CN102430363B - Automatic dispensing device and automatic dispensing method - Google Patents

Abstract

An automatic dispensing equipment that can automatically extract medicines in sealed bottles and/or ampoules and mix them with mother liquor to form the required medicine liquid. The automated dispensing equipment includes an image control unit, an image processing unit and a sensing unit. The image analysis result fed back by the image processing unit and the position information and cleanliness information fed back by the sensing device control the work of other units. Also provided is an automatic dispensing method. By using the device or method of the invention for dispensing medicines, high-precision control of the dispensing process can be realized.

Description

Automatic dispensing equipment and method

【Technical field】

The invention relates to the field of automation equipment, in particular to an automatic medicine dispensing equipment and method.

【Background technique】

At present, the dispensing mode of intravenous infusion in most hospitals in China is that after the doctor gives the doctor's order, the nurse is responsible for preparing and completing the infusion operation for the patient. Due to time and space constraints, nurses usually dispense medicines manually in open treatment rooms or dispensing rooms with imperfect air purification devices.

For a long time, the medical community has believed that the following three major problems exist in the widely implemented manual dispensing process and dispensing environment: the content of bacterial dust in the dispensing operation environment is generally high, the protective equipment for dispensing harmful drugs is unprofessional, and it takes up a lot of human resources and manual operation Mistakes are inevitable.

At present, infusion dispensing is carried out manually, and the workload of infusion dispensing is very huge, which takes up a lot of human resources, that is, nursing resources, thereby reducing the quality of nursing work.

In order to solve the problems existing in infusion dispensing, some famous medical automation equipment companies in the world have carried out innovative research and development. The existing automatic dispensing equipment has complex structures, complex implementation processes, and the accuracy of the realization has not met the requirements for use.

【Content of invention】

In view of this, it is necessary to provide a high-precision automatic dispensing equipment.

In addition, an automatic dispensing method is also provided.

An automatic dispensing equipment, characterized in that it includes a dispensing chamber, in which the medicines in sealed bottles and/or ampoules are mixed with the mother liquor to form the required medicinal liquid; the automatic dispensing equipment includes a laminar flow cleaning unit, Sealed bottle delivery unit, ampoule bottle delivery unit, ampoule bottle opening unit, drug extraction unit, mother solution container positioning unit, dispensing information unit, drive unit, sensing unit, image processing unit and control unit, among which the laminar flow cleaning unit is used for Carry out cleanliness detection and alarm for the dispensing room, provide clean fresh air source and disinfection that meet the requirements; the sealed bottle delivery unit is used to transport and position the sealed bottle, and shake and mix insoluble drugs; the ampoule bottle delivery unit , for transporting and positioning the ampoule; an ampoule opening unit, for opening the ampoule; a medicine extracting unit, for extracting and mixing the medicine and the mother liquor in the mother liquor container; the mother liquor container positioning unit , used to locate the mother liquid container; a dispensing information unit, used to input, read and display the information of the drug, mother liquid and medicinal liquid; an induction unit, connected with the laminar flow cleaning unit, sealed bottle delivery unit, ampoule bottle The delivery unit, the ampoule bottle opening unit, the drug extraction unit, the mother liquid container positioning unit, the pressure adjustment unit, and the infusion bottle heating unit are connected to obtain the sealed bottle delivery unit, the ampoule bottle delivery unit, the ampoule bottle opening unit, and the drug extraction unit and the position information of the mother liquid container positioning unit, obtain the cleanliness information of the laminar flow cleaning unit, obtain the pressure information of the pressure adjustment unit, obtain the temperature information of the infusion bottle heating unit, and store the position information, cleanliness information, pressure information and temperature The information is sent to the control unit; the driving unit is used to drive the laminar flow cleaning unit, the sealed bottle delivery unit, the ampoule bottle delivery unit, the ampoule bottle opening unit, the drug extraction unit, the mother liquid container positioning unit, the pressure adjustment unit and the infusion bottle output The unit works; the image processing unit is used to collect the image information of the ampoule bottle, analyze the image information to obtain an image analysis result, and send the image analysis result to the control unit; and the control unit communicates with other units connected, and according to the image analysis result fed back by the image processing unit and the position information and cleanliness information fed back by the sensing device, the control unit and other units work.

Preferably, the image processing unit includes: a background plate for imaging; a camera for collecting the image information, and the ampoule is located between the background plate and the camera; an LED array for providing a light source; and an image processing module for analyzing the image information to obtain an image analysis result, and sending the image analysis result to the control unit.

Preferably, the analysis results include the inclination angle of the ampoule, the position of the neck, the position of the top surface, the position of the bottom surface, and the liquid level of the drug; the control unit corrects the position of the ampoule according to the image analysis results. inclination angle, determining the height of the liquid level and controlling the amount of medicine extracted.

Preferably, the image processing module is also used to calculate the inclination angle of the ampoule according to the image information, judge whether the inclination angle is smaller than a preset angle, and calculate the inclination angle of the ampoule bottle when the inclination angle is smaller than a preset angle. The horizontal edge and the vertical edge and binarize the horizontal edge and the vertical edge, project the horizontal edge and the vertical edge into a histogram of the Y axis and the X axis, and find out the Describe the bottom surface position, top surface position, neck position of the ampoule bottle and the liquid level position of the medicinal liquid, and calculate the liquid level height according to the bottom surface position, top surface position, and liquid level position; when the inclination angle is greater than or equal to When the angle is preset, the control unit adjusts the ampoule so that the inclination angle is smaller than the preset angle.

Preferably, the dispensing information unit includes: a control panel, connected to the control unit, image processing unit and sensing unit, to provide a human-computer interaction interface; a drug information reading module, used to read The quantity and specification of the medicine and send the quantity and specification to the control unit; the medicine information display module is used to display the quantity and specification of the medicine put into the dispensing room for The dispensing personnel check; and the medicine information output module, used to print out the medicine information strip of the required medicine liquid for checking, dispensing and archiving.

Preferably, the ampoule opening unit includes: a positioning module for fixing the ampoule; an opening position sensing module for acquiring the opening position information of the ampoule bottle and sending the opening position information to the control unit The cutting module is used to align the opening position and cut the opening position according to the opening position information; the top position sensing module is used to obtain the top position information of the top position of the ampoule bottle, and place the top The position information is sent to the control unit; and the breaking module is used to break the position of the top according to the position information of the top to separate the top from the bottle body.

Preferably, the drug extraction unit is provided with: a clamping module for clamping and positioning the opened ampoule from the ampoule opening unit; a syringe for extracting and injecting the drug; injecting An adjustment module, used to adjust the pulling, rotating and moving actions of the syringe; and a bottle mouth position sensing module, used to obtain the bottle mouth position information of the mother liquid, ampoules and sealed bottles, and store the bottle mouth position information sent to the control unit.

Preferably, the medicine extracting unit is provided with: a clamping module, used for clamping and positioning the opened ampoule from the ampoule opening unit; , to form positive and negative pressures to extract and inject the medicine; the liquid exchange pump adjustment module is used to adjust the lifting, rotation and movement of the liquid exchange pump; and the bottle mouth position sensing module is used to obtain the mother liquid, The mouth position information of the ampoule bottle and the sealed bottle is sent to the control unit.

Preferably, the sealed bottle conveying unit further includes an oscillating dilution module connected to the driving unit, and the oscillating dilution module is used to oscillate the sealed bottle so as to fully dilute and mix the mother liquor injected into the sealed bottle with the medicinal powder.

Preferably, a drug output unit is also included, configured to output an infusion bottle containing the required drug solution, and stick the drug information strip on the infusion bottle.

Preferably, it also includes a pressure regulating unit for regulating the pressure in the dispensing chamber, and the pressure regulating unit includes: a pressure sensing module for acquiring pressure information in the dispensing chamber and sending it to the control unit a positive pressure adjustment module, used to adjust according to the control of the control unit, so that the pressure inside the dispensing chamber is greater than the pressure outside the dispensing chamber; and a negative pressure adjustment module, used to adjust according to the control of the control unit, So that the pressure inside the dispensing chamber is lower than the pressure outside the dispensing chamber.

Preferably, an infusion bottle warming unit is also included, which is used to heat the infusion bottle containing the required medicines.

Preferably, a clarity checking unit is also included, used to check the clarity of the medical solution in the infusion bottle, and send the clarity to the control unit.

An automatic dispensing method for mixing the medicine in the sealed bottle and/or ampoule with the mother liquor in the mother liquor container by using automatic dispensing equipment to form the required medicinal solution, the automatic dispensing method includes the following steps: laminar flow cleaning The unit cleans and sterilizes the dispensing room; uses the dispensing information unit to input, read, display and manually check the dispensing information; uses the mother liquid container positioning unit to locate the mother liquid container; uses the ampoule conveying unit to complete the conveying and Positioning; use the sealed bottle delivery unit to complete the delivery and positioning of the sealed bottle; use the image processing unit to check the position information of the ampoule bottle and neck, and send the top position information and neck position information to the control unit; the control unit According to the neck position information, the ampoule opening unit is controlled to work; the laminar flow cleaning unit sterilizes the ampoule neck and/or the bottle stopper and neck of the sealed bottle; the control unit controls the ampoule opening according to the top position information The unit removes the top of the ampoule bottle; the drug extraction unit extracts the drug solution in the ampoule bottle and injects the mother solution into the infusion bottle for mixing; judges whether the sealed bottle is a drug powder, and if so, the drug extraction unit extracts the mother solution and injects it into the infusion bottle into the sealed bottle, mixed with the medicine powder to form a diluent, and then extract the diluent and the mother liquor and inject them into the infusion bottle for mixing; if not, the medicine extracting unit extracts the medicine solution and The mother liquor is injected into the infusion bottle and mixed; whether it needs to be dispensed, if so, re-dispensing, if not, the laminar flow cleaning unit is cleaned and disinfected.

Preferably, before the step of judging whether the medicine needs to be dispensed, a step is further included: checking the medicine liquid in the infusion bottle with a clarity inspection unit, and outputting the medicine liquid in the infusion bottle if it is clear; and dispensing again if it is not clear.

Preferably, the processing of image information by the image processing unit specifically includes the following steps: reading the image information; calculating the inclination angle of the ampoule; judging whether the inclination angle is smaller than a preset angle, and if not, processing the image information Rotate until the inclination angle is less than a preset angle; if so, calculate the horizontal edge and vertical edge of the ampoule and binarize the horizontal edge and vertical edge; project the horizontal edge and vertical edge into Y axis and X-axis histograms; find out the bottom surface position, top surface position, neck position and the liquid level position of the medicinal liquid according to the histogram; calculate according to the bottom surface position and the liquid level position liquid level.

In the above automatic dispensing equipment, the control unit can accurately control the work of other units according to the image analysis results fed back by the image processing unit and the position information fed back by the sensing device, so that the medicine and the mother liquor are mixed to form the medicine liquid.

【Description of drawings】

Fig. 1 is a block diagram of automated dispensing equipment in an embodiment;

2 is a schematic diagram of an image processing unit;

Fig. 3 is a schematic diagram of the extraction and dispensing process of the ampoule medicine;

Figure 4 is a schematic diagram of the dispensing process of the automated dispensing equipment

Fig. 5 is a schematic flow chart of an automated dispensing method in an embodiment;

FIG. 6 is a specific flow chart of processing image information by the image processing unit.

【Detailed ways】

In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

As shown in Figure 1, in one embodiment, an automated dispensing equipment includes a dispensing chamber, in which the medicines in sealed bottles and/or ampoules are mixed with the mother liquor to form the required medicinal solution; the automated dispensing equipment includes a control unit 20. Induction unit 30, image processing unit 40, laminar flow cleaning unit 50, mother liquid container positioning unit 60, sealed bottle delivery unit 70, ampoule bottle delivery unit 80, ampoule bottle opening unit 90, drug extraction unit 100, dispensing information unit 110 , a driving unit 120 , a pressure regulating unit 130 , a clarity detection unit 140 , an infusion bottle warming unit 150 and an infusion bottle output unit 160 .

The induction unit 30 is connected with the laminar flow cleaning unit 50, the mother liquid container positioning unit 60, the sealed bottle conveying unit 70, the ampoule conveying unit 80, the ampoule opening unit 90, the medicine extracting unit 100, the pressure adjusting unit 130 and the infusion bottle warming unit 150 , for obtaining the position information of the mother liquid container positioning unit 60, the sealed bottle conveying unit 70, the ampoule conveying unit 80, the ampoule opening unit 90 and the drug extracting unit 100, obtaining the cleanliness information of the laminar flow cleaning unit 50, and obtaining the pressure adjustment The pressure information of the unit 130 obtains the temperature information of the infusion bottle warming unit 150, and sends the position information, cleanliness information, pressure information and temperature information to the control unit 20. Using the control unit 20 to control the operation of other units according to various information fed back by the sensing unit 30, this process has a fast response speed and high precision, which greatly improves the efficiency of the dispensing process.

In one embodiment, the sensing unit 30 may be a Hall element. The Hall element is installed on the mother liquid container positioning unit 60, the sealed bottle conveying unit 70, the ampoule conveying unit 80, the ampoule opening unit 90 and the drug extraction unit 100, and is used to detect the position of the sealed bottle and/or ampoule in each unit. location information. The Hall element has firm structure, small size, easy installation, low power consumption, high frequency, vibration resistance, and is not afraid of pollution or corrosion by dust, oil, water vapor, and salt spray. Therefore, the use of Hall elements in automatic dispensing systems can not only High precision of the dispensing system, and can ensure the long-term stable operation of the system.

The image processing unit 40 is used to collect the image information of the ampoule, analyze the image information to obtain an image analysis result, and send the image analysis result to the control unit 20 . In one embodiment, as shown in FIG. 2 , the image processing unit 40 includes a camera 402 , a background plate 404 , an LED array 406 and an image processing module 408 .

The camera 402 is a high-speed camera used to collect image information. When taking pictures, the ampoule is located between the camera 402 and the background plate 404. A background plate 404 is installed behind the ampoule to facilitate imaging and reduce the difficulty of image processing. In this embodiment, the background plate 404 is black. After testing, the black background is better than the blue, red and other backgrounds. Sobel operator (sobel operator, a method for edge detection) can be used to extract edges and extract images. straight line in . The LED array 406 is located above the camera 402. The light of the LED array 406 is used to provide a light source for taking pictures. The reason for choosing the array is that the light source is redundant, preventing one of the lights from being damaged and causing the entire image processing unit system to be paralyzed, and preventing shadows from appearing in the ampoule. Image information analysis brings errors. The image processing module 408 is used to analyze the image information to obtain image analysis results, and send the image analysis results to the control unit 20, wherein the image analysis results include the inclination angle of the ampoule, the position of the neck, the position of the top surface, the position of the bottom surface and the position of the ampoule bottle. The liquid level of the medicine (liquid); the control unit 20 corrects the inclination angle of the ampoule according to the image analysis result, determines the liquid level and controls the amount of medicine to be extracted.

The image processing module 408 calculates the inclination angle of the ampoule according to the image information, and judges whether the inclination angle is smaller than a preset angle. In this embodiment, the preset angle is 5 degrees. In other embodiments, the preset angle can be set to a different value according to system requirements. angle. And when the inclination angle is less than the preset angle, calculate the horizontal edge and the vertical edge of the ampoule and binarize the horizontal edge and the vertical edge, project the horizontal edge and the vertical edge into a histogram of the Y axis and the X axis, and Find the bottom position, top position, neck position and liquid level position of the ampoule according to the histogram, and calculate the liquid level height according to the bottom position, top position, and liquid level position; when the inclination angle is greater than or equal to the preset Angle, use Hough transform to find the edge straight line of the ampoule bottle in the image, by calculating the inclination angle of the line, rotate the image information until the inclination angle is less than the preset angle, and the control unit 20 will synchronously control the ampoule bottle conveying unit 80 while the image information is rotating In cooperation, the ampoule is rotated following the image information at an angle smaller than the preset angle.

In one embodiment, the image processing unit 40 can also be used to cooperate with the drug extraction unit 110 to accurately extract the medicine in addition to the above functions. After the image processing unit 40 reads and processes the image information, the control unit 20 can precisely control the The medicine extraction unit 110 extracts medicines.

As shown in FIG. 1, the laminar flow cleaning unit 50 is used to test the cleanliness of the dispensing room. If the cleanliness does not meet the preset standard, an alarm will be issued, and at the same time, a clean fresh air source and disinfection that meet the requirements will be provided. In this embodiment, the laminar flow cleaning unit 50 makes the dispensing room have a 100-level purification standard, and it is provided with automatic spraying equipment 52 of clear water and alcohol to complete self-cleaning and disinfection; an ultraviolet disinfection device 54; After the air is filtered by a high-efficiency filter, fresh air is injected into the dispensing room to keep the dispensing room clean.

The laminar flow cleaning unit 50 can also sterilize the neck of the ampoule bottle before it is opened. After the top of the ampoule bottle is removed, the laminar flow cleaning unit 50 performs the disinfection of the neck of the bottle, and collects the top of the ampoule bottle at the same time. .

The mother liquid container positioning unit 60 is used for positioning the mother liquid container. As shown in FIGS. 3 and 4 , the mother liquor container 601 is fixed on one side of the transmission wheel 801 at a position horizontal to the axis of the transmission wheel 801 (point D as shown in FIG. 3 ). In this embodiment, the mother solution container can be a mother solution bottle or a mother solution bag, and the mother solution container positioning unit 60 can clamp the mother solution bottle or the mother solution bag to drive it to move or turn over.

The sealed bottle conveying unit 70 is used for conveying and positioning the sealed bottle, and vibrating and mixing the insoluble medicine. As shown in FIGS. 3 and 5 , the sealed bottle delivery unit 70 delivers the sealed bottle to the medicine extraction unit 100 . The sealed bottle conveying unit 70 also includes a vibration dilution module 710 connected to the drive unit 120. The vibration dilution module 710 is used to vibrate the sealed bottle so that the mother liquor injected into the sealed bottle is fully diluted and mixed with the drug powder. In this embodiment, the dilution of the sealed bottle is shaken, and the drive unit 120 is driven by a low-speed centrifugal motor.

The ampoule conveying unit 80 is used for conveying and positioning the ampoules. The ampoule conveying unit 80 conveys the ampoule to the ampoule opening unit 90 and the drug extracting unit 100 . In this embodiment, as shown in FIG. 5 , the ampoule conveying unit 80 is provided with a driving wheel 801 and a conveying belt 802 for conveying the ampoule to the ampoule opening unit 90 and the drug extracting unit 100 in an assembly line.

The ampoule opening unit 90 includes a positioning module 902 , an opening position sensing module 904 , a cutting module 906 , a top position sensing module 907 and a breaking module 908 .

The positioning module 902 is used to fix the ampoule. In this embodiment, the positioning module 902 is provided with abutting block of soft material (for example, rubber, etc.), which is used to abut against the ampoule bottle for cutting and breaking.

The opening position sensing module 904 is configured to obtain the opening position information of the ampoule bottle, and send the opening position information to the control unit 20 . In this embodiment, referring to FIG. 2 , an opening mark 401 is usually provided on the neck of the ampoule, and a high-precision sensor or image processing unit 40 is used to identify the position of the opening mark 401 .

The cutting module 906 is used for cutting the open position of the ampoule bottle. The control unit 20 controls the driving unit 120 to drive the cutting module 906 to align with the opening position for cutting according to the opening position information. In this embodiment, on the cutting material, an alloy material cutter is used to replace the traditional manual grinding wheel, which can make the cutting process smoother, and at the same time, cutting with an alloy material cutter will not produce dust like the cutting of the grinding wheel.

The top position sensing module 907 is used to obtain the top position information of the top position of the ampoule bottle, and send the top position information to the control unit. In this embodiment, a high-precision sensor or image processing module 40 is used to identify the top position of the ampoule, and the control unit 20 controls the breaking module 908 to fit into the top of the ampoule to break according to the top position information.

The breaking module 908, the control unit 20 controls the driving unit 120 to drive the breaking module 908 to break the top position according to the top position information, so that the top is separated from the bottle body.

In addition, in this embodiment, in addition to improving the cutting material in the opening technology of the ampoule bottle, in terms of the opening method, the software design algorithm is used to realize the spatial curve movement, so that the device can virtualize the flexibility of manual operation, effectively preventing Fragmentation of the ampoule.

The medicine extracting unit 100 is provided with a clamping module 101 , a syringe 102 , an injection adjustment module 103 , a liquid exchange pump 104 , a liquid exchange pump adjustment module 105 and a bottle opening position sensing module 106 . in,

The clamping module 101 is used to clamp the opened ampoule bottle from the ampoule delivery unit 90 and position it; the syringe 102 is used to extract and inject medicines, wherein the medicines may include liquid medicines in ampoule bottles, liquid medicines in sealed bottles or powders and mother liquor; the injection adjustment module 103 is used to adjust the pulling, rotation and movement of the syringe; the bottle mouth position sensing module 106 is used to obtain the bottle mouth position information of mother liquor, ampoule bottle and sealed bottle, and send the bottle mouth position information to the control Unit 20. The advantage of using the syringe 102 is that it is more convenient to replace, and because only one syringe 102 is needed for one dispensing, the particles caused by puncture can be reduced by using a side hole needle. Since the number and angle of the medicine bottles vary a lot, the design can be centered on the syringe, and its main scheme is shown in Figure 4. Among them, the syringe 102 is rotatable, its needle can be inserted/extracted from the vial, and liquid is drawn/delivered. The latter two operations are realized by the injection adjustment module 103 driving the syringe 102 through a screw.

In one embodiment, the liquid-changing pump 104 can also be used to replace the syringe 102 to draw and inject medicine, and the driving unit 120 drives the liquid-changing pump 104 to pump air and pump air to form positive and negative pressures to extract and inject medicine; the liquid-changing pump regulates The module 105 is driven by the drive unit 120 and is used to adjust the lifting, rotating and moving actions of the liquid exchange pump. In this implementation, the liquid exchange pump 104 can use an air pump or a peristaltic pump. The air pump utilizes the rotation of the motor of the drive unit 120 to draw air and inflate air to form negative or positive pressure to suck in liquid or push out liquid to change liquid. Suction devices made of air pumps are commonly used in medical treatment. The medicine bottle and the infusion bottle are connected with a catheter and a needle, and the one-time replacement of this part is correspondingly simple. The peristaltic pump transports the liquid by making the rubber hose peristaltic through the rotating roller. The conveyed liquid only flows in the rubber hose and does not contact with other parts of the pump, which avoids the contamination of the liquid by the pump body. Peristaltic pumps can be used for accurate flow measurement.

In this embodiment, the drug extraction unit 100 can cooperate with the image processing unit 40 to acquire the image information of the syringe 102 or the liquid exchange pump 104 and the ampoule bottle and/or the sealed bottle and send the image information to the control unit 20, The control unit is used to control the insertion depth of the syringe 102 or the liquid exchange pump 104 into the ampoule and/or the sealed bottle.

As shown in FIG. 3 , when extracting the liquid in the ampoule, it is generally necessary to tilt the ampoule and insert the needle into the bottom of the ampoule to extract the liquid therein. As shown in Figure 3, after the ampoule is clamped at the lowest point A, it is driven to the position of B by the transmission wheel 801, and the ampoule is tilted. At this time, the needle of the syringe 102 or the liquid exchange pump 104 can be inserted into the ampoule The bottom of the bottle can realize the complete extraction of the medicinal liquid; extract the mother liquor in the mother liquor container on one side of the transmission wheel 801, and then inject the extracted mother liquor into the container on the opposite side of the transmission wheel 801 (as shown in point B in Figure 3). Seal the bottle. The sealed bottle injected with the mother liquor is driven by the vibration dilution module 710 to dilute and shake the powder in it with the mother liquor, and the diluted and shaken sealed bottle goes through the transmission wheel 801 to the highest point of the transmission wheel 801 (as shown in Figure 3 C point position) after the syringe 102 and/or the liquid replacement pump 104 extracts the diluent after being diluted and shaken in the sealed bottle. The medicinal solution and/or diluent extracted from the ampoule and/or sealed bottle are injected into the input bottle at point D.

The dispensing information unit 110 includes a control panel 1102 , a drug information reading module 1104 , a drug information display module 1106 and a drug information output module 1108 .

The control panel 1102 is connected with the control unit 20 , the image processing unit 40 and the sensing unit 30 to provide a human-computer interaction interface. The dispensing personnel input the list of medicines to be dispensed, the properties of the medicines, the dispensing parameters of the medicines, the information of the patients to whom the medicines belong and the dispensing personnel through the human-computer interaction interface of the control panel 1102 .

The medicine information reading module 1104 is used to read the quantity and specifications of the medicines put into the dispensing room and send the quantity and specifications (medicine list, medicine attributes) to the control unit 20 . Previously, the dispensing staff could affix barcodes on the medicines and the medicine information reading module 1104 can read the medicine list and medicine attributes placed in the dispensing room through a scanning device (for example, RTID radio frequency identification).

The drug information display module 1106 is provided with a display for displaying the quantity and specification (drug list, drug attributes) of the drugs put into the dispensing room for checking by the dispenser. The drug quantity and specifications (drug list, drug attributes) that the dispenser needs to input and read by the drug information reading module 1104 can all be displayed on the display. At this time, the dispenser can refer to and compare the data of the two. If the information is different, it needs to be checked and re-dispensed. If the two informations correspond, the dispensing can proceed smoothly.

The drug information output module 1108 is used to print out the drug information strip of the required medicinal liquid, so that the information strip can be pasted on the infusion bottle when dispensing and outputting the infusion bottle for checking, distribution and archiving.

The driving unit 120, under the control of the control unit 20, is used to drive the laminar flow cleaning unit 50, the mother liquid container positioning unit 60, the sealed bottle delivery unit 70, the ampoule bottle delivery unit 80, the ampoule bottle opening unit 90, the drug extraction unit 100, The pressure adjustment unit 130 and the infusion bottle output unit 160 work.

The pressure regulating unit 130 is used to regulate the pressure in the dispensing chamber, including a pressure sensing module 1302 , a positive pressure regulating module 1304 and a negative pressure regulating module 1306 .

The pressure sensing module 1302 is used to obtain the pressure information in the dispensing chamber and send it to the control unit 20 for processing by the control unit 20; the positive pressure adjustment module 1304 is used to adjust according to the control of the control unit 20 so that the dispensing The pressure inside the chamber is greater than the pressure outside the dispensing chamber; the negative pressure adjustment module 1306 is used to adjust according to the control of the control unit 20 so that the pressure inside the dispensing chamber is lower than the pressure outside the dispensing chamber. Usually, some poisonous liquids are contained in the ampoule bottle. If people inhale the smell of the poisonous liquid, the body will have adverse reactions. Therefore, when dispensing medicine, in order to prevent the poisonous gas from being discharged from the dispensing chamber, the negative pressure adjustment module 1306 can be used. The air is drawn from the dispensing room before each unit starts to work, so that the negative pressure in the dispensing room is maintained, so that the gas will not be discharged during dispensing. When preparing common medicines, the dispensing room should have positive pressure, and laminar flow air can be input into the dispensing room through the positive pressure regulating module 1304 to make the internal air pressure greater than the external air pressure. The pressure state of the dispensing chamber can be sensed by the pressure sensing module 1302 and fed back to the control unit 20 as needed, so that the control unit 20 can control the positive pressure regulating module 1304 or negative pressure regulating module 1306 to adjust the air pressure in the dispensing chamber.

The clarity checking unit 140 is used to check the clarity of the medicinal solution in the infusion bottle and send the clarity to the control unit 20 . The detection of clarity is determined by the national standard. Clarity is to place the test solution and turbidity standard solution vertically in a dark room under a lamp with an illumination of 1000lux, and observe and compare them from the horizontal direction. This can be solved with visual recognition. In the preliminary work, it is recommended to provide sufficient brightness of light first, and do it manually.

The infusion bottle warming unit 150 is used for heating the infusion bottle containing required medicines. The sensing unit 30 detects the temperature information of the infusion bottle and feeds the temperature information back to the control unit 20. The control unit 20 controls the infusion bottle warming unit 150 to heat the infusion bottle to a preset temperature. In this embodiment, the heating preset The temperature is 35 degrees. In other embodiments, the preset temperature can be set to a different temperature according to user needs.

The medicine output unit 160 is used for outputting the infusion bottle containing the required medicine liquid, and sticking the medicine information strip on the infusion bottle at the same time. After the drug preparation is completed and the load is specified, the device will transport the infusion bottle out of the dispensing room. At this time, the drug information output module 1108 will print out the drug information strip of the corresponding infusion bottle and paste it on the infusion bottle.

Figure 5 shows the flow chart of the automatic dispensing method in one embodiment. This automated dispensing method is based on the above-mentioned automated dispensing equipment, comprising the following steps:

S10, using the mother liquid container positioning unit to position the mother liquid container. In one embodiment, the dispensing chamber can be opened first, and then the mother liquid container can be positioned to the mother liquid container positioning unit 60 .

S20, the cleaning unit cleans and disinfects the dispensing room. In one embodiment, the dispenser opens the purification system of the laminar flow cleaning unit 50 of the dispensing room 30 minutes in advance, and confirms that it is in normal working condition; the dispenser opens the automatic cleaning system and ultraviolet disinfection system of the automatic dispensing equipment 30 minutes in advance; 30 minutes Finally, turn off the automatic cleaning system and the ultraviolet disinfection system, and then wipe the four entrances of the robot with 75% ethanol to thoroughly disinfect them;

S30, using the dispensing information unit to input, read, display and manually check the dispensing information. The drug quantity and specifications (drug list, drug attributes) that the dispenser needs to input and read by the drug information reading module 1104 can all be displayed on the display. At this time, the dispenser can refer to and compare the data of the two. If the information is different, it needs to be checked and re-dispensed. If the two informations correspond, the dispensing can proceed smoothly.

S40, using the ampoule conveying unit to complete the conveying and positioning of the ampoule. After the dispensing chamber is closed, the control unit 20 can control the drive unit 120 to drive the conveyor belt 802 to transport the ampoule bottle to the ampoule bottle opening unit 90 for positioning; the sealed bottle delivery unit is used to complete the delivery and positioning of the sealed bottle. After the dispensing chamber is closed, the control unit 20 can control the drive unit 120 to drive the conveyor belt 802 to transport the sealed bottle to the medicine extraction unit 100 for positioning.

S50, use the image processing unit 40 to calculate the top position information and neck position information of the ampoule bottle, and send the top position information and neck position information to the control unit 20.

S60, the control unit 20 calculates the neck position information of the ampoule bottle according to the image processing unit 40, and controls the ampoule bottle opening unit 90 to work. The control unit 20 cuts the opening position of the ampoule according to the neck position information combined with the positioning module 902 , the opening position sensing module 904 and the cutting module 906 .

S70, the laminar flow cleaning unit 50 sterilizes the neck of the ampoule bottle and/or the cork and neck of the sealed bottle, and also collects the cut neck of the ampoule bottle.

S80, the control unit 20 controls the ampoule opening unit to remove the top of the ampoule according to the top position information. The control unit 20 breaks the top of the ampoule according to the neck position information combined with the positioning module 902 , the top position sensing module 907 and the breaking module 908 .

S90, the drug extracting unit 20 extracts the drug solution and the mother solution in the ampoule and injects them into the infusion bottle for mixing. The control unit 20 combines the image processing unit 40 and the sensing unit 30 to quantitatively extract the medicinal solution and the mother solution according to the system setting values, and mix them in the infusion bottle.

S100, determine whether the sealed bottle contains medicinal powder, if yes, execute step S110, otherwise execute step S120.

Step S110, the medicine extracting unit extracts the mother liquor and injects it into a sealed bottle, mixes it with the medicine powder to form a diluent, and then extracts the diluent and mother liquor and injects it into an infusion bottle for mixing.

In step S120, the drug extracting unit extracts the drug solution and the mother solution in the sealed bottle and injects them into the infusion bottle for mixing.

In one embodiment, after step S110 and step S120, the above-mentioned automatic dispensing method further includes: further judging whether dispensing is required, if so, redispensing, if not, cleaning and disinfecting the laminar flow cleaning unit.

Before the step of judging whether the medicine needs to be dispensed, a step is further included: using the clarity inspection unit to inspect the medicinal liquid in the infusion bottle, if it is clear, output the infusion bottle; if it is not clear, then re-dispensing.

As shown in Figure 6, step S50 includes the following steps:

S501 , read image information, that is, upload the photos taken by the camera 402 to the image processing module 408 .

S502. Calculate the inclination angle of the image of the ampoule bottle. First, Hough transform is performed on the image (the straight line is detected in the image), and the straight line segment satisfying the minimum length in the image is obtained, and the inclination angle of each straight line segment is calculated.

S503, judging whether the inclination angle is smaller than the preset angle, if yes, execute step S504, if not, execute step S508.

Divide 180 degrees into 16 equal parts, and map the calculated inclination angles of the straight line segments to the corresponding angle ranges respectively, and construct a histogram of inclination angles of the straight lines. According to experiments, the edge information of ampoule bottles and the edge inclination angles generated by light account for the vast majority , so from the inclination histogram, it is easy to find the group with the largest frequency, and then determine the angle at which the image needs to be rotated.

S504. Calculate the horizontal edge and the vertical edge of the ampoule and binarize the horizontal edge and the vertical edge. First use the Sobel operator to find out the horizontal edge and vertical edge in the image respectively, and perform binarization. For example, when determining the vertical edge of the ampoule, first search from the left to determine that the first edge that meets the conditions is the left edge of the ampoule, and then search from right to left to determine the second edge that meets the conditions The edge is where the right edge of the ampoule is located. The position of the bottom surface, the top surface, the neck and the liquid level can be found out in the same way.

S505. Project the horizontal edge and the vertical edge into a histogram of the Y axis and the X axis. Horizontal and vertical edges are transformed into plane coordinates, which makes data display more intuitive and easier to read.

S506, find out the position of the bottom surface, the position of the top surface, the position of the neck and the liquid level of the medicinal solution according to the histogram. The method in step S404 can be used to find out the bottom surface position, top position, neck position and liquid level position of the ampoule bottle. The image processing module 408 finds out the bottom position, the top position and the liquid level position of the ampoule according to the histogram to calculate the liquid level.

S507. Calculate the height of the liquid level according to the position of the bottom surface and the position of the liquid surface. Liquid level position - bottom position = liquid level height. The liquid level calculated by the image processing module 40 is sent to the control unit 20, and the control unit 20 compares the quantity and specifications of the medicines read by the medicine information unit 110 with the liquid level, and controls the medicine extraction unit 100 to extract all the medicines according to the preset needs. Need liquid medicine.

Step S508, rotate the image information, and then return to step S503. Hough transform is used to find the edge straight line of the ampoule bottle in the image, and by calculating the inclination angle of the straight line, the image information is rotated until the inclination angle is smaller than the preset angle, while the image information is rotating, the control unit 20 will synchronously control the ampoule bottle delivery unit 80 to cooperate, and the The ampoule follows the image information and rotates with an inclination angle smaller than a preset angle.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (11)

1. An automatic dispensing device is characterized by comprising a dispensing chamber, wherein medicines in a sealed bottle and/or an ampoule bottle are extracted from the dispensing chamber and mixed with mother liquor to form required liquid medicine; the automatic dispensing equipment comprises a laminar flow cleaning unit, a sealed bottle conveying unit, an ampoule bottle opening unit, a medicine extracting unit, a mother liquid container positioning unit, a dispensing information unit, a pressure adjusting unit, an infusion bottle heating unit, a driving unit, an induction unit, an image processing unit and a control unit,

the laminar flow cleaning unit is used for carrying out cleanliness detection and alarm, providing a clean fresh air source meeting requirements and disinfecting the dispensing room;

the sealed bottle conveying unit is used for conveying and positioning the sealed bottles and carrying out vibration mixing on the insoluble medicines;

the ampoule bottle conveying unit is used for conveying and positioning the ampoule bottles;

an ampoule bottle opening unit for opening the ampoule bottle;

a medicine extracting unit for extracting and mixing the medicine and the mother liquor of the mother liquor container;

the mother liquor container positioning unit is used for positioning the mother liquor container;

the dispensing information unit is used for inputting, reading and displaying the information of the medicine, the mother liquor and the liquid medicine;

the infusion bottle heating unit is used for heating the infusion bottle filled with the required medicine;

the pressure adjusting unit is used for adjusting the pressure in the dispensing chamber;

the sensing unit is connected with the laminar flow cleaning unit, the sealing bottle conveying unit, the ampoule bottle opening unit, the medicine extracting unit, the mother liquid container positioning unit, the pressure adjusting unit and the infusion bottle heating unit and is used for acquiring position information of the sealing bottle conveying unit, the ampoule bottle opening unit, the medicine extracting unit and the mother liquid container positioning unit, acquiring cleanliness information of the laminar flow cleaning unit, acquiring pressure information of the pressure adjusting unit, acquiring temperature information of the infusion bottle heating unit and sending the position information, the cleanliness information, the pressure information and the temperature information to the control unit;

the driving unit is used for driving the laminar flow cleaning unit, the sealing bottle conveying unit, the ampoule bottle opening unit, the medicine extracting unit, the mother liquid container positioning unit, the pressure adjusting unit and the infusion bottle output unit to work;

the image processing unit is used for acquiring image information of the ampoule bottle, analyzing the image information to obtain an image analysis result and sending the image analysis result to the control unit; and

the control unit is connected with other units and is used for controlling the other units to work according to the image analysis result fed back by the image processing unit and the position information and the cleanliness information fed back by the sensing device;

the image processing unit includes:

a background plate for facilitating imaging;

the camera is used for acquiring the image information, and the ampoule bottle is positioned between the background plate and the camera;

an LED array providing a light source; and

the image processing module is used for analyzing the image information to obtain an image analysis result and sending the image analysis result to the control unit;

the image analysis result comprises the inclination angle, the neck position, the top surface position, the bottom surface position and the liquid level height of the medicine of the ampoule bottle;

the control unit corrects the inclination angle of the ampoule bottle according to the image analysis result, determines the liquid level height and controls the amount of extracted medicines;

the image processing module is further used for calculating an inclination angle of the ampoule bottle according to the image information, judging whether the inclination angle is smaller than a preset angle, calculating a horizontal edge and a vertical edge of the ampoule bottle and binarizing the horizontal edge and the vertical edge when the inclination angle is smaller than the preset angle, projecting the horizontal edge and the vertical edge into histograms of a Y axis and an X axis, finding out a bottom surface position, a top surface position, a neck position and a liquid level position of the liquid medicine according to the histograms, and calculating a liquid level height according to the bottom surface position, the top surface position and the liquid level position; when the inclination angle is larger than or equal to a preset angle, the control unit adjusts the ampoule bottle so that the inclination angle is smaller than the preset angle.

2. The automated dispensing apparatus of claim 1, wherein the dosage information unit comprises:

the control panel is connected with the control unit, the image processing unit and the sensing unit and provides a human-computer interaction interface;

a medicine information reading module for reading the number and specification of the medicines put in the dispensing chamber and transmitting the number and specification to the control unit;

the medicine information display module is used for displaying the quantity and the specification of the medicines placed in the dispensing chamber for the checking of a dispensing staff; and

and the medicine information output module is used for printing and outputting the medicine information strip of the required medicine liquid for checking, distribution and archiving.

3. The automated dispensing apparatus of claim 1, wherein the ampoule opener unit comprises:

the positioning module is used for fixing the ampoule bottle;

the opening position sensing module is used for acquiring opening position information of the ampoule bottle and sending the opening position information to the control unit;

the cutting module is used for cutting the opening position by aligning to the opening position according to the opening position information;

the top position sensing module is used for acquiring top position information of the top position of the ampoule bottle and sending the top position information to the control unit; and

and the breaking module is used for breaking the top position according to the top position information to separate the top from the bottle body.

4. The automated dispensing apparatus of claim 1, wherein the drug extraction unit is provided with:

the clamping module is used for clamping the opened ampoule bottle and positioning the ampoule bottle;

a syringe for drawing and injecting the medicine;

the injection adjusting module is used for adjusting the pulling, rotating and moving actions of the injector; and

and the bottle mouth position sensing module is used for acquiring the bottle mouth position information of the mother liquid, the ampoule bottle and the sealing bottle and sending the bottle mouth position information to the control unit.

5. The automated dispensing apparatus of claim 1, wherein the drug extraction unit is provided with:

the clamping module is used for clamping the opened ampoule bottle from the ampoule bottle opening unit and positioning the ampoule bottle;

the driving unit drives the liquid replacement pump to pump air and pump air to form positive pressure and negative pressure so as to pump and inject the medicine;

the liquid changing pump adjusting module is used for adjusting the pulling, rotating and moving actions of the liquid changing pump; and

and the bottle mouth position sensing module is used for acquiring the bottle mouth position information of the mother liquid, the ampoule bottle and the sealing bottle and sending the bottle mouth position information to the control unit.

6. The automated dispensing equipment of claim 1, wherein the sealed bottle conveying unit further comprises a vibration diluting module connected with the driving unit, and the vibration diluting module is used for vibrating the sealed bottle so as to sufficiently dilute and mix the mother liquid and the medicine powder injected into the sealed bottle.

7. The automated dispensing apparatus according to claim 1, further comprising a drug output unit configured to output an infusion bottle containing the desired drug solution, and attach the drug information strip to the infusion bottle.

8. The automated dispensing apparatus of claim 1, wherein the pressure regulating unit comprises:

the pressure sensing module is used for acquiring pressure information in the dispensing chamber and sending the pressure information to the control unit;

the positive pressure adjusting module is used for adjusting according to the control of the control unit so as to enable the pressure in the dispensing chamber body to be larger than the pressure outside the dispensing chamber body; and

and the negative pressure adjusting module is used for adjusting according to the control of the control unit so as to enable the pressure in the dispensing chamber to be smaller than the pressure outside the dispensing chamber.

9. The automated dispensing apparatus of claim 1, further comprising a clarity verification unit for verifying the clarity of the medical fluid within the iv bottle, the clarity being sent to the control unit.

10. An automated dispensing method for mixing a drug in a sealed vial and/or ampoule with a mother liquor in a mother liquor container using an automated dispensing apparatus to form a desired medical solution, the automated dispensing method comprising the steps of:

the laminar flow cleaning unit cleans and sterilizes the dispensing chamber;

the dosage information unit is used for inputting, reading, displaying and manually checking the dosage information;

positioning the mother liquor container with a mother liquor container positioning unit;

the ampoule bottle conveying unit is used for conveying and positioning the ampoule bottles;

the sealed bottle conveying unit is used for conveying and positioning the sealed bottles;

the image processing unit is used for correcting the position information of the ampoule bottle and the neck, and the top position information and the neck position information are sent to the control unit;

the control unit controls the ampoule bottle opening unit to work according to the neck position information;

the laminar flow cleaning unit is used for disinfecting the neck of the ampoule bottle and/or the bottle stopper and the neck of the sealed bottle;

the control unit controls the ampoule bottle opening unit to remove the top end of the ampoule bottle according to the top position information;

the medicine extracting unit extracts the liquid medicine in the ampoule bottle and injects the mother liquor into an infusion bottle for mixing;

judging whether the sealed bottle is the medicine powder or not, if so, extracting the mother liquor by a medicine extraction unit, injecting the mother liquor into the sealed bottle, mixing the mother liquor with the medicine powder to form a diluent, and extracting the diluent and the mother liquor to inject the diluent and the mother liquor into the infusion bottle for mixing; if not, the medicine extracting unit extracts the liquid medicine in the sealed bottle and injects the mother liquor into the infusion bottle for mixing;

if not, the laminar flow cleaning unit performs cleaning and disinfection;

the image processing unit specifically comprises the following steps of:

reading the image information;

calculating the inclination angle of the ampoule bottle;

judging whether the inclination angle is smaller than a preset angle or not, if not, rotating the image information until the inclination angle is smaller than the preset angle;

if so, calculating the horizontal edge and the vertical edge of the ampoule bottle and binarizing the horizontal edge and the vertical edge;

projecting the horizontal and vertical edges into Y-axis and X-axis histograms;

finding out the bottom surface position, the top surface position, the neck position and the liquid level position of the liquid medicine of the ampoule bottle according to the histogram;

and calculating the height of the liquid level according to the bottom surface position and the liquid level position.

11. The automated dispensing method of claim 10, further comprising, before the step of determining whether a further dispensing is required, the steps of: the liquid medicine in the infusion bottle is checked by a clarity checking unit, and if the liquid medicine is clear, the infusion bottle is output; if not, the medicine is dispensed again.

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