Automatic analyzer

Abstract

To provide an autoanalyzer which can accurately detect the position of a tip of nozzle for dispensing and accurately adjust the nozzle position.SOLUTION: An autoanalyzer comprises: dispensing mechanisms 14, 15 provided with nozzles 21, 22 for dispensing a reagent or a specimen and a dispensing arm 201 for moving the nozzles 21, 22; cleaning tanks 26, 27 for cleaning the nozzles 21, 22; and an autoanalyzer control unit for adjusting the positions of the nozzles 21, 22, the autoanalyzer analyzing mixed liquid of the reagent and the specimen accommodated in a reaction cell. Stop positions of the nozzles 21, 22 are set in the dispensing mechanisms 14, 15. The dispensing mechanisms 14, 15 have an imaging device 202 provided at the dispensing arm 201. The autoanalyzer control unit images the nozzles 21, 22 with the imaging device 202 at imaging positions 407, 412 of the nozzles 21, 22. The imaging positions 407, 412 are the positions at which the nozzles 21, 22 are movable and are different from the stop positions.SELECTED DRAWING: Figure 5B

Description

Technical Field

[0001] The present invention relates to an automatic analyzer that mixes a specimen and a reagent for component analysis.

Background Art

[0002] An automatic analyzer dispenses a specimen (sample) and a reagent into a small container (reaction cell), mixes them, and performs component analysis of the sample. In an automatic analyzer, since the same nozzle is repeatedly used to dispense the sample and the reagent, from the viewpoint of maintaining the dispensing accuracy, the nozzle is replaced at intervals of about half a year to one year. The automatic analyzer uses a nozzle that is slender and has a small diameter at the tip to suck the sample contained in the sample container and the reagent contained in the reagent container and discharge them into the reaction cell, and cleans the tip of the nozzle in a cleaning tank. The nozzle is inserted into an elongated sample container, a reagent container having a narrow opening to prevent evaporation of the reagent, a small reaction cell, and a cleaning tank having a cleaning hole through which the nozzle passes. These containers and the cleaning tank have small openings (including holes) through which the nozzle passes. Therefore, when inserting the nozzle into these containers and the cleaning tank, it is necessary to align the position of the nozzle with the position of the opening through which the nozzle passes. Conventionally, the position of the nozzle and the position of the opening through which the nozzle passes have been adjusted by a skilled operator in order to prevent a decrease in dispensing accuracy due to horizontal misalignment of the nozzle and scattering of the cleaning liquid. Further, when the nozzle is replaced, the position of the center of the tip of the nozzle varies depending on the warping due to manufacturing variations, so it is necessary to adjust the horizontal position of the nozzle every time it is replaced.

[0003] Patent Document 1 discloses an adjustment system for an automatic analyzer that can suppress a difference in the quality of adjustment between a skilled person and an unskilled person. This adjustment system includes an imaging device (camera) that images the object to be adjusted, and based on the image captured by the imaging device, acquires information indicating the current position of the object to be adjusted (arm having a nozzle).

[0004] To adjust the position of the nozzle using the imaging device, it is necessary to extract the position coordinates of the tip of the nozzle and the position coordinates of the opening through which the nozzle passes. The nozzle for the sample has a stop position in each of the sample container, the reaction cell, and the washing tank, and at these stop positions, suction and discharge of the sample and washing of the nozzle are performed. The nozzle for the reagent has a stop position in each of the reagent container, the reaction cell, and the washing tank, and at these stop positions, suction and discharge of the reagent and washing of the nozzle are performed. At each stop position, it is required to adjust the position of the nozzle with high precision with respect to the opening through which the nozzle of the container and the washing tank passes (hereinafter referred to as the "adjustment target").

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] To efficiently adjust the horizontal position of the nozzle at a plurality of stop positions of the nozzle, it is desirable to provide an imaging device on the arm having the nozzle and automatically detect the positional deviation between the nozzle and the adjustment target using the image acquired by the imaging device. However, in the image acquired by the imaging device provided on the arm, in addition to the nozzle, the adjustment target at the same imaging distance as the nozzle is also imaged. When detecting the tip of the nozzle from the image of the tip of the nozzle, if the adjustment target is imaged in the image, especially if a part with a large contrast change or unevenness is imaged on the back of the tip of the nozzle, it is difficult to accurately extract the coordinates of the tip of the nozzle by image processing due to these effects. Also, when detecting the adjustment target from the image of the adjustment target, if the nozzle overlaps the opening of the adjustment target, it is difficult to detect the center of the opening.

[0007] An object of the present invention is to provide an automatic analyzer capable of detecting the position of the tip of a nozzle for dispensing with high precision and adjusting the position of the nozzle accurately.

Means for Solving the Problems

[0008] The automatic analyzer according to the present invention includes a dispensing mechanism including a nozzle for dispensing a reagent or a sample and a dispensing arm for moving the nozzle, a cleaning tank for cleaning the nozzle, and an automatic analyzer control unit for adjusting the position of the nozzle, and executes an analysis process for analyzing a mixed solution of the reagent and the sample accommodated in a reaction cell. In the dispensing mechanism, a stop position of the nozzle, which is a position where the nozzle stops moving in the analysis process, is set. The dispensing mechanism includes an imaging device on the dispensing arm. The automatic analyzer control unit moves the nozzle to an imaging position of the nozzle and images the nozzle with the imaging device at the imaging position. The imaging position is a position where the nozzle can move and is different from the stop position.

Effects of the Invention

[0009] According to the present invention, it is possible to provide an automatic analyzer capable of detecting the position of the tip of a nozzle for dispensing with high precision and adjusting the position of the nozzle accurately.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2A

Figure 2B

Figure 2C

Figure 2D

Figure 3A

Figure 3B

Figure 3C

Figure 3D

Figure 4

Figure 5A

Figure 5B

Figure 5C

Figure 5D

Figure 6

Figure 7

Embodiment for Carrying Out the Invention

[0011] In the automatic analyzer according to the present invention, a suction position where a nozzle for dispensing sucks a reagent or a sample, a discharge position where the nozzle discharges the reagent or the sample, and a cleaning position where the tip of the nozzle is cleaned are set as stop positions of the nozzle. Separately from these stop positions, an imaging position for imaging the nozzle with an imaging device is set at a position where the nozzle can move. In the automatic analyzer according to the present invention, since the nozzle is imaged at this imaging position, the position of the tip of the nozzle can be detected with high accuracy. The imaging position of the nozzle is preferably a position where the background of the tip of the nozzle is plain (a position where the background has no unevenness and the change in contrast is small) in the image obtained by imaging the nozzle. Since the nozzle and the imaging device are provided on the dispensing arm of the dispensing mechanism, the imaging device moves together with the nozzle.

[0012] In the automatic analyzer according to the present invention, first, the nozzle is moved to the imaging position of the nozzle to image the nozzle, and the position coordinates of the tip of the nozzle are detected. Next, after moving the nozzle to a position where the nozzle and the imaging target (for example, a reagent container, a sample container, a reaction cell, or a cleaning tank) do not overlap in the image when the imaging device images, the imaging target is imaged, and the position coordinates of the imaging target are detected. Then, from the position coordinates of the tip of the nozzle and the position coordinates of the imaging target, the amount of positional deviation between the nozzle and the imaging target is obtained, and the horizontal position of the nozzle is adjusted. By this adjustment of the position of the nozzle, the position of the center of the nozzle and the position of the center of the imaging target can be made to coincide. Therefore, in the analysis process of analyzing the mixed solution of the reagent and the sample, the automatic analyzer according to the present invention can move the nozzle so that the position of the center of the nozzle and the position of the center of the imaging target coincide.

[0013] Hereinafter, an automatic analyzer according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7. In the following description, the specimen is also referred to as a sample. Also, the openings through which the nozzles of the reagent container, the specimen container, the reaction cell, and the washing tank pass are referred to as "adjustment targets".

Embodiment

[0014] FIG. 1 is a diagram showing the configuration of an automatic analyzer 10 according to an embodiment of the present invention. The automatic analyzer 10 includes a reagent disk 12, a reaction disk 13, a reagent dispensing mechanism 14, a sample dispensing mechanism 15, a reagent washing tank 26 (not shown in FIG. 1, shown in FIGS. 3A, 3C, 3D, 5B, 5D), and a sample washing tank 27. A plurality of reagent containers 11, a plurality of sample containers 23, and a plurality of reaction cells 25 are provided in the automatic analyzer 10. The automatic analyzer 10 may include a plurality of reagent containers 11, a plurality of sample containers 23, and a plurality of reaction cells 25 as components.

[0015] The automatic analyzer 10 executes an analysis process for analyzing a mixed solution of a reagent and a sample accommodated in the reaction cell 25. In FIG. 1, it is assumed that the vertical direction of the automatic analyzer 10 is the Z direction, and the two directions perpendicular to the Z direction are the horizontal directions, which are the X direction and the Y direction.

[0016] The reagent container 11 is a container for accommodating a reagent. The reagent disk 12 mounts a plurality of reagent containers 11 on its circumference and rotates to move the reagent containers 11. In the automatic analyzer 10 shown in FIG. 1, as an example, the reagent disk 12 mounts a plurality of reagent containers 11 on two circumferences with different diameters.

[0017] The sample container 23 is a container for accommodating a sample. The sample is, for example, a blood-derived specimen such as serum or whole blood, or urine. The sample container 23 is, for example, a blood collection tube. A plurality of sample containers 23 are mounted on one sample rack 24. A plurality of sample racks 24 move on the transport line 101 so that the samples accommodated in the sample containers 23 are analyzed.

[0018] The reaction cell 25 is a container that holds the mixture of the reagent and the sample and mixes the reagent and the sample. The reaction disk 13 mounts a plurality of reaction cells 25 on its circumference and rotates to move the reaction cells 25. In the reaction disk 13, the reagent and the sample are mixed and the reaction is measured. In FIG. 1, four reaction cells 25 mounted on the reaction disk 13 are shown enlarged.

[0019] The reagent dispensing mechanism 14 includes a reagent nozzle 21 for dispensing the reagent and a dispensing arm that moves the reagent nozzle 21, and sucks and discharges the reagent. The sample dispensing mechanism 15 includes a sample nozzle 22 for dispensing the sample and a dispensing arm that moves the sample nozzle 22, and sucks and discharges the sample. The automatic analyzer 10 shown in FIG. 1 includes, as an example, two reagent dispensing mechanisms 14 and two sample dispensing mechanisms 15.

[0020] The reagent washing tank 26 is a container that washes the tip of the reagent nozzle 21 to which the reagent adheres with water to wash the reagent nozzle 21. The sample washing tank 27 is a container that washes the tip of the sample nozzle 22 to which the sample adheres with water to wash the sample nozzle 22. The reagent washing tank 26 and the sample washing tank 27 each have an opening (washing hole) through which the reagent nozzle 21 and the sample nozzle 22 pass.

[0021] The reagent contained in the reagent container 11 is moved by the reagent disk 12, sucked by the reagent nozzle 21 of the reagent dispensing mechanism 14, and discharged into the reaction cell 25. The sample contained in the sample container 23 is mounted on the sample rack 24 and moves on the transport line 101, sucked by the sample nozzle 22 of the sample dispensing mechanism 15, and discharged into the reaction cell 25.

[0022] The reagent dispensing mechanism 14 is preset with a reagent suction position where the reagent nozzle 21 sucks the reagent from the reagent container 11, a reagent discharge position where the reagent nozzle 21 discharges the reagent into the reaction cell 25, and a reagent cleaning position where there is a reagent cleaning tank 26 for cleaning the reagent nozzle 21 as the stop positions of the reagent nozzle 21. The stop position of the reagent nozzle 21 is the position where the reagent nozzle 21 stops moving in the analysis process executed by the automatic analyzer 10.

[0023] The reagent dispensing mechanism 14 moves the reagent nozzle 21 to each stop position. Further, at each stop position (the reagent suction position, the reagent discharge position, and the reagent cleaning position), the reagent dispensing mechanism 14 raises and lowers the reagent nozzle 21 in accordance with the heights of the reagent container 11, the reaction cell 25, and the reagent cleaning tank 26, respectively.

[0024] The sample dispensing mechanism 15 is preset with a sample suction position where the sample nozzle 22 sucks the sample from the sample container 23, a sample discharge position where the sample nozzle 22 discharges the sample into the reaction cell 25, and a sample cleaning position where there is a sample cleaning tank 27 for cleaning the sample nozzle 22 as the stop positions of the sample nozzle 22. The stop position of the sample nozzle 22 is the position where the sample nozzle 22 stops moving in the analysis process executed by the automatic analyzer 10.

[0025] The sample dispensing mechanism 15 moves the sample nozzle 22 to each stop position. Further, at each stop position (the sample suction position, the sample discharge position, and the sample cleaning position), the sample dispensing mechanism 15 raises and lowers the sample nozzle 22 in accordance with the heights of the sample container 23, the reaction cell 25, and the sample cleaning tank 27, respectively.

[0026] The reagent dispensing mechanism 14 and the sample dispensing mechanism 15 are configured to be able to move the reagent nozzle 21 and the sample nozzle 22 in the horizontal and vertical directions, respectively, in order to perform the above-described operations. In FIG. 1, as an example, a configuration is shown in which the reagent dispensing mechanism 14 has two degrees of freedom of two rotating axes in the horizontal direction, and a configuration is shown in which the sample dispensing mechanism 15 has one degree of freedom of one rotating axis in the horizontal direction. The reagent dispensing mechanism 14 and the sample dispensing mechanism 15 are not limited to this configuration, and can have any configuration, such as a configuration having two degrees of freedom combining one translational axis and one rotating axis, or a configuration having three or more degrees of freedom.

[0027] Note that the automatic analyzer 10 controls the reagent dispensing mechanism 14 and the sample dispensing mechanism 15 by an automatic analyzer control unit described later. The automatic analyzer 10 includes a measurement unit (not shown), and analyzes the concentration of a predetermined component in the sample by photometrically measuring the mixed solution of the reagent and the sample accommodated in the reaction cell 25. The measurement unit includes, for example, a light source and a photometer. The photometer is, for example, an absorption photometer or a scattering photometer.

[0028] FIGS. 2A to 2D are diagrams showing the dispensing mechanisms 14 and 15 included in the automatic analyzer 10 according to the present embodiment. FIG. 2A is a diagram showing the reagent dispensing mechanism 14 including a detachable imaging device. FIG. 2B is a diagram showing the sample dispensing mechanism 15 including a detachable imaging device. FIG. 2C is a diagram showing the reagent dispensing mechanism 14 including a built-in imaging device. FIG. 2D is a diagram showing the sample dispensing mechanism 15 including a built-in imaging device.

[0029] In this embodiment, as an example, a configuration in which both the reagent dispensing mechanism 14 and the sample dispensing mechanism 15 are provided with imaging devices will be described. The automatic analyzer 10 according to the present invention does not necessarily have to be provided with imaging devices for both the reagent dispensing mechanism 14 and the sample dispensing mechanism 15, and either the reagent dispensing mechanism 14 or the sample dispensing mechanism 15 may be provided with an imaging device. Which of the reagent dispensing mechanism 14 and the sample dispensing mechanism 15 is provided with an imaging device can be determined according to, for example, the sizes of the reagent nozzle 21 and the sample nozzle 22 and the sizes of the openings of the imaging targets (for example, the reagent container 11, the sample container 23, the reaction cell 25, the reagent washing tank 26, the sample washing tank 27). In the following description, the description of the imaging device of the reagent dispensing mechanism 14 is an explanation of the case where the reagent dispensing mechanism 14 is provided with an imaging device, and the description of the imaging device of the sample dispensing mechanism 15 is an explanation of the case where the sample dispensing mechanism 15 is provided with an imaging device.

[0030] The dispensing mechanisms 14 and 15 shown in FIGS. 2A and 2B include a dispensing arm 201 and a detachable imaging device below the dispensing arm 201. The imaging device includes a camera 202 and an image acquisition unit 203a, and is detachably fixed to the dispensing arm 201 by a connection unit 204. The camera 202 includes a lens. The image acquisition unit 203a includes a battery. Since the camera 202 and the image acquisition unit 203a can be detached from the dispensing mechanisms 14 and 15, they can be attached to the dispensing mechanisms 14 and 15 for use when adjusting the positions of the nozzles 21 and 22. FIGS. 2A and 2B show the imaging range 205 of the camera 202.

[0031] There are two main advantages to the configuration in which the dispensing mechanisms 14 and 15 are provided with detachable imaging devices (the camera 202 and the image acquisition unit 203a). One is that when performing normal analysis processing, the imaging device can be removed, so that the mass of the dispensing arm 201 can be reduced, and the load on the motor that drives the dispensing arm 201 can be decreased. The other is that it is not necessary to install the imaging device in all of the dispensing mechanisms 14 and 15, so the cost is lower compared to the case where the imaging device is installed in all of the dispensing mechanisms 14 and 15.

[0032] The dispensing mechanisms 14 and 15 shown in FIGS. 2C and 2D include a dispensing arm 201, and an imaging device is built into the dispensing arm 201. The imaging device includes a camera 202 and an image acquisition unit 203b. The camera 202 includes a lens. The image acquisition unit 203b does not include a battery. Since the imaging device is powered inside the dispensing arm 201, a battery is not required. At least a part of the lens of the camera 202 is exposed from the dispensing arm 201. FIGS. 2C and 2D show the imaging range 205 of the camera 202.

[0033] The main advantages of the configuration including the imaging device (camera 202 and image acquisition unit 203b) built into the dispensing mechanisms 14 and 15 are that the mass of the dispensing arm 201 is reduced because a battery is not required, and the nozzles 21 and 22 can be constantly monitored by the imaging device while normal analysis processing is being performed.

[0034] In the dispensing mechanisms 14 and 15 shown in FIGS. 2A to 2D, when the dispensing arm 201 moves the nozzles 21 and 22, the camera 202 also moves together, and the imaging range 205 also moves.

[0035] In the automatic analyzer 10 according to this embodiment, the imaging device (camera 202 and image acquisition units 203a and 203b) is configured such that the tip portions of the nozzles 21 and 22 enter the imaging range 205 and the focus of the camera 202 is set on the tip portions of the nozzles 21 and 22. Therefore, the imaging device can image an object at approximately the same distance from the camera 202 as the tip portions of the nozzles 21 and 22.

[0036] FIGS. 3A to 3D are examples of images of the reagent nozzle 21 and the cleaning hole 301 captured by the imaging device of the automatic analyzer 10 according to this embodiment. The cleaning hole 301 is provided in the reagent cleaning tank 26 and the sample cleaning tank 27, and is an opening through which the nozzles 21 and 22 pass, that is, an adjustment target. FIGS. 3A, 3C, and 3D show the cleaning hole 301 of the reagent cleaning tank 26 as an example. FIGS. 3A to 3D are images in the horizontal plane (XY plane). In FIGS. 3A to 3D, the left - right direction of the paper surface is the X - direction, and the up - down direction of the paper surface is the Y - direction.

[0037] FIG. 3A is an example of an image of the nozzle 21 when the nozzle 21 is above the cleaning hole 301. Since the nozzle 21 is inserted into the reagent cleaning tank 26 through the cleaning hole 301 for cleaning, it is necessary to adjust the position of the nozzle 21 so that the tip of the nozzle 21 comes to the center of the cleaning hole 301. In the image shown in FIG. 3A, when the automatic analyzer 10 tries to extract the edge of the tip of the nozzle 21, the edge portion of the reagent cleaning tank 26 (for example, the edge of the convex portion of the reagent cleaning tank 26) overlaps with the tip of the nozzle 21, making it difficult to detect the exact position of the tip of the nozzle 21. Also, since the cleaning hole 301 overlaps with the nozzle 21 in the image, it is difficult to detect the center of the cleaning hole 301.

[0038] FIG. 3B is an example of an image of the nozzle 21 taken at a position where the back of the tip of the nozzle 21 is a plain background. In the image shown in FIG. 3B, since no other parts overlap near the edge 302 of the tip of the nozzle 21, the automatic analyzer 10 can easily and accurately detect the position of the tip of the nozzle 21.

[0039] The automatic analysis device 10 can detect the position of the tip of the nozzle 21 from the image of the nozzle 21 by any method. For example, the automatic analysis device 10 can extract the edge 302 of the tip of the nozzle 21 by the following method and detect the position of the tip of the nozzle 21. That is, the automatic analysis device 10 adjusts the state of the captured image by contrast adjustment, gamma correction, etc., further separates the edge from other regions by binarization, matches the shape of the tip of the nozzle 21 from the obtained multiple edges, and extracts the determined edge 302 as the tip of the nozzle 21. The automatic analysis device 10 can calculate the coordinates of the center of the nozzle 21 based on the outer diameter of the nozzle 21 from the edge 302 extracted as the tip of the nozzle 21, and use the calculated center coordinates as the position of the tip of the nozzle 21. In the image shown in FIG. 3B, the X coordinate 303 and the Y coordinate 304 are shown as the coordinates of the center of the nozzle 21. However, when the automatic analysis device 10 adjusts the position of the nozzle 21 based on the distance between the outer surface of the nozzle 21 and the cleaning hole 301, instead of the center coordinates of the nozzle 21, the coordinates of a predetermined point on the edge 302 of the tip of the nozzle 21 can be calculated, and the calculated point coordinates can also be used as the position of the tip of the nozzle 21.

[0040] FIG. 3C is an example of an image of the cleaning hole 301 captured by removing the nozzle 21 from the dispensing arm 201. Since the shape and size of the cleaning hole 301 are known to the automatic analysis device 10, if the contour information of the cleaning hole 301 is available in advance, the edge of the cleaning hole 301 can be extracted from the image shown in FIG. 3C. However, in order to remove the nozzle 21 and operate the dispensing arm 201, additional operations such as blocking the flow path connected to the nozzle 21 to prevent liquid leakage are required. Therefore, it is not practical to remove the nozzle 21 and image the cleaning hole 301.

[0041] FIG. 3D is an example of an image of the cleaning hole 301 taken by moving the nozzle 21 to a position where the nozzle 21 and the cleaning hole 301 do not overlap. In the image shown in FIG. 3D, since the cleaning hole 301 does not overlap with the nozzle 21, the automatic analyzer 10 can extract the edge of the cleaning hole 301 from the image shown in FIG. 3D in the same manner as when using the image shown in FIG. 3C, and can calculate the coordinates of the center of the cleaning hole 301. The image shown in FIG. 3D shows the X coordinate 305 and the Y coordinate 306 as the coordinates of the center of the cleaning hole 301.

[0042] When taking the image shown in FIG. 3B and when taking the image shown in FIG. 3D, the positional relationship between the camera 202 and the nozzle 21 does not change. Therefore, in the image shown in FIG. 3D, the coordinates of the center of the nozzle 21 are the same as the coordinates (X coordinate 303 and Y coordinate 304) obtained from the image shown in FIG. 3B. Accordingly, in the image shown in FIG. 3D, the amount of misalignment between the nozzle 21 and the cleaning hole 301 is the difference 307 between the X coordinate 303 of the center of the nozzle 21 and the X coordinate 305 of the center of the cleaning hole 301 in the X direction, and the difference 308 between the Y coordinate 304 of the center of the nozzle 21 and the Y coordinate 306 of the center of the cleaning hole 301 in the Y direction.

[0043] The dispensing mechanisms 14 and 15 drive the dispensing arm 201 with a stepping motor. Therefore, if the automatic analyzer 10 knows the amount of misalignment in the X direction and the Y direction between the nozzle 21 and the cleaning hole 301 (the difference 307 in the X direction and the difference 308 in the Y direction), the automatic analyzer 10 can move the nozzle 21 by this amount of misalignment to align the position of the center of the nozzle 21 and the position of the center of the cleaning hole 301. That is, the automatic analyzer 10 converts this amount of misalignment into the number of pulses as the moving distance from the current position of the nozzle 21, and gives this number of pulses as a command value to the motor to move the dispensing arm 201, so that the horizontal position of the nozzle 21 can be adjusted so that the position of the center of the nozzle 21 and the position of the center of the cleaning hole 301 coincide.

[0044] Even if the dispensing mechanisms 14 and 15 are configured to drive the dispensing arm 201 with a motor other than a stepping motor, the position of the nozzle 21 can be adjusted in the same manner by measuring the rotation angle of the dispensing arm 201 with an encoder or the like.

[0045] The dispensing mechanisms 14 and 15 are provided with a function of moving the dispensing arm 201 to the same position (origin) every time the automatic analyzer 10 is started up by using a limit sensor. Therefore, if the automatic analyzer 10 knows the moving distance of the nozzle 21 such that the center position of the nozzle 21 coincides with the center position of the cleaning hole 301, the position of the nozzle 21 can be adjusted every time at startup so that the position of the nozzle 21 coincides with the center of the cleaning hole 301.

[0046] As described above, in the automatic analyzer 10 according to the present embodiment, by imaging the nozzle 21 at a position where the back surface of the tip of the nozzle 21 becomes a plain background (FIG. 3B), the position of the tip of the nozzle 21 can be detected with high accuracy. Therefore, the horizontal position of the nozzle 21 can be accurately adjusted with respect to the adjustment target (the cleaning hole 301 in the examples shown in FIGS. 3A to 3D).

[0047] FIG. 4 is a diagram showing an example of the stop positions (horizontal stop positions) of the reagent nozzle 21 and the sample nozzle 22 in the horizontal plane (XY plane) in the automatic analyzer 10 according to the present embodiment.

[0048] In the automatic analyzer 10, the reagent container 11, the sample container 23, and the reaction cell 25 move. Some reagent containers 11 are provided with a lid for preventing evaporation of the contained reagent. In the present embodiment, as an example, it is assumed that the reagent container 11 is provided with this lid and a hole (opening) through which the reagent nozzle 21 passes is provided in this lid. Hereinafter, the hole in the lid of the reagent container 11 will also be simply referred to as "the hole of the reagent container 11".

[0049] Figure 4 shows the trajectory 402 of the center of the holes of the reagent container 11, the trajectory 403 of the center of the sample container 23, and the trajectory 401 of the center of the reaction cell 25. As shown in FIG. 1, since two holes are provided in one reagent container 11 and the reagent containers 11 are arranged on two circumferences with different diameters, as shown in FIG. 4, the trajectory 402 is shown by four circles.

[0050] The stop positions of the reagent nozzle 21 are the reagent suction position 404 for sucking the reagent from the reagent container 11, the reagent discharge position 405 for discharging the reagent into the reaction cell 25, and the reagent cleaning position 406 where there is a cleaning hole 301 in the reagent cleaning tank 26 for cleaning the reagent nozzle 21. The reagent suction position 404 is located on the trajectory 402 of the center of the holes of the reagent container 11. Since there are four trajectories 402 of the center of the holes of the reagent container 11, one reagent suction position 404 is determined for each trajectory 402. The reagent discharge position 405 is located on the trajectory 401 of the center of the reaction cell 25. Since the automatic analyzer 10 is provided with two reagent dispensing mechanisms 14, four reagent suction positions 404, one reagent discharge position 405, and one reagent cleaning position 406 are determined for each reagent dispensing mechanism 14.

[0051] The stop positions of the sample nozzle 22 are the sample suction position 409 for sucking the sample from the sample container 23, the sample discharge position 410 for discharging the sample into the reaction cell 25, and the sample cleaning position 411 where there is a cleaning hole 301 in the sample cleaning tank 27 for cleaning the sample nozzle 22. The sample suction position 409 is located on the trajectory 403 of the center of the sample container 23. The sample discharge position 410 is located on the trajectory 401 of the center of the reaction cell 25. Since the automatic analyzer 10 is provided with two sample dispensing mechanisms 15, one sample suction position 409, one sample discharge position 410, and one sample cleaning position 411 are determined for each sample dispensing mechanism 15.

[0052] Figure 4 shows the stop positions of the reagent nozzle 21 and the sample nozzle 22 with black circle symbols.

[0053] Furthermore, in the reagent dispensing mechanism 14, the position for imaging the reagent nozzle 21 is set as the imaging position 407 of the reagent nozzle 21. In the sample dispensing mechanism 15, the position for imaging the sample nozzle 22 is set as the imaging position 412 of the sample nozzle 22. The imaging positions 407 and 412 are respectively within the movable positions of the reagent nozzle 21 and the sample nozzle 22.

[0054] In FIG. 4, the imaging positions 407 and 412 of the reagent nozzle 21 and the sample nozzle 22 are indicated by triangular symbols.

[0055] The imaging positions 407 and 412 are respectively positions where, in the images captured by the camera 202 of the tip portions of the nozzles 21 and 22, the background of the tip portions of the nozzles 21 and 22 is plain. The plain background is a background such that the automatic analyzer 10 can detect the position of the tip portion of the nozzle 21 from the image captured of the nozzle 21 with a desired accuracy. For example, a surface with a small change in contrast such that the back surfaces of the nozzles 21 and 22 can be recognized as surfaces without irregularities can be used as the plain background.

[0056] The imaging positions 407 and 412 are respectively different from the stop positions of the nozzles 21 and 22. At the stop positions of the nozzles 21 and 22, when the tip portions of the nozzles 21 and 22 are imaged by the camera 202, the back surfaces of the tip portions of the nozzles 21 and 22 do not become plain backgrounds. The camera 202 captures the tip portions of the nozzles 21 and 22 at the imaging positions 407 and 412 respectively.

[0057] In the dispensing mechanisms 14 and 15, as long as they are positions where the nozzles 21 and 22 are movable and the back surfaces of the tip portions of the nozzles 21 and 22 become plain backgrounds in the images captured of the nozzles 21 and 22, the imaging positions 407 and 412 may be set at arbitrary positions. Also, a plurality of imaging positions 407 and 412 may be set respectively in the dispensing mechanisms 14 and 15.

[0058] FIG. 4 shows, by dashed lines, the movable range 408 of the reagent nozzle 21 for two reagent dispensing mechanisms 14 having two degrees of freedom in the horizontal direction. The reagent nozzle 21 is movable within the range 408 surrounded by the dashed lines. Among the plurality of reagent dispensing mechanisms 14, when the movable range 408 of the nozzle 21 of one reagent dispensing mechanism 14 overlaps with the movable range 408 of the nozzle 21 of another reagent dispensing mechanism 14, an imaging position 407 can also be provided in this overlapping region.

[0059] Since the dispensing mechanism 15 has a configuration with one degree of freedom in the horizontal direction, the imaging position 412 is on the trajectory 413 of the sample nozzle 22. The nozzle 22 can only move on the trajectory 413. In the automatic analyzer 10 according to the present embodiment, even when the dispensing mechanism 15 has a configuration with one degree of freedom in the horizontal direction, by imaging the tip of the nozzle 22 at the imaging position 412 and accurately detecting the coordinate differences 307 and 308 as shown in FIG. 3D, the adjustment amount of the position of the nozzle 22 can be accurately grasped, and the position of the nozzle 22 can be efficiently adjusted.

[0060] The automatic analyzer 10 according to the present embodiment may also have a configuration in which the dispensing mechanisms 14 and 15 have two degrees of freedom in the horizontal direction. With such a configuration, the positions of the nozzle 21 and the nozzle 22 can be efficiently automatically adjusted.

[0061] Also, the imaging positions 407 and 412 can be provided at positions where the movable range 408 of the nozzle 21 of the reagent dispensing mechanism 14 and the movable range (the trajectory 413 of the nozzle 22) of the sample dispensing mechanism 15 overlap.

[0062] As described above, the imaging positions 407 and 412 are the positions where the nozzles 21 and 22 can move (within the movable range 408 of the nozzle 21 and on the orbit 413 of the nozzle 22), which are different from the stop positions (suction position, discharge position, and cleaning position) of the nozzles 21 and 22. When the tip portions of the nozzles 21 and 22 are imaged by the camera 202, they are the positions where the back surfaces of the tip portions of the nozzles 21 and 22 become a plain background (a surface without unevenness and with a small change in contrast). The automatic analysis device 10 can include an area (surface) where the back surfaces of the tip portions of the nozzles 21 and 22 become a plain background in the image when the nozzles 21 and 22 are imaged.

[0063] The imaging position 407 and the imaging position 412 may be covered with a cover except when adjusting the positions of the reagent nozzle 21 and the sample nozzle 22. For example, the imaging positions 407 and 412 are covered with a cover when the automatic analysis device 10 performs analysis processing, and are not covered with a cover when the automatic analysis device 10 adjusts the positions of the nozzles 21 and 22. The cover is provided to prevent the imaging positions 407 and 412 from being soiled, and reduces the risk that dirt (an area causing a change in contrast) that causes a detection error on the back surfaces of the nozzles 21 and 22 will appear in the captured image when adjusting the positions of the nozzles 21 and 22.

[0064] Also, the cover can also be used as a plain background for the images of the tip portions of the nozzles 21 and 22 captured by the camera 202 when adjusting the positions of the nozzles 21 and 22. That is, at least one of the imaging positions 407 and 412 may be located on this cover.

[0065] The cover can have an arbitrary configuration as long as it can cover at least one of the reagent container 11, the sample container 23, the reaction cell 25, the reagent cleaning tank 26, and the sample cleaning tank 27, and can cover and not cover the imaging positions 407 and 412. For example, the cover can have a configuration that can be opened and closed, slid, or removed.

[0066] In addition, only when adjusting the positions of the nozzles 21 and 22, a member (background member) having a surface that serves as a plain background may be installed at each of the imaging positions 407 and 412, and this background member may be used as the plain background. The background member can have an arbitrary configuration as long as it has a surface that serves as a plain background, and can be composed of, for example, a sheet, a seal, and a block material. Even when the back of the tip of the nozzles 21 and 22 does not have an area that serves as a plain background, the automatic analysis device 10 can have an area that serves as a plain background by using the background member.

[0067] When a plurality of imaging positions 407 (or imaging position 412) are set in the dispensing mechanism 14 (or dispensing mechanism 15) of the automatic analysis device 10, from the images captured by the camera 202 at these imaging positions 407 (imaging position 412), based on the number of edges, the area of the edges, or the degree of color change, dirt and obstacles can be automatically detected, and an imaging position 407 (imaging position 412) with less dirt and obstacles can be automatically selected. Further, when the position of the tip of the nozzle 21 (or nozzle 22) cannot be detected from the image of the nozzle 21 (or nozzle 22) captured by the camera 202 at a certain imaging position 407 (imaging position 412), the imaging position 407 (imaging position 412) can be switched to another imaging position 407 (imaging position 412) by the automatic analysis device control unit described later, and the nozzle 21 (nozzle 22) can be imaged at the other imaging position 407 (imaging position 412).

[0068] In addition, the automatic analysis device 10 may capture images at a plurality of imaging positions 407 (or imaging position 412), detect the position of the tip of the nozzle 21 (or nozzle 22) from each of these images, and obtain the position of the tip of the nozzle 21 (nozzle 22) by averaging the detected positions of the plurality of tips. By this averaging, the detection error of the position of the tip of the nozzle 21 (nozzle 22) can be reduced.

[0069] Figures 5A to 5D are diagrams showing an example of adjusting the position of the reagent nozzle 21 in the vicinity of the imaging position 407 and the reagent cleaning position 406. The following description can also be applied when adjusting the position of the sample nozzle 22.

[0070] Figures 5A and 5B are diagrams showing a state in which the dispensing arm 201 is moved so that the nozzle 21 is located at the imaging position 407. Figure 5A is a diagram showing an example of the imaging position 407, the cleaning hole 301 of the reagent cleaning tank 26, and the imaging range 205 of the camera 202 in the horizontal plane (XY plane). Figure 5B is a diagram showing the A-A cross section of Figure 5A.

[0071] In the automatic analyzer 10, components such as the reagent cleaning tank 26 and the dispensing mechanism 14 are installed on the base 501. Above the base 501, a cover 502 is installed to facilitate wiping off liquids such as reagents, samples, and cleaning liquids scattered during the operation of the analysis process. The cover 502 can cover at least one of the reagent container 11, the sample container 23, the reaction cell 25, the reagent cleaning tank 26, and the sample cleaning tank 27, and can cover or not cover the imaging positions 407 and 412. The cover 502 is provided with a through hole 503 for the nozzle 21 to access the reagent container 11, the sample container 23, the reaction cell 25, the reagent cleaning tank 26, and the sample cleaning tank 27.

[0072] As described above, the cover 502 can be used as a plain background for the image of the tip of the nozzle 21 imaged by the camera 202 when adjusting the position of the nozzle 21. When removing the cover 502 and imaging the image of the tip of the nozzle 21, a block material (a block material having a flat upper surface with no unevenness and a small change in contrast) having the same height as the reagent cleaning tank 26 may be installed on the base 501 as a background member, and then the image may be imaged.

[0073] At the imaging position 407, an image of the tip of the nozzle 21 can be captured as in the example shown in FIG. 3B. Therefore, the coordinates 303 and 304 of the center of the nozzle 21 can be accurately calculated from the image captured when the nozzle 21 is positioned at the imaging position 407 as shown in FIG. 5B.

[0074] Although not shown in FIGS. 5A and 5B for clarity, the automatic analyzer 10 is provided with a number of openings near the through-hole 503 for accessing the reaction cell 25 and the reagent container 11. There is a risk of liquid splashing near this opening. Therefore, it is desirable that the imaging position 407 be provided at a position where the nozzles 21 and 22 of the dispensing arm 201 that are not used in the dispensing operation during the analysis process can move.

[0075] FIGS. 5C and 5D are diagrams showing a state in which the dispensing arm 201 is moved so that the nozzle 21 is positioned near the reagent washing position 406, but the nozzle 21 is positioned at a position where the nozzle 21 and the washing hole 301 do not overlap in the image of the washing hole 301 captured. FIG. 5C is a diagram showing an example of the reagent washing position 406, the washing hole 301, and the imaging range 205 of the camera 202 in the horizontal plane (XY plane). FIG. 5D is a diagram showing the B-B cross section of FIG. 5C.

[0076] The tip of the nozzle 21 is at a position deviated from the washing hole 301, and even when the washing hole 301 is imaged by the camera 202, the nozzle 21 and the washing hole 301 do not overlap as in the example shown in FIG. 3D. Therefore, the coordinates 305 and 306 of the center of the washing hole 301 can be accurately calculated from the image captured in the state shown in FIG. 5D.

[0077] The through-hole 503 of the cover 502 is larger than the washing hole 301. Therefore, it is possible to image the washing hole 301 without removing the cover 502. However, depending on the depth and size of the washing hole 301 and the through-hole 503, it may be possible to image after removing the cover 502.

[0078] Although the vertical (Z-direction) positions of the cleaning hole 301 and the tip of the nozzle 21 are different from each other, if they are positioned within the range where the focus of the camera 202 is in focus, the edge of the cleaning hole 301, which is sufficiently larger than the nozzle 21, can be extracted. Also, since the vertical position of the dispensing arm 201 can be known from the number of pulses of the stepping motor, the vertical distance between the tip of the nozzle 21 and the reagent cleaning tank 26 can be calculated. For this reason, the image of the cleaning hole 301 can be corrected to an image when the vertical position is the same as that between the cleaning hole 301 and the tip of the nozzle 21.

[0079] The automatic analyzer 10 according to the present embodiment includes an automatic analyzer control unit, and the automatic analyzer control unit controls the process of adjusting the positions of the reagent nozzle 21 and the sample nozzle 22. The automatic analyzer control unit moves the reagent nozzle 21 and the sample nozzle 22 to the imaging positions 407 and 412, respectively, and images the nozzles 21 and 22 with the camera 202 at the imaging positions 407 and 412, respectively, and adjusts the positions of the nozzles 21 and 22.

[0080] FIG. 6 is a diagram showing a flow of a process in which the automatic analyzer control unit of the automatic analyzer 10 according to the present embodiment adjusts the position of the reagent nozzle 21 (or the sample nozzle 22). Hereinafter, an example of adjusting the position of the reagent nozzle 21 will be described, but the following description can also be applied when adjusting the position of the sample nozzle 22.

[0081] In S601, the automatic analyzer control unit moves the reagent nozzle 21 to the imaging position 407 of the reagent nozzle 21 and images the nozzle 21 with the camera 202. The camera 202 images the tip of the nozzle 21 at the imaging position 407. The imaging position 407 is given in advance to the automatic analyzer control unit (a stop position table 709 described later with reference to FIG. 7).

[0082] In S602, the automatic analysis device control unit determines whether the captured image is normal. If the automatic analysis device control unit can extract the edge of the tip of nozzle 21 from the captured image, it determines that the captured image is normal and proceeds to the process of S603. If the automatic analysis device control unit cannot extract the edge of the tip of nozzle 21 from the captured image (for example, when detecting an edge other than the tip of nozzle 21 due to dirt or an obstacle near the tip of nozzle 21), it determines that the captured image is abnormal and proceeds to the process of S608.

[0083] In S608, the automatic analysis device control unit changes the imaging position 407 to another imaging position 407. After that, the automatic analysis device control unit proceeds to the process of S601, moves nozzle 21 to the changed imaging position 407, and captures the tip of nozzle 21. If there is no other imaging position 407 set in the dispensing mechanism 14, the automatic analysis device control unit does not proceed to the process of S601 and issues an alarm to the GUI or the like.

[0084] In S603, the automatic analysis device control unit calculates and stores the coordinates 303 and 304 of the center of nozzle 21 from the captured normal image (the image of the tip of nozzle 21).

[0085] In S604, the automatic analysis device control unit moves nozzle 21 to a position where nozzle 21 and the adjustment target (the opening through which nozzle 21 passes) do not overlap in the image of the adjustment target captured, and the camera 202 captures the adjustment target. Hereinafter, the position where nozzle 21 and the adjustment target do not overlap in the image of the adjustment target captured is referred to as the "adjustment target position". The adjustment target position is predetermined. The camera 202 captures the adjustment target when nozzle 21 is at the adjustment target position.

[0086] When the automatic analyzer control unit uses the camera 202 to image the reagent cleaning tank 26, the reagent container 11, or the reaction cell 25 as the reagent imaging target, it images the reagent imaging target at a position where the nozzle 21 does not overlap with the reagent imaging target in the image of the reagent imaging target. Also, when the automatic analyzer control unit uses the camera 202 to image the sample cleaning tank 27, the sample container 23, or the reaction cell 25 as the sample imaging target, it images the sample imaging target at a position where the nozzle 22 does not overlap with the sample imaging target in the image of the sample imaging target.

[0087] When the automatic analyzer control unit moves the nozzle 21 from the imaging position 407 to the adjustment target position, it is preferable to move the nozzle 21 at a speed sufficiently lower than the moving speed of the nozzle 21 in the analysis process. When the moving speed of the nozzle 21 to the adjustment target position is made low, for example, even when the dispensing mechanism 14 includes a detachable imaging device (Fig. 2A), it is possible to prevent the relative position between the nozzle 21 and the camera 202 from shifting due to the movement of the nozzle 21. Similarly, when the automatic analyzer control unit images the adjustment target (the opening through which the nozzle 22 passes) with the camera 202, when moving the nozzle 22 from the imaging position 412 to the adjustment target position (a position where the nozzle 22 does not overlap with the adjustment target), it is preferable to move the nozzle 22 at a speed sufficiently lower than the moving speed of the nozzle 22 in the analysis process.

[0088] In S605, the automatic analyzer control unit calculates and stores the coordinates 305, 306 of the center of the adjustment target from the image of the imaged adjustment target. The automatic analyzer control unit obtains the coordinates of the center of the adjustment target according to the size and shape of the imaged adjustment target (the hole in the lid of the reagent container 11, the opening of the sample container 23, the reaction cell 25, and the cleaning hole 301). The position, size, and shape of the adjustment target are given to the automatic analyzer control unit in advance. For example, the automatic analyzer control unit can perform pattern matching based on the size and shape of the adjustment target given in advance to obtain the coordinates of the center of the adjustment target from the image of the adjustment target.

[0089] In S606, the automatic analyzer control unit calculates the adjustment amount of the position of nozzle 21 (the coordinate differences 307 and 308 shown in FIG. 3D) from the coordinates 303 and 304 of the center of nozzle 21 and the coordinates 305 and 306 of the center of the adjustment target. Then, the automatic analyzer control unit moves nozzle 21 by this adjustment amount to make the coordinates 303 and 304 of the center of nozzle 21 coincide with the coordinates 305 and 306 of the center of the adjustment target. In this way, the automatic analyzer control unit adjusts the position of nozzle 21. After that, the automatic analyzer control unit images nozzle 21 and the adjustment target with camera 202 and records the adjustment result of the position of nozzle 21.

[0090] The automatic analyzer control unit repeats the above processes from S601 to S606 for all adjustment targets.

[0091] In S607, the automatic analyzer control unit determines whether the processes from S601 to S606 have been performed for all adjustment targets. If the automatic analyzer control unit has performed the processes from S601 to S606 for all adjustment targets, it determines that the adjustment of the position of nozzle 21 has been completed.

[0092] In the process flow shown in FIG. 6, the automatic analyzer control unit calculates the coordinates 303 and 304 of the center of nozzle 21 for each of all adjustment targets. The automatic analyzer control unit can calculate the coordinates 303 and 304 of the center of nozzle 21 only for the first adjustment target and use the coordinates 303 and 304 of the center of nozzle 21 calculated for the first adjustment target without calculating them for other adjustment targets.

[0093] When the dispensing mechanism 14 is provided with a detachable imaging device (FIG. 2A), since the relative positions of the nozzle 21 and the camera 202 may deviate, it is desirable to check the coordinates 303 and 304 of the center of the nozzle 21 immediately before moving the nozzle 21 from the imaging position 407 to the position to be adjusted. Further, even if the imaging position 407 is provided near each of the positions to be adjusted to shorten the distance from the imaging position 407 to the position to be adjusted, displacement of the camera 202 can be prevented. Also, in consideration of the risk of liquid scattering as described above, when adjusting the position of the nozzle 21, it is desirable to cover the base 501 with the cover 502 and use the cover 502 as a plain background for the image of the tip of the nozzle 21 (FIGS. 5B and 5D).

[0094] FIG. 7 is a block diagram showing an example of the configuration of the automatic analyzer control unit provided in the automatic analyzer 10 according to the present embodiment. The automatic analyzer control unit includes a dispensing mechanism control unit 701, a GUI (Graphical User Interface) 702, a mode switching unit 703, an analysis operation control unit 704, a dispensing arm control unit 705, a nozzle position adjustment operation control unit 706, a dispensing arm horizontal drive unit 707, a dispensing arm vertical drive unit 708, a stop position table 709, an imaging control unit 710, an image data storage unit 711, a nozzle tip coordinate extraction unit 712, a nozzle position adjustment amount calculation unit 713, a target coordinate extraction unit 714, and an adjustment target information storage unit 715. Further, although not shown in FIG. 7, the automatic analyzer control unit includes a mechanism for driving the reagent disk 12, the reaction disk 13, and the transfer line 101.

[0095] The dispensing mechanism control unit 701 instructs the mode switching unit 703 to switch the control mode according to a user command from the GUI 702. Further, the dispensing mechanism control unit 701 executes the process of S602 in FIG. 6 to determine whether the image captured in S601 is normal, and executes the process of S608 to change the imaging position 407 to another imaging position 407.

[0096] The mode switching unit 703 can switch the operations of the dispensing mechanisms 14 and 15 between an analysis mode for performing normal analysis processing and an adjustment mode for adjusting the positions of the nozzles 21 and 22. Note that the mode switching unit 703 can also cause the dispensing mechanisms 14 and 15 to execute a reset mode for moving each part of the dispensing mechanisms 14 and 15 to the initial position, or a maintenance mode for intensively cleaning the nozzles 21 and 22 and the reaction cell 25.

[0097] In the analysis mode, the mode switching unit 703 sends an execution command to the analysis operation control unit 704. The analysis operation control unit 704 sends a command to the dispensing arm control unit 705 to drive the dispensing arm 201. The dispensing arm 201 moves the nozzles 21 and 22 at high speed.

[0098] In the adjustment mode, the mode switching unit 703 sends an execution command to the nozzle position adjustment operation control unit 706. The nozzle position adjustment operation control unit 706 sends a command to the dispensing arm control unit 705 to drive the dispensing arm 201. The dispensing arm 201 moves the nozzles 21 and 22 at a low speed (a speed slower than the moving speed of the nozzles 21 and 22 in the analysis mode).

[0099] The dispensing arm control unit 705 sequentially sends commands (for example, the number of pulses and the pulse rate) for driving the motors to the dispensing arm horizontal drive unit 707 and the dispensing arm vertical drive unit 708 in response to commands from the analysis operation control unit 704 and the nozzle position adjustment operation control unit 706, and moves the nozzles 21 and 22. The dispensing arm control unit 705 can indicate the positions at which the nozzles 21 and 22 stop moving by using the information stored in the stop position table 709 described later.

[0100] The dispensing arm horizontal drive unit 707 drives the dispensing arm 201 in the horizontal direction and moves the nozzles 21 and 22 in the horizontal direction. The dispensing arm vertical drive unit 708 drives the dispensing arm 201 in the vertical direction and moves the nozzles 21 and 22 in the vertical direction. Note that the number of dispensing arm horizontal drive units 707 varies depending on the degree of freedom in the horizontal direction (the number of motors) of the dispensing arm 201. For example, when the dispensing arm 201 has two degrees of freedom in the horizontal direction (is equipped with two motors), the number is two.

[0101] The nozzle position adjustment operation control unit 706 issues a command to the dispensing arm control unit 705 to drive the dispensing arm 201 and move the nozzles 21 and 22 to the imaging positions 407 and 412 or the adjustment target positions (positions where the nozzles 21 and 22 do not overlap the adjustment target in the image obtained by imaging the adjustment target).

[0102] The stop position table 709 stores information about the predetermined imaging positions 407 and 412. The stop position table 709 can update the stored imaging positions 407 and 412. The stop position table 709 also stores information about the predetermined adjustment target positions and information about the stop positions (suction position, discharge position, and cleaning position) of the nozzles 21 and 22 in normal analysis processing.

[0103] The nozzle position adjustment operation control unit 706 sends a command to the imaging control unit 710 to image at the imaging positions 407 and 412 or the adjustment target position.

[0104] The imaging control unit 710 sends an imaging instruction to the camera 202 to image the tip portions of the nozzles 21 and 22 and the adjustment target with the camera 202. The imaging control unit 710 receives the information of the image captured by the camera 202 from the camera 202 and stores this image in the image data storage unit 711.

[0105] When the camera 202 has imaged the images of the tip portions of the nozzles 21 and 22 and the adjustment target, the nozzle position adjustment operation control unit 706 sends a command to the nozzle position adjustment amount calculation unit 713 to calculate the adjustment amount of the positions of the nozzles 21 and 22 (the coordinate differences 307 and 308 shown in FIG. 3D).

[0106] When the nozzle position adjustment amount calculation unit 713 receives a command from the nozzle position adjustment operation control unit 706, it causes the nozzle tip coordinate extraction unit 712 to calculate the coordinates 303 and 304 of the centers of the nozzles 21 and 22 and causes the target coordinate extraction unit 714 to calculate the coordinates 305 and 306 of the center of the adjustment target.

[0107] The nozzle tip coordinate extraction unit 712 calculates the coordinates 303 and 304 of the centers of the nozzles 21 and 22 from the image captured by the camera 202 in accordance with an instruction from the nozzle position adjustment amount calculation unit 713, and returns the calculated coordinates 303 and 304 to the nozzle position adjustment amount calculation unit 713.

[0108] The target coordinate extraction unit 714 calculates the coordinates 305 and 306 of the center of the adjustment target from the image captured by the camera 202 in accordance with an instruction from the nozzle position adjustment amount calculation unit 713, and returns the calculated coordinates 305 and 306 to the nozzle position adjustment amount calculation unit 713. When calculating the coordinates 305 and 306 of the center of the adjustment target, the target coordinate extraction unit 714 can perform pattern matching using the information about the adjustment target stored in the adjustment target information storage unit 715.

[0109] The adjustment target information storage unit 715 stores in advance information about the adjustment target, such as the size and shape of the adjustment target.

[0110] The nozzle position adjustment amount calculation unit 713 receives the coordinates 303 and 304 of the centers of the nozzles 21 and 22 from the nozzle tip coordinate extraction unit 712, receives the coordinates 305 and 306 of the center of the adjustment target from the target coordinate extraction unit 714, and calculates the adjustment amounts of the positions of the nozzles 21 and 22 (the coordinate differences 307 and 308 shown in FIG. 3D). The nozzle position adjustment amount calculation unit 713 sends a command to the nozzle position adjustment operation control unit 706 to move the nozzles 21 and 22 by the calculated adjustment amounts to adjust the positions of the nozzles 21 and 22.

[0111] The nozzle position adjustment operation control unit 706 issues a command to the dispensing arm control unit 705 based on a command from the nozzle position adjustment amount calculation unit 713 to drive the dispensing arm 201 and adjust the positions of the nozzles 21 and 22.

[0112] The nozzle position adjustment amount calculation unit 713 updates the stop positions (suction position, discharge position, and cleaning position) of the nozzles 21 and 22 using the calculated adjustment amounts of the positions of the nozzles 21 and 22, and stores the updated stop positions in the stop position table 709.

[0113] When a plurality of imaging positions 407 and 412 are set in the dispensing mechanisms 14 and 15, the nozzle position adjustment operation control unit 706 can send a command to the dispensing arm control unit 705 to select the imaging positions 407 and 412 with less detection of dirt and obstacles. Further, when the nozzle position adjustment operation control unit 706 cannot detect the positions of the tip portions of the nozzles 21 and 22 from the images of the nozzles 21 and 22 captured at one of the imaging positions 407 and 412, the imaging positions 407 and 412 can be switched to other imaging positions 407 and 412, and a command to capture images at the other imaging positions 407 and 412 can be sent to the dispensing arm control unit 705.

[0114] The automatic analyzer 10 according to the present embodiment has the configuration described above, and can detect the positions of the tip portions of the reagent nozzle 21 and the sample nozzle 22 with high accuracy. Therefore, the automatic analyzer 10 according to the present embodiment can accurately adjust the positions of the reagent nozzle 21 and the sample nozzle 22, and can accurately align the positions of the reagent nozzle 21 and the sample nozzle 22 with the position of the adjustment target when performing the analysis process.

[0115] Note that the present invention is not limited to the above-described embodiments, and various modifications are possible. For example, the above embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to the aspect including all the configurations described. Also, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment. Further, the configuration of another embodiment can be added to the configuration of one embodiment. Also, a part of the configuration of each embodiment can be deleted, or other configurations can be added or replaced.

Explanation of Reference Numerals

[0116] 10…Automatic analysis device, 11…Reagent container, 12…Reagent disk, 13…Reaction disk, 14…Reagent dispensing mechanism, 15…Sample dispensing mechanism, 21…Reagent nozzle, 22…Sample nozzle, 23…Sample container, 24…Sample rack, 25…Reaction cell, 26…Reagent washing tank, 27…Sample washing tank, 101…Conveyor line, 201…Dispensing arm, 202…Camera, 203a…Image acquisition unit, 203b…Image acquisition unit, 204…Connection part, 205…Imaging range, 301…Washing hole, 302…Edge of the tip of the nozzle, 303…X coordinate of the center of the nozzle, 304…Y coordinate of the center of the nozzle, 305…X coordinate of the center of the washing hole, 306…Y coordinate of the center of the washing hole, 307…Difference in X coordinates, 308…Difference in Y coordinates, 401…Orbit of the center of the reaction cell, 402…Orbit of the center of the hole in the lid of the reagent container, 403…Orbit of the center of the sample container, 404…Reagent suction position, 405…Reagent discharge position, 406…Reagent washing position, 407…Imaging position of the reagent nozzle, 408…Movable range of the reagent nozzle, 409…Sample suction position, 410…Sample discharge position, 411…Sample washing position, 412…Imaging position of the sample nozzle, 413…Orbit of the sample nozzle, 501…Base, 502…Cover, 503…Passage hole, 701…Dispensing mechanism control unit, 702…GUI, 703…Mode switching unit, 704…Analysis operation control unit, 705…Dispensing arm control unit, 706…Nozzle position adjustment operation control unit, 707…Dispensing arm horizontal drive unit, 708…Dispensing arm vertical drive unit, 709…Stop position table, 710…Imaging control unit, 711…Image data storage unit, 712…Nozzle tip coordinate extraction unit, 713…Nozzle position adjustment amount calculation unit, 714…Target coordinate extraction unit, 715…Adjustment target information storage unit.

Claims

1. A dispensing mechanism including a nozzle for dispensing a reagent or a specimen, and a dispensing arm for moving the nozzle; A cleaning tank for cleaning the nozzle; An automatic analyzer control unit for adjusting the position of the nozzle; Comprising: Performing an analysis process for analyzing a mixed solution of the reagent and the specimen accommodated in a reaction cell; In the dispensing mechanism, a stop position of the nozzle, which is a position where the nozzle stops moving in the analysis process, is set; The dispensing mechanism includes an imaging device on the dispensing arm; In the dispensing mechanism, a position for imaging the nozzle is set as one or a plurality of predetermined imaging positions; The automatic analyzer control unit moves the nozzle to the imaging position of the nozzle, and images the nozzle with the imaging device at the imaging position; The imaging position is a position where the nozzle can move and is different from the stop position; The stop position is a suction position where the nozzle sucks the reagent or the specimen from a container containing the reagent or the specimen, a discharge position where the nozzle discharges the reagent or the specimen into the reaction cell, and a cleaning position for cleaning the nozzle; When the automatic analyzer control unit images the cleaning tank, the container, or the reaction cell with the imaging device as an imaging target, the automatic analyzer control unit images the imaging target at a position where the nozzle and the imaging target do not overlap in the image obtained by imaging the imaging target; An automatic analyzer characterized by the above.

2. A dispensing mechanism including a nozzle for dispensing a reagent or a specimen, and a dispensing arm for moving the nozzle; A cleaning tank for cleaning the nozzle; An automatic analyzer control unit for adjusting the position of the nozzle; Comprising: Performing an analysis process for analyzing a mixed solution of the reagent and the specimen accommodated in a reaction cell; In the dispensing mechanism, a stop position of the nozzle, which is a position where the nozzle stops moving in the analysis process, is set; The dispensing mechanism includes an imaging device on the dispensing arm; In the dispensing mechanism, a position for imaging the nozzle is set as one or a plurality of predetermined imaging positions; The automatic analyzer control unit moves the nozzle to the imaging position of the nozzle, and images the nozzle with the imaging device at the imaging position; The imaging position is a position where the nozzle can move and is different from the stop position; The stop position is a suction position where the nozzle sucks the reagent or the specimen from the container containing the reagent or the specimen, a discharge position where the nozzle discharges the reagent or the specimen into the reaction cell, and a cleaning position where the nozzle is cleaned. It includes a cover that covers at least one of the cleaning tank, the container, and the reaction cell. The imaging position is covered by the cover when the automatic analyzer performs the analysis process. An automatic analyzer characterized by the above.

3. A dispensing mechanism including a nozzle for dispensing a reagent or a specimen and a dispensing arm for moving the nozzle, A cleaning tank for cleaning the nozzle, An automatic analyzer control unit for adjusting the position of the nozzle, Comprising, Performs an analysis process for analyzing the mixed solution of the reagent and the specimen contained in the reaction cell, In the dispensing mechanism, a stop position of the nozzle, which is a position where the nozzle stops moving in the analysis process, is set. The dispensing mechanism includes an imaging device on the dispensing arm. In the dispensing mechanism, a position for imaging the nozzle is set as one or a plurality of predetermined imaging positions. The automatic analyzer control unit moves the nozzle to the imaging position of the nozzle, and images the nozzle with the imaging device at the imaging position. The imaging position is a position where the nozzle can move and is different from the stop position. The stop position is a suction position where the nozzle sucks the reagent or the specimen from the container containing the reagent or the specimen, a discharge position where the nozzle discharges the reagent or the specimen into the reaction cell, and a cleaning position where the nozzle is cleaned. It includes a cover that covers at least one of the cleaning tank, the container, and the reaction cell. The imaging position is located on the cover. An automatic analyzer characterized by the above.

4. A dispensing mechanism including a nozzle for dispensing a reagent or a specimen and a dispensing arm for moving the nozzle, A cleaning tank for cleaning the nozzle, An automatic analyzer control unit for adjusting the position of the nozzle, Comprising, Performs an analysis process for analyzing the mixed solution of the reagent and the specimen contained in the reaction cell, In the dispensing mechanism, a stop position of the nozzle, which is a position where the nozzle stops moving in the analysis process, is set. The dispensing mechanism includes an imaging device on the dispensing arm. In the dispensing mechanism, the position for imaging the nozzle is set as one or a plurality of predetermined imaging positions. The automatic analyzer control unit moves the nozzle to the imaging position of the nozzle, and images the nozzle with the imaging device at the imaging position. The imaging position is a position where the nozzle can move and is different from the stop position. The stop position is a suction position where the nozzle sucks the reagent or the specimen from the container containing the reagent or the specimen, a discharge position where the nozzle discharges the reagent or the specimen to the reaction cell, and a cleaning position for cleaning the nozzle. A plurality of the imaging positions are set. When the automatic analyzer control unit cannot detect the position of the tip of the nozzle from the image of the nozzle imaged at one of the plurality of imaging positions, the automatic analyzer control unit images the nozzle at another imaging position. An automatic analyzer characterized by the above.

5. The imaging position is a position where the background of the tip of the nozzle is plain in the image when the imaging device images the nozzle. The automatic analyzer according to any one of claims 1 to 4.

6. When the automatic analyzer control unit images the imaging target with the imaging device, the automatic analyzer control unit moves the nozzle from the imaging position to a position where the nozzle and the imaging target do not overlap, at a speed lower than the moving speed of the nozzle in the analysis process. The automatic analyzer according to claim 1.

Images