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Conducting high-quality nursing practice for patients in infusion room at medical facilities is an essential medical issue nowadays. To this purpose, this paper proposes a framework for smart infusion auxiliary service system with ZigBee wireless network. The framework is mainly composed of three components: a master service platform; multiple independents control platforms; and a wheeled robot. When entering an infusion room, each patient will hold a radio frequency identification card and be assigned a seat accordingly. Each seat is equipped with an independent control platform. With the independent control platform, a patient is able to send various service requests to the master service platform, as well as control the instruments around him. Upon receiving the patients' requests, the master service platform will broadcast and display users' demands. Meanwhile, the independent control platform will update the task schedule. The wheeled robot is used to deliver goods requested by the patients and achieve accurate parking using bang bang control. All of the components are connected through the ZigBee wireless network, which is stable and reliable.