Specimen transport system

Abstract

The objective is to provide a sample receiving system, a sample delivery system, and a sample transport system that can reduce installation space and automatically receive, transport, and hand over samples without human intervention. [Solution] A specimen transport system comprising a specimen transport robot capable of raising and lowering a placed case, and a specimen transport system that transports specimens from a first station to a second station using the specimen transport robot, wherein the specimen transport robot has an empty second case in which no specimens are placed, and is configured to raise the second case to the case placement area B of the first station and to receive the specimen case, and if the specimen transport robot has a specimen case in which specimens are placed, the specimen transport robot enters the second station, and the specimen transport robot lowers the specimen case to the case placement area C of the second station and receives the third case, in a specimen transport system.

Description

Technical Field

[0001] The present invention relates to a specimen transport system for transporting a patient's specimen used for examination.

Background Art

[0002] In recent years, for the purpose of reducing the burden of transportation work in hospitals, automatic transportation of drugs or specimens by self-driving robots has been carried out. Many self-driving robots are provided with doors for holding specimens and drugs, and the transportation is automatic. However, medical staff and the like manually take in and out specimens or drugs, so the transfer of specimens cannot be carried out without human intervention. There are also robots that separate the upper mechanism and transport it by docking, but it is necessary to provide a space for placing two upper mechanisms, namely, the "specimen-containing state" and the "empty state", and a large space is occupied by the robot (Patent Document 1 and Patent Document 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide a specimen receiving system, a specimen delivery system, and a specimen transport system that can reduce the installation space and can automatically receive, transport, and deliver specimens without human intervention.

Means for Solving the Problems

[0005] As a result of diligent research, the inventors have found that a sample receiving system, a sample delivery system, and a sample transport system with the following configuration can automatically receive or deliver samples, and that the first or second station of the system has a compact configuration that does not require installation space, thus solving the above-mentioned problems. In other words, this specification includes the following inventions. [1] A specimen transport robot that places a case on it and allows the placed case to be raised and lowered, The system includes a case placement area A and a case placement area B located below the case placement area A, and a first station from which the sample transport robot can receive samples. A sample receiving system that transports the sample from the first station using the sample transport robot, When the first station places the sample case containing the sample in the case placement area A, and places an empty first case without the sample in the case placement area B, and the sample transport robot receives the sample, The specimen transport robot has an empty second case in which the specimen is not placed. A sample receiving system configured such that the sample transport robot enters the first station such that the second case of the sample transport robot is positioned below the case placement area B of the first station, and the sample transport robot raises the second case to hand it over to the case placement area B and receives the sample case. [2] The sample receiving system according to [1], wherein the sample transport robot is equipped with a sample receiving unit for arranging the sample cases, and when the sample transport robot enters the first station, the sample receiving unit is inserted between the case arrangement area A and the case arrangement area B in the first station, and the sample receiving unit is able to receive the sample cases by raising the robot and placing the sample cases in the case arrangement area A into the sample receiving unit. [3] The specimen receiving system according to [1], wherein when the specimen transport robot enters the first station, the specimen transport robot raises the first case and the specimen case located in the first station together with the second case, thereby placing the specimen case in the specimen receiving section, placing the first case in the case placement area A, and placing the second case in the case placement area B in the first station. [4] The sample receiving system according to [1], wherein the first station comprises a pair of first flaps in the case placement area A and a pair of second flaps in the case placement area B. [5] A specimen transport robot that places a case on it and makes it possible to raise and lower the placed case, The system comprises a case placement area C and a case placement area D located below the case placement area C, and includes a second station in the case placement area C from which the sample transport robot can receive samples. A specimen transfer system in which the specimen is transported to the second station by the specimen transport robot, When the sample transport robot receives the sample from the second station, with an empty third case containing no sample placed in the case placement area D, The specimen transport robot has a specimen case on which the specimen is placed, A specimen transfer system configured such that the specimen transfer robot enters the second station such that the specimen case of the specimen transfer robot is positioned above the case placement area C of the second station, and the specimen transfer robot lowers the specimen case to the case placement area C to transfer it, and also receives the third case. [6] The sample transfer system according to [5], wherein the second station is provided with a sample transfer section in the case placement area C for the sample transport robot to transfer the sample case, and the sample transport robot enters the second station so as to position the sample case on the sample transfer section, and by descending, places the sample case on the sample transfer section and transfers the sample case. [7] The specimen transfer system according to [5], wherein when the specimen transfer robot enters the second station, the specimen transfer robot lowers the specimen case to place it in the specimen transfer section of the case placement area C, and also places the third case located in the case placement D of the second station onto the specimen transfer robot. [8] The specimen transfer system according to [5], wherein the specimen transport robot is provided with a case placement area E and a case placement area F below the case placement area E, and the specimen unloading robot is provided with a specimen receiving unit in the case placement area E and a pair of third flaps in the case placement area F. [9] A specimen transport robot that places a case on it and allows the placed case to be raised and lowered, A first station comprising a case placement area A and a case placement area B located below the case placement area A, wherein the sample transport robot can receive samples from the case placement area A, The system includes a case placement area C and a case placement area D located below the case placement area C, and includes a second station in the case placement area C from which the sample transport robot can receive the sample. A specimen transport system that transports the specimen from the first station to the second station using the specimen transport robot, When the first station places the sample case containing the sample in the case placement area A, and places an empty first case without the sample in the case placement area B, and the sample transport robot receives the sample, The specimen transport robot has an empty second case in which the specimen is not placed. The specimen transport robot enters the first station such that the second case of the specimen transport robot is positioned below the case placement area B of the first station, and the specimen transport robot is configured to raise the second case to transfer it to the case placement area B and to receive the specimen case. When the sample transport robot receives the sample from the second station, with an empty third case containing no sample placed in the case placement area D, The specimen transport robot has the specimen case on which the specimen is placed, A specimen transport system configured such that the specimen transport robot enters the second station such that the specimen case of the specimen transport robot is positioned above the case placement area C of the second station, and the specimen transport robot lowers the specimen case to the case placement area C, thereby transferring it to the case placement area C and receiving the third case.

[10] The specimen transport system according to [9], wherein the specimen transport robot patrols the first station and the second station.

[11] The specimen is provided with specimen identification information, The specimen transport system according to [9] or

[10] , wherein the specimen transport robot reads the specimen identification information, automatically determines the transport destination, and automatically transports the specimen to the determined transport destination. [Effects of the Invention]

[0006] By using the specimen receiving system, specimen delivery system, and specimen transport system of the present invention, the installation space can be reduced, and specimens can be automatically received, transported, and delivered without human intervention. [Brief explanation of the drawing]

[0007] [Figure 1]Figure 1(a) is a perspective view of the display unit side of the sample transport robot in the system of the present invention, and Figures 1(b) and 1(c) are perspective views of the side opposite the display unit, with (b) showing the state with a case placed on it and (c) showing the state without a case placed on it. [Figure 2] Figure 2 is a perspective view of the first station in the system of the present invention, on the side in which the sample transport robot enters (the arrow indicates the direction in which the sample transport robot enters), and a front view of the portion of the first station including case placement area A and case placement section B, from the direction in which the sample transport robot enters. [Figure 3] Figure 3 is a perspective view of the second station in the system of the present invention, on the side in which the sample transport robot enters (the arrow indicates the direction in which the sample transport robot enters). [Figure 4] Figures 4(a1) and (a2) are cross-sectional side view and cross-sectional perspective view, respectively, parallel to the direction of travel, showing the state before the specimen transport robot enters the first station. Figures 4(b1) and (b2) are cross-sectional side view and cross-sectional perspective view, respectively, showing the state after the specimen transport robot has entered the first station and the second case placed on the specimen transport robot has been housed in the first station at a position almost directly below the case placement area B of the first station. [Figure 5] Figures 5(c1) and (c2) show the sample transport robot raising the second case, receiving the sample case, and handing it over to the first station; these are cross-sectional side views and cross-sectional perspective views parallel to the direction of travel. Figures 5(d1) and (d2) show the sample transport robot exiting the first station after receiving the sample case; these are cross-sectional side views and cross-sectional perspective views parallel to the direction of exit. [Figure 6] Figures 6(e1) and (e2) show the state before the specimen transport robot enters the second station, and are a cross-sectional side view and a cross-sectional perspective view parallel to the direction of travel. Figures 6(f1) and (f2) show the state after the specimen transport robot has entered the second station and the specimen case of the specimen transport robot has been placed in the second station at a position almost directly above the case placement area C of the second station, and are a side view and a perspective view parallel to the direction of travel. [Figure 7] (g1) and (g2) in FIG. 7 are diagrams of the state where the specimen transfer robot has lowered the specimen case, received the third case, and delivered the specimen case to the second station, and are cross-sectional side views and cross-sectional perspective views parallel to the traveling direction. (h1) and (h2) in FIG. 7 are diagrams of the state where the specimen transfer robot that has received the third case has exited from the second station, and are cross-sectional side views and cross-sectional perspective views parallel to the exit direction. [Figure 8] FIG. 8 is a schematic diagram of the circulation mode of one embodiment of the specimen transfer system of the present invention. [Embodiment for Carrying Out the Invention]

[0008] Hereinafter, the present invention will be described in detail using examples. Note that the present invention is not limited to these examples. As long as the gist of the present invention is not deviated from, those appropriately improved and modified according to the ability of those skilled in the art are also included in the present invention. [Examples]

[0009] A specimen transfer system, which is one of the embodiments, will be described. A specimen transfer system S, which is one of the embodiments, includes a specimen transfer robot 1, a first station 2, and a second station 3, and is a specimen transfer system in which a specimen is transferred from the first station 2 to the second station 3 by the specimen transfer robot 1.

[0010] (Specimen Transfer Robot) The specimen transfer robot 1 that constitutes the specimen transfer system S will be described with reference to FIG. 1. The specimen transfer robot 1 includes a plurality of wheels 13 for moving within the facility, and transports the specimen 5 from the first station 2 to the second station 3, which will be described later, and can transport one or more specimens 5 in a case 4.

[0011] The specimen transport robot 1 has a case placement area E and a case placement area F located below case placement area E. Each of case placement areas E and F can accommodate one case 4 for holding specimens 5.

[0012] The specimen transport robot 1 is equipped with a specimen receiving unit 111 for placing the case 4 in the case placement area E. As shown in Figures 1(b) and (c), the specimen receiving unit 111 is a plate on which the case 4 can be placed. The specimen receiving unit 111 is connected to the housing 17, and is configured to move up and down when the housing 17 moves up and down. The width X of the sample receiving section 111 is shorter than the distance Y between the two sample transfer sections 311 in the case placement area C of the second station 3, which will be described later. With this configuration, the case 4 can be placed in the sample transfer section 311 of the second station 3 by lowering the sample receiving section 111 from above to below the sample transfer section 311. The sample receiving unit 111 is equipped with a stopper 112 at the leading end when it enters the first and second stations. The stopper 112 prevents the sample case 44 from shifting and falling from the sample receiving unit 111 when exiting the first station 2.

[0013] The case placement area F is equipped with a pair of third flaps 121 for placing case 4. The third flaps 121 are provided on both side walls of the housing 17 of the specimen transport robot 1, and are configured to move up and down as the housing 17 moves up and down. As shown in Figures 1(b) and (c), the third flaps 121 are normally in a lowered state to support the bottom surface of case 4, and are configured to close upward when pressed from below. When the third flaps 121 are in the lowered state, the distance between the third flaps 121 is greater than the width of the empty case placement section 321 of the second station 3 (described later) and less than the width of the bottom surface of case 4, making it possible to place case 4.

[0014] Furthermore, the specimen transport robot 1 is equipped with a lifting unit 16. As will be described later, the specimen transport robot 1 can receive specimen cases 44 containing specimens 5 from the first station 2 by raising and lowering the case placement area E and the case placement area F, and can hand over the specimen cases 44 at the second station 3. The lifting unit 16 can raise and lower the housing 17, which contains the case placement area E and the case placement area F, in order to raise and lower the case placement area E and the case placement area F. By raising and lowering the housing 17, the sample receiving unit 111 and the third flap 121 connected to the housing 17 can be raised and lowered, enabling the receiving and handing over of the case 4.

[0015] The specimen transport robot 1 includes a control unit 14 for controlling the specimen transport robot 1, and also includes a display unit 15 that can receive input from an external source. Controlled by the control unit 14, the specimen transport robot 1 can circulate between the first station 2 and the second station 3, transporting the specimen case 44 containing the specimen 5 from the first station 2 to the second station 3. The control unit 14 is composed of a general-purpose microcomputer equipped with a CPU (Central Processing Unit), ROM (Read-Only Memory), RAM (Random Access Memory), etc. The RAM stores data from CPU processing, and the ROM stores CPU control programs and the like in advance. If necessary, the control unit 14 may be equipped with an I / O interface, which is used for inputting and outputting information. The control unit 14 may be composed of multiple microcomputers. Furthermore, the control unit 14 may be equipped with an external server, a device for operating the sample transport robot 1 (described later), and a communication unit for sending and receiving data. The communication unit may be a general wireless communication device capable of transmitting data via an internet connection, or a short-range wireless communication device.

[0016] The display unit 15 can display the current status of the sample transport robot 1. For example, it can display "Starting up," "Receiving sample," "Transferring sample," "Moving to first station," "Moving to second station," "Idling," etc. The display unit 15 can also display the faces of characters or animals to make users feel more familiar with the sample transport robot 1.

[0017] The inner wall of the housing 17 in the case placement area E of the specimen transport robot 1, or the specimen receiving section 111, is equipped with a barcode reader or RFID reader (not shown). By reading the barcode printed on the side of the case 4, or the RF tag (specimen identification information) attached to the case itself or the specimen / object, the robot can grasp the specimen identification information to be transported, determine the destination, and confirm the traceability of the transport from the outside. In other words, the destination can be automatically determined by the specimen identification information such as the RF tag. With this configuration, even if there are multiple first stations 2 and second stations 3, specimens can be appropriately transported to the designated stations, and transport to locations other than the stations is also possible. Furthermore, a temperature measuring device (not shown) is installed inside the sample transport robot 1, allowing the temperature status of sample 5 to be monitored externally.

[0018] The specimen transport robot 1 may also be equipped with a lid on the top of the housing 17. At the direction change position described later, this lid can be opened and closed electrically or automatically.

[0019] The specimen transport robot 1 operates autonomously. During normal autonomous operation, the display unit 15 faces the direction of travel. When entering the first and second stations, the display unit 15 faces the opposite direction of travel, so the robot stops at a predetermined distance from the first and second stations (referred to as the direction change position) and changes direction. The direction change is controlled by the control unit 14.

[0020] (First Station) The first station 2 is a station for handing over the specimen case 44 containing specimen 5 to the specimen transport robot 1. This will be explained in detail using Figure 2. The first station 2 includes a case placement area A for arranging a sample case 44 containing the sample 5, and a case placement area B located below case placement area A. Below case placement area B is a first robot housing section 23 for accommodating the moving sample transport robot 1. The first robot housing section 23 does not need to be separated from other spaces by side walls or the like; it only needs to be able to accommodate or arrange the sample transport robot 1. In Figure 2, the arrow indicates the direction in which the specimen transport robot 1 enters.

[0021] The first station 2 is equipped with a pair of first flaps 211 for placing case 4 in case placement area A. The first flaps 211 are normally lowered and support the specimen case 44, as shown in Figure 2. The first flaps 211 are configured to close when pressed from below.

[0022] The first station 2 is equipped with a pair of second flaps 221 for positioning case 4 in case placement area B. The second flaps 221, like the first flaps 211, are normally lowered and support the empty case 4 (first case 41) as shown in Figure 2. The second flaps 221 are configured to close when pressed from below. In this specification, for convenience, a case 4 in which no sample 5 is placed will be referred to as an empty case 4 (empty case). For example, an empty container (urine cup) for sample 5, an empty blood collection tube, or a rack for other sample containers may be placed in the case.

[0023] " The first station 2 has specimen cases 44 and the first case 41 (empty case 4) arranged vertically, allowing for space-saving installation. Station 2 can be installed even in locations where a power supply is unavailable. It is also possible for the patient to place sample 5 directly at the first station 2.

[0024] (Second Station) The second station 3 is the station where the sample case 44 containing the sample 5 is handed over from the sample transport robot 1. This will be explained in detail using Figure 3. The second station 3 includes a case placement area C for receiving the sample case 44 containing the sample 5 from the sample transport robot 1, and a case placement area D located below case placement area C. Below case placement area D is a second robot housing section 33 for accommodating the moving sample transport robot 1. The second robot housing section 33 does not need to be separated from other spaces by side walls or the like; it only needs to be able to accommodate or position the sample transport robot 1. In Figure 3, the arrow indicates the direction in which the specimen transport robot 1 enters.

[0025] The second station 3 is equipped with a sample transfer unit 311 for receiving sample cases 44 from the sample transport robot 1 to the case placement area C. As shown in Figure 3, the sample transfer unit 311 consists of plate bodies positioned at both the left and right ends of the second station 3 when viewed from the direction of the arrow in Figure 3 (each of the sample transfer units 311 may or may not be in contact with the side wall of the second station 3). As mentioned above, the distance Y between the two sample transfer units 311 is wider than the width X of the sample receiving unit 111 of the sample transport robot 1. Furthermore, when the sample transport robot 1 is housed in the second station 3 and the housing 17 is in its initial position, the bottom surface of the sample transfer unit 311 is positioned higher than the upper end of the sample receiving unit 111 (including the stopping unit 112).

[0026] The second station 3 includes an empty case placement section 321 in the case placement area D where an empty case 4 (third case 43) is placed for handover to the specimen transport robot 1. As shown in Figure 3, the empty case placement section 321 consists of a single plate located in the center of the second station 3 when viewed from the direction of the arrow in Figure 3. The width Z of the plate constituting the empty case placement section 321 is shorter than the distance between the pair of third flaps 121 of the specimen transport robot 1. With this configuration, the third case 43 is supported by the third flaps 121, the third flaps 121 are raised to move it away from the empty case placement section 321, and the third case 43 is placed in the case placement area F of the specimen transport robot 1 and exits. The empty case placement section 321 is equipped with a stopping section 322 at the front end of the second station 3 (the direction in which the specimen transport robot 1 enters) to prevent the empty cases from shifting and falling.

[0027] The second station 3 has an empty case installation area C on top and a third case 43 (empty case) below, allowing for space-saving installation. The second station, Station 3, can be installed even in locations where a power supply is unavailable.

[0028] (case) The case used is not particularly limited as long as it matches the shape of the specimen transport robot 1, the first station 2, and the second station 3. However, as shown in the figure, it is preferable that the case be square or rectangular when viewed from the opening side (top). A square shape is more preferable because it allows for arbitrary orientation. The side wall of case 4 has a notch formed in the upper center, which is concave in shape, with a width greater than the width X of the sample receiving section 111 of the sample transport robot and a height greater than the thickness of the sample receiving section 111 (including the height of the stopping section 112). The length of one side of the bottom surface of the case is wider than the width X of the sample receiving section 111 of the sample transport robot 1, and is also greater than the distance between the third flaps 121 of the sample transport robot 1, as described above.

[0029] Case 4 is provided with a pair of latching parts 45 on its side so that it can be latched onto the first flap 211 and the second flap 221. The shape of the latching parts 45 is not particularly limited as long as it can latch onto the first flap and the second flap 221, but as shown in the figure, it can be, for example, plate-shaped. The latching portion 45 is located at the bottom of the notch in the case 4.

[0030] Since the receiving and handover will take place in Case 4, it is possible to transport items other than specimen 5.

[0031] (Sample reception step) Next, the sample receiving step in the sample transport system will be described. One embodiment of the invention is a sample receiving system that includes a sample receiving step. The sample receiving step will be explained using Figures 4 and 5. In Figures 4 and 5, for clarity, the sample transport robot and the area in front of the first station are omitted (i.e., only a partial cross-section is shown).

[0032] First, as shown in Figures 4(a1) and (a2), at the first station 2, sample case 44 containing sample 5 is placed in case placement area A, and the empty first case 41 is placed in case placement area B. The specimens 5 (e.g., urine, blood, etc.) obtained from the person being tested are placed in specimen containers such as paper cups or blood collection tubes. Multiple specimen containers may be arranged in racks or trays equipped with dividers, and the trays may be placed on top of the specimen case 44.

[0033] In the specimen transport robot 1, no cases are placed in case placement area E, and an empty second case 42 is placed in case placement area F. The initial position of the housing 17 is as shown in Figures (a1) and (a2). The sample transport robot 1 in Figures 4(a1) and 4(a2) may travel from a location other than the first station 2 with the display unit 15 facing the direction of travel, change direction at the direction change position, and then have the display unit 15 facing the opposite direction of travel.

[0034] The specimen transport robot 1 enters the first station 2 (in the direction of the arrow in Figure 4(a1)), and as shown in Figures 4(b1) and (b2), stops at a position where the placed second case 42 is almost directly below the case placement area B (first case 41) of the first station 2, and is housed in the first station 2. At this time, the specimen receiving unit 111 provided on the specimen transport robot 1 is inserted between the case placement area A (specimen case 44) and the case placement area B (first case 41) of the first station 2.

[0035] Next, as shown in Figures 5(c1) and (c2), the lifting unit 16 in the specimen transport robot 1 raises the housing 17 (in the direction of the arrow in Figure 5(c1)). The second case 42 is supported at its bottom by the third flap 121 connected to the housing 17, and is raised by the lifting unit 16 while being supported by the third flap 121. The first case 41, placed in the first station 2, is pressed against by the second case 42 and rises along with the rise of the second case 42. The specimen case 44 is placed on the specimen receiving unit 111, which is inserted between case placement area A (specimen case 44) and case placement area B (first case 41) in the first station 2, and rises along with the rise of the specimen receiving unit 111 connected to the housing 17, and the latching part 45 of the specimen case 44 separates from the first flap 211. The first flap 211, which was supporting the specimen case 44, is pressed from below by the latching portion 45 of the first case 41 and closes. Once the latching portion 45 of the first case 41 passes the first flap 211, it lowers and becomes able to support the first case 41. Similarly, the second flap 221, which was supporting the first case 41, is pressed from below by the latching portion 45 of the second case 42 and closes. Once the latching portion 45 of the second case 42 passes the second flap 221, it lowers and supports the second case 42. At the position where the second case 42 is supported by the second flap 221, the lifting unit 16 stops raising the housing 17 (the position of the housing 17 at this time is defined as the raised position), and then lowers the housing 17 slightly so that the third flap 121 is separated from the bottom surface of the second case 42.

[0036] Sample case 44 is placed in the sample receiving unit 111 (case placement area E) of the sample transport robot 1, the first case 41 is placed in case placement area A of the first station 2 (the case placement area where sample case 44 was placed before the sample transport robot 1 entered), and the second case 42 is placed in case placement area B (the case placement area where the first case 41 was placed before the sample transport robot 1 entered). The sample transport robot 1 hands the second case 42 to the first station 2 and receives sample case 44 from the first station 2. The first station 2 hands over sample case 44 and receives the second case 42, replenishing the case placement area B that became empty as a result of handing over sample case 44. In other words, an exchange of an empty case (second case 42) and sample case 44 takes place between the sample transport robot 1 and the first station 2.

[0037] At the first station 2, once the sample transport robot 1 has finished receiving the sample case 44, the sample transport robot 1 exits the first station 2 as shown in Figures 5(d1) and (d2) (in the direction of the arrow in d1). The sample transport robot 1 moves to the direction change position and stops, and lowers the housing 17 to its initial position. The top of the housing 17 may be automatically covered with a lid.

[0038] After the housing 17 of the specimen case 44 has finished descending, the specimen transport robot 1 may move to the specimen transport destination.

[0039] Without human intervention, the specimen transport robot 1 can raise the housing 17 to receive the specimen case 44 and hand over the second case 42. Since the sample transport robot 1 receives the sample case 44 by raising its housing 17, it can also receive liquid samples 5 even if they are contained in an unsealed sample container such as a urine cup and placed on the sample case 44.

[0040] (Sample transfer step) Next, the sample transfer step in the sample transport system will be described. One embodiment of the invention is a sample transfer system that includes a sample transfer step. The sample transfer step will be explained using Figures 6 and 7. For clarity, these figures omit the sample transport robot and the area in front of the second station.

[0041] First, as shown in Figures 6(e1) and (e2), at the second station 3, case 4 is not placed in case placement area C, and the empty third case 43 is placed in case placement area D. In the specimen transport robot 1, specimen case 44 is placed in case placement area E, and case 4 is not placed in case placement area F. The sample transport robot 1 is in a state where its housing 17 has been raised to the raised position at the direction change position. If the housing 17 has a lid, after the lid is opened electrically, or when the sample transport robot 1 enters the first station 2, the end 26 of the side wall 25 fits between the lid and the body of the sample dispatch robot 1, and as the sample transport robot 1 enters further, the lid opens along the side wall 25. This configuration, in which the lid is opened by the side wall 25 of the first station 2, can also be used when entering the second station 3, in which case the lid may be opened electrically, or the lid may be opened by the side wall 35 and the end 36 of the side wall 35 of the second station 3 as the sample transport robot 1 enters the second station 3. After the lid is opened, the housing 17 is raised. The sample transport robot 1 in Figures 6(e1) and (e2) can travel from a location separate from the second station 3 with the display unit 15 facing the direction of travel, and then change direction at a predetermined turning point, so that the display unit 15 faces the opposite direction of travel.

[0042] The specimen transport robot 1 enters the second station 3 (in the direction of the arrow in Figure 6(e1)), and as shown in Figures 6(f1) and (f2), stops at a position where the placed specimen case 44 is almost directly above the case placement area C of the second station 3, and is then stored in the second station 3.

[0043] Next, as shown in Figures 7(g1) and (g2), the lifting unit 16 in the specimen transport robot 1 lowers the housing 17 to its initial position (in the direction of the arrow in Figure 7(g1)). The width X of the specimen receiving unit 111 provided in the specimen transport robot 1 is shorter than the distance Y between the two specimen transfer units 311 in the case placement area C of the second station 3. When the specimen transport robot 1 is housed in the second station 3 and the housing 17 is in its initial position, the upper end of the specimen receiving unit 111 (including the stopping unit 112) is lower than the bottom surface of the specimen transfer unit 311. Therefore, the specimen case 44 is placed in the specimen transfer unit 311 provided in the second station 3.

[0044] The third flap 121, located in the case placement area F of the specimen transport robot 1, closes due to downward pressure. As the housing 17 descends, the third flap 121 is pressed from below and closed by the latch 45 of the third case 43 located in the case placement area D of the second station 3, passing between the third case 43 and the inner wall of the housing 17 of the specimen transport robot 1. Since the distance between the third flaps 121 is smaller than the width of the bottom surface of the case 4, the third flap 121 does not fully open even after passing the latch 45 of the third case 43, and the third flap 121 passes the bottom surface of the third case 43, opens again, and protrudes from the inner wall of the housing 17 of the specimen transport robot 1. The specimen transport robot 1 raises its housing 17 to approximately the height of the stopping section 322 of the empty case placement section 321 of the second station 3. Since the width Z of the plate body constituting the empty case placement section 321 is shorter than the distance between the pair of third flaps 121 of the specimen transport robot 1, the third flaps 121 pass alongside the empty case placement section 321 and rise. The third case 43 rises with its bottom supported by the third flaps 121, moves away from the empty case placement section 321, and is placed in the case placement area F of the specimen transport robot 1.

[0045] The specimen case 44 is placed in the specimen transfer section 311 (case placement area C) of the second station 3, and the third case 43 is placed in the case placement area F of the specimen transport robot 1. The specimen transport robot 1 delivers the specimen case 44 to the second station 3 and receives the third case 43 from the second station 3. The specimen case 44 and the third case 43 are exchanged between the specimen transport robot 1 and the second station 3.

[0046] At the second station 3, once the delivery of the sample case 44 by the sample transport robot 1 is complete, the sample transport robot 1 exits the second station 3 as shown in Figures 7(h1) and (h2) (in the direction of the arrow in (h1)). The sample transport robot 1 moves to the direction change position and stops, and lowers the housing 17 to its initial position. The housing 17 may be automatically covered with a lid. At this time, the sample transport robot 1 has no case 4 placed in the case placement area E, but has an empty case 4 (corresponding to the second case in the sample receiving step) placed in the case placement area F, and can be used in the sample receiving step (S1).

[0047] After lowering the housing 17 to its initial position, the sample transport robot 1 may move to the sample receiving location.

[0048] In this way, the sample transfer step can be performed without human intervention, by having the sample transport robot 1 lower the housing 17, thereby transferring the sample case 44 and receiving the third case 43. Since the sample case 44 is handed over by the descent of the housing 17 of the sample transport robot 1, even if a liquid sample is contained in an unsealed sample container such as a urine cup and placed on the sample case 44, it can still be handed over.

[0049] (Specimen transport system) The sample transport system S may include the sample receiving step (S1), the sample delivery step (S2), and the automated travel step described above. That is, the sample transport system S can be achieved by alternately executing the sample receiving step S1 and the sample delivery step S2. The automated travel step is a step in which the sample transport robot 1 automatically travels between the first station 2 (sample receiving destination) and the second station 3 (sample transport destination) under the control of the control unit 14. In the sample transport system S, the sample transport robot 1 raises and lowers the housing 17 without human intervention during the sample receiving step (S1) and the sample handover step (S2), thereby enabling the receiving and handover of sample cases 44 and case 4. Thus, the receiving, transport, and handover of sample 5 can be performed without human intervention. Furthermore, if the transport of sample 5 to the second station 3 and the placement of empty cases can also be performed automatically, it is believed that human intervention will be completely eliminated.

[0050] The operating modes of the specimen transport system S include a patrol mode and an on-demand transport mode. As shown in Figure 8, the patrol mode is a mode in which, when a set time is reached, the sample transport robot 1 moves along a designated route from the second station 3 to the first station 2, receives the sample case 44 at the first station 2, moves from the first station 2 to the second station 3, and hands over the sample case 44 at the second station 3. Once the sample case 44 is handed over to the second station 3, the sample transport robot 1 will be ready to receive the sample case 44 at the first station 2. Patrol times can be set for each day of the week.

[0051] The on-demand transport mode is a mode in which the sample transport robot 1, which is idle, is called to the first station 2 or a predetermined location where the sample case 44 to be transported is located, using a device that can operate the sample transport robot 1 via communication, and the second station 3 or another predetermined location, which is the destination, is specified to receive, transport, and hand over the sample case 44. The sample transport robot 1 is equipped with a communication function and can communicate with a device that can operate it. Therefore, the status of the sample transport robot 1 can be monitored by the device, and instructions can be given to the sample transport robot 1. [Industrial applicability]

[0052] By using the specimen receiving system, specimen delivery system, and specimen transport system of the present invention, the burden of transport work within hospitals is reduced, making them useful in the field of transport operations. [Explanation of Symbols]

[0053] Sample transport system S S1 Calcium Receiving System Specimen transfer system S2 Sample transport robot 1 Calcium receiving unit 111 Stop part 112 wheels 13 Control unit 14 Display section 15 Third flap 121 First Station 2 First flap 211 Second flap 221 Second Station 3 Sample transfer section 311 Empty case placement section 321 Stop part 322

Claims

1. A specimen transport robot that places a case on it and allows the placed case to be raised and lowered, The system includes a case placement area A and a case placement area B located below the case placement area A, and a first station from which the sample transport robot can receive samples. A sample receiving system that transports the sample from the first station using the sample transport robot, When the first station places the sample case containing the sample in the case placement area A, and places an empty first case without the sample in the case placement area B, and the sample transport robot receives the sample under these conditions, The specimen transport robot has an empty second case in which the specimen is not placed. A specimen receiving system configured such that the specimen transport robot enters the first station such that the second case of the specimen transport robot is positioned below the case placement area B of the first station, and the specimen transport robot raises the second case to hand it over to the case placement area B and receives the specimen case.

2. The sample receiving system according to claim 1, wherein the sample transport robot is equipped with a sample receiving unit for arranging the sample cases, and when the sample transport robot enters the first station, the sample receiving unit is inserted between the case arrangement area A and the case arrangement area B in the first station, and the sample receiving unit is able to receive the sample cases by raising the robot and arranging the sample cases in the case arrangement area A in the sample receiving unit.

3. The specimen receiving system according to claim 1, wherein when the specimen transport robot enters the first station, the specimen transport robot raises the first case and the specimen case located in the first station together with the second case, thereby placing the specimen case in the specimen receiving section, placing the first case in the case placement area A, and placing the second case in the case placement area B in the first station.

4. The sample receiving system according to claim 1, wherein the first station is provided with a pair of first flaps in the case placement area A and a pair of second flaps in the case placement area B.

5. A specimen transport robot that places a case on it and allows the placed case to be raised and lowered, The system comprises a case placement area C and a case placement area D located below the case placement area C, and includes a second station in the case placement area C on which the sample transport robot can receive samples. A specimen transfer system in which the specimen is transported to the second station by the specimen transport robot, When the sample transport robot receives the sample from the second station, with an empty third case containing no sample placed in the case placement area D, The specimen transport robot has a specimen case on which the specimen is placed, A specimen transfer system configured such that the specimen transfer robot enters the second station such that the specimen case of the specimen transfer robot is positioned above the case placement area C of the second station, and the specimen transfer robot lowers the specimen case to the case placement area C to transfer it and receive the third case.

6. The sample transfer system according to claim 5, wherein the second station is provided with a sample transfer section in the case placement area C for the sample transport robot to transfer the sample case, and the sample transport robot enters the second station so as to position the sample case on the sample transfer section, and by descending, places the sample case on the sample transfer section and transfers the sample case.

7. The specimen transfer system according to claim 5, wherein when the specimen transfer robot enters the second station, the specimen transfer robot lowers the specimen case to place it in the specimen transfer area C of the case placement area C, and causes the specimen transfer robot to place the third case located in the case placement D of the second station.

8. The specimen transfer system according to claim 5, wherein the specimen transport robot includes a case placement area E and a case placement area F below the case placement area E, and the specimen discharge robot includes a specimen receiving section in the case placement area E and a pair of third flaps in the case placement area F.

9. A specimen transport robot that places a case on it and allows the placed case to be raised and lowered, A first station comprising a case placement area A and a case placement area B located below the case placement area A, wherein the sample transport robot can receive samples from the case placement area A, The system includes a case placement area C and a case placement area D located below the case placement area C, and includes a second station in the case placement area C from which the sample transport robot can receive the sample. A specimen transport system that transports the specimen from the first station to the second station using the specimen transport robot, When the first station places the sample case containing the sample in the case placement area A, and places an empty first case without the sample in the case placement area B, and the sample transport robot receives the sample under these conditions, The specimen transport robot has an empty second case in which the specimen is not placed. The specimen transport robot enters the first station such that the second case of the specimen transport robot is positioned below the case placement area B of the first station, and the specimen transport robot is configured to raise the second case to transfer it to the case placement area B and to receive the specimen case. When the sample transport robot receives the sample from the second station, with an empty third case containing no sample placed in the case placement area D, The specimen transport robot has the specimen case on which the specimen is placed, A specimen transport system configured such that the specimen transport robot enters the second station such that the specimen case of the specimen transport robot is positioned above the case placement area C of the second station, and the specimen transport robot lowers the specimen case to the case placement area C to transfer it and receive the third case.

10. The specimen transport system according to claim 9, wherein the specimen transport robot patrols the first station and the second station.

11. The aforementioned specimen is equipped with specimen identification information, The specimen transport system according to claim 9 or 10, wherein the specimen transport robot reads the specimen identification information, automatically determines the transport destination, and automatically transports the specimen to the determined transport destination.

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