CN108992346B - Automatic infusion device, control system and control method - Google Patents

Automatic infusion device, control system and control method Download PDF

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Publication number
CN108992346B
CN108992346B CN201810647874.4A CN201810647874A CN108992346B CN 108992346 B CN108992346 B CN 108992346B CN 201810647874 A CN201810647874 A CN 201810647874A CN 108992346 B CN108992346 B CN 108992346B
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medicine
grabbing
shell
mechanical arm
infusion
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CN108992346A (en
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陈紫微
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
    • A61J1/2089—Containers or vials which are to be joined to each other in order to mix their contents
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • A61M5/1684—Monitoring, detecting, signalling or eliminating infusion flow anomalies by detecting the amount of infusate remaining, e.g. signalling end of infusion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J2205/00—General identification or selection means
    • A61J2205/10—Bar codes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J2205/00—General identification or selection means
    • A61J2205/30—Printed labels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/142—Pressure infusion, e.g. using pumps
    • A61M2005/14208—Pressure infusion, e.g. using pumps with a programmable infusion control system, characterised by the infusion program

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Vascular Medicine (AREA)
  • Pharmacology & Pharmacy (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

An automatic infusion device, a control system and a control method are provided, the control device is composed of a medicine placing mechanism, a first medicine grabbing mechanism, a medicine uncovering mechanism, a disinfecting mechanism, a second medicine grabbing mechanism, an extracting mechanism, a three-medicine grabbing mechanism and a fourth medicine grabbing mechanism, and the working method is as follows: the nurse puts the medicine in the medicine placing mechanism according to the medical advice; II, secondly: inputting a liquid preparation medicine sequence; thirdly, the method comprises the following steps: the medicine identification mechanism identifies the required medicines in the medicine placement mechanism according to the liquid preparation medicine sequence; fourthly, the method comprises the following steps: the medicine grabbing mechanism grabs the needed medicine; fifthly: the medicine uncovering mechanism opens medicine packages according to the medicine types; sixthly, the method comprises the following steps: the extraction mechanism extracts the medicament; seventhly, the method comprises the following steps: judging whether the configuration of the infusion medicines is finished, if so, entering the step eight, and if not, entering the step three; eighthly: the medicine grabbing mechanism transfers the prepared medicine to the input control mechanism, and the input end of the infusion control mechanism is communicated with an infusion bag or an infusion bottle for infusion.

Description

Automatic infusion device, control system and control method
Technical Field
The invention relates to the technical field of medical equipment, in particular to an automatic infusion device, a control system and a control method.
Background
At present, the conventional infusion mode of a medical institution is that firstly, a doctor orders a doctor, then a nurse manually prepares liquid according to the doctor order, and then the prepared liquid medicine is infused to a patient, and meanwhile, the infusion time and progress are monitored;
at present, the number of patients in medical institutions is large, manual liquid preparation and infusion progress monitoring occupy a large amount of human resources, the progress of the dispensing process is completely controlled by manpower, errors easily occur in liquid, and especially under the condition that the number of patients is large, the service quality is difficult to guarantee.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic transfusion device, a control system and a control method, and the specific technical scheme is as follows:
an automatic transfusion device comprises a shell (1), wherein a medicine placing mechanism (2) is arranged on the bottom wall inside the shell (1), a first medicine grabbing mechanism (3) is arranged on the inner wall of the shell (1), a first grabbing mechanical arm (31) in the first medicine grabbing mechanism (3) can slide along the vertical direction of the shell (1), and the first grabbing mechanical arm (31) is arranged corresponding to a medicine taking port of the medicine placing mechanism (2);
a medicine uncovering mechanism (4) is arranged in the shell (1), and a cover opening manipulator (41) and the first grabbing manipulator (31) are arranged in the medicine uncovering mechanism (4) in a spatially opposite mode;
a disinfection mechanism (5) is arranged on the side wall in the shell (1), a disinfection manipulator (51) in the disinfection mechanism (5) and the uncapping manipulator (41) are oppositely arranged in the horizontal direction, and the disinfection manipulator (51) realizes disinfection operation on the uncapped traditional Chinese medicine positioned in the first grabbing manipulator (31);
a second medicine grabbing mechanism (6) is arranged on the side wall in the shell (1), a second grabbing mechanical arm (61) in the second medicine grabbing mechanism (6) is located above the cover opening mechanical arm (41), and the second grabbing mechanical arm (61) is matched with the first grabbing mechanical arm (31) to realize the exchange of grabbing medicines;
an extraction mechanism (7) is arranged on the side wall in the shell (1), the extraction mechanism (7) is positioned above the second medicine grabbing mechanism (6), and a needle cylinder grabbing mechanical arm (71) in the extraction mechanism (7) corresponds to the second grabbing mechanical arm (61);
a third medicine grabbing mechanism (8) is arranged on the side wall in the shell (1), the third medicine grabbing mechanism (8) is positioned right above the medicine uncovering mechanism (4) and is arranged in parallel with the second medicine grabbing mechanism (6), a third grabbing mechanical arm (81) in the third medicine grabbing mechanism (8) slides along the vertical direction of the shell (1), and the third grabbing mechanical arm (81) and the second grabbing mechanical arm (61) can complete the exchange of medicines;
the medicine has been seted up on casing (1) lateral wall and has been stretched out the hole, it snatchs mechanism (9) to rotate to be connected with the fourth medicine on casing (1) lateral wall, and this fourth medicine snatchs mechanism (9) and is close to medicine on casing (1) lateral wall stretches out the hole, the third snatchs manipulator (81) and can stretch out the medicine stretches out the hole, and with the fourth medicine snatchs fourth in the mechanism (9) and snatchs manipulator (91) cooperation, realizes the conversion of medicine.
In order to better realize the device of the invention, the device further comprises:
the medicine placing mechanism (2) is provided with a disc-shaped placing disc (21), a partition plate (22) is arranged inside the placing disc (21), the partition plate (22) is used for uniformly dividing the placing disc (21) into a medicine placing cavity (23), a rotating motor (24) is arranged at the bottom of the placing disc (21), and an output shaft of the rotating motor (24) is connected with the middle of the placing disc (21).
A partition plate (10) is arranged in the shell (1), the partition plate (10) divides the shell (1) into a medicine placing cavity and a liquid distribution cavity, wherein the medicine placing mechanism (2) is positioned in the medicine placing cavity;
medicine grabbing holes (101) are formed in the partition plate (10), and the first grabbing mechanical arm (31) penetrates through the medicine grabbing holes (101) and stretches into the medicine placing mechanism (2) to grab the medicines.
The first medicine grabbing mechanism (3) is provided with an upper mounting seat (32) and a lower mounting seat (33), wherein the upper mounting seat (32) is positioned at the top of the shell (1), the lower mounting seat (33) is positioned on the side wall of the shell (1), a fixed rod (34) and a screw rod (35) are arranged between the upper mounting seat (32) and the lower mounting seat (33) in parallel, a first control motor (36) is arranged in the upper mounting seat (32) or the lower mounting seat (33), the output shaft of the first control motor (36) is connected with the screw rod (35), a sliding seat (37) is sleeved on the fixed rod (34) and the screw rod (35), a second control motor (38) is fixedly arranged on the sliding seat (37), the output shaft of the second control motor (38) is connected with the power input end of the first grabbing mechanical arm (31).
The first medicine grabbing mechanism (3) is the same as the second medicine grabbing mechanism (6) and the third medicine grabbing mechanism (8) in structure.
An automatic infusion method comprises the following steps:
the method comprises the following steps: the nurse puts the medicine in the medicine placing mechanism according to the medical advice;
step two: taking or inputting the order of liquid preparation medicines by a nurse;
step three: the medicine identification mechanism identifies the required medicines in the medicine placement mechanism according to the liquid preparation medicine sequence;
step four: the medicine grabbing mechanism grabs the required medicine and transfers the medicine to a dispensing area;
step five: the medicine uncovering mechanism opens medicine packages according to the medicine types;
step six: the disinfection mechanism is used for disinfecting the top of the medicine package after the cover is opened;
step six: the extraction mechanism extracts the medicament;
step seven: judging whether the configuration of the infusion medicines is finished, if so, entering the step eight, and if not, entering the step three;
step eight: the medicine grabbing mechanism transfers the prepared medicine to the infusion control mechanism, and the input end of the infusion control mechanism is communicated with an infusion bag or an infusion bottle for infusion.
In order to better realize the method of the invention, the method further comprises the following steps:
the first step is to mark each medicine by numbering or coding, and store the corresponding number or coded medicine data of the medicine in the storage mechanism correspondingly, wherein the medicine data comprises medicine type, medicine dispensing mode and notice.
The third step is that an image acquisition device is arranged in the medicine identification mechanism to identify the serial number on the medicine; or a scanning gun is arranged in the medicine identification mechanism to identify the coded information on the medicine.
And step five, the central controller starts the corresponding cap opening mechanism according to the type of the medicine, and the cap opening mechanism is provided with a plastic bottle pull ring opening device, a glass ampoule bottle opening device and a bagged medicine opening device.
The sixth step is that the central controller judges whether the medicine needs to be dissolved according to the type of the medicine, if so, the central controller firstly extracts the dissolving liquid, then injects the dissolving liquid into the corresponding medicine, and starts a vibration device in the medicine grabbing mechanism to dissolve the medicine; otherwise, the medicine is directly extracted.
An automatic transfusion system is provided with a central controller, wherein an input end of the central controller is connected with a human-computer interaction module, a communication end is connected with a communication module, an alarm end is connected with an alarm module, a display end is connected with a display module, and a control end is respectively connected with a medicine placing mechanism, a medicine identification mechanism, a medicine grabbing mechanism, a medicine uncovering mechanism, a medicine extracting mechanism and a transfusion control mechanism.
The invention has the beneficial effects that: the automatic transfusion method is simple and easy to realize, a nurse can realize automatic medicine dispensing and transfusion only by placing the medicine in the medicine placing mechanism, the transfusion safety is guaranteed, meanwhile, the labor is greatly saved, the service quality is improved, the system is simple in structure, the data communication can be carried out with the existing doctor's advice system through the communication module, the transfusion medicine data can be automatically acquired or verified, the safety and reliability are realized, the alarm module can give out alarm sound after the transfusion is finished, or give out alarm data to remind the nurse to take measures, or automatically switch the next bag or the next bottle for transfusion, the safety and reliability are realized, and the automation degree is high.
Drawings
FIG. 1 is a schematic view of an automatic infusion device in accordance with the present invention;
FIG. 2 is a schematic structural view of a medicine placing mechanism in the automatic infusion device according to the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 1;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 1;
fig. 5 is a schematic view of the automatic infusion system of the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
As shown in fig. 1 to 4: an automatic transfusion device comprises a shell 1, wherein the upper part and the lower part of the shell 1 are both rectangular structures, the volume of the lower part is larger than that of the upper part, a medicine placing mechanism 2 is arranged on the bottom wall of the lower part in the shell 1, a first medicine grabbing mechanism 3 is arranged on the inner wall of the shell 1, a first grabbing mechanical arm 31 in the first medicine grabbing mechanism 3 can slide along the vertical direction of the shell 1, and the first grabbing mechanical arm 31 is arranged corresponding to a medicine taking port of the medicine placing mechanism 2;
a video acquisition device or a scanning device is arranged on the first medicine grabbing mechanism 3 and used as a medicine identification mechanism for identifying the medicine in the medicine placing mechanism 2 and matching with the input instruction;
a medicine cover opening mechanism 4 is arranged in the housing 1, and a cover opening manipulator 41 and the first grabbing manipulator 31 are arranged in the medicine cover opening mechanism 4 in a spatially opposite mode;
a disinfection mechanism 5 is arranged on the side wall in the shell 1, a disinfection manipulator 51 in the disinfection mechanism 5 is arranged opposite to the uncovering manipulator 41, and the disinfection manipulator 51 realizes disinfection operation on the medicine which is uncovered and positioned in the first grabbing manipulator 31;
a second medicine grabbing mechanism 6 is arranged on the side wall in the shell 1, a second grabbing mechanical arm 61 in the second medicine grabbing mechanism 6 is positioned above the uncovering mechanical arm 41, and the second grabbing mechanical arm 61 is matched with the first grabbing mechanical arm 31 to realize the exchange of grabbing medicines;
an extraction mechanism 7 is arranged on the side wall in the shell 1, the extraction mechanism 7 is positioned above the second medicine grabbing mechanism 6, and the syringe grabbing manipulator 71 in the extraction mechanism 7 corresponds to the second grabbing manipulator 61 in position;
a third medicine grabbing mechanism 8 is arranged on the side wall in the shell 1, the third medicine grabbing mechanism 8 is positioned right above the medicine uncovering mechanism 4 and is arranged in parallel with the second medicine grabbing mechanism 6, a third grabbing mechanical arm 81 in the third medicine grabbing mechanism 8 slides along the vertical direction of the shell 1, and the third grabbing mechanical arm 81 and the second grabbing mechanical arm 61 can complete medicine exchange;
a medicine extending hole is formed in the side wall of the shell 1, a fourth medicine grabbing mechanism 9 is rotatably connected to the outer side wall of the shell 1, the fourth medicine grabbing mechanism 9 is close to the medicine extending hole in the side wall of the shell 1, the third grabbing mechanical arm 81 can extend out the medicine extending hole, and the fourth grabbing mechanical arm 91 in the fourth medicine grabbing mechanism 9 is matched with the medicine extending hole to achieve conversion of the medicine.
The medicine placing mechanism 2 is provided with a disc-shaped placing disc 21, a partition plate 22 is arranged inside the placing disc 21, the placing disc 21 is uniformly divided into a medicine placing cavity 23 by the partition plate 22, a rotating motor 24 is arranged at the bottom of the placing disc 21, and an output shaft of the rotating motor 24 is connected with the middle of the placing disc 21. A partition plate 10 is arranged in the shell 1, and the partition plate 10 divides the shell 1 into a medicine placing cavity and a liquid preparation cavity, wherein the medicine placing mechanism 2 is positioned in the medicine placing cavity;
a medicine grabbing hole 101 is formed in the partition plate 10, and the first grabbing mechanical arm 31 penetrates through the medicine grabbing hole 101 and extends into the medicine placing mechanism 2 to grab the medicine.
The first medicine grabbing mechanism 3 is provided with an upper mounting seat 32 and a lower mounting seat 33, wherein the upper mounting seat 32 is located at the top of the shell 1, the lower mounting seat 33 is located on the side wall of the shell 1, a fixing rod 34 and a lead screw 35 are arranged between the upper mounting seat 32 and the lower mounting seat 33 in parallel, a first control motor 36 is arranged in the upper mounting seat 32 or the lower mounting seat 33, an output shaft of the first control motor 36 is connected with the lead screw 35, a sliding seat 37 is sleeved on the fixing rod 34 and the lead screw 35, a second control motor 38 is fixedly arranged on the sliding seat 37, and an output shaft of the second control motor 38 is connected with a power input end of the first grabbing manipulator 31. The first medicine gripping mechanism 3 has the same structure as the second medicine gripping mechanism 6 and the third medicine gripping mechanism 8.
The working method of the automatic transfusion device comprises the following steps: marking each medicine by numbering or coding, correspondingly storing the corresponding serial number or coded medicine data of the medicine in a storage mechanism, wherein the medicine data comprises medicine types, dispensing modes and notice, and placing the medicine in a medicine placing mechanism by a nurse according to the medical advice;
step two: calling or inputting a liquid preparation medicine sequence by a nurse, carrying out data communication with the medical advice management system through the communication module, and verifying the type and the sequence of the medicines;
step three: the medicine identification mechanism identifies the required medicines in the medicine placement mechanism according to the liquid preparation medicine sequence, and specifically the third step is that an image acquisition device is arranged in the medicine identification mechanism to identify the serial numbers on the medicines; or a scanning gun is arranged in the medicine identification mechanism to identify the coded information on the medicine;
step four: the medicine grabbing mechanism grabs the required medicine and transfers the medicine to a dispensing area;
step five: the medicine uncovering mechanism is used for opening medicine packages according to the types of medicines, specifically, a central controller starts the corresponding uncovering mechanism according to the types of the medicines, and the type of the uncovering mechanism is provided with a plastic bottle pull ring opening device, a glass ampoule bottle opening device and a bagged medicine opening device;
step six: the extraction mechanism extracts the medicines, specifically, the central controller judges whether the medicines need to be dissolved according to the types of the medicines, if so, the central controller firstly extracts the dissolving liquid, then injects the dissolving liquid into the corresponding medicines, and starts a vibration device in the medicine grabbing mechanism to dissolve the medicines; otherwise, directly extracting the medicine;
step seven: judging whether the configuration of the infusion medicines is finished, if so, entering the step eight, and if not, entering the step three;
step eight: the medicine grabbing mechanism transfers the prepared medicine to the input control mechanism, and the input end of the infusion control mechanism is communicated with an infusion bag or an infusion bottle for infusion.
As shown in fig. 5: the control system of the automatic infusion device is provided with a central controller, the input end of the central controller is connected with a human-computer interaction module, the communication end is connected with a communication module, the alarm end is connected with an alarm module, the display end is connected with a display module, and the control end is respectively connected with a medicine placing mechanism, a medicine identification mechanism, a medicine grabbing mechanism, a medicine uncovering mechanism, a medicine extracting mechanism and an infusion control mechanism.

Claims (8)

1. An automatic infusion device comprising a housing (1), characterized in that: a medicine placing mechanism (2) is arranged on the bottom wall inside the shell (1), a first medicine grabbing mechanism (3) is arranged on the inner wall of the shell (1), a first grabbing mechanical arm (31) in the first medicine grabbing mechanism (3) can slide along the vertical direction of the shell (1), and the first grabbing mechanical arm (31) is arranged corresponding to a medicine taking port of the medicine placing mechanism (2);
a medicine uncovering mechanism (4) is arranged in the shell (1), and a cover opening manipulator (41) and the first grabbing manipulator (31) are arranged in the medicine uncovering mechanism (4) in a spatially opposite mode;
a disinfection mechanism (5) is arranged on the side wall in the shell (1), a disinfection manipulator (51) in the disinfection mechanism (5) and the uncapping manipulator (41) are oppositely arranged in the horizontal direction, and the disinfection manipulator (51) realizes disinfection operation on the uncapped traditional Chinese medicine positioned in the first grabbing manipulator (31);
a second medicine grabbing mechanism (6) is arranged on the side wall in the shell (1), a second grabbing mechanical arm (61) in the second medicine grabbing mechanism (6) is located above the cover opening mechanical arm (41), and the second grabbing mechanical arm (61) is matched with the first grabbing mechanical arm (31) to realize the exchange of grabbing medicines;
an extraction mechanism (7) is arranged on the side wall in the shell (1), the extraction mechanism (7) is positioned above the second medicine grabbing mechanism (6), and a needle cylinder grabbing mechanical arm (71) in the extraction mechanism (7) corresponds to the second grabbing mechanical arm (61);
a third medicine grabbing mechanism (8) is arranged on the side wall in the shell (1), the third medicine grabbing mechanism (8) is positioned right above the medicine uncovering mechanism (4) and is arranged in parallel with the second medicine grabbing mechanism (6), a third grabbing mechanical arm (81) in the third medicine grabbing mechanism (8) slides along the vertical direction of the shell (1), and the third grabbing mechanical arm (81) and the second grabbing mechanical arm (61) can complete the exchange of medicines;
a medicine extending hole is formed in the side wall of the shell (1), a fourth medicine grabbing mechanism (9) is rotatably connected to the outer side wall of the shell (1), the fourth medicine grabbing mechanism (9) is close to the medicine extending hole in the side wall of the shell (1), and the third grabbing mechanical arm (81) can extend out of the medicine extending hole and is matched with a fourth grabbing mechanical arm (91) in the fourth medicine grabbing mechanism (9) to achieve medicine conversion;
a partition plate (10) is arranged in the shell (1), the partition plate (10) divides the shell (1) into a medicine placing cavity and a liquid distribution cavity, wherein the medicine placing mechanism (2) is positioned in the medicine placing cavity;
a medicine grabbing hole (101) is formed in the partition plate (10), and the first grabbing mechanical arm (31) penetrates through the medicine grabbing hole (101) and extends into the medicine placing mechanism (2) to grab the medicine;
the first medicine grabbing mechanism (3) is provided with an upper mounting seat (32) and a lower mounting seat (33), wherein the upper mounting seat (32) is positioned at the top of the shell (1), the lower mounting seat (33) is positioned on the side wall of the shell (1), a fixed rod (34) and a screw rod (35) are arranged between the upper mounting seat (32) and the lower mounting seat (33) in parallel, a first control motor (36) is arranged in the upper mounting seat (32) or the lower mounting seat (33), the output shaft of the first control motor (36) is connected with the screw rod (35), a sliding seat (37) is sleeved on the fixed rod (34) and the screw rod (35), a second control motor (38) is fixedly arranged on the sliding seat (37), the output shaft of the second control motor (38) is connected with the power input end of the first grabbing mechanical arm (31).
2. The automatic fluid delivery device of claim 1, wherein: the medicine placing mechanism (2) is provided with a disc-shaped placing disc (21), a partition plate (22) is arranged inside the placing disc (21), the partition plate (22) is used for uniformly dividing the placing disc (21) into a medicine placing cavity (23), a rotating motor (24) is arranged at the bottom of the placing disc (21), and an output shaft of the rotating motor (24) is connected with the middle of the placing disc (21).
3. The automatic fluid delivery device of claim 1, wherein: the first medicine grabbing mechanism (3) is the same as the second medicine grabbing mechanism (6) and the third medicine grabbing mechanism (8) in structure.
4. The automatic infusion method of an automatic infusion device according to any one of claims 1 to 3, characterized by the following steps:
the method comprises the following steps: the nurse puts the medicine in the medicine placing mechanism according to the medical advice;
step two: taking or inputting the order of liquid preparation medicines by a nurse;
step three: the medicine identification mechanism identifies the required medicines in the medicine placement mechanism according to the liquid preparation medicine sequence;
step four: the medicine grabbing mechanism grabs the required medicine and transfers the medicine to a dispensing area;
step five: the medicine uncovering mechanism opens medicine packages according to the medicine types;
step six: the disinfection mechanism is used for disinfecting the top of the medicine package after the cover is opened;
step six: the extraction mechanism extracts the medicament;
step seven: judging whether the configuration of the infusion medicines is finished, if so, entering the step eight, and if not, entering the step three;
step eight: the medicine grabbing mechanism transfers the prepared medicine to the infusion control mechanism, and the input end of the infusion control mechanism is communicated with an infusion bag or an infusion bottle for infusion.
5. The automatic infusion method of the automatic infusion device of claim 4, wherein: the first step is to mark each medicine by numbering or coding, and store the corresponding number or coded medicine data of the medicine in the storage mechanism correspondingly, wherein the medicine data comprises medicine type, medicine dispensing mode and notice.
6. The automatic infusion method of the automatic infusion device of claim 4, wherein: the third step is that an image acquisition device is arranged in the medicine identification mechanism to identify the serial number on the medicine; or a scanning gun is arranged in the medicine identification mechanism to identify the coded information on the medicine.
7. The automatic infusion method of the automatic infusion device of claim 4, wherein: the sixth step is that the central controller judges whether the medicine needs to be dissolved according to the type of the medicine, if so, the central controller firstly extracts the dissolving liquid, then injects the dissolving liquid into the corresponding medicine, and starts a vibration device in the medicine grabbing mechanism to dissolve the medicine; otherwise, the medicine is directly extracted.
8. The automatic infusion method of the automatic infusion device of claim 4, wherein: the intelligent infusion device is provided with a central controller, the input end of the central controller is connected with a human-computer interaction module, the communication end is connected with a communication module, the alarm end is connected with an alarm module, the display end is connected with a display module, and the control end is respectively connected with a medicine placing mechanism, a medicine identification mechanism, a medicine grabbing mechanism, a medicine uncovering mechanism, a medicine extracting mechanism and an infusion control mechanism.
CN201810647874.4A 2018-06-22 2018-06-22 Automatic infusion device, control system and control method Active CN108992346B (en)

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US7783383B2 (en) * 2004-12-22 2010-08-24 Intelligent Hospital Systems Ltd. Automated pharmacy admixture system (APAS)
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CN103417375B (en) * 2012-05-18 2016-08-03 辽宁九洲龙跃医用科技股份有限公司 A kind of machine automatization venous medicine dispensing device
CN206880852U (en) * 2017-02-13 2018-01-16 福建（泉州）哈工大工程技术研究院 A kind of manipulator for quantitatively matching somebody with somebody liquid with muscle and intravenous injection

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