standby position. In other words, the injection tablet Pr is lowered with it facing diagonally downward.

The injection prescription Pr is generally a sheet of approximately A4 size. If the injection tablet gripping portion 801 is lowered in the state in which the injection tablet Pr is gripped, air pressure will be applied to the entire surface of the injection tablet Pr. Therefore, there is a possibility that the injection form Pr may be bent due to the air pressure received. As described above, by lowering the injection tablet Pr in a diagonally downward state, it is possible to prevent the injection tablet Pr from bending due to the air pressure during the descent.

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

Furthermore, like the infusion label dispensing device 400, by providing a plurality of injection dispensing devices 500, even if any one of the injectable dispensing devices 500 becomes unable to dispense an injectable drug, the remaining injection dispensing devices 500 can be used as desired. The injection tablets dispensed by the injection tablet dispensing device 500 can also be dispensed.

In addition, in the injection tablet transport mechanism 800, the injection tablet gripping section 801 grips the injection tablet and moves the injection tablet gripping section 801 along the fourth support section 811 and the fifth support section 812. Therefore, the injection tablet can be reliably placed on the transport tray 151a.

[Out-of-stock note dispensing device]
The out-of-stock note dispensing device 600 dispenses out-of-stock notes onto the transport tray 151a under the control of the control unit 1000. Specifically, when the injection drug to be stored in the transport tray 151a is not stored in the transport tray 151a, the missing item note dispensing device 600 generates non-contained item information indicating that the injection medicine is not stored in the transport tray 151a. The out-of-stock note on which is printed is delivered to the transport tray 151a. In this embodiment, the out-of-stock note dispensing device 600 is a thermal printer, but any printer may be used as long as it is capable of dispensing out-of-stock notes.

For example, when out-of-stock information is linked to the received prescription data for administration to one patient, the out-of-stock slip dispensing device 600 drops the out-of-stock slip on which out-of-stock information is printed as non-accommodated item information. As a result, the missing item note is placed on the conveyance tray 151a conveyed to the third position P103.

[Another expression of the above structure]
The above configuration can be expressed as follows.

[A] A label dispensing device according to one aspect of the present invention is a label dispensing device that dispenses a label (infusion label La) onto a tray (conveyance tray 151a, small tray 151b) that conveys a drug (injection drug),
a label dispensing unit (infusion label dispensing device 400) that dispenses the label;
A label conveying section (infusion label conveying mechanism 700) that grasps the label discharged by the label dispensing section and conveys it to the tray is provided.

When the drug dispensed onto the tray by the drug dispensing device is an injection drug, an infusion container is used together with the injection drug. Therefore, an infusion label on which content information indicating the contents of the infusion container is printed is dispensed onto the tray from which the injection drug is dispensed. Examples of printer devices including a label dispensing device for dispensing such an infusion label are disclosed in, for example, Patent Documents 2 to 5.

In the technique disclosed in Patent Document 2, the first printer is arranged at a position where the printed adhesive label can be dropped into a tray. In other words, the adhesive labels delivered from the first printer are directly stored in the tray. Furthermore, the technique disclosed in Patent Document 3 includes a distribution section between a tray holding section that holds a tray and a printing section that prints on a label. The distribution section includes a plurality of label storage sections and is movable in a predetermined direction. In this technique, a supply operation of supplying a printed label to a label accommodating section and a dispensing operation of dropping the printed label into a compartment in a tray held by a tray holding section are performed. This makes it possible to dispense labels with high efficiency to a tray partitioned into a plurality of compartments.

Note that Patent Document 4 discloses a technology for a printer (corresponding to an injection tablet dispensing device) that dispenses printed medicine information. The supporting part of the receiving plate, which is provided under the discharge port through which the printed drug information is discharged and receives the printed drug information, is swingable to smoothly raise and lower the gripping member that grips the printed drug information. becomes possible. Furthermore, in the technology disclosed in Patent Document 5, the automatic drug dispensing device includes an electronic card writing means for writing patient information on an electronic card provided in the tray at the bottom of the printer unit that prints printed matter and inputs it into the tray. It is provided. This allows patient information to be written to the electronic card while the printer unit is loading printed matter into the tray.

However, in the technique of Patent Document 2, since the adhesive label is dropped and thrown in, it is difficult to place the adhesive label at a predetermined position on the tray. Furthermore, although the technique disclosed in Patent Document 3 allows labels to be delivered to each of a plurality of sections, it does not attempt to place the labels at predetermined positions in each section. Patent Documents 4 and 5 do not contain any description regarding label dispensing.

A label dispensing device according to one aspect of the present invention aims to enable efficient label dispensing.

Specifically, as described above, the label dispensing device includes a label conveying section that grips the label dispensed by the label dispensing section and conveys it to the tray. Since the label is gripped and conveyed, the label can be placed at a predetermined position on the tray (eg, a defined label placement area on the tray).

Note that it is also possible to consider a method of dispensing the label to a predetermined position on the tray by moving the tray relative to the label dispensing section (label printing section) without providing the label conveying section. However, in this method, since the tray is moved, the mechanism for moving the tray becomes a complicated mechanism. Therefore, manufacturing or maintenance of the mechanism may require time and effort. The label conveying section may have a structure that is simpler than a mechanism for moving the tray, as long as it can convey a label that is smaller and lighter than the tray to the tray. Therefore, the label can be placed at a predetermined position on the tray with a simpler structure than when the tray is moved.

Further, as disclosed in this embodiment, in the drug dispensing device that is linked to the label dispensing device, the drug moving section has a suction mechanism that adsorbs the drug, and moves the adsorbed drug to a predetermined position on the tray with precision. It can be placed well. Therefore, it becomes possible to provide a label placement area on the tray. In other words, the drug dispensing device can dispense the drug onto the tray so that a label placement area can be provided.

Further, as disclosed in this embodiment, the tray is divided into a plurality of sections (small trays), and a label placement area is provided within each section. In other words, the label placement area is a relatively narrow area where the label is not released to the outside. Therefore, it is necessary to place the label on the tray with high precision.

In other words, the label dispensing device functions particularly effectively when interlocked with a device that accurately dispenses a medicine to a predetermined position on a tray, like the medicine dispensing device of this embodiment.

[B] The printing device (printer device 13) according to one aspect of the present invention is a printing device that prints information regarding medicines contained in trays (transport tray 151a, small tray 151b) that transport medicines (injection medicines). There it is,
a tray writing unit (transport tray printing device 300) that writes transport destination information indicating a transport destination of the tray at a predetermined position on the tray;
an infusion label dispensing unit (infusion label dispensing device 400) that dispenses an infusion label affixed to an infusion container onto the tray;
a first sheet dispensing unit (syringe dispensing device 500) for dispensing a stored object printed sheet (injection tablet Pr) on which stored object information indicating the medicine stored in the tray is printed;
When a drug that should be stored in the tray is not stored in the tray, a non-contained item printing sheet (out-of-stock information) is printed that indicates that the drug is not stored in the tray. ), a second sheet dispensing unit (missing item note dispensing device 600).

According to the above configuration, since the tray writing section, the infusion label dispensing section, the first sheet dispensing section, and the second sheet dispensing section are provided in one housing, it is possible to save space in the drug dispensing system. It becomes possible. Note that the techniques of Patent Documents 2 to 5 mentioned above do not disclose that these four configurations are provided in one casing.

Further, in addition to the tray writing section, the infusion label dispensing section, and the first sheet dispensing section, a second sheet dispensing section is provided. Thereby, it is possible to notify the user who inspects the medicine stored in the tray that the medicine to be dispensed by the medicine dispensing device provided at the front stage is out of stock.

≪Other configuration 3≫
Below, the further structure and processing of the injection drug dispensing device 100, and the further structure and processing of the printer device 13, which is a peripheral device of the injection drug dispensing device 100, will be mainly described. However, it should be noted that in the following explanation, there may be parts that overlap with the content described above, or parts that are specifically described.

[Another example of injection drug dispensing device]
<Another example of cassette holding part>
First, the cassette holding section 135 will be explained using FIGS. 51 and 52. FIG. 51 is a perspective view showing an example of an injection drug dispensing device 100 including a cassette holding section 135. FIG. 52 is a diagram showing an example of the cassette-cum-drug holding section 136. FIG. 52(a) is a schematic exploded cross-sectional view of the cassette-cum-drug holding part 136, FIG. 52(b) is a perspective view showing an example of the anti-rolling sheet 136c, and FIG. FIG. 7 is a plan view showing an example of the cassette-cum-drug holding section 136 in a state where the cassette-cum-drug holding section 136 is in a state where

In the injection drug dispensing device 100 of this example, as shown in FIG. 51, a cassette holding section 135 is provided in place of the cassette holding section 130. The cassette holding section 135 includes cassette holding sections 130a to 130c and a cassette/drug holding section 136. In other words, the cassette holding section 135 is a cassette holding section 130d (see FIG. 6) that is replaced with a cassette/drug holding section 136. Like the cassette holding section 130, the cassette holding sections 130a to 130c and the cassette/drug holding section 136 move between the cassette receiving positions 131a to 131d and the processing positions 132a to 132d, respectively.

The cassette/drug holding section 136 holds the cassette Ca as well as an injection drug (returned drug). Specifically, the cassette/drug holding section 136 holds the cassette Ca containing the injection drug to be dispensed during the injection drug dispensing operation, while holding the returned drug receiving cassette 161 (Fig. 16)) will be retained. That is, in the operation when returning an injection drug, the cassette-cum-drug holding section 136 is used instead of using the direction alignment cassette 162.

As shown in FIG. 52(a), the cassette-cum-drug holding section 136 is constructed by laminating a substrate 136a, a polarizing sheet 136b, and a rolling prevention sheet 136c in order from the bottom. That is, the cassette Ca or the returned medicine is held on the surface of the anti-rolling sheet 136c.

A plurality of light sources 136d (backlights) are arranged on the substrate 136a. The substrate 136a and the light source 136d form a light emitting layer. In this embodiment, the light source 136d is a red light source that emits red light. Further, the light source 136d is, for example, an LED (Light Emitting Light).
This is realized using a diode.

Note that the number of light sources 136d may be one as long as the light from the light sources 136d can be emitted substantially uniformly from the entire surface of the anti-rolling sheet 136c. Further, the light emitting layer includes, for example, (1) a plurality of light sources 136d and (2) a plurality of light sources 136d on the side surface, and guides the light emitted from the light source 136d to the polarizing sheet 136b placed on the top surface. A configuration including a light guide path may also be used.

The polarizing sheet 136b aligns the light received from the light source 136d in a predetermined direction (eg, a direction substantially perpendicular to the surface of the polarizing sheet 136b) and emits it toward the anti-rolling sheet 136c.

The anti-rolling sheet 136c is a sheet for preventing the returned medicine placed on its surface from rolling. Specifically, as shown in FIGS. 52(a) and 52(b), the anti-rolling sheet 136c is provided with a plurality of substantially hemispherical protrusions 136c1 at predetermined intervals. This protrusion 136c1 prevents the placed return medicine from rolling. The plurality of protrusions 136c1 may be arranged in any manner as long as the returned medicine can be prevented from rolling.

Further, the anti-rolling sheet 136c and the protrusion 136c1 are made of a material (eg, acrylic resin) that can transmit the light from the light source 136d that has passed through the polarizing sheet 136b.

The light source 136d lights up when the returned medicine is placed. In this state, the position specifying camera 122b images the cassette/drug holding section 136. As a result, as shown in FIG. 52(c), an image with a clear outline of the returned medicine MD can be obtained. That is, the position specifying camera 122b and the cassette/drug holding section 136 function as a contour detection section (edge detection section) that detects the contour of the returned medicine MD.

When the light source 136d is a red light source, the contrast between the injection drug and its surroundings can be increased in the captured image, compared to when a white light source that emits white light is used, for example. Furthermore, by emitting light from below the returned medicine and aligning the traveling direction of the light with the polarizing sheet 136b, the outline of the returned medicine can be more clearly captured in the captured image. Moreover, since the protrusions 136c1 are approximately hemispherical and are provided at predetermined intervals, only the shadow of the protrusions 136c1 that can be erased by image processing is reflected in the captured image. Therefore, it is possible to obtain an image with a clear outline of the returned medicine, and as a result, it is possible to create a shape model of the returned medicine with high accuracy.

In other words, the cassette-cum-drug holding section 136 is a mounting table on which a cassette Ca containing an injection to be dispensed is placed during an injection dispensing operation. This is a mounting table on which returned medicines are placed in order to retrieve them. The cassette/drug holding section 136 is a member that shares these two functions.

Note that in order to obtain an image with a clear outline of the returned medicine, light may be irradiated from below the cassette/drug holding section 136 at the processing position 132. Therefore, the light source 136d does not necessarily have to be provided in the cassette/drug holding section 136, and may be provided, for example, in the processing position 132d.

Furthermore, although the cassette/drug holding section 136 is provided in place of the cassette holding section 130d, the present invention is not limited to this, and it may be provided in place of at least one of the cassette holding sections 130a to 130d. If a plurality of cassette-cum-medication holding sections 136 are provided, images are taken with the returned medicine placed in each cassette-cum-medication holding section 136, and an image in which the outline of the returned medicine can be obtained most clearly is used as a shape model. You may use it as an image for creation. Further, in each cassette/drug holding section 136, the type or output of the light source 136d may be changed.

Furthermore, if creating a shape model with high accuracy is taken into consideration, it is not necessarily necessary to satisfy the above conditions.

In this case, when taking an image of the returned medicine placed in the cassette/drug holding section 136, it is sufficient that light having an illuminance enough to identify the position of the returned medicine is applied. Therefore, the light source 136d may be not a red light source but a light source that emits light of another color (eg, a white light source).

Further, the light source 136d may be provided, for example, at the end of the surface of the cassette/drug holding section 136, or at a location other than the cassette/drug holding section 136 (e.g., near the processing position 132d and the position changing section 126). It does not matter if it is set in In this case, the substrate 136a and the polarizing sheet 136b are unnecessary, and the anti-rolling sheet 136c does not need to have optical transparency. Therefore, in this case, the cassette holding portion 130d may be provided with the projection 136c1.

Further, the shape of the protrusion 136c1 does not have to be substantially hemispherical, and may be, for example, a rod shape arranged so as to surround the center of the surface of the cassette/drug holding section 136.

<Lighting components>
Next, an example of the arrangement of the illumination members 128 and 129 used during imaging at the processing position 132 will be described with reference to FIGS. 6 and 53. FIG. 53 is a diagram showing a schematic arrangement example of lighting members 128 and 129.

As shown in FIGS. 6 and 53, lighting members 128 and 129 are provided near the position specifying camera 122.

The illumination member 128 irradiates the cassette Ca with light when the cassette Ca is imaged at the processing position 132 during the injection medicine dispensing operation. The illumination member 128 also illuminates the large-sized returned medicine cassette 163 (see FIG. 12) or the small-medium-sized returned medicine cassette 164 (see FIG. 13) when imaging the large-sized returned medicine cassette 163 (see FIG. 12) or the small-sized returned medicine cassette 164 (see FIG. 13) at the processing position 132 during the injection medicine return operation. It irradiates light. The illumination member 128 is provided near the position specifying cameras 122a and 122b, as shown in FIGS. 6 and 53.

The illumination member 129 irradiates the returned drug receiving cassette 161 with light when the returned drug receiving cassette 161 is imaged at the processing position 132 during the injection drug return operation. In this embodiment, it is held by the cassette holding section 130c. Therefore, the illumination member 129 is provided near the position specifying camera 122b.

Note that the arrangement of the lighting members 128 and 129 may be the same in the injection drug dispensing device 100 including the cassette holding portion 130 and in the injection drug dispensing device 100 including the cassette holding portion 135.

<Cassette storage example>
Next, an example of cassette storage on the cassette shelf 110 will be described using FIG. 5. FIG. 5 shows an example in which cassettes Ca, returned drug receiving cassettes 161, large returned drug cassettes 163, small and medium sized returned drug cassettes 164, and non-dispense drug receiving cassettes 165 are stored on the cassette shelf 110. . When these cassettes are stored on the cassette shelf 110 (that is, when the orientation cassette 162 is not stored), the injection drug dispensing device 100 includes a cassette holding section 135 as a cassette holding section.

In the example shown in FIG. 5, a returned medicine receiving cassette 161, a small and medium-sized returned medicine cassette 164, and a large returned medicine cassette 163 are stored at the bottom of the cassette shelf 110, and non-dispensed medicines are stored at the uppermost end of the cassette shelf 110. A receiving cassette 165 is stored. Then, cassettes Ca are stored in other locations. FIG. 5 merely shows an example of the number and arrangement of various cassettes, and the number and arrangement of various cassettes may be appropriately set according to the agreement (operation) of the hospital where the injection drug dispensing device 100 is installed. good.

The non-dispensable drug receiving cassette 165 receives injectable drugs or articles that are determined to be non-dispensable (or non-reusable) among the injectable drugs stored in the returned drug receiving cassette 161. It can also be said that the non-dispensable drug receiving cassette 165 is a cassette that stores injection drugs or articles that are not taken into the cassette shelf 110 (inside the warehouse) as a dispensing target.

Specifically, the non-dispensable medicine receiving cassette 165 accepts, as a returned medicine, an injection that cannot be dispensed or an article having a shape different from that of an injection. Injectable drugs that cannot be subject to withdrawal include, for example, injection drugs that require cold storage (drugs that require cold storage), injection drugs that are not registered in the drug master (e.g. new drugs), and expired drugs. Examples include injectable drugs. Further, examples of the above-mentioned articles include a box containing an injection drug (boxed drug), and an injection drug or article having a size that cannot be stored in the non-dispense drug receiving cassette 165. Like the returned drug receiving cassette 161, the non-dispensable drug receiving cassette 165 is configured without any special partitions so that it can receive various returned drugs or articles.

In this way, the cassette shelf 110 stores a plurality of types of cassettes depending on their uses. Specifically, the cassette shelf 110 stores at least specific drug storage cassettes that contain drugs of the same type and mixed drug storage cassettes that contain two or more types of drugs with their placement positions specified. be done. The specific drug storage cassette is a cassette Ca that accommodates injection drugs that can be dispensed. The mixed medicine accommodating cassettes are a large returned medicine cassette 163 and a small and medium sized returned medicine cassette 164, which store returned medicines in a specified arrangement position and in an aligned state.

As described above, the cassette unique information of the cassette Ca and the injection drug identification information indicating the type of injection drug accommodated in the cassette Ca are stored in the storage unit 180 in a linked manner. Therefore, the injection drug dispensing device 100 specifies the cassette Ca containing the injection drug to be dispensed based on the type of injection drug indicated in the prescription data, and also specifies the cassette Ca containing the injection drug to be dispensed based on the shape master of the injection drug. Identify the adsorption position of the contained injection drug.

On the other hand, regarding the returned medicines accommodated in the large returned medicine cassette 163 or the small and medium sized returned medicine cassettes 164, the placement position and type thereof are stored in the storage unit 180 in association with each other. Therefore, the injection drug dispensing device 100 specifies the cassette containing the returned drug to be dispensed and its placement position based on the type of injection drug indicated in the prescription data, and specifies the suction position based on the placement position. do.

Therefore, the injection medicine dispensing device 100 dispenses the injection medicine (return medicine) stored in the cassette Ca, the large return medicine cassette 163, or the small and medium size return medicine cassette 164, based on the type of injection medicine indicated in the prescription data. becomes possible. That is, during the injection dispensing operation, the injection medicine dispensing device 100 takes out at least one of the cassette Ca, the large returned medicine cassette 163, and the small and medium returned medicine cassettes 164 from the cassette shelf 110, and temporarily stores it in the cassette holding part 135. to be maintained. Thereafter, processing for dispensing the injection drug is performed at the processing position 132 and the position changing unit 126.

The above-mentioned identification process includes the process from taking out the cassette Ca, the large returned medicine cassette 163, or the small and medium-sized returned medicine cassette 164 from the cassette shelf 110 to identifying the type and expiration date of the injection medicine (including the returned medicine). It may include at least one. Further, the identification process may include at least a process of taking out the returned medicine receiving cassette 161, the large returned medicine cassette 163, or the small and medium sized returned medicine cassette 164 from the cassette shelf 110, and identifying the shape of the returned medicine. .

Furthermore, the direction alignment cassette 162 is also included as a cassette to be accommodated in the cassette shelf 110. In this case, even if the cassette holder 130 is provided with only cassettes as the cassette holder, the cassette/drug holder 136 is equipped with a light source 136d and the cassettes and returned medicines are placed as the cassette holder. A cassette holding section 135 may be provided.

As described above, the cassettes stored in the cassette shelf 110 include the cassette Ca, the returned medicine receiving cassette 161, the direction alignment cassette 162, the large returned medicine cassette 163, the small and medium sized returned medicine cassette 164, and the non-dispense medicine receiving cassette 165. Can be mentioned. In other words, the m cassettes stored in the cassette shelf 110 are not limited to only the cassette Ca, but also include (1) the cassette Ca, (2) the returned medicine receiving cassette 161, the direction alignment cassette 162, the large returned medicine cassette 163, and the It may also be configured with a small-sized returned medicine cassette 164 and/or a non-dispense medicine receiving cassette 165.

<Another example of the operation when returning injection drugs>
Next, another example of the operation when returning an injection drug will be explained. FIG. 54 is a flowchart showing another example of the operation of the injection medicine dispensing device 100 for returned medicines.

First, the transfer control section 191 causes the cassette transfer section 140 to transfer the returned medicine receiving cassette 161, the large returned medicine cassette 163, and the small and medium sized returned medicine cassettes 164 to the cassette holding section 130 (SG1). In this example, the returned medicine receiving cassette 161, the large-sized returned medicine cassette 163, and the small and medium-sized returned medicine cassette 164 each include a cassette holding section 130c located at the cassette receiving position 131c, a cassette holding section 130b located at the cassette receiving position 131b, It is placed on the cassette holding portion 130a located at the cassette receiving position 131a. However, the order is not limited to this.

Next, the drive control unit 192 moves the returned medicine receiving cassette 161, the large returned medicine cassette 163, the small and medium sized returned medicine cassettes 164, and the cassette/drug holding unit 136 to the processing position 132 (SG2). Thereafter, the control unit 190 turns on the illumination member 128 in order to image the returned medicine receiving cassette 161, the large returned medicine cassette 163, and the small and medium sized returned medicine cassettes 164. The control unit 190 images these cassettes with the illumination member 128 turned on, and then turns off the illumination member 128.

Here, in the cassette holding parts 130a to 130c, the positions of the cassette Ca, the returned medicine receiving cassette 161, the large returned medicine cassette 163, and the small and medium sized returned medicine cassettes 164 change slightly each time they are placed in the cassette holding parts 130a to 130c. It shifts. Therefore, each time these cassettes are placed, the control unit 190 captures an image of the cassette at the processing position 132, and uses the predetermined position of each cassette as a reference to create an image coordinate system (a world in which the image coordinate system is transformed). (coordinate system) and the robot coordinate system. Thereby, the positional deviation of each cassette can be compensated for, so that the suction position determining section 194 can specify an accurate suction position. Further, the transport control unit 193 can place the injection medicine in a predetermined position of the large returned medicine cassette 163 and the small and medium sized returned medicine cassette 164.

In addition, when the orientation cassette 162 is used, the positional deviation of the orientation cassette 162 with respect to the cassette holding part 130d may be compensated for by defining the above-mentioned positional relationship, as described above. Furthermore, when returning medicines are dispensed from the large-sized returned medicine cassette 163 and the small and medium-sized returned medicine cassettes 164, the same process as described above is performed.

The suction position determining unit 194 images the inside of the returned medicine receiving cassette 161 using the position specifying camera 122b, analyzes the position (and orientation) of the returned medicine from the image taken of the inside, and determines whether the medicine can be sucked by the medicine transporting unit 121. Determine the position (SG3). The suction position determining unit 194 turns on the illumination member 129 to capture the image, and turns off the light after the image capturing is completed. The light emitted from the illumination member 129 is reflected by the returned medicine. Therefore, the white area (area where light reflection is reflected) in the captured image can be estimated to be the returned medicine. The suction position determining unit 194 specifies the approximate center of the white area in the captured image as the suction position.

As described above, image correction processing is performed in determining the adsorption position of the injection drug contained in the cassette Ca. In the case of the cassette Ca, since the type of the stored injection drug is determined in advance, the suction position can be calculated using the injection width information of the injection drug. On the other hand, the returned medicine receiving cassette 161 accommodates a plurality of types of returned medicines in a mixed state. Further, at the time of taking out the returned medicine from the returned medicine receiving cassette 161, the type of the returned medicine is unknown. Therefore, since it is not possible to calculate the suction position after correcting the positional deviation described above using the injection width information, when taking out the returned medicine from the returned medicine receiving cassette 161, the predetermined width is used regardless of the type of returned medicine. The suction position may be calculated using information (eg, width 20 mm).

Note that the above processing may be performed in the same way at SB3 and SB5 in FIG. 15.

The transport control unit 193 adsorbs the returned medicine using the medicine transport unit 121 at the suction position determined by the suction position determining unit 194, and transports the returned medicine from the returned medicine receiving cassette 161 to the cassette-cum-drug holding unit 136 (SG4).

When the returned medicine is transported to the cassette/drug holding unit 136, the control unit 190 turns on the light source 136d, and then images the returned medicine placed in the cassette/drug holding unit 136 using the position specifying camera 122b. do. As described above, by lighting the light source 136d, an image with a clear outline of the returned medicine can be captured. Therefore, the control unit 190 can accurately identify the orientation (angle 0° to 360 degrees), shape, and size of the drug by analyzing the image. Therefore, the control unit 190 can specify the suction position more accurately than when imaging in step SG3.

In this manner, in the injection drug dispensing device 100, the return drug is taken out and the shape of the returned drug is identified by analyzing the image captured by one camera, the position specifying camera 122b.

The control unit 190 determines whether the shape of the specified returned medicine conforms to the prescribed shape stored in advance in the storage unit 180 (SG5). The prescribed shape refers to the general shape generally assumed for injection drugs (eg, ampoules, vials). The control unit 190 compares the shape of the specified returned medicine with the prescribed shape, and if the degree of matching is greater than or equal to a predetermined value, determines that the shape of the returned medicine conforms to the prescribed shape. Here, it is only necessary to determine whether or not the placed returned medicine is an item clearly different from injection drugs (e.g., a box containing injection drugs), and the above predetermined value is It suffices if the setting is set to such an extent that it is possible to distinguish between the two. In other words, in step SG5, the control unit 190 determines whether the returned medicine placed in the cassette/drug holding unit 136 is an injection itself or an item different from an injection.

When the control unit 190 determines that the shape of the specified returned drug conforms to the prescribed shape (YES in SG5), the transport control unit 193 controls the control unit 190 (specifically, the suction position determining unit 194) The returned drug is adsorbed by the drug transport unit 121 at the adsorption position specified by. Then, the transport control section 193 transports the cassette/medicine holding section 136 to the first mounting section 126a (SG6).

The transport control unit 193 controls the medicine transport unit 121 so that the returned medicine is oriented in a predetermined direction (for example, the head of the returned medicine is on the front side of the injection medicine dispensing device 100) in the first loading part. The returned medicine is placed on 126a. The transport control unit 193 controls the head of the returned medicine to face the predetermined direction while the returned medicine is being transported, based on the direction of the returned medicine specified when the injection medicine is placed in the cassette/drug holding unit 136. Adjust as follows.

On the other hand, if the control unit 190 determines that the shape of the specified returned drug does not conform to the prescribed shape (NO in SG5), the returned drug is a different item from an injection drug, and therefore the non-dispense drug is accepted. It becomes a target to be stored in the cassette 165. The returned medicine cannot be placed on the first loading section 126a, or even if it can be placed, its type and expiration date cannot be determined, so it is not transported to the first loading section 126a and is placed in the non-dispatch medicine receiving cassette. 165.

Therefore, in the case of NO in step SG5, the drive control unit 192 moves the large returned medicine cassette 163 present at the processing position 132 to the cassette receiving position 131. Thereafter, the transfer control unit 191 returns the large returned medicine cassette 163 that has been moved to the cassette receiving position 131 to the cassette shelf 110, and moves the non-dispense medicine receiving cassette 165 from the cassette shelf 110 to the cassette receiving position 131 (large returned medicine cassette 163). is transferred to the cassette holding section 130b) located at the cassette receiving position 131b where the cassette was placed. Thereafter, the drive control unit 192 moves the non-dispense medicine receiving cassette 165 from the cassette receiving position 131 to the processing position 132 (SG11).

When the movement of the non-dispense medicine receiving cassette 165 to the processing position 132 is completed, the transport control unit 193 causes the medicine transport unit 121 to adsorb the returned medicine at the suction position specified by the suction position determining unit 194, and the cassette also serves as a medicine holding unit. 136 to the non-dispense medicine receiving cassette 165 (SG12). The transport control unit 193 captures an image of the inside of the cassette/medicine holding unit 136 using the position specifying camera 122a, and specifies an empty area by analyzing the captured image. The transport control unit 193 places the returned medicine in the empty area specified in the non-dispense medicine receiving cassette 165.

When the transportation of the returned medicine to the non-dispensable medicine receiving cassette 165 is completed, the non-dispensing medicine receiving cassette 165 is returned to the cassette shelf 110 by the transfer control section 191 and the drive control section 192. Thereafter, the large returned medicine cassette 163 is transferred to the cassette holding section 130 and moved to the processing position 132 (SG13). In other words, the state is returned to the state before the processing in step SG11.

In this example, in step SG11, the non-dispense medicine receiving cassette 165 is replaced with the large returned medicine cassette 163, but the present invention is not limited to this, and it may be replaced with the small to medium sized returned medicine cassette 164.

After the process in step SG13, the suction position determination unit 194 images the inside of the returned medicine receiving cassette 161 with the position specifying camera 122b, and analyzes the captured image to determine whether the returned medicine is inside the returned medicine receiving cassette 161. It is determined whether it exists (SG10). When the suction position determining unit 194 determines that the returned medicine is present inside the returned medicine receiving cassette 161 (YES in SG10), the process returns to step SG3. On the other hand, if it is determined that there is no returned medicine in the returned medicine receiving cassette 161 (NO in SG10), this process ends.

Moreover, in the case of YES in step SG5, after the processing in step SG6, the first determination processing unit 195 and the second determination processing unit 196 determine whether the returned medicine can be made a payout target (SG7).

Specifically, the first discrimination processing section 195 discriminates the type of returned medicine transported to the first mounting section 126a. The first discrimination processing unit 195 compares the information indicating the type of returned medicine (injection medicine) read by the barcode reader 123 with the injection medicine identification information in the medicine master. If the information indicating the type matches the injection drug identification information of the drug master, the first discrimination processing unit 195 specifies the type of the returned drug as the type indicated by the injection drug identification information.

Next, the first determination processing unit 195 determines whether or not the returned medicine for which the type has been identified is designated in the drug master as an injection drug that cannot be dispensed (e.g., a drug that requires cold storage). do. The first discrimination processing unit 195 determines that the returned medicine is an injection drug that can be dispensed if it is not specified in the medicine master as an injection drug that cannot be dispensed. On the other hand, if the medicine master specifies that the injection drug cannot be made a payout target, the first discrimination processing unit 195 determines that the returned medicine is an injection drug that cannot be made a payout target.

In addition, the first discrimination processing unit 195 also determines whether the returned drug is a new drug if the information indicating the type of the returned drug does not match the injection drug identification information in the drug master (for example, if the returned drug is a new drug). It is determined that the drug is an injection drug that cannot be dispensed.

Note that injection drugs that cannot be dispensed (for example, drugs that require cold storage) do not need to be registered in the drug master. In this case, the first discrimination processing unit 195 determines that the returned drug is an injection drug that cannot be paid out because the returned drug is not registered in the drug master, as in the case where the returned drug is a new drug. .

Further, in step SG7, the second determination processing unit 196 determines whether the expiration date of the returned medicine imaged by the expiration reading camera 125 is appropriate. If the expiration date of the returned medicine is appropriate, the second discrimination processing unit 196 determines that the returned medicine is an injection drug that can be dispensed. is determined to be an injection drug that cannot be dispensed. Whether or not the expiration date is appropriate is determined, for example, based on the result of comparing the expiration date with the date and time when step SG7 is executed.

The first discrimination processing unit 195 and the second discrimination processing unit 196 are
(1) The returned medicine is registered in the drug master,
(2) In the drug master, it is not designated as an injectable drug that cannot be dispensed, and
(3) If it is determined that the expiration date is appropriate, it is determined that the returned medicine can be made a payout target. When the first discrimination processing section 195 and the second discrimination processing section 196 make such a discrimination (YES in SG7), the transportation control section 193 causes the medicine transportation section 121 to transfer the returned medicine into a large returned medicine cassette based on the size. 163 or the small and medium-sized returned medicine cassette 164 (SG8). Thereafter, the first discrimination processing unit 195 stores the type of the returned medicine, and the transport control unit 193 stores the position (arrangement position) of the returned medicine in the storage unit 180 (SG9). Thereafter, the process moves to step SG10.

Note that when placing the returned medicine in the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164 in step SG8, it is not necessary to keep the barcode attached to the returned medicine facing upward. This is because during the operation of dispensing the returned medicine, the type of the returned medicine is not checked when taking out the returned medicine from the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164, but the confirmation is performed in the first loading section 126a.

On the other hand, the first discrimination processing section 195 and the second discrimination processing section 196
(1) Is the returned drug not registered in the drug master?
(2) Even if the returned medicine is registered in the drug master, it is designated as an injection drug that cannot be discharged in the drug master, or
(3) If it is determined that the expiration date is not appropriate, it is determined that the returned medicine cannot be eligible for payment. When the first discrimination processing section 195 and the second discrimination processing section 196 make such a discrimination (NO in SG7), the process moves to step SG11.

In this way, through the determination process in step SG7, even if the returned medicine is an injection medicine, it is stored in the non-dispensable medicine receiving cassette 165 so as not to dispense the returned medicine that cannot be dispensed as described above. can. In other words, the injection drug dispensing device 100 (1) in the case where the returned drug is not an injection itself, in the cassette/medicine holding unit 136; (2) even if the returned drug is an injection, it cannot be treated as a dispensing target; In this case, the returned medicine can be stored in the non-dispensing medicine receiving cassette 165 in the first loading section 126a in order to exclude the returned medicine from the dispensing target.

Note that a known method may be used to specify the placement position (placement position) of the returned medicine in the large returned medicine cassette 163 or the small and medium returned medicine cassette 164. For example, the transport control unit 193 stores information on storing the returned medicine in each cassette, which indicates the placement position of the returned medicine placed so far, the size and shape of the returned medicine, and the size of the returned medicine to be placed this time. Based on the information and the shape, the location of the returned medicine to be placed this time is specified. An empty area as close as possible to the placement position of the returned medicine placed so far may be specified as the placement position of the injection drug to be placed this time. As for the size and shape of the returned medicine, the information specified when the injection medicine is placed on the cassette/drug holding section 136 may be used. Note that the same method may be used to specify the placement position of the returned medicine in the non-dispense medicine receiving cassette 165.

Furthermore, in step SG2, all the cassettes placed in the cassette holding sections 130a to 130c and the cassette/drug holding section 136 are moved from the cassette receiving position 131 to the processing position 132, but the present invention is not limited thereto. . Similar to the process described using FIG. 15, in step SG2, only the returned medicine receiving cassette 161 and the cassette/drug holding section 136 may be moved to the processing position 132. In this case, in step SG8, the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164 on which the returned medicine is placed may be moved to the processing position 132.

<Dispensing operation of returned medicines>
Further, as mentioned in the explanation of FIG. 15, when the prescription data includes an injection stored in the large return drug cassette 163 or the small and medium return drug cassette 164, the injection drug dispensing device 100 Medicines can be reused.

As described above, the storage unit 180 shows the correspondence between the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164 and the returned medicine stored in the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164. Correspondence data is stored. Specifically, the correspondence data includes the large returned medicine cassette 163 or the small and medium-sized returned medicine cassette 164, and the type of returned medicine stored in the large returned medicine cassette 163 or the small and medium-sized returned medicine cassette 164 (and its placement position). Contains data indicating the correspondence relationship with That is, when a plurality of types of returned medicines are stored in one mixed medicine storage cassette, the storage unit 180 stores cassette-specific information indicating the mixed medicine storage cassette and each of the plurality of stored returned medicines. The injection drug identification information shown in FIG.

When dispensing returned medicines based on prescription data, the transfer control unit 191 refers to the correspondence data stored in the storage unit 180 to determine whether the returned medicine cassette 163 is large or medium-sized and which accommodates the returned medicine to be dispensed. The returned medicine cassette 164 is uniquely identified. Therefore, the transfer control unit 191 takes out the large-sized returned medicine cassette 163 or the small-medium-sized returned medicine cassette 164 containing the returned medicine to be dispensed from the cassette shelf 110, and transfers it to the cassette holding unit 135 (or the cassette holding unit 130). . Further, the transport control unit 193 uniquely identifies the placement position of the returned medicine to be dispensed in the large returned medicine cassette 163 or the small and medium returned medicine cassette 164 by referring to the correspondence relationship data, for example, and It is transported to the first mounting section 126a. Thereafter, the injection drug dispensing device 100 executes the processes from step SA5 described above (see FIG. 14).

In this way, when dispensing returned medicines, the injection medicine dispensing device 100 specifies the mixed medicine storage cassette containing the returned medicines for each type of returned medicine to be dispensed, and also specifies the mixed medicine storage cassette containing the returned medicines. Identify the placement position in the cassette. That is, in order to dispense the returned medicine, the storage unit 180 needs to store the type and placement position of the returned medicine contained in the mixed medicine storage cassette as information.

On the other hand, a predetermined type of injection medicine is stored in the cassette Ca. Therefore, when dispensing an injectable drug, the injectable drug dispensing device 100 specifies the cassette Ca containing the injectable drug to be dispensed, and selects which injectable drug among the plurality of injectable drugs accommodated in the cassette Ca. You can take it out. In other words, in order to dispense the injection, the storage unit 180 only needs to store the type of injection contained in the specific drug storage cassette as information, and the location of the injection in the specific drug storage cassette as information. There is no need to remember it as.

In addition, when the same type of injection medicine is stored in the cassette Ca and the large returned medicine cassette 163 or the small and medium-sized returned medicine cassette 164, the injection medicine stored in the cassette Ca is dispensed, or the large returned medicine cassette 163 or the medium-sized returned medicine cassette Whether or not to dispense the injection medicine (returned medicine) stored in the small returned medicine cassette 164 can be set arbitrarily. For example, when the control unit 190 determines that the cassette Ca is out of stock, the control unit 190 may dispense the returned medicine stored in the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164. Further, if there is a returned medicine stored in the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164, the returned medicine may be given priority as a payout target.

In addition, in this specification, the explanation regarding the cassette Ca that can accommodate the injection drug to be dispensed is applied as the explanation regarding the large-sized returned medicine cassette 163 or the small and medium-sized returned medicine cassette 164 that can accommodate the returned medicine to be dispensed. It is also possible. For example, in the case of dispensing an injection drug from a cassette Ca containing a predetermined injection drug, as described in this specification, the returned drug is dispensed from a large-sized returned medicine cassette 163 or a small and medium-sized returned medicine cassette 164. It is also applicable to the treatment of cases. For example, the process related to taking out the injection drug from the cassette Ca explained in the above [Specific process related to taking out the injection drug] is performed when the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164 is used when dispensing the returned medicine. The present invention can also be applied to processing related to the removal of returned medicines.

<Others>
The returned medicine receiving cassette 161, the large returned medicine cassette 163, the small and medium sized returned medicine cassette 164, and the non-dispense medicine receiving cassette 165 are given cassette-specific information for identifying these cassettes, like the cassette Ca. Further, the cassette specific information is linked to storage position information indicating the storage position where these cassettes are stored on the cassette shelf 110. Furthermore, like the cassette Ca, a first barcode BC1 indicating cassette-specific information is attached to these cassettes (see FIG. 26).

Therefore, when the cassette is taken out, the barcode reader 146 (see FIG. 27) reads the cassette-specific information indicated by the first barcode BC1, so that the transfer control unit 191 can check whether the cassette is stored in an appropriate position. It can be determined whether or not.

In addition, if the user pulls out the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164 during the return operation or dispensing operation of the returned medicine, information regarding the injection drug stored in association with the cassette (e.g. : Reliability of injection drug type, location) decreases. Therefore, when the control unit 190 determines that the large returned medicine cassette 163 or the small and medium returned medicine cassette 164 has been extracted, it resets the information regarding the returned medicine for the cassette. Further, the control unit 190 displays an instruction image on the touch panel 210 (see FIG. 28) to remove the injection drug contained in the cassette. Note that insertion and removal of the cassette can be determined by a sensor (not shown) provided in the cassette transfer section 140.

The user takes out the returned medicine from the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164, returns it to the cassette shelf 110, and then performs user input for determining whether or not it can be used. The control unit 190 moves the cassette from the cassette shelf 110 to the cassette holding unit 130 and images the cassette at the processing position 132. If it is determined that no returned medicine is placed inside the cassette, it is determined that the cassette is ready for use.

In addition, the returned medicine taken out from the large returned medicine cassette 163 or the small and medium sized returned medicine cassette 164 is returned to the returned medicine receiving cassette 161, so that it becomes a return target again.

<Another example of the operation when returning an injection drug when using the direction alignment cassette 162>
Note that the process described above is applicable not only to the case where the returned medicine is placed directly on the cassette-cum-drug holding section 136 but also to the case where the direction alignment cassette 162 is used. In other words, the above process can be said to be another example of the process shown in the flowchart shown in FIG.

<Display image example>
Next, an example of a display image will be described using FIG. 55. FIG. 55 is a diagram showing an example of an image displayed on the touch panel 210 (see FIG. 28). For example, an image Img1 that displays information regarding the cassettes stored on the cassette shelf 110 is displayed on the touch panel 210.

The image Img1 includes, for example, a housing status display area Ar1 that displays the housing status of cassettes on the cassette shelf 110.

The housing status display area Ar1 schematically shows the layout of the cassettes stored on the cassette shelf 110, and allows visual recognition of which type of cassette is assigned to each position on the cassette shelf 110. It is possible.

In FIG. 55, icons such as "return", "S", "L", and "NG" are attached to images showing some cassettes. “Return” is an icon indicating that the cassette (returned medicine receiving cassette 161) is for storing returned injection medicines. "S" is an icon indicating that it is a cassette (medium-sized and small-sized returned medicine cassette 164) that accommodates a small or medium-sized injection drug. "L" is an icon indicating that it is a cassette (large return medicine cassette 163) that accommodates a large injection drug. “NG” is an icon indicating that the cassette is a cassette (non-dispensable medicine receiving cassette 165) that accommodates an injection drug or article determined to be non-dispensable. Further, an image showing a cassette without an icon indicates that the cassette (cassette Ca) stores a predetermined injection drug that can be dispensed.

Further, the image Img1 includes, for example, a cassette information display area Ar2 that displays information regarding the injection drug contained in each cassette.

The cassette information display area Ar2 allows visual recognition of the name and number of single types of injection medicines contained in the cassette Ca (number in stock), etc. In addition, when the cassette Ca is divided into a plurality of divided regions by the dividing member SP (see FIGS. 26 and 50), the cassette information display area Ar2 also displays the name of the injection medicine stored in each divided region and This makes it possible to visually recognize the number of things that can be accommodated. In FIG. 55, shelf No. There are two divided areas in the cassettes Ca stored in cassettes 4 and 5, and information regarding the stored injection drug is displayed for each divided area.

Furthermore, the images of the cassettes displayed in the storage status display area Ar1 may be shown in different colors depending on the number of injection drugs stored in the cassettes. In this case, the user can visually recognize the number of injections contained in each cassette. In FIG. 55, an example of color division is shown in the color division display area Ar3.

[Another example of infusion label dispensing device]
Next, another example of the infusion label dispensing device 400 will be described using FIGS. 56 and 57. FIG. 56 is a diagram showing an infusion label receiving section 413 which is another example of the infusion label receiving section 403 included in the infusion label dispensing device 400, in which (a) is a perspective view and (b) is a front view. . (a) to (d) of FIG. 57 are diagrams for explaining an example of transportation of an infusion label.

As shown in FIGS. 56(a) and 56(b), the infusion label receiving portion 413 has a side wall 413c that stands up from the bottom 413b to form a space in which the infusion label is accommodated. Further, the side wall 413c forms an opening 413a through which the infusion label is received from the first body part 402 and through which the infusion label gripping section 701 of the infusion label transport mechanism 700 extracts the infusion label. Furthermore, a gap portion 413d is formed by the side wall 413c to enable opening and closing operations of the pair of claw portions 702 provided in the infusion label gripping portion 701. For the first main body part 402, the infusion label gripping part 701, and the claw part 702 of the infusion label transport mechanism 700, see, for example, FIGS. 41 and 43.

The bottom part 413b is inclined with respect to the horizontal plane along the width direction of the infusion label accommodated in the infusion label receiving part 413 when it is attached to the infusion label receiving part 400. It is different from the bottom portion 403b. In addition, the infusion label receiving part 413 may have a structure in which an attachment for giving an inclination is arranged inside the bottom part without an inclination.

Here, in this embodiment, the infusion label dispensing device 400 dispenses either a small infusion label LS or a large infusion label LL according to the size of the infusion container used in the injection drug dispensing system 1. . The length of the infusion label LS and the infusion label LL in the horizontal direction (direction approximately perpendicular to the direction in which the infusion label is dispensed; width direction) is the same, but the length in the vertical direction (direction in which the infusion label is dispensed) is the same. different. Further, the position at which the infusion label gripping section 701 releases the infusion label on the transport tray 151a (the position at which the grip is released by opening the claw section 702) is constant regardless of the size of the infusion label. shall be.

FIG. 57(a) is a diagram showing a process in which the infusion label LS accommodated in the infusion label receiving unit 403 is taken out by the infusion label gripping unit 701 and placed on the small tray 151b within the transport tray 151a. Since the bottom portion 403b of the infusion label receiving portion 403 is not inclined, the infusion label gripping portion 701 holds the infusion label LS into the infusion label receiving portion 403 with the lower end of the infusion label LS substantially parallel to the bottom surface of the small tray 151b. extract it from Thereafter, the infusion label gripping section 701 moves above the small tray 151b and releases the infusion label LS at that position, thereby dropping the infusion label LS and placing it on the small tray 151b. Note that the infusion label LL is similarly placed on the small tray 151b.

In FIG. 57(a), the infusion label LL held above the small tray 151b by the infusion label gripping section 701 is shown by a broken line. As shown in FIG. 57(a), when the infusion label LS is placed on the small tray 151b, the distance h1 from the lower end of the infusion label LS to the bottom of the small tray 151b is the distance h1 when the infusion label LS is placed on the small tray 151b. It is longer than the distance h2 from the lower end of the infusion label LL to the bottom surface of the small tray 151b when placed. Therefore, when placing the infusion label LS on the small tray 151b, compared to placing the infusion label LL on the small tray 151b, the placement position may shift during the process of the infusion label LS falling. Or there is a greater possibility that it will turn over.

FIG. 57(b) is a diagram showing a process in which the infusion label gripping section 701 extracts the infusion label LS stored in the infusion label receiving section 413 and places it on the small tray 151b within the transport tray 151a. The bottom portion 413b of the infusion label receiving portion 413 is inclined at an angle α with respect to the horizontal plane. Therefore, the infusion label gripping section 701 pulls out the infusion label LS from the infusion label receiving section 413 and places it on the small tray 151b with the lower end of the infusion label LS inclined by an angle α with respect to the bottom surface of the small tray 151b. .

As shown in FIG. 57(b), the angle α is the distance from the lower end of the infusion label LS held by the infusion label gripping section 701 above the small tray 151b to the bottom surface of the small tray 151b. It is determined to be equal to the distance h2. Therefore, when placing the infusion label LS on the small tray 151b, the placement position shifts during the falling process compared to when the infusion label gripping section 701 pulls out the infusion label LS from the infusion label receiving section 403. , or the risk of turning over is reduced.

(c) and (d) of FIG. 57 are diagrams for explaining a method for determining the angle α. In FIG. 57(c), the infusion label LS with the long side inclined by an angle α with respect to the horizontal plane is shown by a solid line. Furthermore, the infusion label LS whose long sides are not inclined with respect to the horizontal plane is shown by a broken line.

As shown in FIG. 57(c), when the infusion label LS is housed in the infusion label receiving part 413, the distance in the vertical direction from the upper end to the lower end of the infusion label LS is 403, the distance is longer by h3. In order for the distance from the lower end of the infusion label LS held by the infusion label gripping part 701 to the bottom surface of the small tray 151b to be equal to the distance h2 in FIG. 57(a), the distance h3 must be equal to the distance h1. The angle α may be determined so that it is equal to the difference from h2.

In FIG. 57(d), an infusion label LL with its long side not inclined with respect to the horizontal plane and an infusion label LS with its long side inclined with respect to the horizontal plane by an angle α are shown superimposed. has been done. When the lengths of the long side and short side of the infusion label LS are a and b, respectively, the distance c from the lower end to the upper end of the infusion label LS in the vertical direction is expressed as c=a×sinα+b×cosα. In order for the distance h3 to be equal to the difference between the distances h1 and h2, the distance from the lower end to the upper end of the infusion label LS in the vertical direction must be It should be equal to the length of. For example, when the size of the infusion label LS is 54 mm x 81 mm and the length of the infusion label LL is 78 mm x 81 mm, α may be set to about 20°.

In addition, when the infusion label LL is dispensed from the infusion label dispensing device 400, it is accommodated in the infusion label receiving section 413, and after being pulled out while being inclined at an angle α with respect to the horizontal plane, it is placed on the small tray 151b. be done. Therefore, since the infusion label LL falls from a lower position than when the infusion label receiving section 403 is used, the infusion label LL can also be more reliably placed at a predetermined position on the small tray 151b.

Further, in this embodiment, the bottom portion 413b of the infusion label receiver 413 is sloped so that the release position of the infusion label LS is the release position of the infusion label LL when the infusion label receiver 403 is used. . However, the present invention is not limited to this, and the infusion label gripping part 701 can be raised so that the infusion label receiving part 403 is used as it is, and the release position of the infusion label LS is the release position of the infusion label LL when the infusion label receiving part 403 is used. You may adjust the position in the horizontal direction. In other words, the configuration may be such that the position of the infusion label gripping section 701 in the height direction can be adjusted depending on the size of the infusion label.

Further, the release position of the infusion label LS does not necessarily have to be the same as the release position of the infusion label LL when the infusion label receiving section 403 is used. That is, the distance from the lower end to the upper end of the infusion label LS in the vertical direction does not necessarily have to be set equal to the length of the short side of the infusion label LL.

The release position of the infusion label LS may be above the release position of the infusion label LL, as long as the infusion label LS can be reliably placed in a predetermined position on the small tray 151b (or transport tray 151a). Naturally, the release position of the infusion label LS may be lower than the release position of the infusion label LL.

[Another expression of the above structure]
The above configuration can be expressed as follows.

[A] The drug cassette handling device (injection drug dispensing device 100) according to one aspect of the present invention includes:
a cassette shelf for storing m cassettes containing drugs;
a specific processing unit for performing specific processing on the medicine contained in the cassette;
a cassette holding unit capable of temporarily holding up to n (m>n≧2) cassettes to be subjected to the specific processing among the cassettes;
a cassette transfer unit that transfers the cassette between the cassette shelf and the cassette holding unit in order to replace the cassette held in the cassette holding unit;
Equipped with
Some of the m cassettes stored in the cassette shelf are specific drug storage cassettes (cassettes Ca) that contain the same type of drug, and other cassettes contain two or more types of drugs at their placement positions. This is a mixed medicine storage cassette (large-sized returned medicine cassette 163 or small and medium-sized returned medicine cassette 164) that accommodates the medicine in a specified state.

In general, in an injection drug dispensing device that dispenses an injection drug from a cassette containing injection drugs (e.g. ampoules or vials), only cassettes containing drugs of the same type that can be dispensed (e.g. only those cassettes that are stored in the same state) are stored on the cassette shelf. Therefore, it is not envisaged that two or more types of injection drugs will be dispensed from one cassette.

According to the above configuration, it is possible to perform specific processing (eg, dispensing processing) on both the medicine stored in the specific medicine storage cassette and the medicine stored in the mixed medicine storage cassette. In the mixed medicine storage cassette, since the placement positions of the medicines to be accommodated are specified, the medicine cassette handling device can selectively perform the specifying process on the drugs targeted for the specifying process.

The drug cassette handling device includes the above-mentioned parts, and the m cassettes accommodated in the cassette shelf include cassettes stipulated to contain only the same type of drug (specific drug storage cassettes), and It can also be defined as including a cassette (mixed medicine storage cassette) in which medicines are mixed and accommodated so that they can be accessed individually.

Note that the mixed drug storage cassette is a cassette that is provided with a plurality of storage locations for injection drugs depending on the size and shape of the injection drug. In other words, the mixed medicine storage cassette includes a bottom surface having a portion (eg, a convex portion) that defines the storage location. On the other hand, the specific drug storage cassette may have any shape as long as it can accommodate the same type of drug. In other words, the specific drug storage cassette may be a cassette that has a bottom surface that does not have a portion that defines the storage location, or it may be a cassette that has a bottom surface that has the portion that defines the storage location. do not have. Examples of the former cassette include cassettes (eg, cassette Ca) that accommodate the same type of drugs in an unaligned state, and examples of the latter cassette include cassettes that accommodate the same types of drugs in an aligned state.

≪Supplement≫
In this specification, the pair of claws 702 (see FIG. 49) of the infusion label gripping part 701 provided in the infusion label transport mechanism 700 may be fully opened at once, or may be opened in stages until the fully opened state is reached. It does not matter if the configuration is as follows.

Furthermore, in this specification, one shape model or a plurality of shape models may be prepared for one type of injection drug.

In the case of a typical vial or ampoule, the cross-sectional shape is circular, so no matter what state the vial or ampoule is placed in when acquiring the shape model, the shape will be the same in the captured image. Therefore, for injections whose shape can be uniquely identified when viewed from above, no matter how they are placed, one shape model is prepared for each type of injection. It would be fine if it had been done.

On the other hand, in the case of an injection drug whose cross-sectional shape is not circular (for example, in the case of a plastic ampoule whose cross-sectional shape is oval), its shape differs in the captured image depending on how it is placed. Therefore, when the placed injection drug is viewed from above, a plurality of shape models are prepared for each type of injection drug for which the shape cannot be uniquely specified depending on the placement state. For example, a plurality of shape models are prepared each time the placement state is changed.

≪Other configuration 4≫
Another example of the large returned medicine cassette 163 will be described below. FIG. 58 is a perspective view showing an example of a large returned medicine cassette 163A. FIG. 59(a) is a plan view of the large returned medicine cassette 163A, FIG. 59(b) is a side view thereof, and FIG. 59(c) is a front view thereof. FIG. 60 is a cross-sectional view (AA cross-sectional view in FIG. 59) showing an example of the slope of the recess 163Aa. Note that FIG. 60 is a diagram showing only a portion of a wavy bottom plate, which will be described later.

As shown in FIGS. 58 and 59, a wavy bottom plate (returned medicine accommodating portion) provided with a plurality of recesses 163Aa and a plurality of protrusions 163Ab is disposed on the bottom 163A1 of the large returned medicine cassette 163A. There is. The plurality of convex parts 163Ab form a plurality of recesses 163Aa in which large-sized returned medicines can be placed. The returned medicine is placed in each recess 163Aa so that its longitudinal direction matches the extending direction of each recess 163Aa and each protrusion 163Ab. The corrugated bottom plate is made of a material (eg, silicone rubber) that suppresses movement of the returned medicine due to shaking of the large returned medicine cassette 163A.

As shown in FIG. 60, each recess 163Aa has a shape in which the height at the center is higher than the height at both ends. In other words, the placement surface of each recess 163Aa on which the drug is placed has an inclination such that as it becomes further away from the side wall 163A2, it becomes further away from the bottom 163A1 in the height direction. Note that the angle of inclination between the bottom portion 163A1 and the mounting surface of the recessed portion 163Aa is expressed as θL. Further, the side wall 163A2 is a side wall of the large returned medicine cassette 163A to which the ends of each concave portion 163Aa and each convex portion 163Ab are connected.

The returned medicine is placed at a position relatively close to the side wall 163A2. Therefore, since each recess 163Aa has an inclination as described above, even if the returned medicine placed in each recess 163Aa moves due to the shaking of the large returned medicine cassette 163A, the returned medicine can be It can be moved toward the side wall 163A2 near the placement position. Therefore, it is possible to prevent the two returned medicines placed in one recess 163Aa from colliding with each other, thereby preventing the returned medicines from being damaged. Further, when one returned medicine is placed in one recess 163Aa, the returned medicine is damaged by colliding with the side wall 163A2 located on the opposite side of the side wall 163A2 near the placement position. This can be prevented.

Further, each convex portion 163Ab has a shape in which the height at the center is higher than the height at both ends, similarly to each concave portion 163Aa. Thereby, compared to the case where the height of each convex part 163Ab is constant, it is possible to suppress the returned medicine placed in the recessed part 163Aa from moving to another recessed part 163Aa or jumping out from the large returned medicine cassette 163A.

Further, a plurality of protrusions 163Ac that function as anti-slip for the returned medicine are provided on the side surface (the surface that contacts the returned medicine) of each convex part 163Ab along the extending direction of each convex part 163Ab. In this embodiment, the protrusion 163Ac has a linear shape, and the protrusion 163Ac is provided from the center of the protrusion 163Ab toward the side wall 163A2 as it goes upward from the recess 163Aa. Thereby, the returned medicine can be easily moved toward the side wall 163A2 near the placement position.

Note that the shape of the protrusion 163Ac is not limited to a linear shape, and may be, for example, a hemispherical shape. However, in order to make it easier to move the returned medicine in the direction of the side wall 163A2 near the placement position, the shape of the protrusion 163Ac is linear and the protrusion 163Ac is oriented as described above. It is better to provide this on the side surface of the convex portion 163Ab.

Next, another example of the small and medium-sized returned medicine cassette 164 will be described. FIG. 61 is a perspective view showing an example of a small and medium-sized returned medicine cassette 164. FIG. 62(a) is a plan view of the small and medium-sized returned medicine cassette 164A, FIG. 62(b) is a side view thereof, and FIG. 62(c) is a front view thereof. FIG. 63 is a cross-sectional view (BB cross-sectional view in FIG. 62) showing an example of the slope of the recess 164AMa. FIG. 64 is a cross-sectional view (CC cross-sectional view in FIG. 62) showing an example of the slope of the recess 164ASa. Note that FIGS. 63 and 64 are views showing only a portion of a wavy bottom plate, which will be described later.

As shown in FIGS. 61 and 62, the small and medium-sized returned medicine cassette 164A has a medium-sized medicine placement area MAr for placing medium-sized returned medicines, and a small-sized medicine placement area SAr for placing small-sized returned medicines. Be prepared. A plurality of concave portions 164AMa and a plurality of convex portions 164AMb are provided on the bottom portion 164A1 of the medium-sized and small-sized returned drug cassette 164A on the side of the medium-sized drug placement area MAr, and a plurality of concave portions 164AMa and a plurality of convex portions 164AMb are provided on the bottom portion 164A1 on the side of the small-sized drug placement area SAr. , a wavy bottom plate (returned medicine accommodating section) is provided with a plurality of recesses 164ASa and a plurality of protrusions 164ASb. This corrugated bottom plate is made of a material (eg, silicone rubber) that suppresses the movement of the returned medicine due to the shaking of the small and medium-sized returned medicine cassette 164A.

The plurality of recesses 164AMa and the plurality of protrusions 164AMb of the medium-sized medicine placement area MAr have the same shape as the plurality of recesses 163Aa and the plurality of protrusions 163Ab of the large-sized returned medicine cassette 163A. That is, as also shown in FIG. 63, the placement surface of each recess 164AMa on which the medicine is placed has an inclination such that as it becomes distant from the side wall 164A2, it becomes further away from the bottom 164A1 in the height direction. . Note that the angle of inclination between the bottom portion 164A1 and the mounting surface of the recessed portion 164AMa is expressed as θM. In addition, on the side surface of each convex portion 164AMb (the surface that comes into contact with the returned medicine), like the convex portion 163Ab, a plurality of protrusions 164AMc that function as anti-slip for the returned medicine are provided along the extending direction of each convex portion 164AMb. It is provided. The protrusion 164AMc should just have the same shape as the protrusion 163Ac.

On the other hand, in the small drug placement area SAr, as also shown in FIG. 64, the placement surface of each recess 164ASa on which the drug is placed is spaced apart from the bottom 164A1 in the height direction as it becomes spaced apart from the side wall 164A2. It has a slope like this. However, when the inclination angle between the bottom portion 164A1 and the mounting surface of the recessed portion 164ASa is expressed as θS, the inclination angle θS is set to be larger than the inclination angles θL and θM. Note that the inclination angles θL and θM may have the same magnitude. For example, the tilt angle θS is set to about 10°, and the tilt angles θL and θM are set to about 1.5°.

Since relatively large returned medicines (e.g. vials) are placed in the large returned medicine cassette 163A and the medium sized medicine placement area MAr, if the tilt angles θL and θM are too large, the returned medicines may become large returned medicines. It becomes easy to jump out of the cassette 163A or the small and medium-sized returned medicine cassette 164A. Therefore, the above-mentioned protrusion is suppressed by making the inclination angles θL and θM smaller than at least the inclination angle θS. On the other hand, by providing the protrusion 163Ac and the protrusion 164AMc, the returned medicine can be easily moved to the side walls 163A2 and 164A2 near the placement position.

On the other hand, in the small medicine placement area SAr, relatively small returned medicines (e.g. ampoules) are placed, so even if the tilt angle θS is increased, the returned medicines, like large or medium sized returned medicines, are It will not fly out from the small and medium-sized returned medicine cassette 164A. Therefore, by increasing the inclination angle θS to such an extent that the returned medicine does not jump out of the small and medium-sized returned medicine cassette 164A, the returned medicine can be easily moved to the side walls 163A2 and 164A2 near the placement position. Moreover, since the inclination angle θS can be increased in this way, there is no need to provide the protrusion 163Ac and the protrusion 164AMc in the small medicine placement area SAr.

≪Other configuration 5≫
A simple shape model registration process in the injection drug dispensing device 100 will be described below. Further, a process for specifying the orientation of an injection drug in the injection drug dispensing device 100 will be explained. However, it should be noted that in the following explanation, there may be parts that overlap with the content described above, or parts that are specifically described. Further, regarding the basic configuration of the injection drug dispensing device 100, please refer to, for example, FIG. 1 or FIG. 28.

<Issues related to shape model creation>
As described above, the suction position determination unit 194 identifies the injection drug to be suctioned (adsorption position) based on the image taken by the position specifying camera 122 and the shape model registered in advance in the storage unit 180. Thereby, the drug transport section 121 can take out the injection drug from the cassette Ca placed on the cassette holding section 130.

The shape model is a planar view of the injection drug used to identify the image of the injection drug placed in the cassette Ca and to be taken out from the cassette Ca, from the image of the cassette Ca in which the injection drug is placed. It shows the shape at the time. Specifically, the shape model is data indicating a plurality of shape patterns calculated by applying a plurality of conditions to the shape information of the injection drug, as described above. Shape information is obtained, for example, by analyzing an image taken of an injection drug. Examples of the plurality of conditions include (1) to (5) below.
(1) The range in which the injection drug is rotated as indicated by the shape information (eg, 0° or more and less than 360°).
(2) The pitch at which the injection drug is rotated.
(3) Range of magnification for expanding and contracting the injection drug in the X-axis direction.
(4) Range of magnification for expanding and contracting the injection drug in the Y-axis direction.
(5) Contrast of the injection drug (brightness difference between the foreground and background of the injection drug).

However, the shape model may be one shape pattern specified for one type of injection drug.

For example, when the injection drug dispensing device 100 is introduced into a hospital etc., all the shape models of the injection drugs that can be requested to be dispensed from the injection drug dispensing device 100 in the hospital etc. are stored in the drug master (or shape master) by drug type. registered every time. However, in the following case, for example, the shape model corresponding to the shape of the injection to be dispensed is not registered in the drug master, and therefore the injection drug dispensing device 100 may not be able to dispense the injection.
- When there is a change in the container shape of the injection drug (for example, a distributed injection drug) managed by the injection drug dispensing device 100, or
- When an injection drug (for example, a new drug) that is not managed by the injection drug dispensing device 100 at the time of introduction is newly set as an injection drug to be dispensed by the injection drug dispensing device 100.

Generally, the shape model is registered in the injection drug dispensing device 100 by a shape model administrator (eg, the manufacturer of the injection drug dispensing device 100) when the injection drug dispensing device 100 is introduced into a hospital or the like. Therefore, when an injection cannot be dispensed because the shape model is not managed in the injection medicine dispensing device 100, the shape model of the injection is created by, for example, a pharmacist or the like requesting the administrator. In this case, a new shape model is registered in the injection drug dispensing device 100 by the administrator distributing the created shape model to the injection drug dispensing device 100.

However, in this case, until a new shape model (official shape model) is registered in the injection drug dispensing device 100, injection drugs whose container shape has changed or injections that are not managed by the injection drug dispensing device 100 There is a possibility that the medicine cannot be dispensed.

The injection drug dispensing device 100 of this embodiment functions as a model registration device that registers a shape model that can reduce the above-mentioned possibility.

<Issues when placing injectables on transport trays or cassettes>
As described above, in the injection drug dispensing device 100, the injection drugs whose types have been identified are transported to the transport tray 151a (see FIG. 7) for each patient, for example. Further, as described above, the injection drug dispensing device 100 is placed on the transport tray 151a so that the injection drug is oriented in a predetermined direction (eg, the direction of the head). This placement is realized by the injection medicine dispensing device 100 specifying the direction of the injection medicine in the position changing section 126.

The injection medicine dispensing device 100 specifies the orientation of the injection medicine in the position changing unit 126 based on the orientation of the barcode, which can be identified by reading the barcode attached to the injection medicine. Therefore, in the injection medicine dispensing device 100, the prescribed orientation of the injection medicine and the orientation of the barcode are stored in advance in the storage unit 180 for each type of medicine. Note that the specified orientation of the injection drug is, for example, such that the head of the injection drug is on the expiry date reading camera 125 (see FIG. 8) side, and the bottom of the injection drug is on the side of the barcode reader 124 (see FIG. 8). This is the orientation of the injection when it is placed on the first mounting portion 126a. The position of the first mounting portion 126a at this time may be a medicine receiving position on the side of the processing position 132 (see FIG. 6). The same applies when an injection is placed on the second mounting portion 126b.

For example, when a pharmacist needs to create a shape model, such as when dispensing a new drug, the correspondence between the type of injectable drug, the specified orientation of the injectable drug, and the orientation of the barcode is unknown. Therefore, it is necessary to store the correspondence in the storage unit 180. If the correspondence relationship is not stored, the injection medicine dispensing device 100 cannot uniquely identify the orientation of the injection medicine from the orientation of the barcode.

Further, as described above, the injection drug dispensing device 100 transfers from the returned drug receiving cassette 161 (see FIG. 16) to the large returned drug cassette 163 (see FIG. 12) or the small and medium sized returned drug cassette 164 (see FIG. 13). Transport returned medicines. The returned medicine may be transported to a large returned medicine cassette 163A (see FIG. 58) instead of the large returned medicine cassette 163, or to a small and medium sized returned medicine cassette 164A (see FIG. 61) instead of the small and medium sized returned medicine cassette 164. I do not care. In this embodiment, the large returned medicine cassette 163, the large returned medicine cassette 163A, the small and medium sized returned medicine cassette 164, and the small and medium sized returned medicine cassette 164A may be collectively referred to as a returned medicine cassette.

As described above, the injection drug dispensing device 100 places the returned medicine in the returned medicine cassette so that the returned medicine faces in a predetermined direction. Similar to injection drugs, in the injection drug dispensing device 100, the specified orientation of the returned medicine and the orientation of the barcode are stored in the storage unit 180 for each type of returned medicine. Therefore, the injection medicine dispensing device 100 can identify the orientation of the returned medicine in the position changing unit 126 based on the orientation of the barcode that can be identified by reading the information on the barcode attached to the returned medicine. As a result, the injection medicine dispensing device 100 can place the returned medicine in the returned medicine cassette so as to face the predetermined direction. On the other hand, if the correspondence relationship between the prescribed orientation of the returned medicine and the orientation of the barcode is not stored, the injection medicine dispensing device 100 cannot uniquely identify the orientation of the returned medicine, as with injection medicines.

The injection drug dispensing device 100 of this embodiment functions as a drug orientation registration device that registers information for specifying the orientation of a drug (eg, an injection drug or a returned drug) placed on the position changing unit 126. In addition, the injection drug dispensing device 100 of the present embodiment transports the drug, which has been taken out from the cassette Ca in which the drug is placed and whose type has been identified, in a predetermined direction at the destination (e.g., the transport tray 151a or the returned drug cassette). It functions as a drug delivery device placed along the line. As described above, the injection drug dispensing device 100 places the drug at the destination based on the orientation of the barcode attached to the drug that corresponds to the defined orientation of the drug.

Note that the above-described drug delivery device transports injection drugs and returned medicines. Further, the above-mentioned medicine orientation registration device registers information for specifying the orientation of the injection medicine or returned medicine placed on the position changing unit 126. However, hereinafter, when explaining the drug delivery device and drug orientation registration device, injection drugs will be taken as an example. Therefore, it should be noted that the destination of the drug transport device is also the transport tray 151a.

<Configuration example of injection drug dispensing device 100>
FIG. 65 is a block diagram showing an example of the configuration of the injection drug dispensing device 100. The control unit 190 of the injection drug dispensing device 100 includes, for example, an information acquisition unit 211, a model creation unit 212, an adsorption availability determination unit 213, and a model registration unit 214 in addition to the functions 191 to 197 described above. Further, the injection drug dispensing device 100 includes, for example, a graphic orientation specifying section 215, a drug orientation setting section 216, an information registration section 217, and a weight calculation section 218. Note that the control unit 190 may be implemented as an external device that is communicably connected to the injection drug dispensing device 100. The same applies to the storage unit 180.

In this example, the injection drug dispensing device 100 will be described as having the functions of the above-described model registration device, drug orientation registration device, and drug delivery device. It suffices if it has this function.

When functioning as the above-mentioned model registration device, the injection drug dispensing device 100 only needs to include at least an information acquisition section 211, a model creation section 212, and a model registration section 214, and an adsorption availability determination section 213. I don't mind. The information acquisition unit 211 only needs to be able to acquire type information and size information, which will be described later. Further, in this case, the injection drug dispensing device 100 does not necessarily need to include the graphic orientation identification section 215, the drug orientation setting section 216, the information registration section 217, and the weight calculation section 218.

When functioning as the drug orientation registration device described above, the injection drug dispensing device 100 only needs to include at least a graphic orientation identification section 215, a drug orientation setting section 216, and an information registration section 217, and an information acquisition section 211. It doesn't matter if you stay there. The information acquisition unit 211 only needs to be able to acquire drug compatibility information and size information, which will be described later. Further, in this case, the injection drug dispensing device 100 does not necessarily need to include the model creation section 212, the adsorption availability determination section 213, the model registration section 214, and the weight calculation section 218.

When functioning as the above-described drug delivery device, the injection drug dispensing device 100 only needs to include at least the graphic orientation specifying section 215 and the suction position determining section 194, and may also include the information acquiring section 211. The information acquisition unit 211 only needs to be able to acquire size information, which will be described later. In this case, the injection drug dispensing device 100 does not necessarily need to include the model creation section 212, the adsorption availability determination section 213, the model registration section 214, the drug orientation setting section 216, the information registration section 217, and the weight calculation section 218. do not have.

In addition, in this example, a cassette Ca will be used as an example of a loading section on which a medicine is placed; however, the loading section is not limited to this, and various members capable of loading a medicine can be used. . In other words, the injection drug dispensing device 100 captures an image of a loading section other than the cassette Ca stored on the cassette shelf 110, and identifies from the image an image of the drug to be taken out from the loading section. I do not care. Moreover, the injection medicine dispensing device 100 may transport the medicine taken out from the above-mentioned storage section to a transport destination.

The information acquisition unit 211 acquires type information of a container containing an injection drug and size information of the container in order to create a shape model.

The size information includes, for example, the width, overall length, body length, and height of the container. The body portion is primarily a space in which the injection drug is accommodated. In this example, the size information is input by a pharmacist or the like (user) via the touch panel 210. As described above, the touch panel 210 includes an operation section that accepts various user inputs from a pharmacist or the like, and a display section that displays various information. The size information is the actual size of the container (eg, measurement information indicating the width, overall length, and length of the body portion of the container) that is actually measured using a measuring instrument such as a caliper.

Types of containers include, for example, vials, ampoules, plastic ampoules, and stick ampoules. A plastic ampoule is an ampoule made of plastic. A stick ampoule is a stick-shaped ampoule. The stick ampoule includes a stick-shaped accommodating portion having light-shielding properties, and an ampoule or a plastic ampoule accommodated in the accommodating portion. The ampoules or plastic ampoules accommodated in the accommodating section include those that require complete light shielding. Further, the type of container may be set such that, for example, even if the container is an ampoule, ampoules having different sizes or shapes are different types of ampoules.

Further, the information acquisition unit 211 acquires drug orientation information indicating the orientation of the injection drug placed on the position change unit 126 in order to store (register) orientation information to be described later in the storage unit 180. The orientation of the injection drug to be obtained is, for example, the orientation of the injection drug when placed on the first mounting section 126a or the second mounting section 126b when present at the drug receiving position. The orientation of the injection to be obtained may be the orientation of the injection at the same position as the above-described defined orientation of the injection. The drug preference information is input by a pharmacist or the like (user) via the touch panel 210.

The model creation unit 212 identifies a shape template corresponding to the type indicated by the type information, and creates a shape model of the container (injection drug) by enlarging or reducing the identified shape template based on the size information. Hereinafter, this shape model will be referred to as a simple shape model.

FIG. 66 is a diagram showing an example of a vial, and an example of a shape template and a simple shape model of the vial. FIG. 67 is a diagram showing an example of an ampoule, and an example of a shape template and a simple shape model of the ampoule. FIG. 68 is a diagram showing an example of a plastic ampoule, and an example of a shape template and a simplified shape model of the plastic ampoule. FIG. 69 is a diagram showing an example of a stick ampoule, and an example of a shape template and a simple shape model of the stick ampoule.

Reference numeral 66001 in FIG. 66 indicates an example of a vial, reference numeral 67001 in FIG. 67 indicates an example of an ampoule, reference numeral 68001 in FIG. 68 indicates an example of a plastic ampoule, and reference numeral 69001 in FIG. 69 indicates an example of a stick ampule. As shown in each figure, symbols Wd100, Ht100, Ht200, and Ht300 respectively indicate the width, overall length, length of the body portion, and height of the container. Height is the height from the mounting surface when the container is placed horizontally (when the entire length is approximately parallel to the mounting surface), and the length in the direction perpendicular to the width direction. be. As shown by reference numeral 69001 in FIG. 69, in a stick ampoule, the entire body is substantially the body portion, so the length (Ht200) of the body portion is not specified.

In the case of ampoules and vials, the body portion is generally cylindrical, so the width and height of the container are approximately the same length. The body portion of the plastic ampoule has an elliptical cylinder shape, and the cross section perpendicular to the overall length direction of the stick ampoule is circular or elliptical, varying along the entire length direction. Therefore, in the case of plastic ampoules and stick ampoules, the width and height of the container do not match.

The shape template indicates the approximate shape of the container as a basis for creating a simple shape model, and is prepared in advance for each type of container and stored in the storage unit 180. In this example, the shape templates for a vial (see numeral 66002 in FIG. 66), an ampoule (see numeral 67002 in FIG. 67), a plastic ampoule (see numeral 68002 in FIG. 68), and a stick ampoule (see numeral 66002 in FIG. 69) are used. It is prepared. As shown in each figure, symbols Wd10, Ht10, and Ht20 indicate the width, overall length, and length of the body portion of the shape template, respectively.

Generally, as shown at 68001 in FIG. 68, the distal end portion Ed of the plastic ampoule connected to the body portion has a flat shape. Therefore, when a plastic ampoule is placed sideways, the shape of the plastic ampoule when viewed from above changes depending on which part of the body portion is placed in contact with the placement surface. In this example, as shown in FIG. 68, the plastic ampoule has a shape template when viewed from the first direction VD1 (see "horizontal" in the figure) and a shape template when viewed from the second direction VD2 (see "Horizontal" in the figure). (see "vertical" in the figure) are prepared in advance. The second direction VD2 is a direction substantially perpendicular to the first direction VD1. In this example, the above-mentioned two shape templates having greatly different shapes are prepared. As shown by reference numeral 68002 in FIG. 68, reference numeral Ht30 indicates the height of the shape template.

The model creation unit 212 reads a shape template corresponding to the type of container specified via the touch panel 210 from the storage unit 180. The model creation unit 212 enlarges or reduces the read shape template based on the container size information input via the touch panel 210. As a result, the model creation unit 212 creates a simple shape model.

For example, in the case of a vial, as shown in FIG. 66, a simple shape model indicated by reference numeral 66003 is created from a shape template indicated by reference numeral 66002. In the case of an ampoule, as shown in FIG. 67, a simple shape model indicated by reference numeral 67003 is created from a shape template indicated by reference numeral 67002. In the case of a plastic ampoule, as shown in FIG. 68, a simple shape model indicated by reference numeral 68003 is created from a shape template indicated by reference numeral 68002. In the case of a plastic ampoule, since the above two shape templates are prepared, a simple shape model is created based on each shape template. In the case of a stick ampoule, as shown in FIG. 69, a simple shape model indicated by reference numeral 69003 is created from a shape template indicated by reference numeral 69002. As shown in each figure, symbols Wd1, Ht1, Ht2, and Ht3 are the width, total length, length of the body part, and height of the simplified shape model created based on the size information and shape template, respectively, Indicates the value indicated by the input size information (actual size of the container).

The model creation unit 212 creates a simple shape model as follows, for example. Here, the explanation will be given using a vial as an example.

As shown by reference numeral 66002 in FIG. 66, a virtual X1Y1 coordinate system is set in the shape template.

The model creation unit 212 multiplies the X1 coordinates (that is, the coordinates X12) of each point on the straight line X12 by a magnification Ht1/Ht10 so that the total length Ht10 of the shape template becomes the total length Ht1 indicated by the size information. The model creation unit 212 adds a magnification Ht2 to the X1 coordinate (that is, the coordinate X11) of each point on the straight line Multiply by /Ht20. However, the model creation unit 212 may simply substitute the value of Ht1 for the X1 coordinate (that is, the coordinate X12) of each point on the straight line X12. Similarly, the model creation unit 212 may simply substitute the value of Ht2 for the X1 coordinate (that is, the coordinate X11) of each point on the straight line X11.

Furthermore, the model creation unit 212 substitutes a value obtained by {Ht2+(Ht1-Ht2)/K1} into the X1 coordinate for a point between the straight line X11 and the straight line X12 that is closer to the straight line X11. For points closer to the straight line X12, the value obtained from {Ht2+(Ht1-Ht2)/K2} is substituted into the X1 coordinate. K1 and K2 may be set to arbitrary values based on experimental results. Furthermore, the model creation unit 212 may obtain the X1 coordinate of each point between the straight line X11 and the straight line X12 by multiplying the magnification (S1-T1)/(1-T1). Note that S1=Ht2/Ht20, T1=(Ht1-Ht2)/(Ht10-Ht20).

The model creation unit 212 multiplies the Y1 coordinate of each point of the shape template that does not exist on at least the X1 axis by a magnification Wd1/Wd10 so that the width Wd10 of the shape template becomes the width Wd1 indicated by the size information. Note that the model creation unit 212 may simply substitute the value of Wd1 for the Y1 coordinate of the point farthest from the X1 axis (the coordinate of the point on the straight line Y12).

In addition, the model creation unit 212 sets the Y1 coordinate of a point closer to the straight line Y11 between the straight line Y11 (straight line on the X1 axis) and the straight line Y12 by, for example, } Substitute the value found by . For points closer to the straight line Y12, a value obtained from, for example, {Wd1-(Wd1-Wd1×K3)/2} is substituted into the Y1 coordinate. K3 may be set to any value based on experimental results.

Furthermore, as described above, the model creation unit 212 does not change the Y1 coordinates of each point on the straight line Y11, but changes the coordinates of each point on the straight line Y12 to the value of Wd1. However, the model creation unit 212 is not limited to this, and for example, for each point on the straight line X12 and each point adjacent to each point in the I don't mind.

A simple shape model of the ampoule and a simple shape model of the plastic ampoule when viewed from the first direction VD1 are also created using the same method as for the vial. However, in the case of an ampoule, the point farthest from the Y1 axis (the point on the straight line X12) may be assigned a value determined by, for example, Wd1/2 to the X1 coordinate. Further, a simple shape model of the plastic ampoule when viewed from the second direction VD2 is also created in the same manner as the vial by using the heights Ht30 and Ht3 instead of the widths Wd10 and Wd1. Stick ampoules are prepared in the same manner as vials, except that the above-mentioned {Ht2+(Ht1-Ht2)/Kn(n=1, 2)} is not used. Instead of {Ht2+(Ht1-Ht2)/Kn (n=1, 2)}, for example, {Ht1×predetermined magnification (greater than 0 and less than 1, set based on experimental results)} may be used.

In this way, the model creation unit 212 enlarges or reduces the shape template according to the actually measured value. In this example, a simple shape model is created by enlarging or reducing the shape template so that at least the width, overall length, and length of the body portion of the container are the actually measured values.

Note that the values that define the created simple shape model (e.g., the coordinates of each point of the simple shape model) may be stored as they are in the storage unit 180, or, for example, the values that define the similar shape of the simple shape model may be stored as they are. may be stored in the storage unit 180. That is, it is not necessarily necessary to store the created simple shape model in the storage unit 180 while maintaining its size and shape.

Moreover, creating a simple shape model by enlarging or reducing the shape template as used herein includes multiplying the shape template by a constant to create a simple shape model having a similar shape to the shape template. In other words, the coordinates of each element (each point of the shape template (black dots shown in FIGS. 66 to 69)) constituting a preset shape template are multiplied by a constant to create a simple shape model of a shape similar to the shape template. Including. However, the simple shape model does not necessarily need to be created as a shape similar to the shape template. That is, it is not necessarily necessary to calculate the coordinates of each element of the shape template so that the simple shape model is created as a similar shape to the shape template. Further, the method for creating the simple model described above is just an example, and the simple model may be created from the shape template by a method other than the calculation method described above.

Further, in FIGS. 66 to 69, the shape template is defined by each element (each point) and a straight line connecting each element, but the shape template is not limited to this, and the shape template is defined by each element. I don't mind.

The adsorption capability determination unit 213 determines whether the drug transport unit 121 can adsorb the injection drug to be adsorbed, which is specified using the simple shape model created by the model creation unit 212.

The suction position determination unit 194 determines the suction position of the injection drug to be taken out from the cassette Ca by the drug transport unit 121 based on the image of the cassette Ca taken by the position specifying camera 122 and the simple shape model created by the model creation unit 212. decide.

The suction position determining unit 194 specifies the injection drug to be adsorbed, and also specifies the injectable drug to be adsorbed, as shown in the above-mentioned "(Suction position determination process)" and "(Adsorption position determination correction process)". Determine the suction position. At this time, the shape of the injection drug to be adsorbed may be determined by comparing the injection drug area detected from the image taken by the position specifying camera 122 with a simple shape model. Moreover, the calculation of the suction position may be performed using width information included in the input size information instead of the injection width information. In addition, if the center of gravity position of the injection drug can be obtained as part of the size information or calculated from the size information, the captured image The suction position may be calculated using the center of gravity and the position of the center of gravity.

The suction capability determining unit 213 determines whether the drug transport unit 121 was able to suction the injection drug at the determined suction position. The adsorption capability determining unit 213 determines that the injection drug can be adsorbed, for example, when the load within the air pipe (eg, the pressure within the air pipe or the amount of air flowing through the air pipe) becomes equal to or less than a predetermined value. In this case, the transport control unit 193 takes out the injection medicine adsorbed by the medicine transport unit 121 from the cassette Ca placed on the cassette holding unit 130 and transports it to the position changing unit 126.

The model registration unit 214 registers the shape model created by the model creation unit 212. In this example, the model registration unit 214 stores the simple shape model created by the model creation unit 212 in the storage unit 180 when the adsorption possibility determination unit 213 determines that the injection drug can be adsorbed. The model registration unit 214 causes the barcode reader 123 to read the barcode attached to the injection drug transported to the position change unit 126. As described above, information indicating the type of injection drug (injection drug identification information) is attached to the injection drug in the form of a bar code. The model registration unit 214 stores the simple shape model created by the model creation unit 212 in the storage unit 180 in association with the read injection drug identification information.

In this way, the model creation unit 212 creates a simple shape model based on input from a pharmacist, etc., unlike the method described above in which the model is created based on shape information and predetermined conditions, and the model registration unit 214 creates a simple shape model The model is stored in the storage unit 180. Therefore, in the injection drug dispensing device 100 (model registration device) of this example, temporary injection using a simple shape model is possible even until a new shape model is registered in the injection drug dispensing device 100. Medicines can be dispensed.

The graphic orientation specifying unit 215 specifies the orientation of the barcode on the injection drug by reading the barcode attached to the injection drug placed on the position changing unit 126. The barcode reader 123 can identify the orientation of the barcode on the injection drug by reading the barcode. The orientation of a barcode refers to, for example, the order in which alphanumeric characters attached to the barcode are arranged.

The graphic orientation specifying unit 215 specifies the orientation by acquiring orientation specifying information indicating the orientation of the barcode specified by the barcode reader 123. Further, the control unit 190 can obtain the injection drug identification information by having the barcode reader 123 read the barcode from the injection drug. Therefore, the control unit 190 identifies the type of injection drug by reading the barcode.

Note that the position change unit 126 is a reading position where the barcode reader 123 can read the barcode. In this example, the reading position is the medicine receiving position of the position changing unit 126, but it may also be the medicine delivery position of the position changing unit 126 where the injection medicine is placed before being transported to the transport tray 151a.

In addition, in the injection drug dispensing device 100, the orientation of the injection drug placed on the position changing unit 126 is specified based on the orientation of the barcode attached to the injection drug, but the orientation of the other shapes attached to the injection drug is determined. The orientation of the injection drug may be specified based on the following. In other words, a barcode attached to an injection drug is an example of a graphic attached to an injection drug that can identify the orientation of the injection drug based on its orientation. The figure may be a one-dimensional barcode, a two-dimensional barcode (eg, QR code (registered trademark)), a three-dimensional shape (eg, uneven shape), etc., as long as it has an oriented shape. Further, it may be in the form of a column in which characters (including numbers), symbols, and/or codes are arranged.

The medicine orientation setting unit 216 sets the orientation of the injection medicine placed on the position changing unit 126. In this example, the medicine orientation setting unit 216 sets the orientation of the injection medicine inputted into the touch panel 210 by a pharmacist or the like as the orientation of the injection medicine placed on the position changing unit 126.

The control unit 190 displays, on the touch panel 210, an image of the injection drug in the position change unit 126 (drug receiving position), which is captured by the expiration date reading camera 125. A pharmacist or the like identifies the orientation of the injection drug in the position changing unit 126 by visually checking the image displayed on the touch panel 210, and inputs the orientation into the touch panel 210. The information acquisition unit 211 acquires drug orientation information indicating the orientation specified by a pharmacist or the like from the touch panel 210. The medicine orientation setting unit 216 sets the orientation of the injection medicine indicated by the medicine orientation information acquired by the information acquisition unit 211 as the orientation of the injection medicine placed on the position changing unit 126. The medicine orientation setting unit 216 links the set orientation of the injection medicine with the orientation of the injection medicine identification information specified by the graphic orientation identification unit 215.

Note that the control unit 190 does not necessarily need to display an image of the injection drug. For example, a pharmacist or the like may specify the orientation of the injection medicine placed on the position change unit 126 by directly viewing the position change unit 126, and input the orientation of the medicine into the touch panel 210.

The information registration unit 217 determines an orientation indicating the relationship between the orientation of the graphic and the orientation of the drug based on the orientation of the barcode specified by the orientation identification unit 215 and the orientation of the injection drug set by the orientation setting unit 216. Information is registered in association with the type of injection drug.

In this example, the information registration unit 217 determines the orientation of the barcode corresponding to the orientation of the injection drug when the orientation of the injection drug set by the drug orientation setting unit 216 matches the specified orientation of the injection drug. is registered as the orientation information in association with the type of injection drug.

When the orientation of the injection drug set by the drug orientation setting unit 216 and the specified orientation of the injection medicine match, the information registration unit 217 changes the orientation of the barcode specified by the graphic orientation identification unit 215 to the above-mentioned direction. As direction information, the barcode is linked to the type of injection drug read.

If the orientation of the injection drug set by the medicine orientation setting unit 216 (specific orientation) and the prescribed orientation of the injection medicine (regular orientation) do not match, the information registration unit 217, for example, Calculate the angle with. The information registration unit 217 associates the orientation of the barcode, which is obtained by changing the orientation of the barcode specified by the graphic orientation identification unit 215 by the angle, with the type of the injection drug for which the barcode was read, as the orientation information.

FIG. 70 is a diagram illustrating an example of the correspondence between the orientation (placing direction) of the injection medicine in the position changing unit 126 and the orientation of the barcode attached to the injection medicine. Reference numerals 70001 and 70003 indicate cases in which the injection drug is correctly placed on the position changing unit 126, and reference numerals 70002 and 70004 indicate cases in which the injection drug is incorrectly placed in the position changing unit 126.

What happens when the injection drug is placed correctly?
- The bottom MDb of the injection medicine is on the bottom wall 126wb side of the first mounting part 126a (or the second mounting part 126b) (for example, the bottom MDb is in contact with the bottom wall 126wb), and
・So that the head MDh of the injection medicine is on the upper wall 126wt side of the first mounting part 126a (or second mounting part 126b),
This refers to the case where an injection drug is placed. Further, the direction of the injection drug at this time becomes the specified direction of the injection drug. In FIG. 70, the injection drug is correctly placed when facing left.

When transporting an injection from the cassette Ca placed in the processing position 132 to the position change unit 126, the injection is not necessarily placed correctly. The suction position when taking out the injection from the cassette Ca is determined based on the comparison between the injection area included in the image and the shape model (simple shape model). Therefore, as a result of the verification, for example, if the head and bottom of the injection drug are recognized in opposite directions, there is a possibility that the injection drug will be placed in the position changing section 126 in the opposite direction. Further, the orientation of the barcode attached to the injection drug differs depending on the injection drug (for example, depending on the type of injection drug).

For injection drugs that are not managed by the injection drug dispensing device 100 (eg, new drugs that require creation of a simple shape model), the orientation of the injection drug and the orientation of the barcode are not linked. Therefore, simply by specifying the orientation of the barcode, the position changing unit 126 cannot uniquely specify the correct orientation of the injection drug. Therefore, for the injection drug, it is necessary to specify the correspondence between the orientation of the barcode and the orientation of the injection drug in the position changing unit 126 (defined orientation of the injection drug).

In the examples 70001 and 70003 in FIG. 70, the direction Dmd of the injection drug matches the defined direction (leftward) of the injection drug. Therefore, the information registration unit 217 registers the orientation Dbr of the injection drug identification information as the orientation (the above-mentioned orientation information) corresponding to the specified orientation of the injection drug. At 70001, leftward is registered as the orientation information, and at 70003, rightward is registered as the orientation information.

As shown by reference numerals 70002 and 70004 in FIG. 70, the direction Dmd of the injection drug does not match the prescribed direction of the injection drug (leftward), and the angle formed by these two directions is 180°. Therefore, the information registration unit 217 changes the orientation of the barcode when the orientation Dmd of the injection drug is rotated by 180 degrees to match the orientation of the injection drug as specified ( (Orientation information above).

In code 70002, the direction of the actually read barcode (rightward) and leftward, which is the opposite direction, is registered as the orientation information, and in code 70003, the direction of the barcode actually read (leftward) is registered as the orientation information. ) and the opposite direction to the right are registered.

By registering the orientation of the barcode in this way, the injection drug dispensing device 100 can change the orientation of the injection drug in the position changing unit 126 when actually dispensing the injection drug to the direction of the registered barcode. Based on this, it can be identified with high accuracy. Therefore, based on the orientation of the registered barcode, the control unit 190 can calculate the orientation of the injection medicine on the transport tray 151a so that it matches the predetermined direction in which it is actually desired to be placed. Therefore, the control unit 190 can align and place a plurality of injections on the transport tray 151a so as to face in a predetermined direction.

Note that the information registration unit 217 may register orientation information based on the specified orientation of the barcode and the set orientation of the injection drug in association with the type of injection drug. In other words, the information registration unit 217 does not need to register, as the orientation information, the orientation of the barcode corresponding to the orientation of the injection when the orientation of the injection matches the specified orientation of the injection. Not necessarily.

For example, when information indicating the specified orientation of the injection drug is stored in the storage unit 180, the information registration unit 217 stores an orientation that associates the specified orientation of the barcode with the set orientation of the injection medicine. Information may be registered in association with the type of injection drug.

In this case, for example, the control unit 190 compares the orientation of the barcode read when transporting the injection drug to the transport tray 151a with the orientation of the barcode indicated by the orientation information associated with the type of injection drug. . When the orientations of these two barcodes match, the control unit 190 determines whether or not the orientation of the injection indicated by the orientation information matches the specified orientation of the injection, thereby determining whether the actual injection Determine the orientation of When the orientations of the two barcodes do not match, the control unit 190 determines that when the orientation of the barcode indicated by the orientation information matches the orientation of the read barcode, the orientation of the injection medicine indicated by the orientation information is determined to be the specified orientation. It is determined whether the direction of the injection drug matches the direction of the injection drug. For example, if the directions of the two barcodes are opposite, the control unit 190 reverses the direction of the injection drug indicated by the orientation information and determines whether the direction of the injection drug matches the specified direction of the injection drug. do.

Further, when the second distance information described above can be acquired, for example, the control unit 190 can place the injection medicine on the transport tray 151a so that the injection medicine label faces upward. As mentioned above, the second distance information is the circumferential direction of the injection drug from the position of the barcode attached to the injection drug to the approximate center position of the injection drug label on which the injection drug name (drug name), etc. is written. This is information indicating the second distance above. In this case, on the transport tray 151a, not only can the injection medicine be placed facing a predetermined direction, but also the injection medicine label can be placed facing upward. Therefore, it is possible to easily visually inspect the injection medicine placed on the transport tray 151a. In particular, when a plurality of injection drugs are placed on the transport tray 151a, if the directions of the injection drugs and the injection labels are not aligned, the time and effort required for visual inspection by pharmacists and the like increases. The injection drug dispensing device 100 can arrange a plurality of injection drugs so that they face a predetermined direction and place them with the injection labels facing upward, so this kind of effort can be saved and visual inspection can be simplified. The burden on pharmacists, etc. can be greatly reduced.

Further, in this example, the suction position determining unit 194 places the injectable medicine on the position changing unit 126 based on the input size information of the injection drug, the orientation of the barcode identified by the graphic orientation identifying unit 215, and the registered orientation information. Determine the adsorption position of the injection drug.

Specifically, for vials, ampoules, and plastic ampoules, the suction position determining unit 194 sets a distance of half the measured length of the body part (Ht2/2) from the bottom of the container as the offset distance Htof. calculate. This offset distance is shown at 66003 in FIG. 66, 67003 in FIG. 67, and 68003 in FIG. Further, for the stick ampoule, the suction position determination unit 194 calculates half (Ht1/2) of the measured total length from the bottom of the container as the offset distance Htof. This offset distance is shown at 69003 in FIG.

When transporting the barcode from the position changing unit 126 to the transport tray 151a, the suction position determination unit 194 compares the orientation of the barcode specified by the graphic orientation identification unit 215 with the orientation of the barcode indicated by the registered orientation information. . The orientation of the barcode identified by the graphic orientation identifying unit 215 is, for example, the orientation of the barcode read while placed on the position changing unit 126 before the injection is delivered to the transport tray 151a.

If the orientations of the two barcodes match, the suction position determination unit 194 specifies the suction position as follows. The suction position determination unit 194 is located at a position away from the bottom wall 126wb of the first mounting unit 126a (or second mounting unit 126b) by the offset distance Htof, and from the head MDh of the injection drug to the bottom MDb. A position on the center line of the stretched injection drug is specified as an adsorption position.

Note that the position where the injection drug is placed in the first mounting part 126a (or the second mounting part 126b) is determined in advance. Therefore, by identifying the orientation of the injection placed on the position changing unit 126, the suction position determining unit 194 can identify the positions of the body portion and the head of the container in the position changing unit 126. Further, the suction position determining unit 194 can specify the position of the center line of the injection drug placed on the position changing unit 126 based on the input width Wd1 of the container.

Consider a case where the orientation of the barcode identified by the graphic orientation identifying unit 215 does not match the orientation of the barcode indicated by the registered orientation information. In this example, as shown by reference numerals 70002 and 70004 in FIG. 70, the injection drug is placed in the first This means that it is placed on the mounting section 126a (or the second mounting section 126b). Therefore, the suction position determining unit 194 is located at a distance {(total length of the injection drug)−(the above-mentioned offset distance Htof)} from the bottom wall 126wb of the first mounting unit 126a (or second mounting unit 126b), and In addition, a position on the center line of the injection drug is specified as an adsorption position.

By specifying the suction position in this way, the suction position determining unit 194 selects a position near the center of the body portion (at or near the center of gravity, depending on the placement state of the injection in the position changing unit 126). ) can be identified as the adsorption position. The position changing unit 126 can accurately determine the suction position without using a photographed image of the injection drug or a simple shape model.

The weight calculation unit 218 calculates the weight of one injection drug by measuring the weight of the cassette Ca. As shown in FIG. 6, a load cell 134 is provided in the cassette holding section 130a. The weight calculation section 218 measures the weight of the cassette Ca by controlling the load cell 134 when the cassette Ca is placed on the cassette holding section 130a. To measure the weight of the cassette Ca, the cassette transfer section 140 transfers the cassette Ca from the cassette shelf 110 to the cassette holding section 130a.

The weight calculation unit 218 measures the weight of the cassette Ca when one injection drug is placed in the cassette Ca and the weight of the empty cassette Ca, and calculates the difference between the weights of the cassette Ca and the empty cassette Ca. Calculate the weight per book. Thereby, the injection drug dispensing device 100 can manage the inventory status of the injection drugs, which has not been managed by the injection drug dispensing device 100, based on the weight per bottle of the injection drug.

Further, in this example, the transport control unit 193 presets the orientation of the injection drug placed on the position change unit 126 based on the orientation of the barcode identified by the graphic orientation identification unit 215 and the registered orientation information. The direction of the injection drug on the conveyance tray 151a is adjusted so that the injection medicine is oriented in the same direction as the transport tray 151a. That is, the transport control unit 193 adjusts the orientation of the injection so that the injection is oriented in a predetermined direction on the transport tray 151a. The transport control unit 193 adjusts the direction of the injection by rotating the suction mechanism 153a (see FIG. 9) in the axial direction. The transport control unit 193 controls the medicine moving unit 153 (see FIG. 9) to transport the injection drug whose orientation has been adjusted to the transport tray 151a. Note that the transport control unit 193 may adjust the orientation of the injection before transporting the injection to the transport tray 151a and placing the injection on the transport tray 151a.

<Simple shape model registration process/barcode orientation registration process>
FIG. 71 is a flowchart illustrating an example of a simple shape model registration process and a barcode orientation registration process.

The control unit 190 causes the touch panel 210 to display a model registration image Img2 (see FIG. 72) that can accept user input for creating and registering a simple shape model (SH1). The model registration image Img2 also functions as an orientation registration image that can accept user input for registering the orientation of the barcode corresponding to the defined orientation of the injection drug.

In the model registration image Img2, the pharmacist or the like inputs various information about the injection drug for which the simple shape model is to be created and the orientation of the barcode is to be registered. As various information, for example, type information of the container containing the injection drug, container size information (measurement information), information for specifying the expiration date of the injection drug, and information regarding the cassette Ca are input. Examples of the information regarding the cassette Ca include information indicating the storage position of the cassette Ca on which the injection drug is placed on the cassette shelf 110.

When the control unit 190 receives the user input indicating completion of inputting various information, the control unit 190 displays an image on the touch panel 210 for prompting the pharmacist or the like to place one bottle of the injection drug in the cassette Ca. After placing one of the above-mentioned injection drugs in the cassette Ca and storing the cassette Ca in the cassette shelf 110, the pharmacist etc. issues a registration start instruction to the injection drug dispensing device 100 to execute the registration process of the simple shape model. Input on touch panel 210. In this example, the registration start instruction is also a registration start instruction that causes the injection drug dispensing device 100 to execute a barcode orientation registration process. Upon receiving the registration start instruction, the information acquisition unit 211 acquires various input information (input information) (SH2).

Note that the above-mentioned cassette Ca may be a cassette dedicated to creating a simple shape model, or a cassette Ca to which an injection drug is assigned (a cassette Ca in use). If the cassette Ca is in use, the pharmacist or the like takes out all the injection medicines placed in the cassette Ca, and then places the injection medicine for which a simple shape model is to be created into the cassette Ca. When using a cassette dedicated to creating a simple shape model, a pharmacist or the like only needs to place an injection into the cassette.

The transfer control unit 191 specifies the storage position of the cassette Ca based on the input information, and controls the cassette transfer unit 140 to move the cassette Ca from the cassette shelf 110 to the cassette holding unit 130 (in this example, the cassette holding unit). 130a) (SH3).

In parallel with the process of SH3, the model creation unit 212 creates a simple shape model based on the input information (SH4). The model creation unit 212 identifies the type of container for the injection drug from the type information included in the input information, and reads out a shape template corresponding to the type from the storage unit 180. The model creation unit 212 creates a shape model by enlarging or reducing the read shape template based on the size information included in the input information.

When the cassette Ca is placed on the cassette holding section 130a by the process of SH3, the weight calculation section 218 measures the weight of the cassette Ca by controlling the load cell 134. The weight of the cassette Ca measured at this time is the weight of the cassette Ca in which one injection drug is placed. Furthermore, when the cassette Ca is placed on the cassette holding section 130a, the drive control section 192 moves the cassette Ca from the cassette receiving position 131a (see FIG. 6) to the processing position 132a by controlling the drive mechanism 133a. let

The suction position determining unit 194 causes the position specifying camera 122 to photograph the cassette Ca placed at the processing position 132a and the injection drug placed on the cassette Ca. The suction position determining unit 194 uses the simple shape model, the image of the injection drug, and the size information (container width information) to determine the injection drug to be adsorbed and the injection concerned in the cassette Ca placed at the processing position 132a. The adsorption position on the drug is determined (SH5). The transport control unit 193 controls the drug transport unit 121 to adsorb the injection drug to be adsorbed at the adsorption position determined by the adsorption position determination unit 194.

The adsorption availability determining unit 213 determines whether the creation of the simple shape model was successful by determining whether the drug transport unit 121 was able to adsorb the injection drug to be adsorbed (SH6). If it is determined that the drug transport unit 121 has successfully adsorbed the injection drug and created the simple shape model (YES in SH6), the transport control unit 193 controls the drug transport unit 121 to remove the adsorbed injection drug. is transported from the processing position 132a to the position changing unit 126 (SH7).

At this time, the weight calculation unit 218 calculates the weight per injection drug (SH8). The weight calculation unit 218 measures the weight of the empty cassette Ca when transporting the injection drug from the processing position 132a to the position changing unit 126 in SH7. The weight calculation unit 218 calculates the weight per injection drug based on this measurement result and the measurement result when the cassette Ca is placed on the cassette holding unit 130a by the process of SH3.

The weight calculation unit 218 determines whether the weight per injection drug has been calculated (SH9). If it is determined that the weight of the cassette Ca has been calculated (if the weight calculation is successful) (YES in SH9), the model registration unit 214 stores the barcode attached to the injection drug placed on the position change unit 126. is read by the barcode reader 123 (SH10). Thereby, the control unit 190 specifies the type of the injection drug. In addition, the model registration unit 214 controls the expiration date reading camera 125 to photograph the expiration date attached to the injection drug placed on the position changing unit 126, thereby acquiring information indicating the expiration date. (SH10).

The barcode reader 123 identifies the orientation of the barcode on the injection drug by reading the injection drug identification information. The graphic orientation identifying unit 215 identifies the orientation by acquiring orientation identifying information indicating the orientation from the barcode reader 123 (SH11).

In SH10, the control unit 190 displays an image taken by the deadline reading camera 125 on the touch panel 210. A pharmacist or the like identifies the orientation of the injection drug in the position changing unit 126 by visually recognizing the image, and inputs the orientation into the touch panel 210. The medicine orientation setting unit 216 sets the orientation of the injection medicine input into the touch panel 210 as the orientation of the injection medicine in the position changing unit 126 (SH12).

The information registration unit 217 specifies the orientation of the barcode to be stored in the storage unit 180 (SH13). The information registration unit 217 determines, for example, whether the orientation of the injection drug set by the medicine orientation setting unit 216 matches the prescribed orientation of the injection medicine.

If the orientation of the injection drug set by the drug orientation setting unit 216 matches the prescribed orientation of the injection medicine, the information registration unit 217 stores the orientation of the barcode specified by the graphic orientation identification unit 215. The orientation information is specified as the orientation information stored in the section 180.

If the orientation of the injection drug specified by the drug orientation setting unit 216 does not match the prescribed orientation of the injection drug, the information registration unit 217 changes the orientation of the barcode specified by the graphic orientation identification unit 215 to the above-mentioned direction. Change the orientation to match the two orientations. The information registration unit 217 specifies the changed orientation of the barcode as orientation information to be stored in the storage unit 180.

Finally, the model registration unit 214 stores the simple shape model created by the model creation unit 212 in SH4 in the storage unit 180 in association with the injection drug identification information indicated by the read barcode (SH14). Further, the information registration unit 217 stores the orientation information specified in S13 in the storage unit 180 in association with the injection drug identification information (SH14).

Further, the control unit 190 can specify the display form and orientation of the expiration date based on the information for specifying the expiration date. Therefore, the control unit 190 can accurately read the expiration date from the captured image. The control unit 190 stores the information indicating the expiration date read by the SH 10 in the storage unit 180 in association with the injection drug identification information.

Note that in the case of NO in SH6 (failed to create the simple shape model) and NO in SH9 (failed to calculate the weight per injection drug), the control unit 190 ends this process. If NO in SH6, the control unit 190 may issue an error notification via the touch panel 210 to the effect that creation of the simple shape model has failed. If NO in SH9, the control unit 190 may issue an error notification to the effect that the weight calculation has failed via the touch panel 210.

Further, as the model registration device, the injection drug dispensing device 100 registers a simple shape model in SH14, at least after processing SH1 to SH6 and reading injection drug identification information in SH10 if YES in SH6. All you have to do is process it. As the drug orientation registration device, the injection drug dispensing device 100 may perform the process of registering the orientation information in SH14 after reading the barcode at SH10, through the processes of SH11 to SH13.

<Display image example>
Next, an example of the model registration image Img2 displayed on the touch panel 210 will be described based on FIGS. 72 to 76. FIGS. 72 to 76 are diagrams showing an example of the model registration image Img2.

The model registration image Img2 (the "injection medicine dispensing management drug simple registration" image in FIG. 72) is displayed, for example, as follows. For example, when the “maintenance” button is selected on the initial image (home screen) displayed on the touch panel 210, the control unit 190 displays a user authentication image (user ID and password input acceptance image) on the touch panel 210. If the user authentication is successful, the control unit 190 displays the model registration image Img2 on the touch panel 210.

As shown in FIG. 72, the model registration image Img2 includes a registration list display area A21 that displays information regarding registered injection drugs, and an input reception area A22 that accepts user input of various information. When the control unit 190 receives a user input to the "input" tab, it displays the input reception area A22. When the control unit 190 receives a user input to the "Results" tab, the control unit 190 displays a model registration image Img2 including a registration list display area A21 and a result display area A24 (see FIG. 76) that shows the results of various processes. do.

FIGS. 72 to 75 are diagrams showing an example when the input reception area A22 is scrolled in order. FIG. 76 is a diagram showing an example of the result display area A24 displayed together with the registration list display area A21. The model registration image Img2 includes a registration list display area A21 and an input reception area A22 or a result display area A24, but the registration list display area A21 is omitted in FIGS. 73 to 76.

As shown in FIG. 72, the registration list display area A21 can display information related to injection drugs registered at the time of introduction and information related to newly registered injection drugs (in which a simple shape model is registered). It is an area. The control unit 190 may display these two types of information in a distinguishable manner. For example, the control unit 190 may add "9" to the beginning of the identification number of the information regarding the newly registered injection drug to distinguish it from the information regarding the injection drug registered at the time of introduction.

The name input area A221 is an area for accepting input of the name of the injection drug to be registered. Upon receiving a user input to the name input area A221, the control unit 190 displays, for example, a QWERTY key. The control unit 190 reflects the input content to the QWERTY key in the name input area A221.

The container type selection area A222 accepts user input (container type information) for selecting a container type. In this example, any one of ampoules, vials, plastic ampoules (plastic ampoules), and stick ampoules (sticks) can be selected. In response to user input in the container type selection area A222, the model creation unit 212 specifies a shape template.

The container color selection area A223 accepts user input for selecting the color of the container (bottle). In this example, it is possible to select whether or not it is transparent. By selecting the color of the container, the control unit 190 executes image processing that takes the color of the container into consideration, for example, in image processing when adsorbing an injection drug in the cassette Ca and image processing when reading an expiration date. can.

The barcode type selection area A224 accepts user input for selecting the format of the barcode indicating injection drug identification information. In this example, the barcode type selection area A224 accepts a user input for selecting the presence or absence of a barcode. Specifically, it is possible to select whether the barcode attached to the injection drug is a one-dimensional barcode or whether the injection drug is not attached with a barcode (no barcode). When "No barcode" is selected, the simple shape model and the weight per injection drug are registered in association with the input drug name instead of the injection drug identification information. Further, in this case, the control unit 190 does not perform the barcode orientation registration process.

As shown in FIGS. 72 to 74, the term specification input area A225 accepts user input of information for specifying the expiration date. In this example, the expiration date specification input area A225 includes the following items: "reading expiration date or not", "pattern", "color", "direction", and "forward direction".

The “reading expiration date” item is an item that allows the user to select whether or not to cause the control unit 190 to read the expiration date. If "Yes" is selected, the control unit 190 reads the expiration date; if "No" is selected, the control unit 190 does not read the expiration date. In this case, for injections for which "none" is selected, the expiration date is not registered, and the appropriateness of the expiration date is not determined when dispensing the injections.

The "pattern" item is an item that allows the user to select the display format of the expiration date (year and month). For example, "yyyy.mm" indicates a display format in which the year is 4 digits and the month is 2 digits. In this example, three display formats are selectable.

The "color" item is an item that allows the user to select the display color of the expiration date. In this example, it is possible to select whether the display color is white (white text) or a display color other than white (other than white text).

The "direction" item is an item that allows the user to select the printing direction of the expiration date. In this example, it is possible to select whether the printing direction is along the entire length of the injection drug or in the circumferential direction (direction of the barrel diameter) of the injection drug.

The "Forward direction" item indicates whether the expiration date (year/month) is printed from the bottom of the injection drug toward the top (forward direction) when the expiration date is printed on the entire length, or vice versa. This is an item that allows the user to select whether the The "General" button is a selection button when the printing direction is the forward direction, and the "Reverse" button is the selection button when the printing direction is the opposite direction.

The control unit 190 can recognize the display format of the expiration date based on the information selected in each item of "pattern", "color", "direction", and "forward direction". Therefore, the control unit 190 can read the expiration date with high accuracy.

As shown in FIG. 73, when the user selects the "color" item, the control unit 190 may display a selection support image to support the user's selection. When allowing the user to select another item, the control unit 190 may display a selection support image suitable for selecting that item.

As shown in FIG. 74, the measurement information input area A226 accepts user input of container size information (measurement information). In this example, as the container size information, input of the width (Wd1), total length (Ht1), body length (Ht2), and height of the container (injection drug) measured by the user is accepted. Upon receiving user input into the input areas of each length, the control unit 190 displays, for example, a numeric keypad. The control unit 190 reflects the input contents on the numeric keypad in each input area.

Regarding the height of the container, the control unit 190 may automatically input a value based on the input width of the container. In this case, the control unit 190 can support the user's input.

As mentioned above, when the types of containers are vials and ampoules, the width and height of the containers are approximately the same. Therefore, the control unit 190 reflects the numerical value input as the width of the container as the input value of the height of the container. Furthermore, for plastic ampoules and stick ampoules, based on experimental results, the control unit 190 may reflect a value smaller than the container width by a predetermined amount as the input value of the container height. For plastic ampoules, the control unit 190 may, for example, reflect a value obtained by subtracting a predetermined value (eg, 20 mm) from the width of the container as the input value of the height of the container. For stick ampoules, the control unit 190 may, for example, reflect a value obtained by multiplying the width of the container by a predetermined value (eg 2/3) as the input value of the height of the container.

As shown in FIG. 74, when having the user input container size information, the control unit 190 may display an input support image to support the user input. For example, when accepting a user input to the input area for the container width (Wd1), the control unit 190 displays an input support image showing the position of the container width in the general shape of the selected container, as shown in FIG. Display. A similar input support image may be displayed when inputting other lengths (eg, the total length of the container, the length of the body portion).

As shown in FIG. 75, the input reception area A22 includes a type selection area A227, a storage position display area A228, and a cassette list display area A229 as an area for acquiring information regarding the cassette Ca.

The type selection area A227 allows the user to select whether to use a cassette Ca exclusively for creating a simple shape model (dedicated cassette) or a cassette Ca in use as the cassette Ca for placing the injection drug for which the simple shape model is to be created. This is the area to be selected. The storage position display area A228 displays the cassette storage position (eg, number indicating the position, reading shelf number) of the cassette Ca in which the injection drug is placed. The cassette list display area A229 displays the storage position and type of the cassette Ca.

As described above, the injection drug dispensing device 100 manages the cassette-specific information of each cassette Ca in association with the storage position information indicating the cassette storage position. The injection drug dispensing device 100 also manages the cassette-specific information of the dedicated cassette in association with its storage location information. Therefore, when the cassette Ca to be used is selected, the control unit 190 can specify the storage position of the cassette Ca. As a result, the control unit 190 can display the storage position of the selected cassette Ca and can take out the cassette Ca from the cassette shelf 110.

When the "dedicated tray" button is selected, the control unit 190 specifies that the cassette on which the injection drug is placed is a dedicated cassette. In this case, the control unit 190 displays the cassette storage position of the dedicated cassette in the storage position display area A228.

When the "normal tray" button is selected, the control unit 190 specifies the cassette Ca selected from the cassette list display area A229 as the cassette Ca on which the injection drug is placed, and stores the cassette Ca. The position is displayed in the storage position display area A228.

The drug information reading button A230 accepts a user input for causing the information acquisition unit 211 to start acquiring the input information input into the input reception area A22. Upon receiving a user input to the drug information reading button A230, the control unit 190 displays a notification on the touch panel 210 to prompt the user to place one injection drug into the cassette Ca displayed in the storage position display area A228. Display. Thereafter, upon receiving a user input (registration start instruction) for starting the simple geometric model creation and registration process, the control unit 190 acquires the input information and executes the simple geometric model creation and registration process.

As shown in FIG. 76, the control unit 190 displays various processing results in the result display area A24. The control unit 190 displays the information indicated by the read barcode in the identification information display area A241. In this example, the character string of the read barcode is displayed. The control unit 190 displays the orientation of the barcode (barcode direction) specified by reading the barcode in the orientation display area A242. That is, the orientation of the barcode specified by the graphic orientation identification unit 215 is displayed in the orientation display area A242.

Further, the control unit 190 displays the image of the injection drug taken by the position changing unit 126 in the image display area A243. The control unit 190 displays an image of the created simple shape model in the model display area A245. The control unit 190 displays the calculated weight per injection drug in the weight display area A246.

The orientation selection area A244 accepts user input of drug orientation information indicating the orientation of the injection drug placed on the position changing unit 126. A pharmacist or the like identifies the orientation of the injection drug in the position changing unit 126 by visually recognizing the image displayed in the image display area A243, and inputs the orientation into the orientation selection area A244.

In FIG. 76, since the injection drug is oriented to the left (the head of the injection drug is on the left side), the pharmacist or the like selects the "left" button in the orientation selection area A244. The medicine orientation setting unit 216 sets this selected orientation as the orientation of the injection medicine. The information registration unit 217 specifies that the orientation of the injection medicine is the specified orientation (in this example, facing left). Therefore, the information registration unit 217 links the orientation of the barcode identified by the graphic orientation identification unit 215 (the orientation displayed in the orientation display area A242) to the injection drug identification information indicated by the read barcode as orientation information. Add and register.

On the other hand, if an image of an injection drug facing right is displayed in the image displayed in the image display area A243, the pharmacist or the like selects the "right" button in the orientation selection area A244. The medicine orientation setting unit 216 sets this selected orientation as the orientation of the injection medicine. The information registration unit 217 specifies that the direction of the injection drug is opposite to the specified direction of the injection drug (leftward in this example). Therefore, the information registration unit 217 links the orientation of the barcode specified by the graphic orientation identification unit 215 (the orientation displayed in the orientation display area A242) to the injection drug identification information as orientation information. and register.

Note that when a pharmacist or the like identifies the orientation of the injection drug placed on the position changing unit 126 by directly viewing the position changing unit 126, the image display area A243 is not displayed in the result display area A24. I don't mind.

<Supplement>
(1) The injection drug identification information and the orientation of the barcode may be associated with each other and stored in advance in the storage unit 180 through user input or the like. In this case, the control section 190 specifies the injection drug identification information of the injection drug by reading the barcode attached to the injection drug, and specifies the orientation of the barcode by referring to the storage section 180.
(2) When reading a barcode, rotate the medicine rotation unit 127 (see FIG. 8) so that the barcode reader 123 can read the entire barcode. If the rotational speed is constant regardless of the size of the barcode, the larger the size of the barcode that occupies the injection drug, the more accurately the barcode may not be read.

Therefore, the injection drug identification information and the rotational speed of the drug rotating section 127 may be stored in the storage section 180 in association with each other. For example, the injection drug identification information and the rotation speed are stored in association with each other so that the larger the size (occupancy angle) of the barcode on the injection drug, the smaller the rotation speed. The control section 190 identifies the injection drug identification information of the injection drug by reading the barcode attached to the injection drug, and rotates the drug rotation section 127 at a rotation speed linked to the injection drug identification information. Thereby, barcodes can be read with high accuracy regardless of the size of the barcode.

Further, in addition to linking the injection drug identification information and the size of the barcode, a reference value for reducing the rotation speed may be provided. In this case, the control unit 190 specifies the size of the barcode associated with the injection drug identification information of the injection drug by reading the barcode attached to the injection drug. The control unit 190 compares the size of the identified barcode with a reference value, and if the size is less than the reference value, rotates the drug rotating unit 127 at a predetermined speed (eg, the initial setting speed). If the size of the identified barcode is greater than or equal to the reference value, the control unit 190 rotates the drug rotating unit 127 at a speed slower than the predetermined speed. In this case as well, the barcode can be read with high accuracy regardless of the size of the barcode. Note that a plurality of reference values may be set.

[Another expression of the above structure]
The above configuration can be expressed as follows.

[A] <Model registration device>
Patent Documents 1 to 5 do not disclose how a user such as a pharmacist can register a shape model that shows the shape of a drug when viewed from above. A first object of one aspect of the present invention is to realize a model registration device that allows a user such as a pharmacist to easily register a shape model.

In order to solve the above first problem, a model registration device according to one aspect of the present invention includes:
This is used to identify the image of the drug placed on the placement section and to be taken out from the placement section from the image of the placement section on which the drug is placed, when the drug is viewed in plan. A model registration device that registers a shape model indicating a shape,
A shape template representing the approximate shape of the container is prepared in advance for each type of container containing the drug,
an information acquisition unit that acquires the input type information of the container and size information of the container;
a model creation unit that creates the shape model by identifying a shape template corresponding to the type indicated by the type information and enlarging or reducing the identified shape template based on the size information;
A model registration unit that registers the shape model created by the model creation unit.

According to the model registration device according to one aspect of the present invention, a user such as a pharmacist can easily register a shape model. Further, according to the above configuration, by simply inputting container type information and size information, a pharmacist or the like can easily create a shape model and connect it communicably with a drug dispensing device that dispenses drugs or a drug dispensing device. Can be registered in the storage device. Therefore, using the registered shape model, the drug dispensing device can identify the image of the drug to be taken out from the receiver in the image of the receiver. In other words, even if the shape model of a drug is not registered (e.g. a new drug) and the shape model of the drug is officially registered by the shape model administrator, the drug dispensing device Using the registered shape model, it is possible to specify the drug to be taken out.

Therefore, even for a drug for which a shape model is not registered, the drug dispensing device can dispense the drug using a simple shape model.

In addition, when the drug dispensing device irradiates the placed injection drug with a backlight to image the injection drug (for example, using the cassette and drug holding section 136 (see FIGS. 51 and 52), ). In this case, the shape of the injection drug can be clearly identified in the captured image. Therefore, a shape model can be created without acquiring container type information and size information and without using a shape template. However, in the case of a configuration in which a backlight is provided, the injection drug dispensing device 100 becomes correspondingly more expensive.

According to the above-described model registration device, a pharmacist or the like can create and register a shape model of a new drug, etc. simply by inputting container type information and size information. Therefore, even in the inexpensive injection drug dispensing device 100 that does not include a backlight, a shape model of a new drug or the like can be registered.

Furthermore, Patent Documents 1 to 5 do not disclose the registration of drug orientation. One aspect of the present invention is that when the drug delivery device transports the drug to the destination, the drug delivery device can take out the drug and place the drug at the destination with high precision. The second objective is to realize a registration device suitable for drugs.

In order to solve the above second problem, a drug-oriented registration device according to one aspect of the present invention,
a figure orientation identifying unit that identifies the orientation of the figure by reading the figure attached to the medicine from the medicine placed at the reading position;
a medicine orientation setting unit that sets the orientation of the medicine placed at the reading position;
Based on the orientation of the graphic specified by the graphic orientation specifying unit and the orientation of the medication set by the medication orientation setting unit, orientation information indicating the relationship between the orientation of the graphic and the orientation of the medication is determined by the and an information registration unit that registers the drug in association with the type of drug.

According to the configuration, the drug delivery device uses the orientation information registered based on the specified orientation of the shape and the set orientation of the medicine to deliver the medicine whose orientation of the shape has been read at the reading position. The actual direction of the drug can be determined. Therefore, the drug delivery device can accurately take out the drug from the reading position and place the drug at the destination. That is, according to the drug orientation registration device according to one aspect of the present invention, the drug delivery device can take out the drug and place the drug at the destination with high precision.

In addition, the above-mentioned drug delivery device places the drug, which has been taken out from the drug placement section and whose type has been identified, along a predetermined direction at the destination, based on the orientation of the figure attached to the drug. It is something to do.

Furthermore, in the drug orientation registration device according to one aspect of the present invention, the orientation of the drug may be set by user input. According to the above configuration, the direction of the medicine can be specified by a simple method.

Furthermore, the drug delivery device according to one aspect of the present invention includes:
A drug delivery device that places a drug taken out from a drug placement part and whose type has been identified at a destination along a predetermined direction based on the orientation of a graphic attached to the drug,
a figure orientation identification unit that identifies the orientation of the figure by reading the figure attached to the drug from the medicine installed at the reading position;
Based on the input size information of the medicine, the orientation of the figure specified by the figure orientation identification unit, and the orientation information registered by the medicine orientation registration device, the adsorption position of the medicine placed at the reading position is determined. A suction position determination unit that determines the suction position may also be provided.

According to the configuration, the adsorption position of the medicine placed at the reading position can be calculated with high accuracy. Therefore, the medicine can be adsorbed with high precision at the reading position.

Furthermore, the drug delivery device according to one aspect of the present invention includes:
A drug delivery device that places a drug taken out from a drug placement part and whose type has been identified at a destination along a predetermined direction based on the orientation of a graphic attached to the drug,
a figure orientation identification unit that identifies the orientation of the figure by reading the figure attached to the drug from the medicine installed at the reading position;
Based on the orientation of the graphic specified by the graphic orientation identification unit and the orientation information registered by the medication orientation registration device, the orientation of the medicine placed at the reading position is adjusted, and the medicine is It is also possible to include a transport control unit that transports the image to the transport destination.

According to the configuration, a plurality of drugs can be placed along a predetermined direction at the destination.

≪Example of implementation using software≫
Control blocks of the injection drug dispensing device 100 (especially transfer control section 191, drive control section 192, transport control section 193, suction position determination section 194, first discrimination processing section 195, second discrimination processing section 196, drug position control section 197) , storage position determination unit 198, notification control unit 199, information acquisition unit 211, model creation unit 212, adsorption availability determination unit 213, model registration unit 214, figure orientation identification unit 215, drug orientation setting unit 216, information registration unit 217, and weight calculation section 218) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software. Further, the control block (particularly the control unit 1000) of the printer device 13 may be similarly realized by a logic circuit (hardware) or may be realized by software.

In the latter case, the injection drug dispensing device 100 and the printer device 13 are equipped with a computer that executes instructions of a program that is software that implements each function. This computer includes, for example, one or more processors and a computer-readable recording medium that stores the above program. In the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, in addition to "non-temporary tangible media" such as ROM (Read Only Memory), tapes, disks, cards, semiconductor memories, programmable logic circuits, etc. can be used. Further, the computer may further include a RAM (Random Access Memory) for expanding the above program. Furthermore, the program may be supplied to the computer via any transmission medium (communication network, broadcast waves, etc.) that can transmit the program. Note that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[Additional notes]
The present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. are also included within the technical scope of the present invention.

100 Injection drug dispensing device (model registration device, drug registration device, drug delivery device)
126 Position change section (reading position)
190 Control unit (model registration device, drug-oriented registration device)
193 Transport control unit 194 Adsorption position determination unit 211 Information acquisition unit 212 Model creation unit 214 Model registration unit 215 Graphic orientation identification unit 216 Drug orientation setting unit 217 Information registration unit Ca cassette (placement unit)

Claims (7)

a figure orientation identifying unit that identifies the orientation of the figure by reading a figure attached to the drug from the drug;
a drug orientation setting unit that sets the direction of the drug;
Based on the orientation of the graphic specified by the graphic orientation specifying unit and the orientation of the medication set by the medication orientation setting unit, orientation information indicating the relationship between the orientation of the graphic and the orientation of the medication is determined by the A drug-oriented registration device, comprising: an information registration unit that registers information in association with a drug type. The medicine orientation registration device according to claim 1, wherein the orientation of the medicine is set by user input. The drug registration device according to claim 1, further comprising a control unit that registers a display format of an expiration date attached to the drug, which is received by user input, in association with the type of drug. The drug orientation registration device according to claim 1, further comprising a control unit that registers a printing direction of an expiration date attached to the drug, which is input by a user, in association with the type of the drug. A program for causing a computer to function as the drug orientation registration device according to claim 1, the program for causing the computer to function as the graphic orientation specifying section, the drug orientation setting section, and the information registration section. A drug transport device that transports a drug taken out from a placing section on which the drug is placed,
The adsorption position of the drug is determined based on the input size information of the drug, the orientation of the figure specified by the drug orientation registration device according to claim 1, and the orientation information registered by the drug orientation registration device. A drug delivery device comprising a suction position determination unit that determines a suction position. A drug delivery device that places a drug taken out from a drug placement part on a delivery destination along a predetermined direction,
A drug, comprising a transport control unit that adjusts the orientation of the drug based on the orientation of the figure specified by the drug orientation registration device according to claim 1, and the orientation information registered by the drug orientation registration device. Conveyance device.

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