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

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.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority under 35 U.S.C. § 119 to Japanese Patent Application No. 2015-159249, filed Aug. 11, 2015. The contents of this application are incorporated herein by reference in their entirety.

BACKGROUND

Field of the Invention

The embodiments disclosed herein relate to a method for preparing a medical/chemical solution and to a medical/chemical solution preparation system.

Discussion of the Background

Japanese Unexamined Patent Application Publication No. 2013-52250 discloses a medical/chemical solution preparation system that mixes a medical/chemical substance housed in a sealed container with a solution housed in a bag.

SUMMARY

According to one aspect of the present disclosure, 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.

According to another aspect of the present disclosure, 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 inserting a needle of a syringe into a plurality of the containers. The syringe contains air inside the syringe. An amount of the solution that is to be injected into a plurality of the containers is transferred from the bag into the syringe.

According to the other aspect of the present disclosure, a medical/chemical solution preparation system includes a robot, a syringe driver, and a controller. The robot includes an arm including a hand mounted on one end of the arm. The syringe driver is configured to drive a plunger of a syringe. The controller is configured to control at least one of the robot and the syringe driver to mix a medical/chemical substance housed in a sealed container with a solution housed in a bag. The controller includes a first controller and a second controller. The first controller is configured to control at least one of the robot and the syringe driver to transfer, from the bag into the syringe, an amount of the solution that is to be injected into a plurality of the containers. The second controller is configured to control at least one of the robot and the syringe driver to, with the syringe and the container being held, inject the amount of the solution into the plurality of the containers from the syringe.

DESCRIPTION OF THE EMBODIMENTS

Medical/Chemical Solution Preparation System

By referring toFIGS. 1 to 6, a schematic configuration of a medical/chemical solution preparation system1according to this embodiment will be described. For convenience of description of the medical/chemical solution preparation system1and other and related elements, directions indicated by “upward”, “downward”, “rightward”, “leftward”, “frontward”, and “rearward” are indicated in some ofFIGS. 1 to 7. It should be noted, however, that these directions may vary depending on where to install the medical/chemical solution preparation system1and other and related elements, and should not be construed as limiting their positions in relation to each other.

The medical/chemical solution preparation system1according to this embodiment mixes a medical/chemical substance10A and a solution10B with each other (seeFIGS. 3 and 4, described later). The medical/chemical substance10A is hermetically sealed in a container6(a non-limiting example of is a vial) in liquid form or powdery form. The solution10B is hermetically sealed in a solution bag7. Examples of the solution10B include, but are not limited to, a saline solution and a dextrose solution.

As illustrated inFIG. 1, the medical/chemical solution preparation system1according to this embodiment includes a robot2, a syringe driver3, and a controller4. Also as illustrated inFIG. 1, while the medical/chemical solution preparation system1according to this embodiment is not in its mixture operation, a syringe5, the container6, and the solution bag7are placed on a tray100. Before the medical/chemical solution preparation system1performs its mixture operation, the container6may have negative pressure inside the container6or may not necessarily have negative pressure, as in treatment of particular substances such as GEMZAR (registered trademark).

As illustrated inFIGS. 1 and 2, the robot2includes an the arm2A. The arm2A is attached with a hand2B at one end (distal end) of the arm2A. The hand2B is capable of holding at least one of the syringe5, the container6, and the bag7. In this embodiment, the robot2is a two-arm robot, which is equipped with two multi-articular arms2A.

As illustrated inFIG. 3, the syringe driver3is capable of holding the syringe5and the container6and driving a plunger5B of the syringe5.

In another possible embodiment of the medical/chemical solution preparation system1, the syringe driver3may be capable of holding either the syringe5or the container6. In this case, the syringe driver3cooperates with the robot2to drive the plunger5B of the syringe5.

In the medical/chemical solution preparation system1according to this embodiment, the syringe5includes a needle5A and the plunger5B. The needle5A and the plunger5B are used in the transfer of the solution10B. In still another possible embodiment of the medical/chemical solution preparation system1, the syringe5may come in a variety of diameters or lengths, among which a suitable syringe5may be selected according to the kind, volume, or any other parameter of the solution10B to be transferred. In the embodiment illustrated inFIG. 1, one kind of syringe5is used for convenience of description, although two or more kinds of syringes5may be used.

An electronic chart system200manages electronic charts of patients. For example, each electronic chart includes information such as information on a medical/chemical substance(s) to be administered to a patient (medical/chemical substance information) and information on the amount of the medical/chemical substance(s) to be introduced (introduction amount information).

As illustrated inFIG. 1, the controller4controls the robot2and the syringe driver3. As illustrated inFIG. 4, the controller4includes a processor41, a memory42, an input/output section (I/O)43, a storage44, and a bus45. The bus45connects these elements to each other. The processor41cooperates with at least one of the memory42and the storage44to execute a program, and uses a result of executing the program as a basis for inputting and outputting data through the input/output section43. In this manner, the controller4implements various functions.FIG. 5illustrates these functions in the form of imaginary blocks (hereinafter referred to as functional blocks).

As illustrated inFIG. 5, the functional blocks of the controller4are a first controller4A, a second controller4B, a displacement determiner4C, and a third controller4D.

The first controller4A controls at least one of the robot2and the syringe driver3to transfer, from the bag7into one syringe5, an amount of the solution10B that is to be injected into a plurality of the containers6.

For example, with the syringe5and the bag7secured to a predetermined table (not illustrated), the first controller4A may control the robot2to pull the plunger5B of the syringe5so as to transfer the solution10B into one syringe5from the bag7.

Alternatively or additionally, with both the syringe5and the bag7being held by the syringe driver3, the first controller4A may control the syringe driver3to pull the plunger5B of the syringe5so as to transfer the solution10B into one syringe5from the bag7.

Alternatively or additionally, with the syringe5being held by the syringe driver3and with the bag7being held by the robot2, the first controller4A may control the syringe driver3to pull the plunger5B of the syringe5so as to transfer the solution10B into one syringe5from the bag7.

The first controller4A may cause to be transferred the amount of the solution10B that is to be injected into the plurality of the containers6, or may cause to be transferred an amount of the solution10B that is a predetermined amount larger than the amount of the solution10B that is to be injected into the plurality of the containers6.

With the container6or the syringe5being held, the second controller4B controls at least one of the robot2and the syringe driver3to inject the solution10B into the containers6using the syringe5.

For example, with the container6being held by the hand2B and with syringe5being held by the syringe driver3, the second controller4B may control the robot2and the syringe driver3to perform an injection operation of pulling and pressing the plunger5B of the syringe5so as to inject the solution10B into the containers6.

Alternatively or additionally, with both the container6and the syringe5being held by the hand2B, the second controller4B may control the robot2to perform the injection operation of pulling and pressing the plunger5B of the syringe5so as to inject the solution10B into the containers6.

Alternatively or additionally, with both the container6and the syringe5being held by the syringe driver3, the second controller4B may control the syringe driver3to perform the injection operation of pulling and pressing the plunger5B of the syringe5so as to inject the solution10B into the containers6.

Alternatively or additionally, with the container6being held by the syringe driver3and with the syringe5being held by the hand2B, the second controller4B may control the robot2and the syringe driver3to perform the injection operation of pulling and pressing the plunger5B of the syringe5so as to inject the solution10B into the containers6.

This configuration reduces the number of times to transfer the solution10B from the bag7into the syringe5, and shortens the time necessary to mix the medical/chemical substance10A and the solution10B together. Also, the above-described configuration eliminates the need for repeatedly inserting a needle5A of the syringe5into the bag7. This, in turn, eliminates or minimizes the possibility of damage to the lid of the bag7, and as a result, eliminates or minimizes a leakage of solution and eliminates or minimizes contamination.

The second controller4B may control at least one of the robot2and the syringe driver3to inject the solution10B into the plurality of the containers6in an order in which a container6, among the plurality of the containers6, into which a smaller amount of the solution10B to be injected is prioritized. This configuration improves the accuracy of injecting the solution10B into the plurality of the containers6.

The second controller4B may control at least one of the robot2and the syringe driver3to perform a plurality of injection operations of pulling and pressing the plunger5B of the syringe5with respect to one container6, so as to inject the solution10B into the plurality of the containers6. In each injection operation, after the plunger5B has been pulled, the plunger5B is pressed over the same distance as the distance over which the plunger5B has been pulled (or pressed over a distance shorter than the distance over which the plunger5B has been pulled), so as to inject the solution10B into the container6. This keeps the pressure inside the container6negative. Since the inside of the container6is kept negative, a negative-pressure-related technique can be used to inject the solution10B into the container6. This eliminates or minimizes a gush or leakage of (exposure to) a hazardous medical/chemical solution when the needle5A of the syringe5is pulled off the container6.

The second controller4B controls at least one of the robot2and the syringe driver3to increase the displacement of the plunger5B of the syringe5every time the injection operation is performed with respect to one container6.

For example, as illustrated inFIGS. 6A, 6B, 6C, 6D, and 6E, with the container6and the syringe5being held (seeFIG. 6A), the second controller4B controls at least one of the robot2and the syringe driver3to (1) pull the plunger5B by displacement X1 (seeFIG. 6B), (2) press the plunger5B by displacement X1 (or by a displacement smaller than displacement X1 by a predetermined amount) so as to inject the solution10B into the container6(seeFIG. 6C), (3) pull the plunger5B by displacement X2 (seeFIG. 6D), and (4) press the plunger5B by displacement X2 (or by a displacement smaller than displacement X2 by a predetermined amount) so as to inject the solution10B into the container6(seeFIG. 6E). Displacement X1 is smaller than displacement X2.

By pulling the plunger5B, air is allowed into the syringe5, and the air effects to prevent reduction of the amount of the solution10B injected into the container6by pressing the plunger5B once. This improves accuracy of the amount of the solution10B injected into the container6.

Based on medical/chemical substance information and introduction amount information obtained from an electronic chart managed by the electronic chart system200, the displacement determiner4C determines the displacement of the plunger5B on an every injection-operation basis. This configuration enables the plunger5B to perform an optimal injection operation to inject a suitable amount of the solution10B into the container6for the kind and introduction amount of the medical/chemical substance10A.

Specifically, the displacement determiner4C may determine the displacement of the plunger5B on an every injection-operation basis based on the number of injection operations performed by the plunger5B. The number of injection operations is related to the medical/chemical substance information and the introduction amount information included in the above-described electronic chart. This configuration enables the plunger5B to perform an optimal injection operation to inject a suitable amount of the solution10B into the container6without complicated processing. Also, the above-described configuration enables the number of injection operations performed by the plunger5B to be identified on an individual medical/chemical substance10A basis, and enables the displacement of the plunger5B to be determined on an every injection-operation basis based on the identified number of injection operations. This, as a result, enables a suitable amount of the solution10B to be injected into the container6.

The third controller4D controls the robot2to insert the needle5A of one syringe5into the container6having negative pressure inside before the solution10B is transferred from the bag7into the syringe5and when the syringe5contains air and is not fixed to the plunger5B (that is, when the plunger5B is freely movable relative to the syringe5).

This configuration causes the container6to inevitably take in the air contained in the syringe5until a balance is established between the level of the kinetic (or dynamic) friction of the plunger5B relative to the syringe5and the level of the negative pressure inside the container6. This keeps the negative pressure approximately coherent throughout the plurality of the containers6. This, as a result, improves the accuracy of injecting the solution10B into the plurality of the containers6.

The third controller4D may determine whether each container6has negative pressure inside the container6based on the medical/chemical substance information and the introduction amount information obtained from the electronic chart managed by the electronic chart system200.

Method for Preparing Medical/Chemical Solution

By referring toFIG. 7, description will be made with regard to an exemplary method for preparing a medical/chemical solution performed by the controller4using the robot2and the syringe driver3. The method according to this embodiment for preparing a medical/chemical solution is a method for mixing the medical/chemical substance10A and the solution10B together. More specifically, the method according to this embodiment for preparing a medical/chemical solution includes injecting the solution10B into the plurality of the containers6with the medical/chemical substance10A sealed in each container6, so as to mix the medical/chemical substance10A and the solution10B together.

As illustrated inFIG. 7, at step S101, the controller4controls the robot2to insert the needle5A of the syringe5into the container6having negative pressure inside the container6. Specifically, the controller4controls the robot2not to insert the needle5A of the syringe5into the container6if the container6does not have negative pressure inside the container6.

At step S102, the controller4controls at least one of the robot2and the syringe driver3to transfer, from the bag7into the syringe5, an amount of the solution10B that is to be injected into the plurality of the containers6.

At step S103, the controller4determines the displacement of the plunger5B on an every injection-operation basis. For example, the controller4may determine the displacement of the plunger5B on an every injection-operation basis based on the medical/chemical substance information and the introduction amount information obtained from the electronic chart.

At step S104, the controller4controls at least one of the robot2and the syringe driver3to perform the injection operation of the plunger5of the syringe5so as to inject the solution10B into the plurality of the containers6.

The medical/chemical solution preparation system1according to this embodiment and the method according to this embodiment for preparing a medical/chemical solution shorten the time necessary to mix the medical/chemical substance10A and the solution10B together.

Obviously, numerous modifications and variations of the present disclosure are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the present disclosure may be practiced otherwise than as specifically described herein.