Dispensing device, dispensing method and dispensing program

Abstract

To provide a dispensation unit, a method for dispensation, and a dispensation program which can increase the accuracy of dispensation.SOLUTION: A chip 230 holds liquid and discharges the liquid to a well 310. A dispensation unit 220 discharges a constant dispensation amount of the liquid held by the chip 230 to the well 310 and performs dispensation. An operation unit 10 calculates the position of dispensation to the well 310 on the basis of information of the container of the well 310 and the information of the dispensation amount, and causes the dispensation unit 220 to perform dispensation at the dispensation position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a dispensing device, a dispensing method, and a dispensing program. [Background technology]

[0002] In various fields, such as medical testing, therapeutic use, and scientific use, dispensing devices are used to aspirate a liquid reagent or sample using a tip attached to the tip of the dispensing section and dispense a fixed amount into a dispensing container.

[0003] One such dispensing method is air dispensing, which dispenses liquid from an appropriate height. With air dispensing, liquid is dispensed from the tip from a fixed height that is independent of the amount of liquid contained in the dispensing container. However, with air dispensing, droplets may remain at the tip of the tip. This can result in reduced dispensing accuracy.

[0004] To prevent droplets from remaining at the tip of a dispensing container, a method called liquid level dispensing has been proposed. This method detects the liquid level already present in the dispensing container and dispenses the liquid while the tip is in contact with the detected liquid level or inserted a certain amount. In liquid level dispensing, the dispensing height is determined by some method, such as detecting pressure changes, to detect when the tip of the dispenser's tip comes into contact with the liquid level in the dispensing container, and dispensing is performed according to the detected height. This method can reduce droplets from remaining at the tip to some extent, allowing the liquid inside the tip to be dispensed with relatively higher accuracy than air dispensing. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-101294 Summary of the Invention [Problem to be solved by the invention]

[0006] In this way, liquid level dispensing reduces the amount of residual droplets at the tip of the tip, and the variation in accuracy due to droplets is reduced to a certain extent. However, the liquid level of the liquid contained in the dispensing container rises after dispensing depending on the amount dispensed. With conventional liquid level dispensing technology, the tip of the tip is in contact with the liquid level or is inserted a certain amount, so almost no droplets remain at the tip of the tip, and as the liquid level rises, liquid adheres to the outer surface (mainly the side) of the tip. There is a risk that the variation in the amount of liquid adhering will impair dispensing accuracy.

[0007] The disclosed technology aims to provide a dispensing device, a dispensing method, and a dispensing program that improve dispensing accuracy. [Means for solving the problem]

[0008] In one aspect of the dispensing device, dispensing method, and dispensing program disclosed herein, a tip holds a liquid and dispenses it into a dispensing container having an opening and a bottom surface facing the opening. The dispensing unit dispenses a fixed amount of the liquid held in the tip into the dispensing container. The calculation unit Container information including the shape of the dispensing container and the amount of the liquid already present in the dispensing container, and information on the dispensing speed indicating the amount of liquid discharged per unit time from the tip are acquired, an initial position of the liquid surface in the dispensing container before dispensing is calculated based on the shape of the dispensing container, the amount of the liquid already present in the dispensing container, and the dispensed amount, a dispensing position is determined as the position of the liquid surface in the dispensing container that changes in accordance with the discharge of the liquid from the tip based on the dispensing speed and the initial position, and dispensing is started at the dispensing position by the dispensing unit, and the position is changed in accordance with the discharge of the liquid from the tip. A dispensing position is calculated, and the dispensing unit is caused to dispense at the dispensing position. [Effects of the Invention]

[0009] In one aspect, the present invention can improve dispensing accuracy. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of the overall configuration of a dispensing device. [Figure 2] FIG. 2 is a cross-sectional view of one well with liquid poured into it. [Figure 3] FIG. 3 is a diagram showing the relationship between the liquid surface and the tip during dispensing. [Figure 4] FIG. 4 is a flowchart of the dispensing process performed by the dispensing device according to the first embodiment. [Figure 5]FIG. 5 is a diagram for explaining dispensing when the dispensing height has a range. [Figure 6] FIG. 6 is a diagram showing the hardware configuration of a computer. DETAILED DESCRIPTION OF THE INVENTION

[0011] Below, examples of the dispensing device, dispensing method, and dispensing program disclosed in the present application will be described in detail with reference to the drawings. Note that the present invention is not limited to these examples. Furthermore, the same elements are given the same reference numerals, redundant explanations are omitted as appropriate, and each embodiment can be combined as appropriate within a range that does not contradict.

[0012] [First embodiment] [Overall configuration] 1 is a diagram showing an example of the overall configuration of a dispensing device 1. The dispensing device 1 has a calculation unit 10, a dispenser 20, and a well plate 30.

[0013] The well plate 30 is a flat member having a large number of wells 310, which are depressions. The well plate 30 is used when performing dispensing operations using a plurality of specimens. In the well plate 30, liquid is injected into each well 310 by dispensing using the dispenser 20. Each well 310 is a dispensing container.

[0014] The dispenser 20 dispenses liquid into wells 310 provided in a well plate 30. In this embodiment, the dispenser 20 can simultaneously dispense liquid into a plurality of wells 310 arranged in a row. The dispenser 20 has a drive unit 210, a dispenser unit 220, and a tip 230.

[0015] The driving unit 210 is connected to the calculation unit 10 to receive control commands, and has a driving mechanism that moves the dispensing unit 220 in accordance with instructions received from the calculation unit 10. The driving unit 210 drives the driving mechanism that it holds, thereby moving the dispensing unit 220 in a direction toward or away from the well plate 30. In other words, the driving unit 210 moves the dispensing unit 220 in the vertical direction while the well plate 30 is placed on a stage or the like. In the following description, the direction toward or away from the well plate 30, i.e., the vertical direction with respect to the surface on which the wells 310 of the well plate 30 are provided, will be referred to as the "z direction."

[0016] Furthermore, the driving unit 210 can move the dispensing unit 220 in a horizontal direction relative to the surface on which the wells 310 of the well plate 30 are provided, i.e., in the x and y directions with the z direction being the vertical direction. For example, in cases where the number of wells 310 in a row is greater than the number of tips 230 provided in the dispensing unit 220, the driving unit 210 can move the dispensing unit 220 not only in the z direction but also in the horizontal direction, enabling dispensing to an appropriate number of wells 310.

[0017] The dispensing unit 220 is connected to the calculation unit 10 so as to receive control commands. Then, the dispensing unit 220 receives instructions from the calculation unit 10 and causes the tip 230 to aspirate liquid. Furthermore, in accordance with instructions from the calculation unit 10, the dispensing unit 220 dispenses a fixed amount of liquid from the liquid aspirated into the tip 230 by discharging it from the tip 230.

[0018] Furthermore, dispensing unit 220 moves in the z direction by being driven by a drive mechanism included in drive unit 210. For example, during dispensing, dispensing unit 220 is moved by drive unit 210 to a predetermined position in the z direction corresponding to the liquid level in well 310. Then, dispensing unit 220 dispenses a fixed amount of liquid from tip 230 into well 310 from the position after movement.

[0019] The tip 230 is provided at the tip of the dispensing unit 220 on the well plate 30 side. That is, the tip 230 is provided at a position facing the dispensing container of the dispensing unit 220. The tip 230 aspirates a liquid to be used as a reagent or sample into the tip 230 through operation of the dispensing unit 220. Then, the tip 230 discharges (drops) a fixed amount of liquid from the liquid contained therein into the well 310 through operation of the dispensing unit 220. Here, when dispensing, the tip 230 only needs to discharge a fixed amount of liquid, and the amount of liquid held by the tip 230 may be the same as the amount of liquid dispensed, or may be a larger amount than the amount of liquid dispensed. Furthermore, when dispensing is performed using multiple tips 230, the amount of liquid held by each tip 230 may be different. Furthermore, when dispensing into multiple wells 310, the amount of liquid dispensed by each tip 230 into each well 310 may be different.

[0020] The calculation unit 10 is realized by a computer such as a personal computer. When aspirating liquid, the calculation unit 10 controls the drive unit 210 to move the dispensing unit 220 to a position in the z direction where the tip 230 can aspirate the liquid. The calculation unit 10 then instructs the dispensing unit 220 to aspirate the liquid, causing the liquid to be sucked into the tip 230.

[0021] Furthermore, the calculation unit 10 calculates the height at which the dispensing unit 220 will dispense, i.e., the position in the z direction, based on the liquid level in the well 310. The calculation unit 10 then controls the drive unit 210 to move the dispensing unit 220 to the calculated position in the z direction. Thereafter, the calculation unit 10 instructs the dispensing unit 220 to dispense a fixed amount of liquid, and causes the tip 230 to eject the dispensed amount of liquid into the well 310.

[0022] While FIG. 1 shows the dispensing device 1 configured to dispense liquid into a well plate 30 having a large number of wells 310, the dispensing device 1 may dispense liquid into a single dispensing container.

[0023] [Dispenser movement control] Next, the movement control of the dispensing unit 220 by the calculation unit 10 during dispensing will be described in detail. Figure 2 is a cross-sectional view of one well into which liquid has been poured. Here, dispensing into one well 310 will be described as an example.

[0024] The well 310 according to this embodiment is a truncated cone having a cross-sectional shape as shown in FIG. 2. The well 310 has a top diameter of length a, a bottom diameter of length b, and a height c, which is the distance from the top to the bottom. Here, in the truncated cone-shaped well 310, the top diameter is the diameter of the opening in the liquid storage space of the well 310 through which liquid is injected from the tip 230 when dispensing is performed using the dispensing device 1. The bottom diameter is the diameter of the surface of the liquid storage space of the well 310 opposite the opening. The distance from the top to the bottom is the length in the z direction of the liquid storage space of the well 310 when dispensing is performed using the dispensing device 1. Furthermore, here, the amount of liquid already present in the well 310 before dispensing is defined as volume d. If there is no liquid, volume d = 0.

[0025] The calculation unit 10 acquires, for example, through input from the user, information on the shape of the well 310, including the length a, length b, and height c shown in FIG. 2, and container information, including the volume d, which is the amount of liquid already present in the well 310 before dispensing. The calculation unit 10 also acquires the dispensing amount, for example, through input from the user. Here, the explanation will be given assuming that the dispensing amount is volume e. Alternatively, rather than direct input from the user, the calculation unit 10 may acquire predetermined information on the shape of the well 310 and the dispensing amount from another device.

[0026] Then, the calculation unit 10 uses the following formula (1) to calculate the dispensing position, i.e., the dispensing height, which is the position of the tip of the tip 230 when the dispensing unit 220 performs dispensing. In this case, the dispensing height is the distance in the z direction from the bottom surface of the liquid storage space of the well 310 to the tip of the tip 230. The distance f in formula (1) is the dispensing height.

[0027]

number

[0028] Thereafter, the calculation unit 10 causes the drive unit 210 to move the dispensing unit 220 so that the tip of the tip 230 is at the dispensing height. FIG. 3 is a diagram showing the relationship between the liquid level and the tip during dispensing. State 101 shows the state immediately before dispensing begins, and state 102 shows the state immediately after dispensing is completed. The calculation unit 10 moves the dispensing unit 220 so that the tip of the tip 230 is at a position where the dispensing height is the distance f calculated using equation (1), as in state 101.

[0029] After dispensing unit 220 has moved, with the tip of tip 230 positioned at the dispensing height in state 101, calculation unit 10 instructs dispensing unit 220 to drip a volume of liquid e, which is the amount of liquid to be dispensed. When the instructed volume e is discharged from tip 230, well 310 enters state 102. In this case, the amount of liquid contained in well 310 is volume d + volume e, and the depth is distance f. Therefore, when dispensing is complete, the tip of tip 230 comes into contact with the surface of the liquid contained in well 310.

[0030] After dispensing is completed, the calculation unit 10 instructs the driving unit 210 to return the dispensing unit 220 to a predetermined initial position.

[0031] In the above description, the well 310 has a truncated cone shape, but the dispensing device 1 can operate in the same way even when the well 310 has a shape other than a truncated cone.

[0032] For example, let us consider a case where the shape of well 310 is a truncated quadrangular pyramid. In this case, the length a of the top surface in Fig. 3 corresponds to the length of one side of the square opening on the top surface of well 310. The length b of the bottom surface corresponds to the length of one side of the square bottom surface on the side opposite the opening of the liquid storage space of well 310. The height c corresponds to the length in the z direction from the bottom surface of the liquid storage space of well 310 to the opening.

[0033] When the dispensed amount is a volume e, the calculation unit 10 calculates the distance f, which is the dispensed height, using the following formula (2): After that, the calculation unit 10 moves the dispenser 220 so that the tip of the tip 230 is positioned at the calculated dispensed height, and performs dispensing.

[0034]

number

[0035] Additionally, even when the shape of well 310 is other than a truncated cone or a truncated pyramid, calculation unit 10 can calculate the dispensing height by using a formula for converting the volume of liquid in well 310 after dispensing into the dispensing height. In that case, however, calculation unit 10 needs to acquire, as container information, information about well 310 used for conversion into the dispensing height, in addition to the length of the top surface, the length and height of the bottom surface of well 310.

[0036] [Aliquoting process flow] 4 is a flowchart of the dispensing process by the dispensing device according to the first embodiment. Next, the flow of the dispensing process by the dispensing device 1 according to the embodiment will be described with reference to FIG.

[0037] The calculation unit 10 acquires container information including the length of the top surface of the well 310, the length and height of the bottom surface, and the amount of liquid already contained in the well 310 (step S1).

[0038] Next, the calculation unit 10 acquires the dispensing amount (step S2).

[0039] Next, the calculation unit 10 calculates the dispensing height using the container information and the dispensing amount in equation (1) (step S3).

[0040] Next, the calculation unit 10 instructs the driving unit 210 to move the dispensing unit 220 so that the tip of the tip 230 is positioned at the calculated dispensing height. In accordance with the instruction from the calculation unit 10, the driving unit 210 moves the dispensing unit 220 so that the tip of the tip 230 is positioned at the dispensing height (step S4).

[0041] When the movement of dispensing unit 220 is completed, calculation unit 10 instructs dispensing a set amount of liquid, which is the dispensing amount set to dispensing unit 220. In accordance with the instruction from calculation unit 10, dispensing unit 220 dispenses the set amount of liquid by discharging it from tip 230 toward well 310 (step S5).

[0042] When dispensing is completed, the calculation unit 10 instructs the driving unit 210 to move the dispensing unit 220 to the initial position. The driving unit 210 moves the dispensing unit 220 to the initial position in accordance with the instruction from the calculation unit 10 (step S6).

[0043] [effect] As described above, the dispensing device according to the first embodiment acquires information on the shape of the well, the amount of liquid already contained in the well, and the amount of liquid to be dispensed, and calculates the dispensing height, which is the height of the liquid after dispensing, using the acquired information.The dispensing device then positions the tip of the tip at the calculated dispensing height and performs dispensing.

[0044] This allows the dispensing device according to the first embodiment to prevent the tip from being immersed in the liquid contained in the well during dispensing, reducing the amount of liquid adhering to the outer surface of the tip (mainly the side surface of the tip), thereby improving dispensing accuracy.

[0045] (Variation) In the above explanation, the case where the dispensing unit 220 is integrated with the drive unit 210, which is a drive mechanism for moving the dispensing unit 220, is used has been explained, but the drive mechanism for moving the dispensing unit 220 may not be attached to the dispensing unit 220. In that case, the dispensing device 1 can be realized by attaching a drive mechanism for driving the dispensing unit 220 to the dispensing unit 220 and controlling the drive mechanism by the calculation unit 10. In this way, even when a drive mechanism is attached later, the dispensing device 1 can reduce the amount of liquid adhering to the outer surface (mainly the side surface of the tip) of the tip 230 after dispensing, thereby enabling improvement in dispensing accuracy.

[0046] Furthermore, the dispensing device 1 may have a suction mechanism, such as a washer (plate washer), that suctions the liquid in the wells 310. If there is a difference between the liquid volume acquired by the calculation unit 10 and the liquid volume actually present in the wells 310, the dispensing device 1 can use the suction mechanism to suction the liquid before dispensing, so that the liquid volume present in the wells 310 matches the liquid volume acquired by the calculation unit 10. This allows the dispensing device 1 to dispense at the correct dispensing height, thereby further improving dispensing accuracy.

[0047] Alternatively, the calculation unit 10 may receive an instruction to set the dispensing height to the level of the liquid already present in the well 310 before dispensing, and set the dispensing height to the level of the liquid already present in the well 310 before dispensing. The calculation unit 10 moves the dispensing unit 220 so that the tip of the tip 230 is positioned at the liquid level, and causes the dispensing unit 220 to perform dispensing. In this case, the dispensing accuracy is equivalent to conventional liquid level dispensing, but a mechanism for detecting the liquid level is not required, thereby reducing costs.

[0048] In the above explanation, the distance f, which is the dispensing height, is set to a height corresponding to the amount of liquid present in the well 310 after dispensing, but the dispensing height may have a range, taking into account the size of droplets that form at the tip of the tip 230 when dispensing is performed in the air. Figure 5 is a diagram for explaining dispensing when the dispensing height has a range.

[0049] For example, the calculation unit 10 calculates the dispensing height according to the amount of liquid present in the well 310 after dispensing, and calculates the distance f shown in FIG. min In this case, the distance f min As shown in FIG. 5, corresponds to the height of the liquid surface when the liquid has volume d+volume e.

[0050] The calculation unit 10 also acquires the maximum length g of a droplet that can be formed at the tip of the tip 230 when dispensing is performed in the hollow space shown in FIG. 5. Here, the length g can generally be calculated from the surface tension of the liquid and the diameter of the tip 230. Therefore, the calculation unit 10 can also calculate the length g by acquiring information on the surface tension of the liquid and the diameter of the tip 230. The length g is, for example, 2 mm to 3 mm. However, the length of the droplet that is actually formed at the tip of the tip 230 may not reach the maximum length g, and the value calculated by the calculation unit 10 is merely a guideline for controlling the position of the dispensing unit 220.

[0051] Then, the calculation unit 10 calculates the distance f min distance f min The dispensing unit 220 is moved so that the tip of the tip 230 is positioned within a range that satisfies the condition of f + g or less. min ≦f≦f min +g, and the dispensing unit 220 is moved so that the tip of the tip 230 is positioned at a distance f. For example, when the dispensing height is f min In the case of +g, the calculation unit 10 moves the dispensing unit 220 so that the tip of the tip 230 is positioned at the location shown in the rightmost diagram in Figure 5. Thereafter, the calculation unit 10 causes the dispensing unit 220 to perform dispensing.

[0052] Here, the distance f, which is the dispensing height, is f min ≦f≦f min Within the +g range, the tip end will not be submerged in the liquid and droplets will not remain on the tip end, thereby improving dispensing accuracy.

[0053] [Second embodiment] Next, a second embodiment will be described. The dispensing device 1 according to this embodiment also has the configuration shown in FIG. 1. The dispensing device 1 according to this embodiment starts dispensing by aligning the tip of the tip 230 with the liquid level, and then dispensing by raising the tip 230 as the liquid level rises. The movement control of the tip of the tip 230 in the dispensing device 1 according to this embodiment will be described below. In the following explanation, explanations of the operations of the same parts as in the first embodiment will be omitted.

[0054] The calculation unit 10 acquires the container information and the dispensing amount. Then, the calculation unit 10 calculates the distance f, which corresponds to the height of the liquid surface after dispensing, as the final dispensing height. The calculation unit 10 also calculates the distance f0, which corresponds to the height of the liquid surface present in the well 310 before dispensing, as the initial dispensing height. That is, if the volume of the liquid present in the well 310 before dispensing is d and the dispensing amount is e, the distance f0 is the height of the liquid surface when the liquid volume is volume d, and the distance f is the height of the liquid surface when the liquid volume is volume d + volume e.

[0055] Next, the calculation unit 10 acquires a dispensing rate indicating the amount of liquid dripped per unit time, and then calculates the rate of rise of the liquid level per unit time using the container information and the dispensing rate.

[0056] Next, the calculation unit 10 moves the dispensing unit 220 so that the tip of the tip 230 is positioned at the distance f0, which is the calculated initial height. Next, the calculation unit 10 causes the dispensing unit 220 to start dispensing. The calculation unit 10 then causes the dispensing unit 220 to perform dispensing while moving the dispensing unit 220 so that the position of the tip of the tip 230 rises in accordance with the calculated rate of rise of the liquid level. Thereafter, when the position of the tip of the tip 230 reaches the distance f, which is the final dispensing height, the calculation unit 10 ends dispensing.

[0057] That is, the calculation unit 10 changes the dispensing height from the initial dispensing height to the end dispensing height depending on the dispensing speed so as to maintain the liquid level dispensing state, thereby causing the dispensing unit 220 to dispense while causing the tip of the tip 230 to follow the liquid level.

[0058] As described above, the dispensing device according to this embodiment dispenses while moving the tip of the tip so as to maintain the liquid level. This allows dispensing to be performed with the tip of the tip in contact with or close to the liquid level, reducing the amount of liquid adhering to the outer surface of the tip (mainly the side surface of the tip). This makes it possible to further improve dispensing accuracy.

[0059] [system] The information including the processing procedures, control procedures, specific names, various data and parameters shown in the above documents and drawings can be changed arbitrarily unless otherwise specified.

[0060] Furthermore, the components of each device shown in the figure are functional concepts and do not necessarily have to be physically configured as shown. In other words, the specific form of distribution and integration of each device is not limited to that shown. In other words, all or part of them can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc.

[0061] Furthermore, each processing function performed by each device can be realized, in whole or in part, by a CPU (Central Processing Unit) and a program analyzed and executed by the CPU, or can be realized as hardware using wired logic.

[0062] [Hardware] Next, an example of the hardware configuration of the calculation unit 10 will be described. Fig. 6 is a hardware configuration diagram of a computer. The calculation unit 10 can be realized, for example, by a computer 90 having the units shown in Fig. 6. The computer 90 has a processor 91, a memory 92, a communication device 93, and an HDD (Hard Disk Drive) 94. The processor 91 is connected to the memory 92, the communication device 93, and the HDD 94 via a bus.

[0063] The communication device 93 is a network interface card or the like, and is used for communication with other information processing devices. For example, the communication device 93 relays communication between the processor 91 and the driving unit 210 and the dispensing unit 220.

[0064] The HDD 94 is an auxiliary storage device that stores various programs, including a program for realizing the functions of the calculation unit 10.

[0065] The processor 91 reads out various programs stored in the HDD 94, loads them into the memory 92, and executes them. In this way, the processor 91 realizes the functions of the calculation unit 10.

[0066] In this way, the computer 90 operates as an information processing device that executes various processing methods by reading and executing the program. The computer 90 can also realize functions similar to those of the above-described embodiments by reading the program from a recording medium using a medium reading device and executing the read program. Note that the program referred to here is not limited to being executed by the computer 90. For example, the present invention can also be applied in the same way to cases where another computer or server executes the program, or where these execute the program in cooperation with each other.

[0067] This program can be distributed via a network such as the Internet. In addition, this program can be recorded on a computer-readable recording medium such as a hard disk, a flexible disk (FD), a CD-ROM, a magneto-optical disk (MO), or a digital versatile disk (DVD), and can be executed by being read from the recording medium by a computer.

[0068] Some examples of combinations of the disclosed technical features are set out below. (1) a tip that holds a liquid and dispenses it into a dispensing container; a dispensing unit that dispenses a predetermined amount of the liquid held in the tip into the dispensing container; a calculation unit that calculates a dispensing position for the dispensing container based on container information about the dispensing container and information about the dispensing amount, and causes the dispensing unit to dispense at the dispensing position; A dispensing device comprising: (2) a drive unit that moves the dispensing unit so as to change the distance to the dispensing container; the tip is disposed at a position facing the dispensing container during dispensing in the dispensing unit, The calculation unit moves the tip by causing the drive unit to move the dispensing unit. The dispensing device according to (1) above. (3) The dispensing device according to (2), wherein the drive unit is detachable from the dispensing unit. (4) The calculation unit acquiring the container information including the shape of the dispensing container and the amount of liquid already present in the dispensing container; calculating, as the dispensing position, the position of the liquid surface in the dispensing container after dispensing based on the shape of the dispensing container, the amount of liquid already present in the dispensing container, and the dispensing amount; The tip is moved so that the tip is positioned at the dispensing position. The dispensing device according to any one of (1) to (3) above. (5) The dispensing device according to (4), wherein the calculation unit calculates the dispensing position using a formula for converting the amount of liquid present in the dispensing container into the dispensing position. (6) The dispensing device described in any one of (1) to (5) is characterized in that the calculation unit determines a dispensing position range in a direction away from the dispensing position relative to the dispensing container based on the size of the droplet formed at the tip of the tip when the tip ejects liquid in the air, and moves the tip to the dispensing position range. (7) The calculation unit acquiring the container information including the shape of the dispensing container and the amount of liquid already present in the dispensing container; calculating, as the dispensing position, the position of the liquid surface in the dispensing container before dispensing based on the shape of the dispensing container and the amount of liquid already present in the dispensing container; The tip is moved so that the tip is positioned at the dispensing position. The dispensing device according to any one of (1) to (6) above. (8) the calculation unit acquires the container information including the shape of the dispensing container and the amount of liquid already present in the dispensing container; The apparatus further includes a suction device that suctions the liquid present in the dispensing container and adjusts the amount of liquid already present in the dispensing container to the amount of liquid acquired by the calculation unit. The dispensing device according to any one of (1) to (7) above. (9) The calculation unit acquiring the container information including the shape of the dispensing container and the amount of liquid already present in the dispensing container, and dispensing speed information indicating the amount of liquid discharged per unit time from the tip; calculating an initial position of the liquid level in the dispensing container before dispensing based on the shape of the dispensing container, the amount of liquid already present in the dispensing container, and the dispensing amount; determining, as the dispensing position, the position of the liquid surface in the dispensing container which changes in accordance with the discharge of the liquid from the tip based on the dispensing speed and the initial position; causing the dispensing unit to start dispensing at the dispensing position; The dispensing unit is caused to dispense at the dispensing position that has been changed in accordance with the discharge of the liquid from the tip. The dispensing device according to any one of (1) to (8) above. (10) calculating a dispensing position relative to a dispensing container based on container information relating to a dispensing container containing the liquid dispensed from the tip holding the liquid and information on a fixed dispensing amount to be dispensed from the tip; Move the tip to the dispensing position, Dispensing the liquid by discharging the amount of the liquid held in the tip into the dispensing container. A dispensing method characterized by: (11) calculating a dispensing position relative to a dispensing container based on container information relating to a dispensing container containing the liquid dispensed from the tip holding the liquid and information on a fixed dispensing amount to be dispensed from the tip; Move the tip to the dispensing position, Dispensing the liquid by discharging the amount of the liquid held in the tip into the dispensing container. A dispensing program that causes a computer to execute processing. [Explanation of symbols]

[0069] 1. Dispensing device 10 Arithmetic section 20 Dispenser 30-well plate 210 Drive unit 220 Dispensing section 230 chips 310 wells

Claims

1. a tip that holds a liquid and dispenses it into a dispensing container having an opening and a bottom surface facing the opening; a dispensing unit that dispenses a predetermined amount of the liquid held in the tip into the dispensing container; a calculation unit that acquires container information including the shape of the dispensing container and the amount of the liquid already present in the dispensing container, and information on a dispensing speed indicating a discharge amount per unit time from the tip, calculates an initial position of the liquid surface in the dispensing container before dispensing based on the shape of the dispensing container, the amount of the liquid already present in the dispensing container, and the dispensed amount, determines a dispensing position based on the dispensing speed and the initial position, and causes the dispensing unit to start dispensing at the initial position and cause the dispensing unit to dispense at the dispensing position that has been changed in accordance with the discharge of the liquid from the tip; A dispensing device comprising:

2. a drive unit that moves the dispensing unit so as to change the distance to the dispensing container; the tip is disposed at a position facing the dispensing container during dispensing in the dispensing unit, The calculation unit moves the tip by causing the drive unit to move the dispensing unit.

2. The dispensing device according to claim 1.

3. The dispensing device according to claim 2 , wherein the drive unit is detachable from the dispensing unit.

4. The calculation unit acquiring the container information including the shape of the dispensing container and the amount of the liquid already present in the dispensing container; calculating, as the dispensing position, the position of the liquid surface in the dispensing container after dispensing based on the shape of the dispensing container, the amount of the liquid already present in the dispensing container, and the dispensing amount; The tip is moved so that the tip is positioned at the dispensing position.

2. The dispensing device according to claim 1.

5. The dispensing device according to claim 4 , wherein the calculation unit calculates the dispensing position using a formula for converting the amount of liquid present in the dispensing container into the dispensing position.

6. The dispensing device according to claim 5, characterized in that the calculation unit calculates the dispensing position using the following mathematical formula (1) when the distance from the tip of the dispensing unit toward the dispensing container to the bottom surface is f, the volume of the liquid already present in the dispensing container is d, the height c is the distance from the opening to the bottom surface, the volume of the dispensed amount is e, and the opening is circular with a diameter of length a and the bottom surface is circular with a diameter of length b, or calculates the dispensing position using the following mathematical formula (2) when the opening is square with a side length of a and the bottom surface is square with a side length of b. [Equation 1] [Equation 2]

7. The calculation unit acquiring the container information including the shape of the dispensing container and the amount of the liquid already present in the dispensing container; calculating, as the dispensing position, the position of the liquid surface in the dispensing container before dispensing based on the shape of the dispensing container and the amount of the liquid already present in the dispensing container; The tip is moved so that the tip is positioned at the dispensing position.

2. The dispensing device according to claim 1.

8. the calculation unit acquires the container information including the shape of the dispensing container and the amount of the liquid already present in the dispensing container; The apparatus further includes a suction device that suctions the liquid present in the dispensing container and adjusts the amount of the liquid already present in the dispensing container to the amount of liquid acquired by the calculation unit.

2. The dispensing device according to claim 1.

9. acquiring container information including the shape of a dispensing container and the amount of liquid already present in the dispensing container, and information on a dispensing speed indicating the amount of liquid discharged per unit time from a tip holding the liquid, and calculating an initial position of the liquid surface in the dispensing container before dispensing based on the shape of the dispensing container, the amount of liquid already present in the dispensing container, and a fixed amount of the liquid held in the tip; Moving the tip to the initial position, Dispensing the dispensed amount of the liquid held in the tip into the dispensing container to start dispensing; calculating, as a dispensing position, the position of the liquid surface in the dispensing container that changes in accordance with the discharge of the liquid from the tip based on the dispensing speed and the initial position; The tip is moved to the dispensing position which has been changed in accordance with the dispensing of the liquid from the tip, and the dispensed amount is dispensed into the dispensing container to perform dispensing. A dispensing method characterized by:

10. acquiring container information including the shape of a dispensing container and the amount of liquid already present in the dispensing container, and information on a dispensing speed indicating the amount of liquid discharged per unit time from a tip holding the liquid, and calculating an initial position of the liquid surface in the dispensing container before dispensing based on the shape of the dispensing container, the amount of liquid already present in the dispensing container, and a fixed amount of the liquid held in the tip; Moving the tip to the initial position, Dispensing the dispensed amount of the liquid held in the tip into the dispensing container to start dispensing; calculating, as a dispensing position, the position of the liquid surface in the dispensing container that changes in accordance with the discharge of the liquid from the tip based on the dispensing speed and the initial position; The tip is moved to the dispensing position which has been changed in accordance with the dispensing of the liquid from the tip, and the dispensed amount is dispensed into the dispensing container to perform dispensing. A dispensing program that causes a computer to execute a process.

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