Dispensing system, robot and dispensing method

Abstract

To provide a dispensing system that can be introduced inexpensively, and that enables easy switching from a robot to an inspection engineer, while reducing risks of human errors and infections of operators, by using a robot and automating specimen dispensing work that has been carried out manually in conventional safety cabinets.SOLUTION: In a dispensing system 100, at least a body 11 of a robot 10 is disposed outside of a safety cabinet 40 where work is carried out at an internal part for dispensing into microtubes 8 specimens accommodated in specimen containers 7. Further, in the dispensing system, a dispensing unit 33 dispenses into the microtube 8 the specimen accommodated in the specimen container 7 held by a hand part 22, in a state that the hand part 22 provided on a first robot arm part 20, and the dispensing part 33 provided on a second robot arm part 30 are inserted into the safety cabinet 40.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a dispensing system, a robot, and a dispensing method, and more particularly to a dispensing system, a robot, and a dispensing method for dispensing a sample contained in a sample container into a dispensing container inside a sample processing cabinet. [Background technology]

[0002] The demand for infectious virus testing has increased dramatically due to the global spread of COVID-19. A typical example of infectious virus testing is PCR testing. In PCR testing, a patient's throat swab is first collected using a cotton swab, and the swab is stirred in the liquid in a specimen container to disperse the virus in the liquid. The specimen container is transported to a PCR testing facility. The liquid in the specimen container is transferred to a test container. The nucleic acid derived from the virus is extracted in the container, and the nucleic acid is amplified by PCR to diagnose whether the patient is positive or negative for viral infection. Conventionally, the dispensing of samples into test containers for such infectious virus testing is performed manually inside a safety cabinet by a laboratory technician sitting in front of the safety cabinet and inserting his or her hand through a gap in the shutter of the safety cabinet. When dispensing samples manually, there is a possibility of operational mistakes due to human error, especially when the number of samples increases and a laboratory technician continues to work alone for long periods of time. Furthermore, there is a problem that laboratory technicians handle infectious samples, which poses a high risk of infection.

[0003] Various dispensing systems have been proposed in which a robot replaces the manual dispensing work that has been performed inside a safety cabinet (see, for example, Patent Document 1).

[0004] The above-mentioned Patent Document 1 discloses a dual-arm robot disposed inside a safety cabinet. In the above-mentioned Patent Document 1, on a workbench inside the safety cabinet, tools and the like used by the dual-arm robot when performing sample processing such as injection and mixing of reagents and scraping of cells are disposed. The dual-arm robot also includes a base, a body, a right arm, and a left arm. The base is fixed to the floor surface inside the safety cabinet. The lower end side of the body is fixed to the base, and the right arm and the left arm are provided on the upper end side. That is, in the above-mentioned Patent Document 1, the entire dual-arm robot is disposed (installed) inside the safety cabinet. Inside the safety cabinet, the dual-arm robot holds a spatula with a robot hand provided on the right arm, and holds a culture vessel with a robot hand on the left arm. The dual-arm robot performs an operation of scraping off cells cultured inside the culture vessel with a spatula by cooperatively operating the right arm and the left arm. The dual-arm robot also performs an operation of injecting a cell recovery liquid into the culture vessel. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-51169 A Summary of the Invention [Problem to be solved by the invention]

[0006] The system of Patent Document 1 uses the safety cabinet itself as a work space dedicated to the robot, so the cost of introduction is high for facilities that have been performing manual dispensing work in the safety cabinet. For example, the safety cabinet that has been used until now cannot be used, and the introduction requires a significant change in the workflow in the laboratory. In addition, in actual testing sites, specimen containers of the same specifications do not always arrive, and specimen containers with different specifications may be dispensed. In such cases, since the safety cabinet of Patent Document 1 is a work space dedicated to the robot, it is not possible to flexibly respond in such a way that, when a type of specimen that the robot cannot handle arrives, a laboratory technician performs dispensing work in the safety cabinet instead of the robot as an irregular response. In addition, it is possible that the safety cabinet cannot be used while the robot is undergoing maintenance, and testing cannot be carried out.

[0007] The present invention has been made to solve the problems described above, and one object of the present invention is to provide a dispensing system, robot, and dispensing method that can be introduced at low cost and allows easy switching from the robot to a laboratory technician, while reducing human error and the risk of infection for workers by using a robot to automate the sample dispensing work that has previously been performed manually in a safety cabinet. [Means for solving the problem]

[0008] In order to achieve the above object, a dispensing system according to a first aspect of the present invention is a dispensing system that dispenses specimens contained in specimen containers individually into dispensing containers inside a specimen processing cabinet, the dispensing system comprising a robot including a first robot arm section provided with a hand section that grips a specimen container, a second robot arm section provided with a dispensing section that dispenses specimens contained in specimen containers into dispensing containers, and a body section that supports the first robot arm section and the second robot arm section, wherein the body section of the robot, a link member of the first robot arm section, and a link member of the second robot arm section are disposed outside the specimen processing cabinet, and the hand section provided on the first robot arm section and the dispensing section provided on the second robot arm section are inserted inside the specimen processing cabinet, and the dispensing section dispenses specimens contained in specimen containers gripped by the hand section into the dispensing containers. The sample processing cabinet further includes a disk-shaped rotatable mounting table on which at least the sample containers are placed in a circumferential manner, and the hand unit of the first robot arm rotates the disk-shaped mounting table by a predetermined angle at a time. Note that "a body section supporting the first robot arm section and the second robot arm section" means "one body section supporting both the first robot arm section and the second robot arm section" and "multiple body sections supporting the first robot arm section and the second robot arm section individually."

[0009] A robot according to a second aspect of the present invention is a robot that dispenses specimens contained in specimen containers individually into dispensing containers inside a specimen processing cabinet, and includes a first robot arm section provided with a hand section that grips the specimen container, a second robot arm section provided with a dispensing section that dispenses the specimen contained in the specimen container into the dispensing container, and a body section that supports the first robot arm section and the second robot arm section, and in a state in which the body section of the robot, the link member of the first robot arm section, and the link member of the second robot arm section are disposed outside the specimen processing cabinet, and the hand section provided on the first robot arm section and the dispensing section provided on the second robot arm section are inserted inside the specimen processing cabinet, the dispensing section dispenses the specimen contained in the specimen container gripped by the hand section into the dispensing container. The sample processing cabinet further includes a disk-shaped rotatable mounting table on which at least the sample containers are placed in a circumferential manner, and the hand unit of the first robot arm rotates the disk-shaped mounting table by a predetermined angle at a time. .

[0010] In the dispensing system according to the first aspect of the present invention and the robot according to the second aspect, as described above, at least the body of the robot is disposed outside the specimen processing cabinet, and the hand unit provided on the first robot arm unit and the dispensing unit provided on the second robot arm unit are inserted inside the specimen processing cabinet, and the dispensing unit dispenses the specimen contained in the specimen container held by the hand unit into the dispensing container. This allows the robot to perform dispensing work by simply disposing the robot adjacent to the specimen processing cabinet so that the hand unit of the first robot arm unit and the dispensing unit of the second robot arm unit are inserted inside the specimen processing cabinet. This makes it easy to use the robot to replace the dispensing work that was previously performed by a laboratory technician by inserting his or her hand into the specimen processing cabinet. Since the existing specimen processing cabinet can be utilized, the introduction cost for the user is reduced. In addition, there is no need to significantly change the workflow associated with the dispensing work previously performed by a laboratory technician. In addition, when the robot is installed inside the specimen processing cabinet, dispensing work cannot be performed during maintenance of the robot until the work is completed. On the other hand, in the dispensing system according to the first aspect and the robot according to the second aspect, the hand unit of the first robot arm unit and the dispensing unit of the second robot arm unit of the robot undergoing maintenance are detached from the specimen processing cabinet, that is, the robot is detached from the specimen processing cabinet, so that dispensing work can be performed manually instead of the robot. In other words, it is possible to prevent the dispensing work from being delayed. In addition, even when it becomes necessary to process a specimen that cannot be handled in normal operation, such as a specimen container whose shape does not fit the mounting table, the robot can be detached from the safety cabinet to perform dispensing work manually. In this way, by automating the specimen dispensing work that was conventionally performed manually in a safety cabinet by using a robot, it is possible to reduce the risk of human error and infection of the operator, and it is possible to introduce it at a low cost and to switch from the robot to a laboratory technician.

[0011] A dispensing method according to a third aspect of the present invention is a dispensing method for dispensing a specimen contained in a specimen container into a dispensing container by a hand unit of a first robot arm unit and a dispensing unit of a second robot arm unit inserted into a specimen processing cabinet, the method comprising the steps of: gripping a specimen container by the hand unit of the first robot arm unit with a body unit supporting the first robot arm unit and the second robot arm unit, a link member of the first robot arm unit, and a link member of the second robot arm unit being disposed outside the specimen processing cabinet; and dispensing the specimen contained in the specimen container into the dispensing container by the dispensing unit provided on the second robot arm unit with the body unit, the link member of the first robot arm unit, and the link member of the second robot arm unit being disposed outside the specimen processing cabinet; a step of rotating a rotatable disk-shaped mounting table on which at least a plurality of sample containers are circumferentially mounted by a hand unit of a first robot arm unit, the hand unit being disposed inside a sample processing cabinet, by a predetermined angle at a time; Equipped with.

[0012] The dispensing method according to the third aspect of the present invention includes a step of dispensing a sample into a dispensing container by a hand part of at least one robot arm part inserted into a sample processing cabinet, as described above. This allows dispensing work by the robot to be performed simply by arranging the robot adjacent to the sample processing cabinet. Therefore, dispensing work that has conventionally been performed by a laboratory technician by inserting his / her hand into the sample processing cabinet can be easily replaced by the robot 10. Since the existing sample processing cabinet can be utilized, the introduction cost for the user is reduced. In addition, there is no need to significantly change the workflow associated with the dispensing work that has conventionally been performed by a laboratory technician. In addition, when a robot is installed inside the sample processing cabinet, dispensing work cannot be performed during maintenance of the robot until the work is completed. On the other hand, in the dispensing method according to the third aspect, by detaching the hand part of the robot arm part of the robot undergoing maintenance from the sample processing cabinet, that is, by detaching the robot from the sample processing cabinet, dispensing work can be performed manually instead of the robot. In other words, it is possible to prevent the dispensing work from being delayed. In addition, even if it becomes necessary to process a specimen that cannot be handled in normal operations, such as a specimen container with a shape that does not fit the mounting table, the robot can be detached from the safety cabinet and the dispensing work can be performed manually. In this way, by automating the specimen dispensing work that was previously performed manually in a safety cabinet using a robot, it is possible to reduce the risk of human error and infection for workers, while also being introduced at low cost and allowing the switch from robots to laboratory technicians. Effect of the Invention

[0013] As described above, the present invention provides a dispensing system, robot, and dispensing method that can be introduced at low cost while reducing the risk of human error and infection among workers, and that allows easy switching from the robot to a laboratory technician. [Brief description of the drawings]

[0014] [Figure 1]FIG. 1 illustrates a building in which a dispensing system is located in accordance with one embodiment of the present invention. [Diagram 2] FIG. 1 illustrates a top view of a dispensing system according to one embodiment of the present invention. [Diagram 3] FIG. 2 is a side view of a dispensing system according to an embodiment of the present invention as viewed from the X1 direction, with other parts removed so that a hand portion of a first robot arm portion can be seen. [Figure 4] FIG. 2 is a side view of a dispensing system according to an embodiment of the present invention as viewed from the X1 direction, with other components removed so that the dispensing section of the second robot arm section can be seen. [Diagram 5] FIG. 2 is a top view of a hand portion of a first robot arm according to an embodiment of the present invention. [Figure 6] FIG. 2 is a side view of a hand portion of a first robot arm portion as viewed from the X1 direction side according to an embodiment of the present invention. [Figure 7] FIG. 1 is a diagram showing a microtube. [Figure 8] FIG. 13 is a diagram showing the dispensing operation (a side view seen from the X1 direction). [Figure 9] 1 is a side view showing a cover opening / closing unit and an identification information reading unit according to an embodiment of the present invention, as viewed from the X1 direction. [Figure 10] FIG. 10 is a partially enlarged view of FIG. [Figure 11] 1 is a side view showing a block (lid closing portion) according to an embodiment of the present invention as viewed from the X1 direction. FIG. [Figure 12] 13A and 13B are diagrams showing the operation of closing the cap of the microtube. [Figure 13] FIG. 2 illustrates a control block diagram of a dispensing system according to one embodiment of the present invention. [Figure 14] FIG. 11 is a flow chart for explaining the work of an operator prior to a dispensing operation. [Figure 15] FIG. 4 is a flow chart for explaining the operation of a control communication unit of a command unit according to an embodiment of the present invention. [Figure 16] FIG. 4 is a flow chart for explaining the operation of a control and communication unit of the robot according to one embodiment of the present invention. [Figure 17] FIG. 11 is a flow diagram for explaining the operation of gripping a sample container and a microtube. [Figure 18] FIG. 11 is a flow chart for explaining the operation of reading identification information and opening a specimen container. [Figure 19] FIG. 11 is a flow diagram for explaining a dispensing operation. [Figure 20] FIG. 11 is a flow chart for explaining the operation of capping a specimen container. [Figure 21] FIG. 13 is a flow chart for explaining the work of an operator after a dispensing operation. [Figure 22] FIG. 13 is a diagram showing a dispensing container (plate) according to a modified example. [Figure 23] FIG. 13 is a diagram showing a state in which a cover member is placed on a dispensing container (plate) according to a modified example. [Figure 24] FIG. 13 is a diagram showing a dispensing system according to a modified example (in a state in which a first robot arm unit and a second robot arm unit are inserted inside a safety cabinet). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described with reference to the drawings.

[0016] The configuration of a dispensing system 100 according to this embodiment will be described with reference to Figs. 1 to 13. The dispensing system 100 of this embodiment is for dispensing a specimen contained in a specimen container into a test container, a microtube in this embodiment, as a pretreatment for an RT-PCR test for an infectious virus. The dispensing system 100 of this embodiment is particularly effective when applied to dispensing a specimen containing an infectious virus that entails the risk of infection through airborne or droplet infection, as a laboratory technician opens the specimen container and dispenses with a pipette. The infectious virus is not particularly limited, but COVID-19 is one example.

[0017] (Building configuration) First, referring to FIG. 1, a building 1 in which the dispensing system 100 is disposed will be described. As shown in FIG. 1, a room 2 is provided inside the building 1 to receive samples used in PCR testing and to perform pre-treatment steps for RT-PCR testing. The room 2 is a negative pressure room with a lower pressure than the outside. The room 2 includes partitioned parts 2a and 2b. A door section 2c is provided in the part 2a, and samples are received through the door section 2c. A door section 2d is provided between the part 2a and the part 2b. The samples received through the door section 2c are carried into the part 2b through the door section 2d. In this embodiment, the dispensing system 100 is disposed in the negative pressure room 2 (part 2b). Then, a sample container 7 in which a sample is stored is supplied from outside the room 2 into the part 2b. The room 2 is an example of a "work room" in the claims. The PCR test is also an example of an "infectious disease test" in the claims.

[0018] Furthermore, in the center of the interior of the building 1, a workbench 3 for extracting nucleic acid is placed.

[0019] A room 4 for preparing a PCR reaction solution using extracted nucleic acids is provided inside the building 1. The room 4 is a positive pressure room in which the pressure is higher than the outside.

[0020] Inside the building 1, a safety cabinet 5 is placed for adding a positive control to a PCR reaction plate.

[0021] A room 6 in which PCR amplification and detection are carried out is also provided inside the building 1. The room 6 is a negative pressure room in which the pressure is lower than the outside.

[0022] (Dispensing System) Next, the dispensing system 100 will be described. The dispensing system 100 automates the pretreatment process of the RT-PCR test for infectious viruses. As shown in Figs. 2 to 4, the dispensing system 100 includes a robot 10. In this embodiment, the robot 10 of the dispensing system 100 is disposed so that the tip of the robot arm (hand unit 22, dispensing unit 33) is inserted into the inside of the safety cabinet 40, and dispensing a specimen to be used in the PCR test contained in the specimen container 7 into a microtube 8 as pretreatment of the PCR test using the robot arm. The specimen container 7 contains a specimen, and the specimen contains an inactivated virus. The safety cabinet 40 is an example of a "specimen processing cabinet" in the claims. The microtube 8 is an example of a "dispensing container" in the claims.

[0023] As shown in Figs. 2 to 4, the robot 10 includes a dual-arm horizontally articulated robot including a first robot arm unit 20, a second robot arm unit 30, and a body unit 11. The body unit 11 supports both the first robot arm unit 20 and the second robot arm unit 30. The first robot arm unit 20 and the second robot arm unit 30 each include a plurality of link members 21 and a plurality of link members 31. The first robot arm unit 20 and the second robot arm unit 30 are examples of a "robot arm unit" in the claims.

[0024] The first robot arm unit 20 is provided with a hand unit 22 that grips a specimen container 7 in which a specimen is accommodated and a microtube 8 into which the specimen is dispensed. Specifically, as shown in Figures 5 and 6, the hand unit 22 of the first robot arm unit 20 includes a first chuck unit 23 that grips the specimen container 7 and a second chuck unit 24 that grips the microtube 8.

[0025] The first chuck unit 23 includes a pair of support pieces 23a and 23b, and a motor 23c for moving the support piece 23a toward the support piece 23b. When the sample container 7 is between the pair of support pieces 23a and 23b, the first chuck unit 23 moves the support piece 23a by driving the motor 23c under the control of a control communication unit 10a (described later), thereby narrowing the gap between the support pieces 23a and 23b and gripping the sample container 7. When the pair of support pieces 23a and 23b approach each other to a predetermined distance by the driving of the motor 23c, the control communication unit 10a (described later) determines that the sample container 7 is not present at the corresponding position on the mounting table 70.

[0026] The second chuck unit 24 includes a pair of support pieces 24a and 24b, and a motor 24c that moves the support piece 24a toward the support piece 24b. When the microtube 8 is between the pair of support pieces 24a and 24b, the second chuck unit 24 moves the support piece 24a by driving the motor 24c under the control of a control communication unit 10a (described later), thereby narrowing the gap between the support pieces 24a and 24b and gripping the microtube 8. When the pair of support pieces 24a and 24b are brought close to each other by the driving of the motor 24c to a predetermined distance, the control communication unit 10a (described later) determines that the microtube 8 is not present at the corresponding position on the mounting table 70.

[0027] The hand unit 22 of the first robot arm unit 20 is composed of a plate-like member that is substantially L-shaped in a plan view. A first chuck unit 23 and a second chuck unit 24 are provided at the tip of the substantially L-shaped plate-like member. The first chuck unit 23 and the second chuck unit 24 are arranged in a state spaced apart from each other. The distance between the first chuck unit 23 and the second chuck unit 24 is adjusted to correspond to the distance between the sample container 7 and the microtube 8 that are previously arranged on a disk-shaped mounting table 70 described later.

[0028] As shown in FIG. 4, the hand unit 32 of the second robot arm unit 30 is provided with a dispensing unit 33 that dispenses a sample contained in a sample container 7 into a microtube 8 to which the sample is to be dispensed. The dispensing unit 33 includes a pipette 33a that aspirates and discharges the sample contained in the sample container 7, and a dispensing tip 33b attached to the tip of the pipette 33a. The hand unit 32 extends horizontally from the second robot arm unit 30 and has a substantially L-shape that is bent upward. The second robot arm unit 30 moves the pipette 33a and the dispensing tip 33b in the vertical direction together with the hand unit 32 that is bent upward and has a substantially L-shape.

[0029] 3 and 4, the body section 11 supports a first robot arm section 20 and a second robot arm section 30. Specifically, the first robot arm section 20 is disposed above, and the second robot arm section 30 is disposed below.

[0030] As shown in FIG. 6, the specimen container 7 includes a main body 7a in which the specimen is contained, and a screw cap 7b that covers the opening of the main body 7a. The screw cap 7b is attached to or detached from the main body 7a by rotating it relative to the main body 7a. The specimen container 7 also contains a solution for inactivating the specimen, such as hypochlorite or alcohol. The specimen container 7 also has an identification information label 7c attached thereto. Unique identification information 7d that identifies the specimen contained in the specimen container 7 is printed on the identification information label 7c. The identification information 7d is, for example, a specimen number. The identification information 7d is preferably a machine-readable code. The code may be a one-dimensional barcode or a two-dimensional code. The identification information 7d may be machine- and human-readable information, and may be numbers, letters, symbols, or a combination thereof. The identification information label 7c may be a non-contact IC tag in which the identification information 7d is stored. In this embodiment, the identification information 7d is a machine-readable barcode. The main body 7a and the screw cap 7b are examples of the "specimen container main body" and the "specimen container lid" in the claims, respectively.

[0031] As shown in FIG. 7, the microtube 8 includes a main body 8a into which a sample is dispensed, and a lid 8b connected to the main body 8a via a connection 8c. The lid 8b is provided with an insertion portion 8d that is inserted into the main body 8a, and the opening of the main body 8a is closed by inserting the insertion portion 8d of the lid 8b into the main body 8a. In addition, an identification information label 8e is attached to the microtube 8. Unique identification information 8f that identifies the microtube 8 is printed on the identification information label 8e. The identification information 8f is, for example, a serial number assigned to each individual microtube. The identification information 8f is preferably a machine-readable code. The code may be a one-dimensional barcode or a two-dimensional code. The identification information 8f may be machine- and human-readable information, and may be numbers, letters, symbols, or a combination thereof. In this embodiment, the identification information 8f is a machine-readable barcode. The identification information label 8e may be a non-contact IC tag in which the identification information 8f is stored. The main body 8a and the cover 8b are examples of the "dispensing container main body" and the "dispensing container cover" in the claims, respectively.

[0032] As shown in FIG. 8, inside a safety cabinet 40, a specimen contained in a specimen container 7 is dispensed into a microtube 8. The safety cabinet 40 includes a transparent shutter unit 41 provided on the front side. Inside the safety cabinet 40, a work table 42 on which the specimen container 7 and the like are placed is also provided. A gap C is provided between the shutter unit 41 and the work table 42. The internal space surrounded by the shutter unit 41 and the work table 42 is adjusted to a negative pressure. This allows the hand unit 22 of the first robot arm unit 20 and the dispensing unit 33 of the second robot arm unit 30 to work inside the safety cabinet 40 through the gap C, while preventing air that has come into contact with the specimen in the specimen container 7 or the specimen dispensed into the microtube 8 from leaking out through the gap C.

[0033] In this embodiment, a base 12 on which the robot 10 is placed is provided. A work table 42 is disposed in the safety cabinet 40, and the base 12 and a work table 42 on which the sample container 7 is placed are integrally configured. Specifically, a table portion 12a of the base 12 on which the body portion 11 of the robot 10 is placed is connected to the work table 42 by a connection portion 12b extending in the vertical direction. The work table 42 and the table portion 12a are configured to have a stepped shape.

[0034] 3 and 4, casters 12c are provided on the base 12. When the robot 10 breaks down or undergoes maintenance, the base 12 can be moved by the casters 12c to remove the robot 10 from the safety cabinet 40. This allows a laboratory technician to use the safety cabinet 40 as a work space and continue the dispensing work manually in place of the robot 10.

[0035] Here, in this embodiment, at least the body 11 of the robot 10 is disposed outside the safety cabinet 40, and the hand 22 provided on the first robot arm 20 and the dispensing unit 33 provided on the second robot arm 30 are inserted inside the safety cabinet 40, and the dispensing unit 33 dispenses the sample contained in the sample container 7 held by the hand 22 into the microtube 8. Specifically, the first robot arm 20, the second robot arm 30, and the body 11 are disposed outside the shutter 41 of the safety cabinet 40. Then, the hand 22 of the first robot arm 20, and the hand 32 and dispensing unit 33 of the second robot arm 30 are inserted into the safety cabinet 40 through the gap C between the shutter 41 and the workbench 42.

[0036] Specifically, in this embodiment, as shown in FIG. 8, inside a safety cabinet 40, a dispensing section 33 dispenses a sample contained in a sample container 7 grasped by a first chuck section 23 of a hand section 22 into a microtube 8 grasped by a second chuck section 24.

[0037] 4, in this embodiment, the dispensing unit 33 has a pipette 33a that aspirates and dispenses a sample contained in a sample container 7, and is provided with a dispensing tip rack 51 on which a plurality of dispensing tips 33b attached to the tip of the pipette 33a are placed. The dispensing tip rack 51 is disposed inside the safety cabinet 40. The second robot arm unit 30 lowers the pipette 33a of the dispensing unit 33 toward the dispensing tip 33b placed on the dispensing tip rack 51, thereby attaching the dispensing tip 33b to the pipette 33a.

[0038] 2, a dispensing tip disposal unit 52 is provided in which the dispensing tip 33b is disposed. The dispensing tip disposal unit 52 is disposed inside the safety cabinet 40. The second robot arm unit 30 moves the dispensing unit 33 with the dispensing tip 33b attached thereto above the dispensing tip disposal unit 52, removes the dispensing tip 33b from the pipette 33a, and discards it in the dispensing tip disposal unit 52. Specifically, the dispensing unit 33 is provided at its upper portion with a tip ejector 33c for removing the dispensing tip 33b from the pipette 33a. After one sample dispensing is completed, the second robot arm unit 30 moves the dispensing unit 33 with the dispensing tip 33b attached thereto above the dispensing tip disposal unit 52, and the tip ejector 33c of the second robot arm unit 30 abuts against a block 33d provided in the safety cabinet 40, thereby removing the dispensing tip 33b from the pipette 33a and disposing of it in the dispensing tip disposal unit 52. An example of the tip ejector 33c and a method of removing a dispensing tip using the same is described in U.S. Patent Publication No. 2019-0195901, the disclosure of which is incorporated herein by reference in its entirety.

[0039] 9, the dispensing system 100 of this embodiment performs an operation of opening the screw cap 7b of the specimen container 7 inside the safety cabinet 40. Specifically, the dispensing system 100 includes a lid opening / closing unit 60 disposed inside the safety cabinet 40. The lid opening / closing unit 60 opens and closes the screw cap 7b of the specimen container 7 in a state in which the main body 7a is gripped by the hand unit 22 of the first robot arm unit 20, in cooperation with the hand unit 22 of the first robot arm unit 20.

[0040] In this embodiment, the lid opening / closing unit 60 includes a gripping rotation unit 61 that grips and rotates the screw cap 7b. The gripping rotation unit 61 includes a plurality of claws 62 that grip the screw cap 7b. While the gripping rotation unit 61 grips and rotates the screw cap 7b, the hand unit 22 of the first robot arm unit 20 moves (downward) away from the gripping rotation unit 61, thereby removing the screw cap 7b from the main body unit 7a. The removed screw cap 7b is held by the gripping rotation unit 61 during the dispensing operation.

[0041] In this embodiment, an operation of closing the screw cap 7b of the open specimen container 7 is performed inside the safety cabinet 40. Specifically, the first robot arm unit 20 moves the main body unit 7a of the specimen container 7 after dispensing to a position where it contacts the lower end of the screw cap 7b held by the gripping rotation unit 61. Then, while the gripping rotation unit 61 grips and rotates the screw cap 7b, the hand unit 22 of the first robot arm unit 20 moves (moves upward) so as to approach the gripping rotation unit 61, whereby the screw cap 7b is attached to the main body unit 7a.

[0042] In this embodiment, as shown in FIG. 2, a plurality of specimen containers 7 are provided. The dispensing system 100 of this embodiment is disposed inside the safety cabinet 40, and includes a disk-shaped rotatable mounting stage 70 on which at least a plurality of specimen containers 7 are mounted in a circumferential manner. In this embodiment, a plurality of microtubes 8 are also provided. Both the plurality of specimen containers 7 and the plurality of microtubes 8 are mounted in a circumferential manner on the disk-shaped mounting stage 70. The same number of the plurality of specimen containers 7 and the plurality of microtubes 8 are provided. In addition, on the mounting stage 70, the specimen containers 7 are disposed on the outer diameter side, and the microtubes 8 are disposed on the inner diameter side. The specimen containers 7 and the microtubes 8 are disposed along the radial direction of the disk-shaped mounting stage 70.

[0043] As shown in FIG. 13, the disk-shaped mounting table 70 includes a control communication unit 70a and a drive unit 70b. The control communication unit 70a is, for example, a programmable logic controller (PLC). The drive unit 70b is, for example, a stepping motor. The mounting table 70 is rotated by a predetermined angle by the drive unit 70b based on a command from a command unit 91 input via the control communication unit 70a. The predetermined angle of rotation is one pitch of the sample containers 7 placed in a circular shape on the mounting table 70 (360 degrees / number of sample containers 7). By rotating the mounting table 70, the sample containers 7 and the microtubes 8 to be subjected to the next dispensing operation are moved to the vicinity of the hand unit 22 of the first robot arm unit 20.

[0044] In this embodiment, as shown in FIG. 9 and FIG. 10, an identification information reading unit 80 (identification information reading units 80a and 80b) is provided. In one example, the identification information reading units 80a and 80b are reflective barcode readers that irradiate a barcode with laser light and detect the reflected light with a sensor to read the barcode. The identification information reading units 80a and 80b are not limited to barcode readers, and may be cameras or non-contact IC readers. The identification information reading unit 80 is disposed inside the safety cabinet 40. The identification information reading unit 80a reads the identification information 7d from the identification information label 7c attached to the specimen container 7 held by the lid opening / closing unit 60. Specifically, as described later, after the first robot arm unit 20 causes the lid opening / closing unit 60 to hold the specimen container 7, the first robot arm unit 20 moves away from the specimen container 7, and the lid opening / closing unit 60 rotates the specimen container 7 during that time. The identification information reading unit 80a reads the identification information 7d from the identification information label 7c of the rotating specimen container 7. By reading the identification information while rotating the specimen container 7, even if the barcode label is cut or dirty, the probability of successful reading is increased by reading from a different angle. Note that the identification information reading units 80a and 80b are examples of the "first identification information reading unit" and "second identification information reading unit" in the claims, respectively. Also, the identification information 7d is an example of the "first identification information" in the claims.

[0045] The identification information reading unit 80b reads the identification information 8f from the identification information label 8e attached to the microtube 8 by moving the microtube 8 held by the hand unit 22 of the first robot arm unit 20 to a position (near the identification information reading unit 80b) where the identification information reading unit 80b can read the identification information 80e. The identification information 7d of the specimen container 7 and the identification information 8f of the microtube 8 are read simultaneously. The identification information 7d of the specimen container 7 and the identification information 8f of the microtube 8 are sent to the control communication unit 91b of the command unit 91 via the control communication unit 10a of the robot 10, and are then transmitted from the control communication unit 91b to the external system 200 (see FIG. 13). The external system 200 is, for example, a clinical test information system that integrates and manages test results in a test room. In the external system 200, the test results after the PCR test are linked to the identification information 7d of the specimen container 7 and the identification information 8f of the microtube 8. The identification information reading units 80a and 80b are arranged adjacent to each other. A partition may be provided between the identification information reading units 80a and 80b. The identification information 8f is an example of the "second identification information" in the claims.

[0046] The identification information reading unit 80 is disposed near the lid opening / closing unit 60. The identification information reading unit 80a reads the identification information 7d from the identification information label 7c affixed to the sample container 7 in a state in which the main body 7a is held by the hand unit 22 (first chuck unit 23) and the screw cap 7b is held by the gripping rotation unit 61 of the lid opening / closing unit 60. The identification information reading unit 80 is fixed to a pillar unit 81 extending in the vertical direction. A plate unit 82 is connected to the upper end of the pillar unit 81, and the lid opening / closing unit 60 is connected to the lower surface of the plate unit 82.

[0047] In this embodiment, as shown in FIG. 11, inside the safety cabinet 40, the lid 8b of the microtube 8 is closed after the sample contained in the sample container 7 is dispensed. Inside the safety cabinet 40, a block 90 is disposed for closing the lid 8b of the microtube 8 after the sample contained in the sample container 7 is dispensed in cooperation with the hand unit 22 of the first robot arm unit 20. As shown in FIG. 12, the lid 8b of the microtube 8 abuts against the block 90. ​​Then, the microtube 8 is moved relatively to the block 90 by the first robot arm unit 20, and the lid 8b connected to the microtube 8 via the connection unit 8c abuts against the upper surface 90a, side surface 90b, inclined surface 90c, and lower surface 90d of the block 90, thereby closing the lid. The block 90 is an example of a "lid closing unit" in the claims. Moreover, the upper surface 90a, the side surface 90b, the inclined surface 90c, and the lower surface 90d are an example of the "contact portion" in the claims.

[0048] Specifically, as shown in FIG. 12(a), the first robot arm unit 20 moves the lid portion 8b of the microtube 8 so as to be placed on the upper surface 90a of the block 90. ​​Then, as shown in FIG. 12(b), the first robot arm unit 20 moves the microtube 8 downward. As a result, the lid portion 8b of the microtube 8 is arranged in the up-down direction along the side surface 90b of the block 90. ​​Furthermore, as shown in FIG. 12(c), the microtube 8 is moved diagonally downward, so that the lid portion 8b of the microtube 8 moves along the inclined surface 90c of the block 90 so as to approach the opening of the main body portion 8a. Furthermore, as shown in FIG. 12(d), the microtube 8 is moved diagonally downward, so that the lid portion 8b of the microtube 8 moves along the lower surface 90d of the block 90, and the opening of the main body portion 8a is closed by the lid portion 8b.

[0049] In this embodiment, as shown in Fig. 1, a command unit 91 that receives an operation for commanding the robot 10 to start a dispensing operation is disposed outside the safety cabinet 40. The command unit 91 is, for example, a computer having a display / input unit 91a (see Fig. 13), and an example of the command unit 91 is a tablet terminal or a GOT (Graphic Order Terminal). The command unit 91 is disposed in the room 2. The display / input unit 91a displays a screen for operation and receives input from an operator.

[0050] FIG. 13 is a control block diagram of the dispensing system 100 of this embodiment. In the figure, the arrows indicate communication paths between the components. As shown in FIG. 13, the command unit 91 includes a control communication unit 91b. In one example, the control communication unit 91b is a CPU provided in a computer. The robot 10 includes a control communication unit 10a. In one example, the control communication unit 10a is a CPU provided inside the robot. The command unit 91 communicates with the control communication unit 10a of the robot 10 via the control communication unit 91b. The command unit 91 controls the first robot arm driving unit 20a of the first robot arm unit 20 and the second robot arm driving unit 30a of the second robot arm unit 30 by transmitting a command via the control communication unit 10a of the robot 10. The control communication unit 10a of the robot 10 transmits an operation instruction signal to the first robot arm unit 20 and the second robot arm unit 30, and controls the operation of each robot arm unit by receiving a feedback signal from a servo motor included in a plurality of link members (21, 31). The control and communication unit 10a of the robot 10 controls the operation of the hand unit 22 of the first robot arm unit 20 and the dispensing unit 33 of the second robot arm unit 30 by transmitting an operation signal and receiving a feedback signal via each robot arm unit. The control and communication unit 10a of the robot 10 transmits a read instruction signal to the identification information reading unit 80 and receives the identification information (7d, 8f) read by the identification information reading unit 80. The control and communication unit 10a of the robot 10 controls the operation of the mounting table 70 by transmitting an operation instruction signal to the control and communication unit 70a of the mounting table 70. The control and communication unit 10a of the robot 10 controls the operation of the gripping rotation unit 61 and the claw unit 62 by transmitting an operation instruction signal to the lid opening and closing unit 60.

[0051] (Dispensing method) Next, a method for dispensing a specimen contained in a specimen container 7 will be described. First, the work of an operator prior to a dispensing operation by the dispensing system 100 will be described with reference to FIG.

[0052] In step S1, the operator sets the dispensing tip 33b in the dispensing tip rack 51, and places the dispensing tip rack 51 in which the dispensing tip 33b has been set on the workbench 42 inside the safety cabinet 40.

[0053] In step S2, the operator accepts a plurality of specimen containers 7. The operator also affixes an identification information label 7c to each of the accepted specimen containers 7. The operator also checks the attachment state of the identification information label 7c affixed to each of the accepted specimen containers 7. After checking the attachment state of the identification information label 7c, the specimen containers 7 are set in a heating block and heated to inactivate viruses in the specimens. The specimen containers 7 are then placed on the mounting table 70. The specimen containers 7 may be inactivated immediately after being accepted, or the identification information label 7c may be attached in advance before the specimen containers 7 are accepted.

[0054] In step S3, the operator attaches an identification information label 8e to each of the microtubes 8. The operator also checks the attachment state of the identification information label 8e attached to each of the microtubes 8, and after checking, places the microtubes 8 on the placement table 70. In steps S2 and S3, the operator places the specimen container 7 and the microtube 8 on the placement table 70 after adjusting the positions of the specimen container 7 and the microtube 8 so that the identification information 7d and the identification information 8f can be read by the identification information reading unit 80 while the specimen container 7 and the microtube 8 are held by the hand unit 22 of the first robot arm unit 20. The operator also places the placement table 70 on which the specimen containers 7 and the microtubes 8 are placed, on the work table 42 inside the safety cabinet 40.

[0055] In step S4, the operator places the dispensing tip disposal unit 52 inside the safety cabinet 40.

[0056] In step S5, the operator operates the operation screen of the command unit 91 to cause the dispensing system 100 to start a dispensing operation.

[0057] Next, the operation of the command unit 91 will be described with reference to Fig. 15. Fig. 15 is a flowchart showing the operation executed by the control communication unit 91b of the command unit 91 as the control communication unit 91b executes a program stored in advance.

[0058] In step S11, the control communication unit 91b judges whether or not an instruction to start dispensing work has been received from the operator. When the operator operates the display / input unit 91a to input an instruction to start work, the control communication unit 91b accepts the instruction to start dispensing work. The process of step S11 is repeated until an instruction to start dispensing work is received from the operator. If the answer is yes in step S11, proceed to step S12.

[0059] In step S12, the control communication unit 91b transmits to the control communication unit 10a of the robot 10 a signal instructing the robot 10 to start the dispensing operation.

[0060] In step S13, the control communication unit 91b judges whether or not the identification information 7d and the identification information 8f have been received from the identification information reading unit 80 via the control communication unit 10a of the robot 10. In step S24e of Fig. 18 described later, when the identification information reading unit 80 reads the identification information 7d of the specimen container 7 and the identification information 8f of the microtube 8, and the control communication unit 10a of the robot 10 transmits the read identification information to the control communication unit 91b of the command unit 91, the result in step S13 becomes yes, and the process proceeds to step S14. If the result in step S13 is no, that is, if no identification information is received from the robot 10, the process proceeds to step S15.

[0061] In step S14, the control communication unit 91b transmits the received identification information 7d and identification information 8f to the external system 200. In response to this, the external system 200 stores the identification information 7d and the identification information 8f in the storage unit in association with each other. As a result, the identification information 7d assigned to the specimen container 7 (in this embodiment, the specimen number) is linked to the identification information 8f assigned to the microtube 8 (in this embodiment, the serial number of the microtube 8).

[0062] In step S15, the control communication unit 91b judges whether or not the dispensing operation has been completed for all samples placed on the placement stage 70. In step S31 of FIG. 16 described later, if a work completion report is received from the control communication unit 10a of the robot 10, the result is yes in step S15, and the control communication unit 91b advances the process to step S16. In step S16, the control communication unit 91b displays on the display / input unit 91a that the dispensing operation has been completed. In the case where the result is no in step S15, that is, if a work completion report has not been received, the control communication unit 91b returns the process to step S13. In other words, it judges whether or not the identification information 7d of the sample container 7 and the identification information 8f of the microtube 8 to be subjected to the next dispensing operation have been received.

[0063] Next, an operation of the dispensing system 100 after an operator issues a command to start the dispensing system 100 will be described with reference to Fig. 16. Fig. 16 is a flow chart showing an operation executed by the control communication unit 10a of the robot 10 as the control communication unit 10a executes a pre-stored program.

[0064] In this embodiment, at least the body 11 supporting the first robot arm unit 20 and the second robot arm unit 30 is arranged outside the safety cabinet 40, and the hand unit 22 provided on the first robot arm unit 20 and the dispensing unit 33 provided on the second robot arm unit 30 are inserted inside the safety cabinet 40 to perform dispensing work. Specifically, the first robot arm unit 20, the second robot arm unit 30, and the body 11 are arranged outside the safety cabinet 40. The hand unit 22, the first chuck unit 23, and the second chuck unit 24 of the first robot arm unit 20 are arranged inside the safety cabinet 40. The hand unit 32 and the dispensing unit 33 of the second robot arm unit 30 are arranged inside the safety cabinet 40. This will be specifically described below.

[0065] In step S21, the control communication unit 10a judges whether or not a signal instructing the start of dispensing work has been received from the control communication unit 91b of the command unit 91. The process of step S21 is repeated until a signal instructing the start of dispensing work is transmitted from the control communication unit 91b of the command unit 91. If the answer is yes in step S21, the control communication unit 10a advances the process to step S22.

[0066] In step S22, the control and communication unit 10a drives the second robot arm unit 30 to perform an operation of attaching the dispensing tip 33b to the pipette 33a of the dispensing unit 33. More specifically, as described above, the second robot arm unit 30 lowers the pipette 33a of the dispensing unit 33 toward the dispensing tip 33b placed on the dispensing tip rack 51, and attaches the dispensing tip 33b to the pipette 33a by inserting the lower end of the pipette 33a into the opening of the dispensing tip 33b.

[0067] In step S23, the control communication unit 10a drives the first robot arm unit 20 to cause the hand unit 22 to grip both the specimen container 7 and the microtube 8. That is, the control communication unit 10a drives the first robot arm unit 20 to cause the first chuck unit 23 and the second chuck unit 24 of the hand unit 22 to grip each of the specimen containers 7 and the microtubes 8 placed on the mounting table 70. Details of the gripping operation of the specimen containers 7 and the microtubes 8 will be described later.

[0068] Next, in step S24, the control and communication unit 10a drives the first robot arm unit 20 to move the specimen container 7 and the microtube 8 held by the hand unit 22 to the vicinity of the identification information reading unit 80. Then, the screw cap 7b of the specimen container 7 is held by the gripping rotation unit 61 of the lid opening / closing unit 60. In this state, the identification information 7d on the identification information label 7c affixed to the specimen container 7 and the identification information 8f on the identification information label 8e affixed to the microtube 8 are read by the identification information reading units 80a and 80b, respectively.

[0069] In step S24, before the process of dispensing the sample into the microtube 8, the control and communication unit 10a transmits a control signal to the lid opening / closing unit 60 and drives the first robot arm unit 20 to cause the lid opening / closing unit 60 to perform an operation of opening the screw cap 7b of the sample container 7 in cooperation with the hand unit 22 of the first robot arm unit 20 while the hand unit 22 of the first robot arm unit 20 is gripping the main body 7a of the sample container 7 inside the safety cabinet 40. Specifically, while the gripping rotation unit 61 is rotating the screw cap 7b, the hand unit 22 of the first robot arm unit 20 moves the sample container 7 to open the screw cap 7b. The details of the operations of reading the identification information 7d and the identification information 8f and opening the screw cap 7b of the sample container 7 will be described later.

[0070] Next, in step S25, the control communication unit 10a drives the second robot arm unit 30 with the hand unit 22 of the first robot arm unit 20 gripping both the specimen container 7 and the microtube 8, thereby causing the dispensing unit 33 of the second robot arm unit 30 to dispense the specimen contained in the specimen container 7 into the microtube 8. Specifically, under the control of the control communication unit 10a, the hand unit 22 provided on the first robot arm unit 20 and the dispensing unit 33 provided on the second robot arm unit 30 dispense the specimen contained in the specimen container 7 into the microtube 8 with the hand unit 22 inserted inside the safety cabinet 40.

[0071] The dispensing unit 33 aspirates the specimen contained in the specimen container 7 and dispenses the aspirated specimen into the microtube 8. A pressure-type aspirating confirmation unit checks whether the specimen has been aspirated correctly. When aspirating the specimen, the pipette 33a is not inserted into the specimen container 7, but the dispensing tip 33b is inserted instead. When dispensing (discharging) the aspirated specimen into the microtube 8, the tip of the dispensing tip 33b is positioned below the surface of the specimen (liquid) previously discharged to prevent the discharged liquid from splashing. Details of the dispensing operation will be described later.

[0072] Next, in step S26, after the process of dispensing the sample into the microtube 8, the control communication unit 10a transmits a control signal to the cover opening / closing unit 60 and drives the first robot arm unit 20 to perform an operation of closing the screw cap 7b of the sample container 7 in an open state in cooperation with the hand unit 22 of the first robot arm unit 20 inside the safety cabinet 40. Specifically, the main body 7a of the sample container 7 is held by the gripping rotation unit 61 and moved to the vicinity of the screw cap 7b, and the screw cap 7b is rotated. In addition, the main body 7a of the sample container 7 is moved upward with the rotation. As a result, the screw cap 7b is attached to the main body 7a. The detailed operation of closing the screw cap 7b will be described later.

[0073] Next, in step S27, after the process of dispensing the sample into the microtube 8, the control and communication unit 10a drives the first robot arm unit 20 to perform an operation of closing the lid portion 8b of the microtube 8 after the sample contained in the sample container 7 has been dispensed, using the block 90. ​​Specifically, as described above, the microtube 8 is moved by the first robot arm unit 20, and the lid portion 8b is brought into contact with the block 90. ​​This causes the lid portion 8b to close.

[0074] Next, in step S28, the control and communication unit 10a drives the first robot arm unit 20 to return the sample container 7 and the microtube 8 to their original positions on the disk-shaped mounting table 70.

[0075] Next, in step S29, the control and communication unit 10a drives the second robot arm unit 30 to move the dispensing unit 33 above the dispensing tip disposal unit 52, and removes the dispensing tip 33b attached to the tip of the pipette 33a by abutting the upper part of the tip ejector 33c provided on the second robot arm unit against the block 33d.

[0076] Next, in step S30, the control communication unit 10a determines whether the mounting table 70 has made one revolution, that is, whether the dispensing operation has been completed for all of the sample containers 7 and microtubes 8 placed on the mounting table 70. If the mounting table 70 has made one revolution, the answer in step S30 is yes, and the control communication unit 10a advances the process to step S31 and transmits a signal to the command unit 91 to report that the dispensing operation has been completed.

[0077] If the answer is no in step S30, the control communication unit 10a rotates the disk-shaped rotatable mounting table 70, on which the plurality of sample containers 7 and the plurality of microtubes 8 are circumferentially mounted, by a predetermined angle in step S32 by transmitting a control signal to the mounting table 70. This moves the sample containers 7 and microtubes 8 to be the next objects of dispensing to a position where they can be grasped by the hand unit 22 of the first robot arm unit 20. Thereafter, the control communication unit 10a returns the process to step S22. The operations of steps S22 to S32 are repeated until the dispensing operation of all of the plurality of sample containers 7 and the plurality of microtubes 8 mounted on the mounting table 70 is completed.

[0078] Next, the details of the gripping operation of the specimen container 7 and the microtube 8 will be described with reference to FIG.

[0079] In step S23a, the control and communication unit 10a moves the hand unit 22 of the first robot arm unit 20 to a position where the sample container 7 and the microtube 8 can be grasped.

[0080] In step S23b, the control communication unit 10a causes the hand unit 22 to perform an operation of closing the first chuck unit 23 and the second chuck unit 24. Specifically, the motor 23c of the first chuck unit 23 receives a control signal from the control communication unit 10a and is driven to close the pair of support pieces 23a, 23b. Also, the motor 24c of the second chuck unit 24 receives a control signal from the control communication unit 10a and is driven to close the pair of support pieces 24a, 24b.

[0081] In step S23c, the control communication unit 10a determines whether or not the sample container 7 is present. That is, as described above, when the pair of support pieces 23a and 23b approach each other to a predetermined distance by the driving of the motor 23c, the control communication unit 10a determines that the sample container 7 is not present at the corresponding position on the mounting table 70. If the answer is no in step S23c, the process proceeds to step S23d, where the control communication unit 10a notifies the command unit 91 of an error. Thereafter, the control communication unit 10a advances the process to step S29 in FIG. 16.

[0082] If the answer is yes in step S23c, the process proceeds to step S23e, where the control communication unit 10a judges whether or not the microtube 8 is present. That is, as described above, when the pair of support pieces 24a and 24b approach each other to a predetermined distance by the driving of the motor 24c, the control communication unit 10a judges that the microtube 8 is not present at the corresponding position of the mounting table 70. If the answer is no in step S23e, the process proceeds to step S23d, where the control communication unit 10a notifies the command unit 91 of an error. Thereafter, the control communication unit 10a advances the process to step S29 in FIG. 16. If the answer is yes in step S23e, the control communication unit 10a returns the process to the main routine in FIG. 16.

[0083] Next, the operations of reading the identification information 7d and the identification information 8f and opening the screw cap 7b of the sample container 7 will be described in detail with reference to FIG.

[0084] In step S24a, the control and communication unit 10a causes the first robot arm unit 20 to move the sample container 7 held by the hand unit 22 to the vicinity of the lid opening and closing unit 60.

[0085] Next, in step S24b, the control communication unit 10a causes the cover opening / closing unit 60 to close the claw portion 62. Thereafter, the control communication unit 10a causes the first chuck portion 23 of the hand unit 22 to release the gripped state of the sample container 7.

[0086] Next, in step S24c, the control communication unit 10a moves the first robot arm unit 20 to move the microtube 8 to a reading position for the identification information 8f, that is, to a position in front of the identification information reading unit 80b.

[0087] Next, in step S24d, the control communication unit 10a transmits a control signal to the lid opening / closing unit 60 to cause the gripping rotation unit 61 to rotate the specimen container 7. The control communication unit 10a transmits a control signal to the identification information reading unit 80 to cause the identification information reading unit 80a to read the identification information 7d of the specimen container 7 and the identification information reading unit 80b to read the identification information 8f of the microtube 8.

[0088] Next, in step S24e, the control communication unit 10a transmits the identification information 7d of the sample container 7 and the identification information 8f of the microtube 8 to the command unit 91.

[0089] Next, in step S24f, the control and communication unit 10a drives the first robot arm unit 20 to cause the first chuck unit 23 of the hand unit 22 to grip the sample container 7 again.

[0090] Next, in step S24g, the control communication unit 10a transmits a control signal to the cover opening / closing unit 60 to rotate the screw cap 9b of the specimen container 7 by the gripping rotation unit 61 while driving the first robot arm unit 20 to lower the hand unit 22 gripping the main body 7a of the specimen container 7, thereby opening the screw cap 9b. Thereafter, the control communication unit 10a advances the process to step S25 in FIG.

[0091] Next, the details of the dispensing operation will be described with reference to FIG.

[0092] In step S25a, the control and communication unit 10a moves the hand unit 22 of the first robot arm unit 20 to the dispensing position.

[0093] Next, in step S25b, the control and communication unit 10a drives the second robot arm unit 30 to move the dispensing unit 33 to above the sample container 7 held by the hand unit 22 of the first robot arm unit 20.

[0094] Next, in step S25c, the control and communication unit 10a drives the second robot arm unit 30 to lower the dispensing unit 33. As a result, the dispensing tip 33b is inserted into the sample in the sample container .

[0095] Next, in step S25d, the control and communication unit 10a drives the pipette 33a of the dispensing unit 33 to supply negative pressure to the dispensing tip 33b, thereby aspirating the sample into the dispensing tip 33b.

[0096] Next, in step S25e, the control and communication unit 10a moves the dispensing unit 33 to above the microtube 8 by the second robot arm unit 30.

[0097] Next, in step S25f, the control and communication unit 10a drives the second robot arm unit 30 to lower the dispensing unit 33. As a result, the dispensing tip 33b that has aspirated the sample is inserted into the microtube 8.

[0098] Next, in step S25g, the control communication unit 10a drives the pipette 33a of the dispensing unit 33 to supply positive pressure to the dispensing tip 33b, thereby discharging the sample aspirated into the dispensing tip 33b into the microtube 8. Thereafter, the control communication unit 10a advances the process to step S26 in FIG.

[0099] Next, the operation of capping the specimen container 7 will be described in detail with reference to FIG.

[0100] In step S26a, the control and communication unit 10a drives the first robot arm unit 20 to move the main body 7a of the sample container 7 held by the hand unit 22 to the vicinity of the lid opening and closing unit 60. At this point, the claws 62 of the lid opening and closing unit 60 hold the screw cap 7b removed in step S24g of FIG.

[0101] In step S26b, the control communication unit 10a transmits a control signal to the lid opening / closing unit 60, and raises the main body 7a of the sample container 7 held by the hand unit 22 of the first robot arm unit 20 while rotating the screw cap 7b held by the claw unit 62 of the gripping rotation unit 61 in the direction opposite to the direction of rotation in step S24g. This causes the screw cap 7b to be capped. The control communication unit 10a then returns the process to step S28 in FIG.

[0102] Next, the operation of the operator after the completion of the dispensing operation will be described with reference to FIG.

[0103] In step S41, the operator discards the used dispensing tip 33b placed inside the safety cabinet 40.

[0104] In step S42, the operator removes the disk-shaped mounting table 70 on which the specimen containers 7 and microtubes 8 for which the dispensing operation has been completed are placed, to the outside of the safety cabinet 40. The operator then moves the removed mounting table 70 to the work table 3 where the nucleic acid extraction operation is performed. Thereafter, the operation of extracting nucleic acid from the specimen contained in the microtube 8, the preparation of a PCR reaction solution using the extracted nucleic acid, the addition of a positive control to the PCR reaction plate, and the PCR test (amplification, detection) are performed.

[0105] [Effects of this embodiment] In this embodiment, the following effects can be obtained.

[0106] (Effects of analysis system) In this embodiment, as described above, at least the body 11 of the robot 10 is disposed outside the safety cabinet 40, and the hand unit 22 provided on the first robot arm unit 20 and the dispensing unit 33 provided on the second robot arm unit 30 are inserted inside the safety cabinet 40, and the dispensing unit 33 dispenses the sample contained in the sample container 7 held by the hand unit 22 into the microtube 8. As a result, dispensing work by the robot 10 can be performed simply by disposing the robot 10 adjacent to the safety cabinet 40 so that the hand unit 22 of the first robot arm unit 20 and the dispensing unit 33 of the second robot arm unit 30 are inserted inside the safety cabinet 40. Therefore, it is easy to use the robot 10 to replace the dispensing work that a laboratory technician has conventionally performed by inserting his or her hand into the safety cabinet 40. Since the existing safety cabinet 40 can be utilized, the introduction cost for the user can be reduced. In addition, there is no need to significantly change the workflow associated with the dispensing work that a laboratory technician has conventionally performed. In addition, when the robot 10 is installed inside the safety cabinet 40, during the maintenance of the robot 10, the dispensing work cannot be performed until the work is completed. On the other hand, in this embodiment, the hand unit 22 of the first robot arm unit 20 and the dispensing unit 33 of the second robot arm unit 30 of the robot 10 undergoing maintenance are detached from the safety cabinet 40, that is, the robot 10 is detached from the safety cabinet 40, so that the dispensing work can be performed manually instead of the robot 10. In other words, the delay in the dispensing work can be suppressed. In addition, even when it becomes necessary to process a specimen that cannot be handled in normal operation, such as a specimen container having a shape that does not fit the mounting table 70, the robot 10 can be detached from the safety cabinet 40 to perform the dispensing work manually. In this way, by automating the dispensing work of specimens that was conventionally performed manually in the safety cabinet 40 by the robot 10, it is possible to reduce the risk of human error and infection of the operator, and it is possible to introduce it at a low cost and switch from the robot 10 to a laboratory technician.

[0107] In this embodiment, as described above, the specimen container 7 includes a main body 7a and a screw cap 7b that covers the opening of the main body 7a, and an operation of opening the screw cap 7b of the specimen container 7 is performed inside the safety cabinet 40. As a result, the operation of opening the screw cap 7b of the specimen container 7 is also automated by the robot 10, which can eliminate the need to manually open the screw cap 7b of the specimen container 7 and can prevent biohazards (infection from the specimen).

[0108] In this embodiment, as described above, the operation of closing the screw cap 7b of the specimen container 7 in an open state is performed inside the safety cabinet 40. This allows the operation of closing the screw cap 7b of the specimen container 7 to be automated by the robot 10, thereby eliminating the need to manually open the screw cap 7b of the specimen container 7 and preventing biohazards (infection from the specimen).

[0109] As described above, this embodiment further includes a lid opening / closing unit 60 that is disposed inside the safety cabinet 40 and opens and closes the screw cap 7b of the specimen container 7 in a state in which the main body 7a is gripped by the hand unit 22 of the first robot arm unit 20, in cooperation with the hand unit 22 of the first robot arm unit 20. This makes it possible to automate the operation of closing the screw cap 7b of the specimen container 7 by the hand unit 22 of the first robot arm unit 20 and the lid opening / closing unit 60, without requiring manual labor.

[0110] In this embodiment, as described above, the screw cap 7b is attached to or detached from the main body 7a by rotating it relative to the main body 7a, and the lid opening / closing part 60 includes the gripping and rotating part 61 that grips and rotates the screw cap 7b. This allows the screw cap 7b to be easily attached to or detached from the main body 7a by rotating the screw cap 7b with the gripping and rotating part 61.

[0111] In this embodiment, as described above, the gripping rotation unit 61 grips and rotates the screw cap 7b, while the hand unit 22 of the first robot arm unit 20 moves away from the gripping rotation unit 61, thereby removing the screw cap 7b from the main body unit 7a. Here, as the screw cap 7b is rotated relative to the main body unit 7a in order to open the screw cap 7b, the screw cap 7b tries to move away from the main body unit 7a. Therefore, by configuring as described above, the screw cap 7b is rotated at the same position, and the distance between the screw cap 7b and the main body unit 7a gradually increases, so that the screw cap 7b can be easily and smoothly removed from the main body unit 7a.

[0112] In this embodiment, as described above, the safety cabinet 40 is further provided with a disk-shaped rotatable mounting table 70 on which at least a plurality of specimen containers 7 are mounted in a circumferential manner. For example, when a plurality of specimen containers 7 are arranged in a matrix, the distance between the specimen containers 7 and the hand unit 22 that grasps the specimen containers 7 may be relatively large depending on the positions of the plurality of specimen containers 7 arranged in the matrix. In this case, the movement distance of the hand unit 22 becomes large. Therefore, by configuring as described above, the disk-shaped mounting table 70 can be rotated to move the specimen container 7 to be grasped near the hand unit 22, so that the movement distance of the hand unit 22 can be prevented from becoming large.

[0113] In this embodiment, as described above, a plurality of microtubes 8 are provided, and both the plurality of specimen containers 7 and the plurality of microtubes 8 are circumferentially mounted on the disk-shaped mounting base 70. As a result, unlike the case where the plurality of specimen containers 7 and the plurality of microtubes 8 are arranged in a matrix, the specimen containers 7 and the microtubes 8 to be grasped can be moved to the vicinity of the hand unit 22 by rotating the disk-shaped mounting base 70, and therefore the movement distance of the hand unit 22 can be prevented from becoming large.

[0114] Furthermore, as described above, this embodiment further includes an identification information reading unit 80a that reads the identification information 7d of the identification information label 7c affixed to the sample container 7, and the hand unit 22 of the first robot arm unit 20 moves the sample container 7 held by the hand unit 22 to a position where the identification information reading unit 80a can read the identification information 7d, whereby the identification information reading unit 80a reads the identification information 7d of the identification information label 7c affixed to the sample container 7. This automates the reading of the identification information 7d of the identification information label 7c affixed to the sample container 7, thereby eliminating the need to manually read the identification information 7d of the identification information label 7c affixed to the sample container 7.

[0115] In this embodiment, as described above, the robot further includes an identification information reading unit 80b that reads the identification information 8f of the identification information label 8e affixed to the microtube 8. The hand unit 22 of the first robot arm unit 20 is configured to grip the specimen container 7 and the microtube 8. The hand unit 22 of the first robot arm unit 20 moves the specimen container 7 and the microtube 8 gripped by the hand unit 22 to a position where the identification information reading unit 80a and the identification information reading unit 80b can read the identification information 7d and the identification information 8f, respectively. As a result, the identification information reading unit 80a and the identification information reading unit 80b read the identification information 7d of the identification information label 7c affixed to the specimen container 7 and the identification information 8f of the identification information label 8e affixed to the microtube 8. This automates the reading of the identification information 7d on the identification information label 7c affixed to the specimen container 7 and the identification information 8f on the identification information label 8e affixed to the microtube 8, thereby eliminating the need to manually read the identification information 7d on the specimen container 7 and the identification information 8f on the identification information label 8e affixed to the microtube 8.

[0116] In this embodiment, as described above, the hand unit 22 of the first robot arm unit 20 includes the first chuck unit 23 that grips the specimen container 7 and the second chuck unit 24 that grips the microtube 8, and inside the safety cabinet 40, the dispensing unit 33 dispenses the specimen contained in the specimen container 7 gripped by the first chuck unit 23 of the hand unit 22 into the microtube 8 gripped by the second chuck unit 24. As a result, since both the specimen container 7 and the microtube 8 are gripped by the hand unit 22 of the first robot arm unit 20, the distance between the specimen container 7 and the microtube 8 becomes relatively small. As a result, the moving distance of the dispensing unit 33 for dispensing the specimen aspirated from the specimen container 7 into the microtube 8 can be reduced.

[0117] Furthermore, in this embodiment, as described above, the microtube 8 includes the main body 8a and the lid 8b connected to the main body 8a via the connection part 8c, and an operation of closing the lid 8b of the microtube 8 after the specimen contained in the specimen container 7 is dispensed inside the safety cabinet 40 is performed. This automates the operation of closing the lid 8b of the microtube 8, thereby eliminating the need to manually close the lid 8b of the microtube 8 and preventing biohazards (infection from the specimen).

[0118] Furthermore, as described above, this embodiment further includes a block 90 that is disposed inside the safety cabinet 40 and closes the lid 8b of the microtube 8 after the specimen contained in the specimen container 7 has been dispensed, in cooperation with the hand unit 22 of the first robot arm unit 20. This automates the operation of closing the lid 8b of the microtube 8 by the hand unit 22 of the first robot arm unit 20, thereby eliminating the need to manually close the lid 8b of the microtube 8 and preventing biohazards (infection from the specimen).

[0119] In this embodiment, as described above, the block 90 includes an upper surface 90a, a side surface 90b, an inclined surface 90c, and a lower surface 90d against which the lid portion 8b of the microtube 8 abuts, and the first robot arm unit 20 moves the microtube 8 relative to the upper surface 90a, the side surface 90b, the inclined surface 90c, and the lower surface 90d, and the lid portion 8b connected to the main body unit 8a via the connecting unit 8c abuts against the upper surface 90a, the side surface 90b, the inclined surface 90c, and the lower surface 90d, thereby closing the lid portion 8b. This allows the lid portion 8b to be easily closed by simply abutting the lid portion 8b against the upper surface 90a, the side surface 90b, the inclined surface 90c, and the lower surface 90d. Also, unlike a case in which a lid closing unit that closes the lid portion 8b is configured by a robot hand or the like, the configuration of the lid closing unit can be simplified.

[0120] As described above, this embodiment further includes a work table 42, which is disposed within the safety cabinet 40 and on which the sample container 7 is placed, and a base 12 on which the robot 10 is placed, and the work table 42 and the base 12 are integrally configured. This fixes the position of the robot 10 relative to the work table 42, thereby preventing the dispensing operation from being inaccurately performed due to a positional deviation of the robot 10 relative to the work table 42.

[0121] Furthermore, in this embodiment, as described above, the robot 10 includes a dual-arm horizontal articulated robot including the first robot arm unit 20, the second robot arm unit 30, and the body unit 11. As a result, the horizontal articulated robot has a relatively simple configuration compared to a vertical articulated robot, etc., so that the dispensing system 100 can be configured with a simple configuration.

[0122] As described above, this embodiment further includes a command unit 91 that is disposed outside the safety cabinet 40 and receives an operation for commanding the robot 10 to start a dispensing operation. This allows an operator to easily cause the robot 10 to start a dispensing operation by simply operating the command unit 91.

[0123] In this embodiment, as described above, the robot 10 and the safety cabinet 40 are placed in the negative pressure room 2, and the specimen container 7 is supplied into the room 2 from outside the room 2. This makes it possible to prevent the specimen or the like from leaking outside the room 2 by the negative pressure in the room 2.

[0124] In this embodiment, as described above, the specimen includes a specimen to be used in a PCR test, and the robot 10 dispenses the specimen contained in the specimen container 7 into the microtube 8 as a pre-processing for the PCR test. As a result, the pre-processing for the PCR test is automated in the dispensing system 100, and the time required for the pre-processing for the PCR test can be shortened.

[0125] (Effect of dispensing method) In this embodiment, as described above, the method includes a step of dispensing a sample into a microtube 8 using the hand unit 22 of the first robot arm unit 20 and the hand unit 32 of the second robot arm unit 30. As a result, dispensing work can be performed by the robot 10 simply by arranging the robot 10 adjacent to the safety cabinet 40. Therefore, it is easy to use the robot 10 to replace the dispensing work that was previously performed by a laboratory technician by inserting his or her hand into the safety cabinet 40. Since the existing safety cabinet 40 can be utilized, the introduction cost for the user is reduced. In addition, there is no need to significantly change the workflow associated with the dispensing work previously performed by a laboratory technician. In addition, when the robot 10 is installed inside the safety cabinet 40, dispensing work cannot be performed during maintenance of the robot 10 until the work is completed. On the other hand, in this embodiment, the hand unit 22 of the first robot arm unit 20 and the dispensing unit 33 of the second robot arm unit 30 of the robot 10 undergoing maintenance are detached from the safety cabinet 40, that is, the robot 10 is detached from the safety cabinet 40, so that dispensing work can be performed manually instead of the robot 10. That is, it is possible to prevent the dispensing work from being delayed. Also, even when it becomes necessary to process a specimen that cannot be handled in normal operation, such as a specimen container having a shape that does not fit the mounting table 70, the robot 10 can be detached from the safety cabinet 40 to perform the dispensing work manually. In this way, by automating the specimen dispensing work that was conventionally performed manually in the safety cabinet 40 by the robot 10, it is possible to provide a dispensing method that can be introduced at low cost and allows switching from the robot 10 to a laboratory technician while reducing the risk of human error and infection of the worker.

[0126] Furthermore, in this embodiment, as described above, after the step of gripping the specimen container 7 with the hand unit 22 and before the step of dispensing the specimen into the microtube 8, a step of opening the screw cap 7b of the specimen container 7 inside the safety cabinet 40 is further provided. As a result, the operation of opening the screw cap 7b of the specimen container 7 is also automated by the robot 10, so that the dispensing method can eliminate manual steps and prevent biohazards (infection from the specimen).

[0127] Furthermore, in this embodiment, after the step of dispensing the specimen into the microtube 8 as described above, a step of closing the screw cap 7b of the open specimen container 7 inside the safety cabinet 40 is further provided. As a result, the operation of closing the screw cap 7b of the specimen container 7 is also automated by the robot 10, so that the dispensing method can eliminate manual steps and prevent biohazards (infection from the specimen).

[0128] Furthermore, in this embodiment, as described above, after the step of dispensing the specimen into the microtube 8, a step of closing the lid 8b of the microtube 8 after the specimen contained in the specimen container 7 has been dispensed is further included. This automates the operation of closing the lid 8b of the microtube 8, so that the dispensing method can eliminate manual steps and prevent biohazards (infection from the specimen).

[0129] Furthermore, in this embodiment, as described above, the method further includes a step in which the first robot arm unit 20 rotates the rotatable disk-shaped mounting table 70, on which the plurality of sample containers 7 are circumferentially mounted, by a predetermined angle before the step of gripping the sample container 7 by the hand unit 22. This automates the operation of rotating the disk-shaped mounting table 70, so that the dispensing method can eliminate manual steps and prevent biohazards (infection from samples).

[0130] Furthermore, in this embodiment, as described above, a process of gripping both the specimen container 7 and the microtube 8 by the hand unit 22 of the first robot arm unit 20 is included. This makes it possible to prevent an increase in the number of robot arms, unlike a case in which the specimen container 7 and the microtube 8 are gripped separately using a plurality of robot arms.

[0131] Furthermore, in this embodiment, as described above, the process includes a step of dispensing the specimen contained in the specimen container 7 into the microtube 8 while holding both the specimen container 7 and the microtube 8 with the hand unit 22 of the first robot arm unit 20. This makes it possible to prevent an increase in the number of robot arms, unlike a case in which a dispensing operation is performed while the specimen container 7 and the microtube 8 are held separately using multiple robot arms.

[0132] [Variations] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

[0133] For example, in the above embodiment, an example in which a microtube 8 is provided as the dispensing container of the present invention has been described, but the present invention is not limited to this. For example, as shown in FIG. 22, a plate 110 provided with a plurality of holes 111 (relatively deep wells) may be used as the dispensing container of the present invention. In this case, the first robot arm unit 20 grasps only the specimen container 7. Furthermore, only the specimen container 7 is placed on the disk-shaped mounting table 70. Furthermore, the plate 110 is placed inside the safety cabinet 40. Then, the specimen aspirated from the specimen container 7 is discharged into the hole 111 of the plate 110. The plate 110 is an example of a "dispensing container" in the claims.

[0134] 23, when a plate 110 is used, the sample is discharged in a state where a plate-shaped cover member 112 is placed on the surface of the plate 110 so that the sample is not mixed into other holes 111 when the sample is discharged into one hole 111. The cover member 112 is provided with one hole 113, and the sample is discharged in a state where the hole 111 of the plate 110 to be discharged overlaps with the hole 113 of the cover member 112. This makes it possible to prevent the sample from being mixed into holes 111 of the plate 110 other than the hole 111 to be discharged.

[0135] In the above embodiment, the first robot arm section 20, the second robot arm section 30, and the body section 11 are disposed outside the safety cabinet 40, but the present invention is not limited thereto. For example, as shown in FIG. 24, the body section 11 of the robot 210 may be disposed outside the safety cabinet 40, and the specimen contained in the specimen container 7 may be dispensed into the microtube 8 in a state where at least one of the first robot arm section 20 provided with the hand section 22 and the second robot arm section 30 provided with the dispensing section 33 (both in FIG. 24) is inserted inside the safety cabinet 40. This makes the distance between at least one of the first robot arm section 20 and the second robot arm section 30 and the position inside the safety cabinet 40 where the dispensing work is performed relatively small. That is, at least one of the length of the hand section 22 of the first robot arm section 20 and the length of the hand section 32 provided with the dispensing section 33 of the second robot arm section 30 can be made small. As a result, at least one of the hand portion 22 of the first robot arm portion 20 and the hand portion 32 of the second robot arm portion 30 can be moved with a relatively small force (torque).

[0136] For example, in order to attach the dispensing tip 33b to the pipette 33a of the dispensing unit 33, the pipette 33a of the dispensing unit 33 may be pressed against the dispensing tip 33b for a predetermined time. In this case, by inserting at least the second robot arm unit 30 inside the safety cabinet 40, it becomes possible to reduce the length of the hand unit 32 of the second robot arm unit 30. This makes it possible to press the pipette 33a of the dispensing unit 33 against the dispensing tip 33b with a relatively small force (torque).

[0137] In the above embodiment, the operation of opening and closing the screw cap 7b of the sample container 7 and the operation of closing the screw cap 7b of the microtube 8 are performed automatically (by the dispensing system 100), but the present invention is not limited to this. For example, any of the above operations may be performed manually.

[0138] In the above embodiment, the screw cap 7b is opened and closed by rotating the screw cap 7b using the lid opening / closing unit 60, but the present invention is not limited to this. For example, the screw cap 7b may be opened and closed by rotating the screw cap 7b using a hand unit of a separately provided robot arm unit.

[0139] In the above embodiment, the lid of the specimen container 7 is formed of the screw cap 7b, but the present invention is not limited to this. The lid of the specimen container 7 may be a cap type that is closed by pushing it into the main body.

[0140] In the above embodiment, the sample containers 7 and the microtubes 8 are placed on the disk-shaped rotatable placement stage 70, but the present invention is not limited to this. For example, the sample containers 7 and the microtubes 8 may be arranged in a rack in a matrix shape.

[0141] In the above embodiment, the mounting table 70 is rotated by the driving unit 70b, but the present invention is not limited to this. For example, the hand unit 22 of the first robot arm unit 20 may rotate the disk-shaped mounting table 70 by a predetermined angle based on a command from the command unit 91 input via the control communication unit 10a. Also, the hand unit 22 of the first robot arm unit 20 rotates the disk-shaped mounting table 70 by a predetermined angle. For example, the first chuck unit 23 (or the second chuck unit 24) of the hand unit 22 grips the mounting table 70 and rotates it. Alternatively, the mounting table 70 has a hole (not shown), and a rod-shaped pin (not shown) gripped by the first chuck unit 23 (or the second chuck unit 24) of the hand unit 22 is inserted into the hole in the mounting table 70. Then, the hand unit 22 moves the rod-shaped pin, thereby rotating the mounting table 70.

[0142] This allows the disk-shaped mounting table 70 to rotate while suppressing an increase in the number of parts, unlike a case where a drive unit such as a motor is separately provided on the disk-shaped mounting table 70. Also, this allows suppressing an increase in the weight of the disk-shaped mounting table 70, unlike a case where a drive unit such as a motor is separately provided on the disk-shaped mounting table 70. This allows the disk-shaped mounting table 70 to be easily replaced with a new mounting table 70 on which the next sample container 7 to be dispensed is placed, after the dispensing operation for the sample container 7 placed on the disk-shaped mounting table 70 is completed.

[0143] In the above embodiment, the sample containers 7 and the microtubes 8 are disposed inside the safety cabinet 40, but the present invention is not limited to this. For example, the sample containers 7 and the microtubes 8 may be disposed outside the safety cabinet 40.

[0144] In the above embodiment, the sample container 7 and the microtube 8 are moved to the vicinity of the identification information reading unit 80 by the hand unit 22 of the first robot arm unit 20, and the identification information 7d and the identification information 8f are read, but the present invention is not limited to this. The identification information 7d and the identification information 8f may be read manually.

[0145] In the above embodiment, the lid portion 8b of the microtube 8 is brought into contact with the block 90 to close the lid portion 8b, but the present invention is not limited to this. For example, the lid portion 8b may be closed by a robot hand provided separately.

[0146] In the above embodiment, the work table 42 of the safety cabinet 40 and the base 12 on which the robot 10 is placed are integrally configured, but the present invention is not limited to this. For example, the work table of the safety cabinet and the base on which the robot is placed may be configured as separate entities.

[0147] In the above embodiment, the robot 10 is a horizontal articulated robot, but the present invention is not limited to this. For example, the robot may be a vertical articulated robot.

[0148] In the above embodiment, the sample is a sample used in a PCR test, but the present invention is not limited thereto. For example, the dispensing system of the present invention may be used for dispensing operations such as antigen tests, antibody tests, and immune tests other than PCR tests. The type of sample to which the dispensing system 100 of the present embodiment can be suitably applied is not particularly limited, but a clinical sample collected from a subject is preferable. In particular, a clinical sample used in infectious virus tests is preferable. Preferable examples of clinical samples are samples derived from the respiratory system, such as throat swabs, nasal swabs, nasal mucus, saliva, sputum, and gargle. Other examples of clinical samples are whole blood, serum, plasma, cerebrospinal fluid (CSF), pleural effusion, ascites, pericardial fluid, synovial fluid, urine, and stool.

[0149] In the above embodiment, the dispensing system 100 is disposed in the negative pressure room 2, but the present invention is not limited to this. For example, depending on the type of sample, the dispensing system 100 may be disposed in a room with a pressure other than negative pressure.

[0150] In the above embodiment, an example has been shown in which one body section 11 supports both the first robot arm section 20 and the second robot arm section 30, but the present invention is not limited to this. For example, two body sections may be provided to support the first robot arm section 20 and the second robot arm section 30 individually.

[0151] In the above embodiment, the hand unit 22 of the first robot arm unit 20 and the hand unit 32 of the second robot arm unit 30 are used to dispense a sample into a microtube 8, but the present invention is not limited to this. For example, a sample container 7 and a microtube 8 may be gripped and placed at a predetermined position by a hand unit of one robot arm unit. Then, a dispensing unit may be gripped by a hand unit of one robot arm unit, and the sample in the sample container 7 placed at the predetermined position may be dispensed into the microtube 8.

[0152] In the above embodiment, the screw cap 7b of the specimen container 7 is opened and closed by the cooperative operation of the hand unit 22 of the first robot arm unit 20 and the lid opening / closing unit 60, but the present invention is not limited to this. For example, the screw cap 7b of the specimen container 7 may be opened and closed inside the safety cabinet 40 using the hand unit 22 of the first robot arm unit 20. That is, the screw cap 7b may be directly gripped by the hand unit 22 of the first robot arm unit 20 and rotated to open and close the screw cap 7b. This can save the trouble of manually opening the screw cap 7b of the specimen container 7 and can prevent biohazards (infection from the specimen). [Explanation of symbols]

[0153] 2 Rooms (Workroom) 7. Sample container 7a Main body (sample container main body) 7b Screw cap (specimen container lid) 7d Identification information (first identification information) 8 Microtubes (dispensing containers) 8a Main body (dispensing container main body) 8b Lid (dispensing container lid) 8c Connection 8f Identification information (second identification information) 10. Robot 11. Torso 12 Foundation 20 First Robot Arm Section (Robot Arm Section) 22 Hand section 23 First chuck part 24 Second chuck part 30 Second Robot Arm Section (Robot Arm Section) 33 Dispensing section 40 Safety cabinet (cabinet for specimen processing) 42 Workbench 51 Dispensing Tip Rack 52 Dispensing tip disposal section 60 Lid opening and closing part 61 Grip rotating part 70 Placement table 80a: Identification information reading unit (first identification information reading unit) 80b Identification information reading unit (second identification information reading unit) 90 Block (lid closing part) 90a Top surface (contact part) 90b Side (contact part) 90c Slanted surface (contact part) 90d Bottom surface (contact part) 91 Command Department 100 Dispensing System 110 Plate (dispensing container) 210 Robot

Claims

1. A dispensing system that individually dispenses samples contained in sample containers into dispensing containers in a sample processing cabinet, comprising: a robot including a first robot arm unit provided with a hand unit that grips the sample container, a second robot arm unit provided with a dispensing unit that dispenses the sample contained in the sample container into the dispensing container, and a body unit that supports the first robot arm unit and the second robot arm unit, a sample container that is held by the hand unit and that is connected to the second robot arm unit and that is connected to the hand unit, the sample container being held by the hand unit and that is connected to the second robot arm unit; The sample container is provided in plurality, a disk-shaped rotatable mounting table disposed inside the sample processing cabinet and on which at least the plurality of sample containers are mounted in a circumferential manner; A dispensing system, wherein the hand portion of the first robot arm portion rotates the disk-shaped mounting table by a predetermined angle at a time.

2. The specimen container includes a specimen container body and a specimen container cover that covers an opening of the specimen container body, The dispensing system according to claim 1 , wherein the robot performs an operation of opening the sample container lid of the sample container inside the sample processing cabinet.

3. The dispensing system according to claim 2 , wherein the robot performs an operation of closing the sample container lid of the sample container in an open state inside the sample processing cabinet.

4. 4. The dispensing system according to claim 3, further comprising a lid opening / closing unit that is arranged inside the sample processing cabinet and that opens and closes the sample container lid of the sample container in a state in which the sample container body is gripped by the hand unit of the first robot arm unit, in cooperation with the hand unit of the first robot arm unit.

5. the specimen container cover includes a screw cap that is attached to or detached from the specimen container body by rotating the screw cap relative to the specimen container body; The dispensing system according to claim 4 , wherein the lid opening / closing unit includes a gripping and rotating unit that grips and rotates the screw cap.

6. The dispensing system of claim 5, wherein the screw cap is removed from the specimen container body by the gripping rotation unit gripping and rotating the screw cap while the hand unit of the first robot arm unit moves away from the gripping rotation unit.

7. The dispensing system according to claim 2 , wherein the robot uses the hand portion of the first robot arm portion to open and close the sample container lid portion of the sample container inside the sample processing cabinet.

8. The dispensing container is provided in plurality, The dispensing system according to claim 1 , wherein both the plurality of sample containers and the plurality of dispensing containers are placed in a circumferential shape on the disk-shaped placement stage.

9. The method further includes a first identification information reader that reads first identification information attached to the sample container, The dispensing system according to any one of claims 1 to 8, wherein the hand portion of the first robot arm portion moves the specimen container held by the hand portion to a position where the first identification information reading portion can read the first identification information, thereby causing the first identification information reading portion to read the first identification information affixed to the specimen container.

10. The method further includes a second identification information reading unit that reads second identification information attached to the dispensing container, the hand unit of the first robot arm unit is configured to grip the sample container and the dispensing container, 10. The dispensing system according to claim 9, wherein the hand unit of the first robot arm unit moves the specimen container and the dispensing container held by the hand unit to positions where the first identification information reading unit and the second identification information reading unit can read the first identification information and the second identification information, thereby causing the first identification information reading unit and the second identification information reading unit to read the first identification information affixed to the specimen container and the second identification information affixed to the dispensing container, respectively.

11. the hand unit of the first robot arm unit includes a first chuck unit that grips the sample container and a second chuck unit that grips the dispensing container, The dispensing system according to any one of claims 1 to 10, wherein the robot dispenses, inside the sample processing cabinet, a sample contained in the sample container gripped by the first chuck portion of the hand portion into the dispensing container gripped by the second chuck portion by the dispensing portion.

12. The dispensing container includes a dispensing container body and a dispensing container lid connected to the dispensing container body via a connection part, The dispensing system according to any one of claims 1 to 11, wherein the robot performs an operation of closing the dispensing container lid of the dispensing container after the sample contained in the sample container has been dispensed inside the sample processing cabinet.

13. 13. The dispensing system according to claim 12, further comprising a lid closing unit that is disposed inside the sample processing cabinet and closes the dispensing container lid of the dispensing container in cooperation with the hand unit of the first robot arm unit after the sample contained in the sample container has been dispensed.

14. the lid closing portion includes an abutment portion against which the dispensing container lid portion of the dispensing container abuts, The dispensing system of claim 13, wherein the robot moves the dispensing container held by the hand unit by the first robot arm unit relative to the abutment unit, causing the dispensing container lid unit connected to the dispensing container main unit via the connection unit to abut against the abutment unit, thereby closing the dispensing container lid unit.

15. a work table disposed within the sample processing cabinet and on which the sample container is placed; and a base on which the robot is placed. The dispensing system according to any one of claims 1 to 14, wherein the work table and the base are integrally configured.

16. The dispensing system of any one of claims 1 to 15, wherein the body portion includes a first body portion supporting the first robot arm portion and a second body portion supporting the second robot arm portion.

17. A robot that individually dispenses samples contained in sample containers into dispenser containers in a sample processing cabinet, a first robot arm unit provided with a hand unit that grips the sample container; a second robot arm unit provided with a dispensing unit that dispenses the sample contained in the sample container into the dispensing container; a body portion supporting the first robot arm portion and the second robot arm portion, a sample container that is held by the hand unit and that is connected to the second robot arm unit and that is connected to the hand unit, the sample container being held by the hand unit and that is connected to the second robot arm unit; The sample container is provided in plurality, a disk-shaped rotatable mounting table disposed inside the sample processing cabinet and on which at least the plurality of sample containers are mounted in a circumferential manner; The hand portion of the first robot arm portion rotates the disk-shaped mounting base by a predetermined angle at a time.

18. A dispensing method for dispensing a sample contained in a sample container into a dispensing container by a hand unit of a first robot arm unit and a dispensing unit of a second robot arm unit inserted into a sample processing cabinet, comprising: a step of gripping the sample container with a hand portion of the first robot arm portion while a body portion supporting the first robot arm portion and the second robot arm portion, a link member of the first robot arm portion, and a link member of the second robot arm portion are disposed outside the sample processing cabinet; dispensing the sample contained in the sample container into the dispensing container by the dispensing unit provided in the second robot arm unit, while the body unit, the link member of the first robot arm unit, and the link member of the second robot arm unit are disposed outside the sample processing cabinet; the hand portion of the first robot arm portion is disposed inside the sample processing cabinet, and a disk-shaped rotatable mounting stage on which at least a plurality of the sample containers are mounted in a circular shape is rotated by a predetermined angle at a time.

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