Design And Implementation Of Pharmacy Robot

Currently the preparation of the infusion drugs is generally done with manualextraction method by medical staffs in the injection room or ward treatment room.However, the medical staff involved in the preparation of chemotherapy drugs andother toxic drugs would be in contact with these drugs, face with the serious injuryof health and even the risk of cancer. Therefore, it is necessary to develop a set ofautomated medical toxic drug preparation equipment. It is safe, efficient, and cancompletely replace the manual operation. Pharmacy robot reduces the requirementsof medical staff, especially it extends the ability of the medical staff so that theoriginal time-consuming arduous and dangerous drug preparation work can becompleted safely and quickly.The process of artificial pharmacy is analyzed, and the key actions of liquidpreparation are introduced. The robot function modules are given. Then, sometechnical requirements are proposed for the design of robot. Finally, the robotoverall design scheme is putforward according to the pharmacy robot workingprinciple.The mechanical transmission design is introduced. And the key structures,including handling module, liquid injection module and bottle sterilezer and openingmodule, are designed. The motion freedom of each functional module is laid out andmajor parts of the design are selected in detail. The static analysis of robot keycomponents are done to ensure the safety and reliability of pharmacy robot.Based on digital image processing technique, bottle critical dimensionmeasurement algorithm is studied. Accurate positioning guide methods are providedfor manipulator’s ripping and gripping. The research work includes systemcalibration, image preprocessing, edge detection. For bottle contour features, bottlebottleneck position detection and key size measurement algorithms are realized.Based on PCI communication centralized control, robot control system isdesigned. The hardware platform is set up on the PC machine, motion control cardsand so on. For robot homing process avoid to collisions, the robot absolute positioncontrol method is adopted and software implementation are realized. Theexperiments are carried out on the automation liquid preparation robot controlsystem platform.