WO2019210547A1 - Medicine pumping method based on dispensing robot and dispensing robot - Google Patents

Abstract

Disclosed are a medicine pumping method based on a dispensing robot and the dispensing robot. The method comprises: pumping medicine into a dispensing container and obtaining a first real-time medicine weight in the dispensing container after the N-1 bottles of medicine have been pumped, wherein N is the number of bottles of medicine required for dispensing, and N is a natural number greater than or equal to 1; and obtaining a target medicine weight for dispensing, calculating a first weight difference between the target medicine weight and the first real-time medicine weight, and pumping the medicine corresponding to the first weight difference from the Nth bottle of medicine into the dispensing container. In the present invention, by means of weighing the dispensing container before pumping the last bottle of medicine, and injecting the corresponding medicine into the dispensing container in accordance with the amount to be pumped without weighing each bottle of medicine, thereby the number of weighing is reduced and the precision of medicine dispensing is improved.

Description

Medicine pumping method based on dispensing robot and dispensing robot Technical field

The invention relates to the field of dispensing robots, in particular to a medicine pumping method based on a dispensing robot and a dispensing robot.

Background technique

In the existing dispensing field, the finished product needs to be weighed in the dispensing process to ensure that the finished drug product matches the drug in the prescription. However, the prior art dispensing robot can only weigh a single bottle of the drug, and then repeatedly weigh the dispensing container, and proofread according to the final result and the dose required by the prescription. Or the dispensing robot can not carry out the weighing of the finished product inside the equipment, and manually weighs the equipment before the equipment is prepared. After the equipment is prepared, the finished product is weighed manually. In the prior art, if the dispensing robot requires multiple bottles of medicine for dispensing, it is necessary to repeatedly weigh the medicine and the dispensing container, which requires a large amount of dispensing time, and the medicine dispensing efficiency is low.

Therefore, the prior art has yet to be improved and developed.

Summary of the invention

In view of the above-mentioned deficiencies of the prior art, an object of the present invention is to provide a drug aspirating method and a dispensing robot based on a dispensing robot, which aim to solve the problem of a large amount of dispensing time during weighing of a plurality of bottles of drugs in the prior art.

The technical solution of the present invention is as follows:

A medicine pumping method based on a dispensing robot, which is applied to dispensing a medicine container, wherein the method comprises:

The medicine is sucked into the dispensing container, and after the N-1 bottle of medicine is sucked, the first real-time medicine weight in the dispensing container is obtained, wherein N is the number of medicine bottles required for dispensing, and N is a natural number greater than or equal to 1;

Obtaining the target drug weight of the medicine, calculating a first weight difference between the weight of the target medicine and the weight of the first real-time medicine, and sucking the medicine corresponding to the first weight difference from the medicine of the Nth bottle to the dispensing container.

The pharmaceutical robot-based drug aspirating method, wherein the target drug weight of the drug is obtained, the first weight difference between the target drug weight and the first real-time drug weight is calculated, and the first weight difference is sucked from the Nth bottle drug. After the value corresponds to the drug to the dispensing container, including;

Obtaining a second real-time drug weight in the dispensing container, determining whether the target drug weight and the second real-time drug weight are within a predetermined accuracy range, and if within a predetermined accuracy range, stopping the pumping to complete the dispensing.

The pharmaceutical robot-based drug aspirating method, wherein the obtaining a second real-time drug weight in the dispensing container determines whether the target drug weight and the second real-time drug weight are within a predetermined accuracy range, if the predetermined accuracy is Within the scope, stop pumping and complete the dispensing, including:

If the predetermined accuracy range is not reached, the corresponding drug is aspirated from the Nth drug bottle to the dispensing container according to the second weight difference between the target drug weight and the second real drug weight until a predetermined accuracy range is reached.

The medicine robot-based medicine suction method, wherein the medicine is sucked into a medicine container, and after the N-1 bottle medicine is sucked, the first real-time medicine weight in the medicine container is obtained, including:

The pharmaceutical container is weighed in advance, and the weight of the dispensing container is obtained, which is recorded as the weight of the first dispensing container;

The medicine is sucked into the dispensing container, and after the N-1 bottle of medicine is sucked, the dispensing container is again weighed to obtain the current weight of the dispensing container, which is recorded as the weight of the second dispensing container;

The first real-time drug weight in the dispensing container is calculated based on the weight of the first dispensing container and the weight of the second dispensing container.

The medicine robot-based medicine suction method, wherein the obtaining the second real-time medicine weight in the medicine container comprises:

Re-weighing the dispensing container to obtain the current weight of the dispensing container, which is recorded as the weight of the third dispensing container;

Calculating according to the weight of the third dispensing container and the weight of the first dispensing container, the second real-time drug weight in the dispensing container is obtained according to the calculation result.

The pharmaceutical robot-based medicine aspirating method, wherein the medicine is sucked into the medicine container, and after the N-1 bottle medicine is sucked, the first real-time medicine weight in the medicine container is obtained, and the method further includes:

Obtaining a target drug weight of the drug, and calculating a first weight difference between the weight of the target drug and the weight of the first real-time drug;

Obtaining the weight of the Nth bottle medicine, if the first weight difference is greater than the weight of the Nth bottle medicine, calculating a third weight difference between the first weight difference and the weight of the Nth bottle medicine;

After the Nth bottle of the drug is completely aspirated into the dispensing container, a third weight difference is drawn from the N+1th bottle of the drug to the dispensing container.

The medicine robot-based medicine pumping method, wherein the liquid medicine or the powder medicine which is pre-configured as a liquid through a solvent.

The pharmaceutical robot-based drug aspirating method, wherein the obtaining a second real-time drug weight in the dispensing container determines whether the target drug weight and the second real-time drug weight are within a predetermined accuracy range, if the predetermined accuracy is Within the range, stop pumping and complete the dispensing, including:

Obtaining the target drug weight B1 and the second real-time drug weight B;

Calculating a ratio L of the second real-time drug weight B to the target drug weight B1, L=(B/B1)*100%;

If the ratio L is within a preset ratio range, it is determined that the target drug weight and the second real-time drug weight are within a predetermined accuracy range.

A dispensing robot, comprising a weighing module, wherein:

At least one processor; and,

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the pharmaceutical robot based drug aspiration method described above.

A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer-executable instructions that, when executed by one or more processors, The one or more processors are caused to perform the pharmaceutical robot-based drug aspiration method described above.

Advantageous Effects: The present invention is directed to the defects existing in the prior art. When it is required to pump a medicament from a plurality of bottles of medicament, the weighing of the dispensing container is performed before the final bottle is aspirated, and the last bottle of medicine is calculated. The dose drawn in the bottle is extracted from the last bottle of the drug according to the dose, so that each bottle of the drug is not required to be weighed each time the drug is sucked from the vial, thereby reducing the number of weighings and improving the number of weighings. The accuracy of drug dispensing.

DRAWINGS

1 is a schematic flow chart of a preferred embodiment of a drug dispensing method based on a dispensing robot of the present invention.

2 is a schematic diagram showing the hardware structure of a preferred embodiment of the dispensing robot of the present invention.

detailed description

In order to make the objects, technical solutions and effects of the present invention more clear and clear, the present invention will be further described in detail below. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the prior art, when a quantitative drug is required to be injected into a dispensing container during the dispensing process, and the quantitative drug is a multi-bottle drug, after the bottle of the drug needs to be placed, the dispensing container is weighed once, and the whole process needs to be weighed multiple times. The dispensing time is extended and the dispensing efficiency is low. The quantitative drugs refer to the same drug. In order to overcome this drawback, an embodiment of the present invention provides a medicine pumping method based on a dispensing robot, which is used to suck a medicine into a dispensing container by acquiring the number of medicine bottles to be injected into the dispensing container and the weight of the target medicine. Before pumping to the last bottle, calculating the weight of the first real-time drug added in the dispensing container, obtaining the first weight difference between the weight of the target drug and the weight of the first real-time drug, and sucking the first weight from the last bottle of the drug The difference corresponds to the drug to the dispensing container. The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Please refer to FIG. 1. FIG. 1 is a schematic flow chart of a preferred method for dispensing a medicine based on a dispensing robot according to the present invention. The medicine suction method in the embodiment of the present invention is applied to dispensing a medicine container, as shown in FIG. 1 . As shown, the method includes:

Step S100, pumping the medicine into the dispensing container, and after pumping the N-1 bottle of medicine, obtaining the first real-time medicine weight in the dispensing container;

Step S200: Obtain a target drug weight of the medicine, calculate a first weight difference between the weight of the target medicine and the weight of the first real-time medicine, and suck the medicine corresponding to the first weight difference from the medicine of the Nth bottle to the dispensing container.

In the specific implementation, the dispensing robot acquires the prescription information of the doctor and dispenses the medicine according to the information of the prescription. Pharmaceutical containers include, but are not limited to, vehicle bags. The method for obtaining the prescription information is prior art, and details are not described herein again. When it is detected that a certain prescription requires a plurality of bottles of medicine, for example, N bottles of medicine are required for formulation, and N is a natural number greater than 1 or equal to 1. When N is 1, it is only necessary to take the medicine from the current bottle. If N is a natural number greater than 1, N may be 2, 3, 4, 5, and the like. The dispensing robot picks up the corresponding medicine from the prescription, and draws the liquid medicine from the medicine bottle through a medicine suction device such as a steel needle, and injects it into the medicine container. After the N-1 bottle of the drug is aspirated, the weight of the drug injected into the dispensing container is obtained and recorded as the weight of the first drug.

The target drug weight of the prescription prescribed in the prescription is obtained, and the difference between the weight of the target drug and the weight of the first real-time drug is calculated, and is recorded as the first weight difference. The first weight difference is the dose of the drug that still needs to be aspirated from the vial. Then, a dose of the drug having the first weight difference is sucked from the Nth bottle of the drug into the dispensing container.

Further, after step S200, the method further includes: acquiring a second real-time drug weight in the dispensing container, determining whether the target drug weight and the second real-time drug weight are within a predetermined accuracy range, and stopping the suction if within a predetermined accuracy range , complete the dispensing.

In the specific implementation, since a plurality of bottles of medicine may have a loss during the suction process, it is necessary to check the weight of the medicine in the dispensing container at this time, and the weight of the medicine at the time in the dispensing container is recorded as the weight of the second real-time medicine. The weight of the target drug and the weight of the second real-time drug are calculated within a predetermined accuracy range. If the predetermined accuracy range is reached, the weight of the pumped drug can be directly used, and the pumping is stopped to complete the dispensing. The predetermined accuracy range can be set in advance by the user. For example, the predetermined accuracy range may mean that the ratio of the target drug weight to the second real-time drug weight is within a predetermined ratio range.

It can be seen from the above embodiments that the present embodiment is directed to the defects of the prior art, and the weighing of the dispensing container before the last bottle of the aspirating vial is removed, and the dose is quantitatively pumped according to the prescription, and then the dispensing container is performed after the pumping is completed. Weighing, we do not need to weigh each bottle of medicine, which reduces the number of weighing and improves the accuracy of drug dispensing.

Further, after obtaining the second real-time drug weight in the dispensing container, and calculating the second weight difference between the target drug weight and the second real-time drug weight, the method further includes:

If the predetermined accuracy range is not reached, the corresponding drug is aspirated from the Nth drug bottle to the dispensing container according to the second weight difference between the target drug weight and the second real drug weight until a predetermined accuracy range is reached.

In a specific implementation, when the loss in the weighing process of the medicine is large, the weight of the target medicine and the weight of the second real-time medicine are not within a predetermined precision range, and the second weight difference between the weight of the target medicine and the weight of the second real-time medicine is calculated. At the same time, the drug is injected into the dispensing container from the last bottle of the drug, and the dose of the aspirating agent is the second weight difference. After the pumping is completed, it is determined whether the current drug weight and the target drug weight in the dispensing container are predetermined. Within the accuracy range, if yes, the suction is completed, if not, the above steps of pumping the medicament to the dispensing container and weighing are repeated until the target drug weight and the second real-time drug weight reach a predetermined accuracy range.

Further, step S100 specifically includes:

The pharmaceutical container is weighed in advance, and the weight of the dispensing container is obtained, which is recorded as the weight of the first dispensing container;

The medicine is sucked into the dispensing container, and after the N-1 bottle of medicine is sucked, the dispensing container is again weighed to obtain the current weight of the dispensing container, which is recorded as the weight of the second dispensing container;

The first real-time drug weight in the dispensing container is calculated based on the weight of the first dispensing container and the weight of the second dispensing container.

In a specific implementation, the weight of the first real-time drug in the dispensing container can be obtained by weighing the dispensing container twice. Before the medicine is not injected into the dispensing container, the dispensing container is weighed to obtain the original weight of the dispensing container, which is recorded as the first The weight of the dispensing container; when the N-1 bottle of the drug is injected into the dispensing container, it is weighed again to obtain the current weight of the dispensing container, which is recorded as the weight of the second dispensing container. Calculating the difference between the weight of the second dispensing container and the weight of the first dispensing container, the difference is the weight of the drug in the dispensing container at this time, and is recorded as the first real-time drug weight.

Further, the obtaining the second real-time drug weight in the dispensing container in step S300 specifically includes:

After weighing the dispensing container again, obtaining the current weight of the dispensing container, which is recorded as the weight of the third dispensing container;

Calculating according to the weight of the third dispensing container and the weight of the first dispensing container, the second real-time drug weight in the dispensing container is obtained according to the calculation result.

In a specific implementation, when the medicine to be dispensed from the last bottle is injected into the dispensing container, the dispensing container is weighed again, and the current weight of the dispensing container at this time is obtained, which is recorded as the weight of the third dispensing container. The difference between the weight of the third dispensing container and the weight of the first dispensing container is obtained, and the difference is the weight of the medicine in the current dispensing container, which is recorded as the second real-time medicine weight.

In further embodiments, the drug is a liquid drug or a powder drug that has been pre-configured as a liquid via a solvent. The specific preparation method of the powder medicine which is pre-configured as a liquid through a solvent is:

The solvent is sucked from the dispensing container in advance and injected into the N bottle of the powder medicine bottle.

In a specific implementation, the medicine in the embodiment of the invention is a powder medicine or a water medicine. The powder medicine is generally a vial powder, and the water medicine is a Xilin bottle water agent or an ampoule water agent. When the medicine is a powder medicine, the first time the medicine container is weighed to obtain N1. Taking the vial powder as an example, the solvent needs to be extracted from the medicine container in advance, and then injected into the vial powder (to dissolve the powder medicine). At this time, the pharmaceutical container is further weighed to obtain N2, and the total liquid injection amount is Y1=N1-N2. Among them, the ratio of the powder medicine to the solvent in the N bottle powder medicine bottle is the same, and the weight of the target medicine is also the liquid powder medicine after preparation. The subsequent steps are the same as the treatment of the liquid medicine, and are specifically illustrated in the following examples.

In a specific embodiment, the second real-time drug weight in the dispensing container is obtained, and it is determined whether the target drug weight and the second real-time drug weight are within a predetermined accuracy range, and if the predetermined precision range is within, the suction is stopped. Complete dispensing, including:

Obtaining the target drug weight B1 and the second real-time drug weight B;

Calculating a ratio L of the second real-time drug weight B to the target drug weight B1, L=(B/B1)*100%;

If the ratio L is within a preset ratio range, it is determined that the target drug weight and the second real-time drug weight are within a predetermined accuracy range.

In a specific implementation, if the ratio of the second real-time drug weight B to the target drug weight B1 is within a preset ratio range, it is determined that the target drug weight and the second real-time drug weight are within a predetermined accuracy range. The preset ratio L ranges from 95% to 105%. In the actual situation, if the ratio of the second real-time drug B to the target drug weight B1 is greater than 105%, it indicates that the proportion of the drug is too large, the dispensing fails, and the drug is directly discarded. After the dispensing fails, the prescription can be re-dosed according to the prescription or the dispensing failure reminder is sent to the control terminal.

In some other embodiments, step S200 further includes: obtaining a target drug weight of the drug, and calculating a first weight difference between the target drug weight and the first real-time drug weight;

Obtaining the weight of the Nth bottle medicine, if the first weight difference is greater than the weight of the Nth bottle medicine, calculating a third weight difference between the first weight difference and the weight of the Nth bottle medicine;

After the Nth bottle of the drug is completely aspirated into the dispensing container, a third weight difference is drawn from the N+1th bottle of the drug to the dispensing container.

In a specific implementation, obtaining the target drug weight of the medicine, calculating a first weight difference between the weight of the target medicine and the weight of the first real-time medicine, obtaining the weight of the medicine of the Nth bottle, and determining whether the first weight difference is greater than the weight of the medicine of the Nth bottle If it is less than, the first weight difference is directly extracted from the Nth bottle medicine. If it is greater than, the difference between the first weight difference and the weight of the Nth bottle medicine is calculated, and the third weight difference is recorded, After the Nth bottle of drug is completely pumped to the dispensing container, a third weight difference is drawn from the N+1 bottle of the drug to the dispensing container.

The present invention also provides a specific embodiment for explaining the above embodiment, wherein the medicine to be aspirated is a liquid medicine, and the medicine container is a solvent bag as an example. The specific pumping steps are as follows:

1. It is assumed that the target drug weight B1, B1=9.5g needs to be extracted, and the net content of the liquid medicine of each liquid medicine bottle is 1g, then it is necessary to extract the liquid medicine from 10 bottles of water medicine bottle, N=10 ;

2. Weigh the solvent bag before pumping to obtain the original weight of the solvent bag N1, N1=100g;

3. The medicine that needs to be quantitatively sucked by the software program of the dispensing robot is the last formulated medicine in the prescription;

4. Before pumping to the last bottle of medicine, re-weigh the solvent bag to obtain the weight N2, N2=109g, that is, 9 bottles (N-1=9) of the liquid medicine have been drawn at this time (for the extraction The first N-1 bottles of medicine are all pumped, the last bottle of medicine is quantitative suction, the powder medicine is treated the same);

5. Calculate the first real-time drug weight B2 that has been pumped in the current solvent bag, B2=N2-N1=109-100=9g;

6. Calculate the dose of the pumping required for the last bottle of quantitatively pumping the drug B3=B1-B2=9.5-9=0.5g;

7. Pumping the last metered dose vial according to the calculated dose B3 required for aspiration, that is, it is necessary to quantitatively pump 0.5g of the liquid medicine in the 10th bottle;

8. After the suction, the solvent bag is weighed again to obtain N3=109.3g;

9. If the [(N3-N1)/(B1)]*100% is within the preset ratio range, the predetermined ratio is 95%-105%; then the pumping is stopped, the dispensing is completed, if it is not preset Within the proportion range, enter 10 steps; specifically, [(N3-N1)/(B1)]*100%=[(109.3-100)/(9.5)]*100%=97.89%, in the preset ratio Within the range, no longer pumping, complete the dispensing.

10. If it is not within the preset ratio range, calculate the amount of suction required B4=B1-(N3-N1), and then proceed to step 7.

The present invention also provides another embodiment for explaining the above embodiment, wherein the medicine to be aspirated is a powder medicine (packed with a Xilin powder bottle), and the medicine container is a solvent bag as an example. The specific pumping steps are as follows:

1. The total dose required for this prescription is B1', which refers to the powder medicine that has been formulated into a liquid preparation, B1' = 9.5g, wherein the net content of each Xilin powder bottle is 1g, then it is required Extracting powder medicines that have been formulated into a liquid preparation from 10 bottles of Xilin powder bottles, N=10;

2. The solvent bag is first weighed before the injection to obtain the original weight N1' of the solvent bag, N1' = 100g;

3. The solvent is taken from the solvent bag, and then the Xilin powder bottle is injected. At this time, the solvent bag is weighed a second time to obtain the weight N2', N2' = 90 g after the solvent bag is injected;

4. Calculate the total amount of liquid injection as Y1=N1'-N2'=100-90=10g;

5. Set up a software program to quantify the drug as the last formulated drug;

6. Before the last drug is pumped, carry out the third weighing of the solvent bag to obtain the weight N3'=99g;

7. Calculate the weight of the currently pumped drug (the powdered drug that has been formulated into a liquid) B2'=N3'-N2'=99g-90g=9g;

8. Calculate the dose B3'=B1'-B2'=9.5-9=0.5g that needs to be pumped in the last bottle of the quantitative aspirating vial;

9. According to the calculated amount of suction required, the last quantitative suction bottle is pumped, that is, it is necessary to quantitatively pump 0.5g of powder medicine (the powder medicine which has been formulated into a liquid medicine) in the 10th bottle. ;

10. After the aspiration, the solvent bag is weighed to obtain N4', N4' = 99.45 g;

11. If the [(N4'-N2')/(B1')]*100% is within the preset ratio range, then stop the pumping and complete the dispensing. If it is not within the ratio, proceed to step 12; The ratio ranges from 95% to 105%, in this example [(N4'-N2')/(B1')]*100%=[(99.45-90)/9.5]*100%=99.47%, in the pre- Within the proportion range, no more suction is required to complete the dispensing.

12. If it is not within the preset ratio range, the amount of suction B4' = B1' - (N4' - N2') is calculated, and then the ninth step is entered. The drug is then aspirated from the last bottle of drug, and step 11 is repeated until the weight of the drug in the vehicle bag is within a predetermined ratio.

Based on the drug dispensing method based on the drug dispensing robot described above, the present invention also provides a dispensing robot 10, as shown in FIG. 2, the dispensing robot 10 includes:

One or more of the processor 110 and the memory 120 are described by taking a processor 110 as an example in FIG. 2. The processor 110 and the memory 120 may be connected by a bus or other means, and the bus connection is taken as an example in FIG.

The processor 110 is configured to complete various control logics of the smart terminal 10, which may be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single chip microcomputer, and an ARM ( Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, processor 110 can be any conventional processor, microprocessor or state machine. Processor 110 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The memory 120 is a non-volatile computer readable storage medium that can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as pharmaceutical robot-based drug suction in embodiments of the present invention. The program instructions corresponding to the method. The processor 110 executes various functional applications and data processing of the smart terminal 10 by executing non-volatile software programs, instructions, and units stored in the memory 120, that is, implementing the dispensing robot-based medicine pumping in the above method embodiments. Suction method.

The memory 120 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the smart terminal 10, and the like. Moreover, memory 120 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 120 can optionally include memory remotely located relative to processor 110, which can be connected to smart terminal 10 over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

One or more units are stored in the memory 120, and when executed by the one or more processors 110, perform a dispensing robot based drug aspiration method in any of the above method embodiments, for example, performing the above described FIG. Method step S100 to step S200.

The intelligent terminal 10 can execute the drug dispensing method based on the dispensing robot provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the performing method. For a technical detail that is not described in detail in the embodiment of the smart terminal 10, reference may be made to the drug dispensing method based on the dispensing robot provided by the embodiment of the present invention.

Embodiments of the present invention provide a non-transitory computer readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, to perform the above described Method step S100 to step S200 in FIG.

Another embodiment of the present invention provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by the processor And causing the processor to execute the address data matching method of the foregoing method embodiment. For example, the method steps S100 to S200 in Fig. 1 described above are performed.

In summary, the present invention is directed to the deficiencies of the prior art.

It is to be understood that the application of the present invention is not limited to the examples described above, and those skilled in the art can make modifications and changes in accordance with the above description, all of which are within the scope of the appended claims.

Claims (10)

A medicine suction method based on a dispensing robot, characterized in that the method comprises: The medicine is sucked into the dispensing container, and after the N-1 bottle of medicine is sucked, the first real-time medicine weight in the dispensing container is obtained, wherein N is the number of medicine bottles required for dispensing, and N is a natural number greater than or equal to 1; Obtaining the target drug weight of the medicine, calculating a first weight difference between the weight of the target medicine and the weight of the first real-time medicine, and sucking the medicine corresponding to the first weight difference from the medicine of the Nth bottle to the dispensing container. The pharmaceutical robot-based medicine aspirating method according to claim 1, wherein the weight of the target medicine for dispensing the medicine is calculated, and the first weight difference between the weight of the target medicine and the weight of the first real-time medicine is calculated, from the Nth bottle. After the medicine corresponding to the first weight difference is sucked into the medicine container, the method includes: Obtaining a second real-time drug weight in the dispensing container, determining whether the target drug weight and the second real-time drug weight are within a predetermined accuracy range, and if within a predetermined accuracy range, stopping the pumping to complete the dispensing. The medicine robot-based medicine suction method according to claim 2, wherein the obtaining the second real-time medicine weight in the medicine container, determining whether the target medicine weight and the second real-time medicine weight are within a predetermined precision range If it is within the predetermined accuracy range, stop pumping and complete the dispensing, including: If the predetermined accuracy range is not reached, the corresponding drug is aspirated from the Nth drug bottle to the dispensing container according to the second weight difference between the target drug weight and the second real drug weight until a predetermined accuracy range is reached. The medicine robot-based medicine suction method according to claim 1, wherein the medicine is sucked into the medicine container, and after the N-1 bottle medicine is sucked, the first real-time medicine in the medicine container is obtained. Weight, including: The pharmaceutical container is weighed in advance, and the weight of the dispensing container is obtained, which is recorded as the weight of the first dispensing container; The medicine is sucked into the dispensing container, and after the N-1 bottle of medicine is sucked, the dispensing container is again weighed to obtain the current weight of the dispensing container, which is recorded as the weight of the second dispensing container; The first real-time drug weight in the dispensing container is calculated based on the weight of the first dispensing container and the weight of the second dispensing container. The medicine robot-based medicine suction method according to claim 2, wherein the obtaining the second real-time medicine weight in the medicine container comprises: Re-weighing the dispensing container to obtain the current weight of the dispensing container, which is recorded as the weight of the third dispensing container; Calculating according to the weight of the third dispensing container and the weight of the first dispensing container, the second real-time drug weight in the dispensing container is obtained according to the calculation result. The medicine robot-based medicine suction method according to claim 1, wherein the medicine is sucked into the medicine container, and after the N-1 bottle medicine is sucked, the first real-time medicine in the medicine container is obtained. After the weight, it also includes: Obtaining a target drug weight of the drug, and calculating a first weight difference between the weight of the target drug and the weight of the first real-time drug; Obtaining the weight of the Nth bottle medicine, if the first weight difference is greater than the weight of the Nth bottle medicine, calculating a third weight difference between the first weight difference and the weight of the Nth bottle medicine; After the Nth bottle of the drug is completely aspirated into the dispensing container, a third weight difference is drawn from the N+1th bottle of the drug to the dispensing container. The medicine robot-based medicine suction method according to any one of claims 1 to 6, wherein the medicine is a liquid medicine or a powder medicine which is preliminarily configured as a liquid through a solvent. The medicine robot-based medicine suction method according to claim 2, wherein the obtaining the second real-time medicine weight in the medicine container, determining whether the target medicine weight and the second real-time medicine weight are within a predetermined precision range If it is within the predetermined accuracy range, stop pumping and complete the dispensing, including: Obtaining the target drug weight B1 and the second real-time drug weight B; Calculating a ratio L of the second real-time drug weight B to the target drug weight B1, L=(B/B1)*100%; If the ratio L is within a preset ratio range, it is determined that the target drug weight and the second real-time drug weight are within a predetermined accuracy range. A dispensing robot, characterized in that it comprises: At least one processor; and, a memory communicatively coupled to the at least one processor; wherein The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any of claims 1-8 A drug aspiration method based on a dispensing robot. A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer-executable instructions that, when executed by one or more processors, The one or more processors are caused to perform the dispensing robot-based drug aspiration method of any of claims 1-8.

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