Automated analysis system

Abstract

To provide an automatic analysis system that freely sets a length or width dimension to a running surface, and does not affect a layout of a device.SOLUTION: An automatic analysis system comprises: an automatic analysis device; an external storage warehouse that is installed outside of the automatic analysis device, and stores a plurality of liquid containers; a conveyance unit that conveys the liquid container between the automatic analysis device and the external storage warehouse; a first conveyance mechanism that carries out a delivery of the liquid container between the automatic analysis device and the conveyance unit; a second conveyance mechanism that carries out a delivery of the liquid container between the external storage warehouse and the conveyance unit; a storage unit that stores management information for managing a liquid to be accommodated into the liquid container; and a control unit that carries out transmittance and reception of the management information among the automatic analysis device, the external storage warehouse and the conveyance unit, in which position accuracy between the first conveyance mechanism and the automatic analysis device is designed so as to be higher than that between the first conveyance mechanism and the conveyance unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an automatic analysis system.

Background Art

[0002] Conventionally, when transporting and loading various reagents or specimens into an automatic analyzer for blood analysis, the operation has mainly been performed manually. In this case, there is a possibility that humans may come into contact with specimens, resulting in a risk of infection. Furthermore, when humans contact reagents, there is a risk that human-derived organic matter will contaminate the reagents. Accordingly, Patent Document 1 discloses a technique for transporting reagents or specimens using a self-propelled transport robot.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] As disclosed in Patent Document 1, techniques for transporting reagents or specimens using a self-propelled robot have been disclosed. However, for automating the loading of reagents or specimens into an automatic analyzer, the teaching work for creating an operation program for a robot arm having 6 or more degrees of freedom is complicated, so introducing a robot arm requires a great deal of time and effort. Furthermore, when introducing a transport robot into a facility where an automatic analyzer is already installed, it may be necessary to review the layout of the automatic analyzer in some cases, which poses a problem of requiring time and cost.

[0005] Accordingly, an object of the present invention is to provide an automatic analysis system that allows the vertical or horizontal dimensions relative to the traveling surface to be freely set and does not affect the layout of the apparatus.

Means for Solving the Problem

[0006] An automated analysis system according to one aspect of the present invention comprises an automated analyzer equipped with a container storage unit capable of storing multiple liquid containers for containing liquids for analyzing a sample; an external storage unit installed outside the automated analyzer and storing multiple liquid containers; a transport unit for transporting liquid containers between the automated analyzer and the external storage unit; a first transport mechanism for transferring liquid containers between the automated analyzer and the transport unit; a second transport mechanism for transferring liquid containers between the external storage unit and the transport unit; a storage unit for storing management information for managing the liquids contained in the liquid containers; and a control unit for sending and receiving management information between the automated analyzer, the external storage unit, and the transport unit, wherein the positional accuracy between the first transport mechanism and the automated analyzer is designed to be higher than the positional accuracy between the first transport mechanism and the transport unit. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an automated analysis system that does not affect the layout of the device by allowing the vertical or horizontal dimensions relative to the running surface to be freely set. [Brief explanation of the drawing]

[0008] [Figure 1] A diagram showing an example configuration of the transport section of an automated analyzer. [Figure 2] A diagram showing the hand section. [Figure 3] A diagram showing the back of the correction unit. [Figure 4] A diagram showing the front of the correction unit. [Figure 5] A diagram showing the automated analyzer with a correction unit installed. [Figure 6] A diagram showing the transport unit installed on the front of the automated analyzer. [Figure 7] A diagram showing the vertical drive mechanism before it is raised. [Figure 8] A diagram showing the vertical drive mechanism after it has been raised. [Figure 9] A diagram showing the horizontal drive mechanism before it moves. [Figure 10] Schematic diagram of the correction unit. [Figure 11]Figure showing the spring reaction force generated when the roll shaft is opened counterclockwise. [Figure 12] Schematic diagram of the conveying unit. [Figure 13] Diagram showing the first stage of the liquid container loading flow. [Figure 14] Diagram showing the second stage of the liquid container loading flow. [Figure 15] Diagram showing the third stage of the liquid container loading flow. [Figure 16] Diagram showing the fourth stage of the liquid container loading flow. [Figure 17] Diagram showing the fifth stage of the liquid container loading flow. [Figure 18] Diagram showing the sixth stage of the liquid container loading flow. [Figure 19] Diagram showing the seventh stage of the liquid container loading flow. [Figure 20] Three-view drawing showing the shape of the positioning pin. [Figure 21] Diagram showing the automatic analyzer and the conveying unit. [Figure 22] Diagram showing the overall configuration of the automatic analysis system. DETAILED DESCRIPTION OF EMBODIMENTS

[0009] Examples will be described below with reference to the drawings. In principle, the same reference numerals are assigned to the same parts throughout all drawings for describing the examples, and repeated description thereof will be omitted. EXAMPLE

[0010] Example 1 is an example of an automatic analysis system that eliminates the need for teaching, in which translational driving of the X, Y, and Z axes of a robot arm and rotational driving of the roll, pitch, and yaw axes are realized by separate mechanisms, and each mechanism is driven based on sensor information or driven by physical position correction.

[0011] In other words, this embodiment is an embodiment of an automated analysis system and transport method comprising: an automated analyzer for analyzing a sample; a transport unit for transporting a container containing the sample; an input unit for receiving the container from the transport unit and loading the container into the automated analyzer; and a correction unit for correcting the position between the transport unit and the input unit so that the transport unit can transfer the container to the input unit. The correction unit consists of a hole for restraining rotational motion provided in the input unit, one or more rotating axes, an expandable / contractable part provided in the input unit that generates tension to maintain a constant rotation angle, and a member provided in the transport unit that restrains rotational motion. By inserting the tip of the member into the hole, the position between the transport unit and the input unit is corrected, and the container is transferred from the transport unit to the input port by rotational motion around the rotating axis.

[0012] Figure 1 shows the configuration of the transport unit (also called an autonomous mobile cart or robot) that transports the containers holding the liquid of the automated analysis system. As shown in the figure, the transport unit 101 consists of a vertical transmission sensor 103, a vertical drive mechanism 102 and a horizontal drive mechanism 108 that drive the hand unit 105, a container 106 for holding the liquid, and a container storage unit 107 for storing it. 104 shows the transmitted light from the transmission sensor.

[0013] Figure 2 shows the hand unit of the automated analysis system. As shown in the figure, the hand unit 105 consists of a transverse-transmissive sensor 109, a positioning pin 111, a gripping hand 112, a gripping hand drive mechanism 113, and a positioning pin drive mechanism 114. The transmitted light 104 from the longitudinal-transmissive sensor and the transmitted light 110 from the transverse-transmissive sensor shown in Figures 1 and 2 are appropriately blocked depending on the position of the hand unit 105, thereby enabling the generation of sensor information.

[0014] Figure 3 shows the rear view of the correction unit 115, Figure 4 shows the front view of the correction unit 115, and Figure 5 shows the correction unit installed in the automatic analysis system. The correction unit 115 shown in Figures 3 and 4 is equipped with a container 106 input section 117, a positioning pin hole 118, and a detection plate 119, and as shown in Figure 10, is rotatable around the roll axis rotation shaft 120 and the yaw axis rotation shaft 121 by being pulled by a tension spring 116. As shown in Figure 5, this correction unit 115 is installed in the input port 123 of the container 106, which is the input section of the automatic analysis device 122.

[0015] Figure 6 shows the state in which the transport unit 101 is installed on the front of the automatic analyzer 122. As shown in the figure, when installing the correction unit 115, the transport unit 101 transports the correction unit 115 to the liquid container inlet of the automatic analyzer 122. Then, as shown in Figures 7, 8, and 9, the correction unit 115 is installed in the desired position.

[0016] Figure 7 shows the placement of the jacks when installing the correction unit 115, Figure 8 shows the function of the lift in the automatic analysis system, and Figure 9 shows the state after the handle has been removed after the correction unit 115 has been transported to the desired position. Figures 7 and 8 show the vertical drive mechanism before and after it has been raised, respectively.

[0017] Figure 10 shows a schematic diagram of the correction unit. As shown in (A) of the figure, the correction unit 115 is rotatable around the rotation axis 120. However, as shown in the A-A cross section in (B) of the figure, tension is applied to the correction unit 115 by a tension spring 116 so that it is always positioned at the center. Therefore, for example, as shown in Figure 11, if it is rotated counterclockwise by an external force, the tension of the tension spring 116 causes it to rotate clockwise 125 degrees and return to its original angle.

[0018] Figure 12 shows a schematic diagram of the transport unit 101. Positioning pins 111 and a hand 112 capable of gripping the container 106 are attached to the tips of the telescopic mechanisms 113 and 114 attached to the transport unit 101, respectively.

[0019] Figures 13 to 19 show the first to seventh stages of the liquid container input flow. These figures show the automatic analyzer 122 viewed from directly above. As shown in Figure 13, the transport unit 101 moves linearly to the vicinity of the correction unit 115, but because the angle is different, it cannot be used for input in this state.

[0020] As shown in the figure, in the first stage, a positioning pin 111 attached to an extendable mechanism 114 attached to the transport unit 101 is inserted into a positioning pin hole 118 of the correction unit 115. In the automated analysis system, as shown in Figure 14, the positioning pin 111 is inserted into the hole of the correction unit. As described above, the correction unit 115 is rotatable, and since the positioning pin 111 is wedge-shaped or conical, the correction unit 115 can be rotated to the same angle as the transport unit 101. Here, the hand 112 is extended, the container 106 is handed over to the input unit 117, and the hand is returned. In this state, the angle between the correction unit and the automated analyzer is different, so the container cannot be handed over to the automated analyzer. Therefore, when the positioning pin is returned, the correction unit rotates back to its original position due to the tension of the spring, the input unit 117 becomes the same angle as the automated analyzer 122, and the container 106 can be handed over from the input unit 117 to the automated analyzer 122.

[0021] In other words, the correction unit 115 is rotatable, and the tip of the positioning pin 111 is wedge-shaped or conical, so as shown in Figure 14, the correction unit 115 can be rotated to the same angle as the transport unit 101. Subsequently, as shown in Figure 15, the hand 112 is extended and the container 106 is handed over to the input unit 117, and as shown in Figure 16, the hand 112 is returned. In this state, the angle between the correction unit 115 and the automatic analyzer 122 is different, so the container 106 cannot be handed over to the automatic analyzer 122.

[0022] However, as shown in Figure 17, when the positioning pin 111 is returned, the tension of the tension spring 116 causes the correction unit 122 to rotate back to its original position, and as shown in Figure 18, the input unit 117 becomes the same angle as the automatic analyzer 122. As a result, as shown in the seventh stage of Figure 19, it becomes possible to transfer the container 106 from the input unit 117 to the input port 123 of the automatic analyzer 122.

[0023] Figure 20 is a three-view drawing showing the shape of the positioning pin 111. (A), (B), and (C) of the same figure show the side, front, and top views of the pin 111. Figure 21 is a diagram showing the automatic analyzer and the transport unit. Each component of this system can be operated by the control of a control device 126, which is attached to the transport unit 101 and consists of a central processing unit (CPU) and the like. [Examples]

[0024] Embodiment 2 relates to the overall configuration of an automated analysis system. Figure 22 shows the overall configuration of the automated analysis system. The automated analysis system includes an automated analyzer 122 equipped with a container storage section (e.g., reagent disk) 220 for storing multiple containers 106 (e.g., reagent containers), an external storage unit 221 provided outside the automated analyzer 122 for storing multiple containers 106, a transport unit 101 for transporting containers 106 between the external storage unit 221 and the automated analyzer 122, a transport mechanism for the container storage section (first transport mechanism) 222 for transferring containers 106 between the automated analyzer 122 and the transport unit 101 via an arm 222a, a transport mechanism for the external storage unit (second transport mechanism) 223 for transferring containers 106 between the external storage unit 221 and the transport unit 101 via an arm 223a, and a display unit 224 for displaying various information to the user.

[0025] The first transport mechanism 222 is fixed to the automatic analyzer 122 and is configured to allow precise insertion of the container 106 from the arm 222a into the input port 123 (e.g., reagent slot) of the automatic analyzer 122. This is because even a slight misalignment in the insertion of the container 106 into the input port 123 would prevent proper placement in the container storage unit 220, thereby negatively impacting the analysis. On the other hand, since the transport unit 101 and the first transport mechanism 222 are mechanisms for replacement work, there can be a certain degree of tolerance in their positional relationship. That is, there is a certain degree of tolerance when the arm 222a receives the container 106 from the transport unit 101, or when the arm 222a places the container 106 on the transport unit 101. Thus, it is important to design the system so that the positional accuracy between the first transport mechanism 222 and the automatic analyzer 122 is higher than the positional accuracy between the first transport mechanism 222 and the transport unit 101.

[0026] It is preferable that the second transport mechanism 223 is also fixed to the external storage unit 221. However, it may be possible to design a new external storage unit 221 to match the transport unit 101. Therefore, if such a design is possible, it is not necessary to make the positional accuracy between the second transport mechanism 223 and the external storage unit 221 higher than the positional accuracy between the second transport mechanism 223 and the transport unit 101.

[0027] In Example 1, the correction unit 115 is shown to also perform the function of transferring the container 106 and the automatic analyzer 122. However, in Example 2, the correction unit 115 and the mechanism for transferring the container are separate. Specifically, the transport unit 101, which has moved from the external storage unit 221, moves to the front of the automatic analyzer 122, corrects its position between itself and the automatic analyzer 122 using the correction unit 115, and transfers the automatic analyzer 122 and the container 106 using the first transport mechanism 222. Similarly, the transport unit 101, which has moved from the automatic analyzer 122, moves to the front of the external storage unit 221, corrects its position between itself and the external storage unit 221 using the correction unit 115, and transfers the external storage unit 221 and the container 106 using the second transport mechanism 223.

[0028] The transport unit 101 may be equipped with an extended storage unit for storing containers 106 that cannot be stored in the container storage unit 220 alone. That is, the first transport mechanism and the transport unit 101 can be operated as if they were an extended storage unit. For example, it is preferable that a storage unit for keeping containers 106 cool is mounted on top of the transport unit 101, and that the automatic analyzer 122 manages the management information 225 including the containers 106 on the transport unit 101, so that it can be operated as if it were an extended storage unit with an increased maximum number of containers that can be stored inside the automatic analyzer 122. In this way, the transport unit 101 can always store multiple containers 106, and can also replenish the container storage unit 220 with containers 106 from the extended storage unit as needed. It should be noted that the physical location of the containers 106, which are physically stored outside the container storage unit 220 but appear to be stored inside the extended storage unit virtually, is not limited to being on the transport unit 101. For example, it may be configured to be detachably attached to the automated analyzer 122, or it may be distributed and placed in appropriate locations within the automated analysis system.

[0029] Furthermore, the system may display to the user that all reagent containers are stored in the same virtual space. That is, the system stores the physical location of container 106 in association with its virtual location, and the display unit 224 converts the physical location to its virtual location for display. However, the user needs to determine whether container 106 is located inside the automated analyzer 122 and ready for analysis, or whether it is located outside the automated analyzer 122 and unavailable for analysis. Therefore, the display unit 224 may include information indicating whether the container 106 is inside or outside the automated analyzer 122.

[0030] The automated analyzer 122 transmits and receives management information 225 between the transport unit 101 and the external storage unit 221 (and also transmits and receives information between the automated analyzer 122 and the external storage unit 221 if the extended storage unit is located outside the transport unit 101). The management information 225 is information for managing the liquids (e.g., reagents) stored in the container storage unit 220, the transport unit 101, the external storage unit 221, and / or the extended storage unit. By transmitting and receiving the management information 225 between the automated analyzer 122, the external storage unit 221, and the transport unit 101, the containers 106 required for analysis can be transported to the appropriate location at the appropriate time.

[0031] Furthermore, the management information 225 may be stored in any of the following: a storage device provided by the automatic analyzer 122, a storage device provided by the transport unit 101, or a storage device provided by other mechanisms. Also, the control unit that controls the transmission and reception of the management information 225 may be installed anywhere. [Explanation of Symbols]

[0032] 101 Conveying Section 102 Vertical drive mechanism 103 Vertical through-beam sensor 104 Transmitted light from a vertical transmissive sensor 105 Hand section 106 Container 107 Container storage department 108 Horizontal drive mechanism 109 Transverse-transmissive sensor 110 Transmissive light from a transverse sensor 111 Positioning pins 112 Gripping Hand 113 Gripping Hand Drive Mechanism 114 Positioning pin drive mechanism 115 Correction section 116 Tension spring 117 Input section 118 Positioning pin holes 119 Detection plate 120 Roll axis rotating shaft 121 Yaw axis rotation shaft 122 Automatic analyzer 123 Inlet 124 Roll axis rotation center 125 Spring reaction force generated around the roll axis rotation shaft 126 Control device 220 Container storage department 221 External storage 222 Conveying mechanism for container storage section 223 Transport mechanism for external storage facilities 224 Display section 225 Management information

Claims

1. An automated analyzer equipped with a container storage section capable of storing multiple liquid containers for holding liquids used in the analysis of samples, An external storage unit installed outside the automated analyzer, which stores multiple liquid containers, A transport unit for transporting the liquid container between the automatic analyzer and the external storage unit, a first transport mechanism for transferring the liquid container between the automatic analyzer and the transport unit, and a second transport mechanism for transferring the liquid container between the external storage unit and the transport unit. A storage unit for storing management information for managing the liquid contained in the liquid container, The system comprises the automatic analyzer, the external storage unit, and a control unit that transmits and receives the management information between them, An automated analysis system in which the positional accuracy between the first transport mechanism and the automated analyzer is designed to be higher than the positional accuracy between the first transport mechanism and the transport unit.

2. The automatic analysis system according to claim 1, wherein the first transport mechanism and the transport unit operate to include an extended storage compartment that increases the maximum number of containers that can be stored in the automatic analysis device.

3. The automated analysis system according to claim 2, comprising: a display unit that converts the locations of containers physically stored inside the container storage unit and the locations of containers physically stored outside the container storage unit but appearing to be stored inside the extended storage unit into virtual locations and displays them.

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