Reagent transfer system for use in an automated analyzer

Abstract

Reagent transfer system for an automated analyzer (103), comprising: a reagent storage (107) which stores a plurality of reagents used in the automatic analyzer, a reagent handling area (102) which receives information about the remaining amounts of a reagent held in the automatic analyzer and handles the reagents; and a drone (101) which moves in a lower space around the automatic analyzer, has a holding mechanism for holding a reagent and can thus transfer the reagent; wherein the reagent handling section judges, based on the information on the remaining reagent amounts, whether the automatic analyzer needs to be supplied with a reagent or not, and wherein, when the reagent handling section judges that the automatic analyzer needs to be supplied with a reagent, the reagent handling section issues a reagent transfer command to the drone and transmits a reagent unloading command to the reagent storage, and wherein the drone receives the reagent stored in the reagent storage and transfers the reagent to the automatic analyzer according to the reagent transfer command, wherein the drone has an accelerometer, determines the current position coordinates by calculating coordinates with the accelerometer and follows a predetermined flight path that runs under the floor (1400) of an examination room in which the automatic analyzer is installed, and wherein a passage (1401, 1402) for the drone is formed in the floor of the examination room in which the automatic analyzer is installed.

Description

Technical background

[0001] The present invention relates to a reagent transfer system for use in an analytical instrument for clinical examinations, in particular for an automated analytical instrument that measures a component of a sample, such as blood, using a reagent.

[0002] Traditionally, an automated analyzer is used to measure a component of a sample, such as blood, using a liquid reagent. Such an analyzer uses a reagent as a consumable, so the reagent must be refilled after the measurement. Since the automated analyzer is filled with multiple types of reagents, the refilling process is time-consuming.

[0003] To date, various techniques have been developed to reduce the time and labor required to refill reagents.

[0004] A technique for an automated analyzer that automatically identifies a refilled reagent cassette and saves time and labor in checking a reagent type and refill location is described in Japanese Unexamined Patent Application No. 2005-121492.

[0005] Furthermore, Japanese Unexamined Patent Application No. Hei 4 (1992)-36658 describes a technique in which a reagent inlet and an automatic transfer mechanism are provided in an automatic analyzer, which enables reagent replenishment while the analyzer is in operation, eliminating the need to stop the analyzer for reagent replenishment.

[0006] A chemical processing plant whose stations are serviced by drones is disclosed in WO 2017 / 072351 A2. Level measuring devices for reagent and sample containers in automated analytical devices are discussed in US 4,818,492 A. The use of drones in chemical production and refinery plants is disclosed in US 2016 0214715 A1. Summary of the invention

[0007] According to the state of the art, measures are described to carry out a simple refilling with reagent in a single automated analyzer.

[0008] However, this process is performed manually to confirm the type and other details of a reagent that the analyzer needs to be filled with, and to transport and load the reagent in a manner appropriate for the analyzer. Automating these processes has proven difficult and time-consuming.

[0009] The reagents used in an automated analyzer are primarily contained in one type of cassette, although various other types are also possible. This poses a technical problem in that numerous cassette shapes must be processed to transport a sample via a transfer line. Furthermore, since a transfer line is required for a reagent, this transfer line represents one of the factors that complicates the downsizing of an automated analyzer.

[0010] Furthermore, the design of a reagent transfer line must be changed for each service area, and the movement of operators in an examination room is restricted by the reagent transfer line and the work effectiveness of an operator or the like is occasionally reduced.

[0011] An object of the present invention is to provide a reagent transfer system for use in an automated analyzer, in which a reagent can be moved and transferred in lower spaces around the automated analyzer; adaptation to various reagent cassette shapes is possible; and miniaturization of the automated analyzer is possible.

[0012] To achieve the above object, the invention provides the reagent transfer system defined in claim 1 for an automated analyzer. Further advantageous embodiments are described in the dependent claims.

[0013] According to the invention, there is provided a reagent transfer system for use in an automated analyzer, which has the following characteristics: it can move and transfer a reagent in lower spaces around the automated analyzer; it is applicable to various reagent cassette shapes; and it enables miniaturization of the automated analyzer. Short description of the drawings Fig. 1 schematically shows the structure of an automatic analyzer in which a reagent transfer system according to the first embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, is used. Fig. 2 shows the operation sequence when filling (feeding) with reagent according to the first embodiment. Fig. 3 explains reagent storage procedures. Fig. 4 shows a state where a drone is waiting at a docking point. Fig. 5 explains how a drone flies. Fig. 6 explains a method for positioning a drone. Fig. 7 explains a method for holding a reagent cassette by a drone. Fig. Figure 8 explains a method for loading a reagent cassette using a drone. Fig. 9 explains a method for loading a reagent cassette into an automated analyzer having a built-in reagent transfer mechanism using a drone. Fig. 10 illustrates a method for loading an automated analyzer having a built-in reagent transfer mechanism, assuming operation by means of a drone with a reagent cassette. Fig. 11 explains a method for disposing of an unused reagent cassette using a drone. Fig. 12 explains the information exchange among the components according to the first embodiment. Fig. 13A shows an example of forming a plurality of holes on the upper surface of a reagent cartridge. Fig. 13B schematically illustrates the arresting mechanism installed in a drone according to the second embodiment. Fig. 14 shows an example of a support device for a guide rail with a guide rail support on the ceiling of an examination room and for the movement of a drone held by the guide rail of the tenth embodiment. Fig. 15 shows a guide rail held on the ceiling of an examination room according to the tenth embodiment. Fig. 16 explains safety measures during flight of a drone according to the eleventh embodiment. Fig. 17 shows safety measures during the flight of a drone according to the twelfth embodiment. Detailed description

[0014] Embodiments are explained below as examples useful for understanding the invention or as embodiments of the invention with reference to the drawings. EmbodimentsFirst embodiment

[0015] Fig. 1 shows the schematic structure of an automatic analyzer to which a reagent transfer system according to the first embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, is applied.

[0016] According to Fig. 1, a reagent transfer system according to the first embodiment includes: a drone (transport aircraft) 101 that acts as an air transport system; a reagent handling system (reagent handling section) 102 that controls the reagent transfer system; an automatic analyzer 103; a reagent storage 107 that stores a plurality of reagent cassettes 104 for loading operations; a transfer point (reagent cassette receiving section) 108 for transferring the reagent cassettes 104 to the drone 101; and a docking point 110, a waiting location for the drone 101. A reagent is stored in a reagent cassette 104. The drone 101 can hold the reagent by holding a reagent cassette 104.

[0017] The reagent handling system 102 receives information 105 about the remaining reagent amounts transmitted from the automated analyzer 103, determines whether the automated analyzer 103 needs to be replenished with reagent, and then, when the reagent handling system 102 determines that the automated analyzer 103 needs to be replenished with reagent, sends a reagent unloading command 106 to the reagent storage 107 and a reagent transfer command 109 to the drone 101 via the docking station 110. Based on the transmitted information, the drone 101 picks up a reagent cassette 104 from the reagent transfer station 108 in the reagent storage system 107 and transfers the reagent cassette 104 to the automated analyzer 103.

[0018] The present disclosure briefly illustrates a system useful for understanding the present invention.

[0019] The reagent charging process according to the first embodiment will be described below with reference to Fig. 2 explained. Fig. 2 shows the operation sequence when filling with reagent according to the first embodiment.

[0020] According to Fig. 2, a reagent handling system 102 first monitors information 105 about the remaining reagent quantity, ie, the information about the remaining quantity of a reagent held in an automated analyzer 103 (stage S1). The information 105 about the remaining reagent quantity is monitored by the reagent handling system 102 by regularly transmitting a request to the automated analyzer 103 to transmit information about the remaining reagent quantity.

[0021] Subsequently, when the reagent handling system 102 refers to the information 105 on the remaining reagent amount and determines that the remaining reagent amount is below a predetermined and stored threshold, the reagent handling system 102 issues an unload command 106 for a reagent cassette 104 to feed a reagent storage 107 (step S2).

[0022] Subsequently, the reagent storage 107, which has received the reagent unloading command 106, performs unloading and transfer of the reagent cassette 104 to a transfer point 108 based on the reagent unloading command 106 (step S3).

[0023] Meanwhile, the reagent handling system 102 issues a transport command 109 for the reagent cassette 104 to a drone 101 via a docking station 110, and the drone 101 waiting at the docking station 110 receives the transport command (transfer command) 109 (stage S4).

[0024] Subsequently, the drone 101, which has received the transport command 109, flies to the transfer point 108 to pick up the reagent cassette 104 (stage S5).

[0025] After the drone 101 has arrived at the transfer point 108, it takes over the reagent cassette 104 (level S6).

[0026] After the drone 101 picks up the reagent cassette 104, the drone 101 flies to the automatic analyzer 103 of the loading object based on the information of the transport command 109 (step S7).

[0027] Subsequently, after arriving at the automated analyzer 103, the drone 101 loads the automated analyzer 103 with the reagent cassette 104 (step S8).

[0028] After the drone 101 has loaded the automatic analyzer 103 with the reagent cassette 104, the drone 101 returns to the docking station 110 (stage S9).

[0029] The above explanations describe the operation of the reagent loading according to the first embodiment.

[0030] The operation of a reagent storage 107 according to the first embodiment will be described below with reference to Fig. 3 explained. Fig. 3 shows the operation of a reagent storage 107.

[0031] According to Fig. 3, a reagent storage 107 has random access to a reagent cassette 104 previously stored in the reagent storage 107 and can unload a required reagent cassette 104 through a reagent handling mechanism 301.

[0032] The one on the left in Fig. The reagent cassette shown in Figure 3 indicates in a simplified manner that the reagent cassette 104 is arranged inside the reagent storage 107.

[0033] The discharged reagent cartridge 104 is brought to a transfer line 302 and transferred. The transfer line 302 is a simple straight line. It can thus transfer a reagent cartridge 104 regardless of its shape, and the transfer line 302 is equipped with a tape.

[0034] A reagent opening mechanism 303 is formed above the transfer line 302. It opens the reagent cassette 104 when necessary.

[0035] The reagent cassette 104 arrives at the transfer point 108 located at one end of the transfer line 302. Thus, the work steps of the reagent storage 107 are completed.

[0036] The above explanations concern the work steps of the reagent storage 107.

[0037] The relationship between a drone 101 and a docking station 110 will be described below with reference to Fig. 4 explained. Fig. 4 shows a state in which a drone 101 is in a waiting position at a docking station 110.

[0038] According to Fig. 4, a drone 101 is positioned at a docking station 110 in a waiting state in which no transport command 109 has yet been issued. The drone 101 is held and loaded by a carrier and loading mechanism 401.

[0039] In the first embodiment, the drone 101 does not communicate using radio waves. This is because various examination devices are provided in an examination room where an automated analyzer 103 is installed, and medical equipment is required not to emit electromagnetic waves of a certain intensity or higher to prevent malfunction of these examination devices.

[0040] In the first embodiment, image communication is used to transmit information, such as a reagent transport command 109 or the like, to the drone 101. The information is transmitted from the docking station 110 to the drone 101 by displaying a QR code (registered trademark) on a QR code display screen 403 installed in the docking station 110 and reading the QR code (registered trademark) with a panoramic camera 402 installed in the drone 101.

[0041] After the information has been transmitted from the docking station 110 to the drone 101, the drone 101 begins its flight and moves to a transfer point 108. The docking station 110 determines that the drone 101 has taken off using an optical sensor installed in the docking station 110.

[0042] The relationship between the drone 101 and the docking station 110 has been described above.

[0043] The flight process of a drone 101 is described below with reference to Fig. 5 explained. Fig. 5 explains the flight process of a drone 101.

[0044] According to Fig. 5, a drone 101 flies based on the information transmitted from a docking station 110.

[0045] In the first embodiment, the GPS technology commonly used for drones is not used. This is because the first embodiment is a spatial process, and thus GPS signals cannot be used. The flight proceeds as follows: The current position coordinates of the drone 101 are determined by coordinate calculation using an accelerometer 404 generally installed in the drone 101; and a drone flight path 501, represented by a data series of three-dimensional coordinates, is maintained.

[0046] The coordinate calculation performed by the accelerometer installed in the drone 101 is a coordinate calculation method based on accumulation calculation. Calculation errors accumulate as the flight path becomes longer. Discrepancies may occur between the calculated current position coordinates and the actual current position coordinates.

[0047] In the first embodiment, the deviation is corrected by visually detecting position coordinate correction marks 502 previously placed in a flight path with an all-round camera 402 installed in the drone 101 and by correcting the current position coordinates by the three-dimensional coordinates of the position coordinate correction marks 502.

[0048] Fig. 5 shows a flight process of a drone 101 from a docking station 110 to a transfer station 108. The flight from the transfer station 108 to an automatic analyzer 103 and the flight from the automatic analyzer 103 to the docking station 110 can be carried out by a similar method as in Fig. 5 is shown.

[0049] The flight procedure of drone 101 was described above.

[0050] Hereinafter, a positioning method of a drone 101 will be described with reference to Fig. 6 explained.

[0051] Fig. 6 explains a positioning procedure of a drone 101.

[0052] According to Fig. 6, a drone 101 visually detects a positioning mark 601 arranged at a transfer point 108 with an all-round camera 402 installed in the drone 101. A plurality of positioning marks 601 are formed, and the drone 101 can accurately calculate the relative positions with respect to the positioning marks 601 in the horizontal and vertical directions from the detection angles of the respective positioning marks 601 by a triangulation method.

[0053] The drone 101 is located in the center of the positioning marks 601 based on the calculated relative coordinates to the positioning marks 601 and lands at a predetermined position at the transfer point 108.

[0054] Fig. 6 shows a positioning method of a drone 101 at a transfer point 108. The positioning of the drone 101 in an automatic analyzer 103 and the positioning of the drone 101 at a docking point 110 can also be carried out by a similar method as in Fig. 6 is shown.

[0055] The positioning procedure for drone 101 was described above.

[0056] The following is a summary of the Fig. 7 explains a method for picking up a reagent cassette 104 by a drone 101. Fig. 7 illustrates a method for picking up a reagent cassette 104 by a drone 101.

[0057] The mechanism attached to a drone 101 must be lightweight. Furthermore, the mechanism must be capable of holding reagent cassettes 104 of various shapes with strong force without the reagent cassettes 104 falling off.

[0058] According to Fig. 7, the drone 101 is equipped with a holding hand 701, which includes a connecting mechanism and a linear actuator 702, to meet the above-described requirements for a drone 101. The mechanism for holding the reagent cassette 104 acts similarly to human hands, with the holding areas 703a and 703b of the holding hand 701 being held from the left and right. It can thus hold all reagent cassettes 104 that were previously transported by human hands.

[0059] Since the holding force is enhanced by the linkage mechanism, a reagent cassette 104 can be held with strong force even if the linear actuator 702 is light in weight and has low power.

[0060] When transporting and depositing a reagent cassette 104, the drone 101 releases the reagent cassette 104 through a sequence that is opposite to the holding process.

[0061] A movement of the linear actuator 702 for driving the holding hand 701 is controlled by an actuator control section 704 installed in the drone 101.

[0062] The method for picking up the reagent cassette 104 by the drone 101 has been described above.

[0063] The following is a summary of the Fig. 8 describes a method for loading an automated analyzer 103, which does not have a built-in reagent transfer mechanism, with a reagent cassette 104 by means of a drone 101.

[0064] Fig. 8 shows a method for loading a reagent cassette 104 using a drone 101.

[0065] Fully automatic reagent loading using a drone 101 into an automated analyzer 103 that does not have a built-in reagent transfer mechanism is difficult. Therefore, the drone 101 places a reagent cassette 104 on a reagent cassette installation table 801 installed near the automated analyzer 103. A plurality of positioning marks 601 are formed on the reagent cassette installation table 801, similar to those at the transfer point 108. The automated analyzer 103 is finally manually loaded with the reagent cassette 104.

[0066] The method for loading the reagent cassette 104 into the automated analyzer 103, which does not have a built-in reagent transfer mechanism, by means of the drone 101 has been described above.

[0067] The following is a summary of the Fig. Figure 9 describes a method for loading a reagent cassette 104 into an automated analyzer 103, which has a built-in manually operated reagent transfer mechanism, using a drone 101. The drone 101 enables complete automation.

[0068] Fig. 9 shows a method for loading a reagent cassette 104 into an automated analyzer 103 having a built-in reagent transfer mechanism by means of a drone 101.

[0069] According to Fig. 9, a reagent cassette insertion mechanism 901 is installed in the automated analyzer 103 for assisting in loading a reagent. The automated analyzer 103 has a built-in reagent transfer mechanism that assumes manual operation. Fully automated reagent loading is achieved by installing the reagent cassette insertion mechanism 901.

[0070] A reagent transfer mechanism 902 in an automatic analyzer 103 of the Fig. 9 is based on a method of detecting a reagent cassette 104 and starting reagent transfer by sliding the reagent cassette 104 in a certain horizontal direction after the reagent cassette 104 has been brought to a predetermined position in most cases.

[0071] The drone 101 then delivers the reagent cassette 104 to a predetermined location, detecting markers 601. The reagent cassette insertion mechanism 901 detects the reagent cassette 104 and inserts it into the reagent transfer mechanism 902.

[0072] The reagent transfer mechanism 902 transfers the reagent cassette 104 to a reagent disk 903. Thus, the loading of the reagent cassette 104 is completed.

[0073] Above, a method for loading the reagent cassette 104 into the automated analyzer 103, which has a presumably manually operated, built-in reagent transfer mechanism, by means of the drone 101 has been described.

[0074] The following is a summary of the Fig. 10 describes a method for loading an automated analyzer 103, which has a built-in reagent transfer mechanism 1000 presumably to be operated by a drone 101, with a reagent cassette 104 by means of the drone 101. Fig. 10 shows a method for loading a reagent cassette 104 by means of a drone 101 into an automated analyzer 103 having a built-in reagent transfer mechanism 1000 presumably to be actuated by a drone.

[0075] According to Fig. 10, in an automated analyzer 103 having a built-in reagent transfer mechanism 1000 to be operated by a drone 101, an insertion opening 1001c for a reagent cassette 104 is formed on the upper surface of the automated analyzer 103, which is easily accessible to the drone 101. The drone 101 inserts the reagent cassette 104 into the insertion opening 1001c, detecting position marks 601. Subsequently, a shutter 1001a opens, after which the reagent cassette 104 descends with the aid of a lifting mechanism 1002. A shutter 1001b opens, and the reagent cassette 104 is deposited on a reagent tray 903. The shutter 1001b then closes, thus completing the loading of the reagent cassette 104.

[0076] The method for loading the reagent cassette 104 by means of the drone 101 into an automatic analyzer 103 having a built-in reagent transfer mechanism 1000 to be actuated by the drone 101 has been described above.

[0077] The following is a summary of the Fig. 11 describes a method for disposing of a no longer required reagent cassette 1102 using a drone 101.

[0078] Fig. 11 explains a method for disposing of a no longer required reagent cassette 1102 using a drone 101.

[0079] Fig. 11 shows an emptied, no longer needed reagent cassette 1102 that is to be disposed of. A drone 101 visually detects the no longer needed reagent cassette 1102, grasps it, and removes it from the automated analyzer 103. The drone 101 flies to a reagent cassette disposal table 1101 and disposes of the no longer needed reagent cassette 1102.

[0080] The method for disposing of the no longer required reagent cassette 1102 using the drone 101 has been described above.

[0081] The following is a summary of the Fig. 12 explains the information exchange among the components according to the first embodiment.

[0082] Fig. Figure 12 shows the information exchange between the components of the first embodiment. The individual vertical elongated boxes, which in Fig. 12 each represent an input / output area for information.

[0083] According to Fig. 12, a reagent handling system 102 requests information 105 about the remaining reagent quantities from an automated analyzer 103, and the automated analyzer 103 transmits the information 105 about the remaining reagent quantities to the reagent handling system 102 in response to the request.

[0084] The reagent handling system 102 then issues a reagent unload command 106 to a reagent storage 107. The reagent unload command 106 includes information for identifying an unloaded reagent cassette 104 and information about the need to open the reagent cassette 104 (reagent information). After the reagent is unloaded, the reagent storage 107 issues a report about the completed unloading process to the reagent handling system 102.

[0085] Subsequently, the reagent handling system 102 receives the report of the completion of the reagent unloading operation and issues a reagent transport command (reagent transfer command) 109 to a docking station 110. The reagent transport command 109 includes information required for transport (reagent information, transfer destination information), such as the shape and weight of a reagent cassette 104, the position coordinates of an automated analyzer 103 that is the loading destination, the flight route 501 for reaching the automated analyzer 103, and the like.

[0086] The docking station 110 receives the reagent transport command 109 and transmits information necessary for the flight, such as the weight of the reagent cassette 104, a data series of three-dimensional coordinates indicating the flight route of the drone 101, and the like, to the drone 101.

[0087] The drone 101 transports (transfers) a reagent cassette 104 to the automated analyzer 103 and loads the automated analyzer 103 with the reagent cassette 104. If an automated analyzer 103 is capable of detecting the loading of the reagent cassette 104, the automated analyzer 103 outputs a confirmation of receipt of the reagent cassette 104 to the reagent handling system 102.

[0088] The drone 101 returns to the docking station 110 after being loaded with the reagent cassette 104. The docking station 110 detects the return of the drone 101 and reports to the reagent handling system 102 about the return of the drone 101 and about situations such as the charging status, the error status, and the like.

[0089] The information exchange among components according to the first embodiment has been described above.

[0090] The above explanations provide a specific explanation of the loading process of an automatic analyzer 103 with a reagent cassette 104 by means of air transport according to the first embodiment.

[0091] Since the first embodiment is configured to transfer a reagent cassette 104 from a reagent storage 107 to an automated analyzer 103 using a drone 101 when the automated analyzer 103 requires reagent supply based on information about the remaining amounts of reagent in the automated analyzer 103, a reagent transfer system for an automated analyzer can be obtained that can move and transfer a reagent in an upper space around the automated analyzer 103, is applicable to various reagent cassette shapes, and contributes to the miniaturization of the automated analyzer. Second embodiment

[0092] A second embodiment of the present invention, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0093] With respect to the components explained in the first embodiment, it is possible to replace one or more parts of a component of the first embodiment with parts of a further embodiment described below, unless specifically stated otherwise. Thus, the embodiments of components can be combined with one another.

[0094] The second embodiment is an example in which the method for holding a reagent cassette 104 by a drone 101 differs from the first embodiment. Although the first embodiment provides an example of clamping and holding a reagent cassette 104 by holding portions 703a and 703b according to Fig. 7, the second embodiment is an example in which the holding of the reagent cassette 104 is performed by a different method.

[0095] A reagent cassette 104 occasionally has dedicated holes, recesses or projections to enable transfer into the interior of an automated analyzer 103. Fig. 13A shows an example of forming a plurality of holes 104a on the upper surface of a reagent cartridge 104.

[0096] According to the presentation in Fig. 9, a reagent transfer mechanism 902 inside an automated analyzer 103 can hold and transfer a reagent cassette 104 by forming holes 104a or protrusions in the reagent cassette 104. A reagent cassette 104 can be held by installing a similar holding mechanism in a drone 101.

[0097] Fig. 13B schematically shows a holding mechanism 101a installed in a drone 101 according to a second embodiment, the figure showing a cross-section of the holding mechanism 101a.

[0098] According to Fig. 13B, a holding mechanism 101a includes left and right rotatable plates 101b. The other ends of the holding portions 101c and 101d, at the tips of which hook portions are formed, are rotatably supported. Near center portions of the holding portions 101c and 101d are rotatably supported by pivot portions 101e formed in the holding mechanism 101a.

[0099] The tips of the holding areas 101c and 101d move by rotating the disk 101b in the right direction according to Fig. 13B so that they move away from each other.

[0100] In contrast, the tips of the holding areas 101c and 101d move by rotating the disk 101d in the left direction according to Fig. 13B so that they approach each other.

[0101] The rotation of the disc 101b is controlled by a control section, similar to the actuator control section 704 according to Fig. 7.

[0102] The drone 101 controls the rotation of the disk 101b so that the holding portions 101c and 101d are inserted into the holes 104a and approach the reagent cassette 104. After the drone 101 confirms that the holding portions 101c and 101d have been inserted into the holes 104a, the drone 101 rotates the disk 101b according to Fig. 13B to the right and holds the reagent cassette 104 through the hook portions of the holding sections 101c and 101d. The drone 101 then holds the reagent cassette 104, flies to its destination, and places the reagent cassette 104. Then, the drone 101 rotates the disk 101b according to Fig. 13B to the left, releases the hook portions of the holding portions 101c and 101d from the reagent cassette 104, and moves away from the reagent cassette 104.

[0103] As described above, according to the second embodiment, a reagent transfer system used for an automatic analyzer can be realized, which can achieve similar effects to those of the first embodiment, which can securely hold the reagent cassette 104 with the drone 101, and which enables further improvement in reliability.

[0104] Furthermore, as a modified example of the second embodiment, a configuration for holding a reagent cassette 104 without a moving part can be realized by installing a magnet in the reagent cassette 104 and also providing an electromagnet in the drone 101. The drone 101 holds the reagent cassette 104 by supplying electric current to the electromagnet, thereby attracting the magnet installed in the reagent cassette 104. The reagent cassette 104 is released by turning off the power.

[0105] Furthermore, as another modified example, a configuration of holding a reagent cassette 104 can be realized by installing a slot-shaped mechanism in a drone 101 and inserting the reagent cassette 104 into the slot through a transmission line 302 ( Fig. 3). When the reagent cassette 104 is released, the reagent cassette is removed through a sliding mechanism installed in the drone 101 or at a release point.

[0106] Furthermore, a configuration for holding a plurality of reagent cassettes 104 with a single drone can be realized by installing a plurality of holding mechanisms in the single drone 101. This can include inserting a plurality of reagent cassettes 104 into a single automated analyzer 103; or inserting the plurality of reagent cassettes 104 into a plurality of automated analyzers 103.

[0107] Furthermore, with regard to the state of a drone 101 when the drone 101 holds or releases a reagent cassette 104, it is irrelevant whether the drone 101 is in a landing state or a hovering state. The state of a drone 101 is selected depending on the embodiment, since the corresponding states each have advantages. For example, the attitude of a drone 101 is stabilized in the case of a landing state, while in the hovering state, no landing mechanism 401 is required.

[0108] Further embodiments of the method for holding a reagent cassette 104 have been described above. Third embodiment

[0109] A third embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below. The third embodiment is an example in which the flight method of a drone 101 differs from the method of the first embodiment.

[0110] In the first embodiment, an accelerometer is used. In the third embodiment, a drone 101 performs coordinate calculation and follows a predetermined flight path 501 using optical tracking techniques with a surround-view camera 402 installed in the drone 101.

[0111] The optical sequence is a method for calculating a mobile vector from the position of a feature point in an image captured with a surround camera 402. A speed or position can be measured directly, which offers the advantage of reducing calculation errors better than the method using an accelerometer.

[0112] In the modified example of the third embodiment, a drone 101 has a stereoscopic camera, a laser rangefinder, and an ultrasonic sensor. The distance from the drone 101 to a flight path marker 502 and an automatic analyzer 103 is measured. As a result, the drone 101 can precisely follow a predetermined flight path 501.

[0113] In another modified example, a configuration can also be used in which a drone 101 is made to follow a predetermined flight path 501 by installing a camera on the ceiling or a wall of an examination room in which an automated analysis machine 103 is arranged, issuing flight instructions, while a flight handling system visually detects the appearance of the drone 101. Since the method essentially requires in-flight communication between the flight handling system and the drone 101, wired or wireless communication is provided. Routing the communication cable without interfering with the flight of the drone 101 is used in the case of wired communication. In the case of wireless communication, a wireless communication system with a strength permitted by law is used.

[0114] Furthermore, as another modified example, a configuration using markerless image recognition with a camera 402 installed in the drone 101 may be used. Markerless image recognition is image recognition in which no marking with a specific pattern image is required, and the drone 101 recognizes the shape of an object in an examination space and follows a predetermined flight path 501.

[0115] Further embodiments of the flight method of the drone 101 have been described above. Fourth embodiment

[0116] A fourth embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0117] In the fourth embodiment, the reagent storage 107 is different from that of the first embodiment.

[0118] In the fourth embodiment, a reagent storage 107 has a space large enough for a drone 101 to enter. The drone 101 flies to a storage location of a reagent cassette 104 that needs to be replaced, and holds and transports the reagent cassette 104. The reagent cassette 104 has a marker that the drone 101 needs to identify the required reagent cassette 104. Otherwise, an installation location is determined for each type of reagent cassette 104, and the drone 101 holds a reagent cassette 104 based on the information about the installation location of a required reagent cassette 104.

[0119] As a modified example of the fourth embodiment, a reagent storage 107 unloads a plurality of reagent cassettes 104 at once. When there are multiple requests for transporting reagent cassettes 104, including the case where there are multiple automatic analyzers 103, multiple reagent cassettes 104 are unloaded without waiting for a report of reagent transfer completion to improve transport efficiency. At this time, the reagent cassettes 104 are unloaded in descending order of urgency among the multiple transport requests. The urgency is based on logical prediction, determining an estimated consumption of a reagent, taking into account current reagent remaining amounts, reagent consumption rates, and future measurement schedules of an automatic analyzer 103.If a highly urgent transport request is received during the unloading of a reagent cassette 104, intervention is initiated and priority is given to unloading the highly urgent reagent cassette 104. The reagent storage 107 indicates the unloading order to the reagent handling system 102. Otherwise, a reagent storage 107 has a plurality of reagent cassette transfer points 108 and indicates the reagent cassette transfer point 108 where a reagent cassette 104 is unloaded into the reagent handling system 102.

[0120] In the fourth embodiment, similar effects to those in the first embodiment can be achieved.

[0121] The fourth embodiment, which describes another configuration of the reagent storage 107, has been explained above. Fifth embodiment

[0122] A fifth embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0123] The fifth embodiment is another example of a reagent transportation method using a drone 101.

[0124] A drone 101 has a mechanism required for sucking and dispensing a reagent, such as a syringe and a reagent storage container; the reagent is divided into portions from a reagent cassette 104; the divided reagent is transported; and an automated analyzer 103 is supplied with the divided reagent.

[0125] A reagent storage 107 unloads a reagent cassette 104 to allow a drone 101 to suck in reagent, and stores the reagent cassette 104 back in the reagent storage 107 if reagent still remains in the reagent cassette 104 after sucking in. An automatic analyzer 103 unloads a reagent cassette 104 from a reagent disk 903 ( Fig. 9) with a reagent cassette transfer mechanism 902 ( Fig. 9) for reagent loading. Subsequently, the unloaded reagent cassette 104 is loaded with reagent by the drone 101, and the reagent cassette 104 is again stored in the reagent tray 903 by the reagent cassette transfer mechanism 902. Otherwise, a reagent cassette 104 requiring loading is loaded with reagent by installing a flow path and a reagent inlet for reagent loading in an automated analyzer 103, and injecting the reagent through the reagent inlet by the drone 101.

[0126] A purification mechanism for the flow path or the feed flow path is installed for each reagent to prevent reagent contamination. A reagent suction and discharge mechanism and a storage container installed in the drone 101 are specifically designed for each reagent and are either replaced when the reagent injected by the drone 101 changes, or a drone 101 itself is used exclusively for a single reagent.

[0127] In the fifth embodiment, not only can similar effects to those of the first embodiment be obtained, but also because a configuration is adopted in which a reagent is supplied by suction and discharge mechanisms in a drone 101 and reagent is divided, an effect can be obtained in which reagent division can be omitted and the time for the analysis process in the automatic analyzer 103 can be shortened.

[0128] Above, another example of the reagent transportation method by the drone 101 according to the fifth embodiment has been explained. Sixth embodiment

[0129] A sixth embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0130] The sixth embodiment is an example of the operation of a drone 101.

[0131] An example of using a drone 101 for a single type of reagent, namely, operating a drone for a single reagent when the reagent is divided and transported as in the fifth embodiment discussed above, or one type of reagent is transported frequently, is the sixth embodiment. By practicing the sixth embodiment, contamination of a reagent during transportation can be prevented.

[0132] The operation of the drone 101 according to the sixth embodiment has been explained above. Seventh embodiment

[0133] A seventh embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0134] The seventh embodiment is an example of the operation of a plurality of drones 101.

[0135] When reagent cassettes 104 are transported frequently, a plurality of drones 101 are operated. By operating multiple drones 101, the transport speed can be increased and the loads on the drones 101 can be balanced.

[0136] When multiple drones 101 are operated, a number of docking stations 110 appropriate to the number of drones 101 are arranged. A reagent handling system 102 is based on the logic of collecting information about the loading conditions and failures of drones 101 from the docking stations 110 and determining a drone 101 to which a transport command is transmitted.

[0137] Specifically, a logic is used in which a failed drone 101 is not used and a command is transmitted to a drone 101 that has the largest load capacity at the time of the transport command. Furthermore, a logic is applied according to which flight paths 501 of drones 101 are selected such that they do not interfere with each other, even when multiple drones 101 are flying.

[0138] Specifically, a logic is applied in which the use of a flight path 501 transmitted to a particular drone 101 during the period from the transmission of a transport command until the receipt of a return command is prohibited, a flight path is selected from among available flight paths 501 if a transport command has been issued in the meantime, and a transport command is not transmitted until a return command has been received if no selectable flight path 501 exists.

[0139] According to the seventh embodiment, it is possible not only to achieve similar effects to the first embodiment, but also to effectively use a plurality of drones 101, increase the transportation speed, and balance the loads of the drones 101.

[0140] The seventh embodiment, which deals with the operation of a plurality of drones 101, has been explained above.

[0141] The operation of a variety of automated analyzers is explained below.

[0142] If a plurality of automated analyzers 103 are present in an examination room, each individual automated analyzer 103 is loaded with a reagent cassette 104. A reagent handling system 102 acquires the position information of the individual automated analyzers 103 and determines a flight path 501 to an automated analyzer 103 requiring loading.

[0143] The operation of a plurality of automatic analyzers 103 according to the seventh embodiment has been explained above.

[0144] According to the seventh embodiment, it is possible not only to achieve similar effects to the first embodiment, but also to effectively use a plurality of drones 101. Eighth embodiment

[0145] An eighth embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0146] The eighth embodiment is an example of transporting consumables other than a reagent contained in a reagent cassette 104.

[0147] An automated analyzer 103 requires a detergent for cleaning a reaction vessel and a sampling probe as consumables, in addition to a reagent used for reacting with a sample and performing analysis. Currently, such a detergent also needs to be manually refilled, so a large-capacity detergent vessel is occasionally used to reduce the frequency of refilling operations.

[0148] By automating the transportation of a detergent, which is a consumable, with a drone 101 in a similar manner to a reagent cassette 104, the operating efficiency of an automated analyzer 103 can be improved. Since a detergent container often has a large capacity compared to a reagent cassette 104, the detergent container itself is not transported. Rather, the detergent is divided and transported in a similar manner to the fifth embodiment described above. Otherwise, a small detergent container is used and transported by a drone 101 under the conditions of transportation by a drone 101.

[0149] An automated analyzer 103 has a flow path and an inlet for reagent supply, as described in the above-described embodiment. Otherwise, an automated analyzer 103 has an automatic exchange mechanism corresponding to the automatic detergent exchange.

[0150] An example of transporting consumables other than a reagent contained in the reagent cassette 104 has been described above.

[0151] Since, according to the invention, a detergent which is a consumable is also considered to be a type of reagent, the term “reagent” by definition also includes a detergent. Ninth embodiment

[0152] A ninth embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0153] The ninth embodiment is an example of the logic for determining a flight path 501 of a drone 101.

[0154] A flight path 501 is predetermined and stored in a reagent handling system 102 when a reagent transfer system is introduced.

[0155] A flight path 501 is preferably defined such that pedestrian paths and important facilities are avoided as much as possible for safety reasons. A plurality of flight paths 501 departing from a docking station 110 and reaching a reagent transfer station 108 and an automated analyzer 103 may be defined.

[0156] The actually used flight path 501 is determined by logic installed in the reagent handling system 102. Specifically, a logic that was presented in the seventh embodiment for operating a plurality of drones 101 is applied, as well as a logic in which a detector is present for detecting a position where a person is located in an examination room, wherein a flight path close to the position of a person is not used, but rather a flight path for which no persons have been detected is selected. A panoramic camera 402 can be used together with the detector to detect the position of a person in an examination room. Furthermore, a configuration can also be used in which the position of a person in an examination room is detected with a panoramic camera 402. Preferably, a drone 101 has such a human sensor 405 as shown in Fig. 17. The human sensor 405 (detector for detecting a position where a person is located) detects a position where a person is located in an examination room.

[0157] Above, the ninth embodiment was explained about the logic for determining the flight path 501 of the drone 101. Tenth embodiment

[0158] A tenth embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0159] The tenth embodiment is an example of safety measures during the flight of a drone 101.

[0160] The tenth embodiment is an example of safety measures against the falling of a reagent cassette 104 from a flying drone 101 or against the crash of a drone 101 itself in an unforeseen situation.

[0161] Regarding the operation of a drone 101, safety is ensured by pre-determining a safe flight path according to the example described above. However, unforeseen situations may arise. In the tenth embodiment, an example for further improving safety is described.

[0162] Damage to persons and equipment in an examination room that occurs when a drone 101 crashes in an unforeseen situation is prevented by establishing a safety passage for the drone 101 near the ceiling of the examination room in which the automated analyzer 103 is located and by establishing the flight path 501 over the safety passage.

[0163] A safety passage includes a guide rail or simply a net suspended from a ceiling.

[0164] Furthermore, as a modified example of the tenth embodiment, a configuration may be used to prevent personal injury in the event of a crash by displaying a visible signal on a drone 101 or on a safety path when the drone 101 is in flight mode. Thus, nearby persons are alerted that the drone 101 is in flight mode.

[0165] Furthermore, as another modified example, a configuration may be used in which the movement of a drone 101 is stopped and the drone 101 is placed in a hovering state in place when a person is detected near the drone 101 by a surround camera 402 installed in the drone 101. When the drone 101 detects that the person has moved away, the drone 101 may resume movement.

[0166] As another modified example, a drone 101 could be replaced by a suspended gripping device that moves along a rail installed on the ceiling of an examination room. Although this significantly increases the installation costs of the system, it has the advantage of eliminating the possibility of the drone 101 crashing.

[0167] Fig. 14 shows an example of holding a guide rail 1200 by a guide rail support 1202 on a ceiling 1201 of an examination room and of moving a drone 101 held by the guide rail 1200.

[0168] Fig. Figure 15 shows guide rails 1300 and 1301 mounted on the ceiling of an examination room. Fig. 15, the guide rail 1301 is constructed such that it can move on the guide rail 1300, and a drone 101 is held by the guide rail 1301 and can move along the guide rail 1301. In other words, the drone 101 can move in the X and Y directions on a horizontal plane in the examination room by means of the guide rails 1300 and 1301. Furthermore, a holding element of the guide rail 1301 for holding a drone 101 can move in the vertical direction and is constructed such that the drone 101 can also move vertically. The holding element of the guide rail 1301 for holding a drone 101 can be constructed such that a drone 101 only falls slowly if the drone 101 crashes due to an unforeseen situation. This also applies to the Fig. Example shown in 14.

[0169] Examples of safety measures during the flight of Drone 101 have been explained above. Eleventh embodiment

[0170] An eleventh embodiment which is an embodiment of the present invention will be explained below.

[0171] The eleventh embodiment also provides an example of safety measures during the flight of a drone 101 similar to the tenth embodiment.

[0172] Fig. 16 explains safety measures during flight of a drone 101 according to the eleventh embodiment.

[0173] If according to Fig. 16 If an examination room in which an automated analyzer 103 is installed has a high floor, a flight path of a drone 101 can be below the floor 1400 of the examination room, with passages 1401 and 1402 being formed for the drone 101.

[0174] This can prevent harm to people and objects in an examination room if a drone 101 crashes due to an unforeseen situation. Twelfth embodiment

[0175] A twelfth embodiment, which is not an embodiment of the invention but an example useful for understanding the invention, will be explained below.

[0176] The twelfth embodiment also provides an example of safety measures during the flight of a drone 101, similar to the tenth and eleventh embodiments.

[0177] Fig. 17 explains safety measures during flight of a drone 101 according to the twelfth embodiment.

[0178] According to Fig.17, a configuration is used in which the flight path of a drone 101 is set near the floor of an examination room in which an automated analyzer 103 is installed. The drone 101 moves vertically near the automated analyzer 103 and the like.

[0179] In this way, it is possible to prevent harm to a person or objects in an examination room if the drone 101 crashes due to an unforeseen situation. A human sensor 405 can also be installed in the drone 101, with the movement of the drone 101 stopping when the human sensor 405 detects that a person is nearby.

[0180] In the above-described embodiments of the invention, any of the methods including RFID (Radio Frequency Identification), optical communication (non-contact communication using light (serial or parallel)), and wired communication can be used as the communication method between a drone 101 and a docking station 110.

[0181] In the examples described above, configurations were described in which a reagent cassette 104 is transported in the air by a drone 101. However, the present invention is applicable not only to a drone, but also to any transport aircraft, provided that the transport aircraft can move in a lower space around an automated analyzer 103 and can transport a reagent cassette 104 in the air.

[0182] The drone 101, which is a transport aircraft, is designed to transport a reagent cassette 104 in the air. However, a drone 101 can transport not only a reagent cassette 104 in the air, but also a reagent container containing a reagent. Therefore, according to the invention, a reagent cassette and a reagent container are collectively referred to as "reagent."

Claims

[1] Reagent transfer system for an automated analyzer (103), comprising: a reagent storage (107) which stores a plurality of reagents used in the automatic analyzer, a reagent handling area (102) which receives information about the remaining amounts of a reagent held in the automatic analyzer and handles the reagents; and a drone (101) which moves in a lower space around the automatic analyzer, has a holding mechanism for holding a reagent and can thus transfer the reagent; wherein the reagent handling section judges, based on the information on the remaining reagent amounts, whether the automatic analyzer needs to be supplied with a reagent or not, and wherein, when the reagent handling section judges that the automatic analyzer needs to be supplied with a reagent, the reagent handling section issues a reagent transfer command to the drone and transmits a reagent unloading command to the reagent storage, and wherein the drone receives the reagent stored in the reagent storage and transfers the reagent to the automatic analyzer according to the reagent transfer command, wherein the drone has an accelerometer, determines the current position coordinates by calculating coordinates with the accelerometer and follows a predetermined flight path that runs under the floor (1400) of an examination room in which the automatic analyzer is installed, and wherein a passage (1401, 1402) for the drone is formed in the floor of the examination room in which the automatic analyzer is installed. [2] The reagent transfer system for an automated analyzer (103) according to claim 1, wherein the reagent is contained in a reagent cassette (104) and the drone (101) holds the reagent by holding the reagent cassette. [3] Reagent transfer system for an automatic analyzer (103) according to claim 1, comprising: a docking station (110) where the drone (101) is waiting, wherein the reagent transfer command transmitted from the reagent handling area (102) is transmitted to the drone via the docking site. [4] A reagent transfer system for an automated analyzer (103) according to claim 1, wherein the reagent transfer system further comprises: a reagent cassette receiving area (108) where the drone (101) receives the reagent cassette (104); and a transmission line (302) that transmits the reagent cassette stored in the reagent storage (107) to the reagent cassette receiving area. [5] The reagent transfer system for an automated analyzer (103) according to claim 1, wherein the drone (101) has a camera (402) for recognizing a three-dimensional image of a pre-installed position coordinate correction mark (502) to correct the current position coordinates. [6] Reagent transfer system for an automatic analyzer (103) according to claim 2, wherein a plurality of holes (104a) are formed in the reagent cassette (104) and wherein the drone (101) has holding portions (101c) each having a hook portion formed at the tip thereof and being insertable into the plurality of holes formed in the reagent cassette and holding the reagent cassette through the hook portions.

Images