Method for preparing medical/chemical solution and medical/chemical solution preparation system

Patent metadata

Field	Value
Publication number	US-10980710-B2
Application number	US-201615222530-A
Country	US
Kind code	B2
Filing date	Jul 28, 2016
Priority date	Aug 11, 2015
Publication date	Apr 20, 2021
Grant date	Apr 20, 2021

Abstract

A method is for preparing a medical/chemical solution by mixing a medical/chemical substance housed in a sealed container with a solution housed in a bag. The method includes transferring, from the bag into a syringe, an amount of the solution that is to be injected into a plurality of the containers. With the container and the syringe being held, at least one of a robot and a syringe driver configured to drive a plunger of the syringe is controlled so as to inject the amount of the solution into the plurality of the containers from the syringe.

First claim

What is claimed as new and desired to be secured by Letters Patent of the United States is:

1. A method for preparing a medical/chemical solution, comprising:
setting, in a medical/chemical solution preparation system, a syringe, a bag containing a solution, and a plurality of sealed containers housing a medical/chemical substance such that the medical/chemical solution preparation system includes a syringe driver configured to drive a plunger of the syringe, and a robot comprising an arm and a hand mounted on one end of the arm;
pulling the plunger of the syringe a first time using at least one of the syringe driver and the robot in the medical/chemical solution preparation system such that an amount of a solution to be injected into the plurality of sealed containers is transferred from the bag containing the solution into the syringe;
performing a plurality of injection operations such that at least one of the plurality of injection operations includes:
inserting a needle of the syringe into one of the plurality of sealed containers, using at least one of the syringe driver and the robot, when the one of the plurality of sealed containers has a negative pressure inside the one of the plurality of sealed containers,
pulling the plunger a second time using at least one of the syringe driver and the robot, while the needle of the syringe is inserted in one of the plurality of sealed containers, and
pressing the plunger of the syringe after the pulling of the plunger the second time, using at least one of the robot and the syringe driver in the medical/chemical solution preparation system, such that the amount of the solution is injected into the one of the plurality of sealed containers from the syringe,

the plurality of injection operations being performed in an order in which the plurality of sealed containers is prioritized for a smaller amount of the solution to be injected in the injection operations; and
controlling at least one of the syringe driver and the robot not to insert the needle into the one of the plurality of sealed containers, when the one of the plurality of sealed containers does not have a negative pressure.

2. The method according to claim 1 , further comprising:
determining a displacement of the plunger in each of the plurality of injection operations.

3. The method according to claim 2 , wherein the displacement of the plunger in each of the injection operations is determined based on medical/chemical substance information and introduction amount information obtained from an electronic chart.

4. The method according to claim 2 , wherein the determining is performed based on a number of the injection operations performed, and the number is related to the medical/chemical substance information and the introduction amount information.

5. The method according to claim 2 , wherein the plurality of injection operations include increasing a displacement of the plunger every time one injection operation of the injection operations is performed.

6. The method according to claim 5 , wherein the displacement of the plunger in each of the injection operations is determined based on medical/chemical substance information and introduction amount information obtained from an electronic chart.

7. The method according to claim 5 , wherein the determining is performed based on a number of the injection operations performed, and the number is related to the medical/chemical substance information and the introduction amount information.

8. The method according to claim 1 , wherein the plurality of injection operations include increasing a displacement of the plunger every time one injection operation of the plurality of injection operations is performed.

9. The method according to claim 8 , wherein the displacement of the plunger in each of the injection operations is determined based on medical/chemical substance information and introduction amount information obtained from an electronic chart.

10. The method according to claim 1 ,
wherein when the one of the plurality of sealed containers has the negative pressure inside the one of the plurality of sealed containers, the syringe contains air and is not fixed to the plunger.

11. A medical/chemical solution preparation system, comprising:
a robot comprising an arm and a hand mounted on one end of the arm;
a syringe driver configured to drive a plunger of a syringe; and
a controller comprising circuitry configured to control at least one of the robot and the syringe driver to:
pull the plunger of the syringe a first time such that an amount of a solution to be injected into a plurality of sealed containers is transferred from a bag containing the solution into the syringe, and
perform a plurality of injection operations such that in at least one of the plurality of injection operations the circuitry is configured to control at least one of the robot and the syringe driver to:
insert a needle of the syringe into one of the plurality of sealed containers, using at least one of the syringe driver and the robot, when the one of the plurality of sealed containers has a negative pressure inside the one of the plurality of sealed containers,
pull the plunger a second time using at least one of the syringe driver and the robot, while the needle of the syringe is inserted in one of the plurality of sealed containers, and
press the plunger of the syringe after the pulling of the plunger the second time, using at least one of the robot and the syringe driver in the medical/chemical solution preparation system, such that the amount of the solution is injected into the one of the plurality of sealed containers from the syringe,

wherein the plurality of injection operations are performed in an order in which the plurality of sealed containers is prioritized for a smaller amount of the solution to be injected in the injection operations, and
wherein the circuitry is configured to control at least one of the syringe driver and the robot not to insert the needle into the one of the plurality of sealed containers, when the one of the plurality of sealed containers does not have a negative pressure.

Assignees

• Yaskawa Electric Corp

Inventors

• Tasaka Shigeji
• Ono Seiki
• Umeno Makoto

Classifications

• B25J9/0087 Primary

  Dual arms (double SCARA arms B25J9/043) · CPC title

• B01F35/7174

  using pistons, plungers or syringes · CPC title

• B01F35/422

  having a jaw-type or finger-type shape · CPC title

• B01F33/85

  Mixing plants with mixing receptacles or mixing tools that can be indexed into different working positions · CPC title

• A61J1/065

  Rigid ampoules, e.g. glass ampoules · CPC title