Sampling apparatus

Abstract

A sampling apparatus (100) comprises: a hollow pin (141); a distance sensor (107); a drive device; a pressure-sensitive sensor (108); and a control device. A reference position is a position of the hollow pin (141) immediately after the pressure-sensitive sensor (108) starts detection of contact or immediately before the end of the detection of contact. A reference distance is a distance between the distance sensor (107) and the pressure-sensitive sensor (108) when the hollow pin (141) is at the reference position. The control device performs: first measurement control for controlling the drive device so that the distance sensor (107) measures a first distance indicating a distance between the surface of a gel sheet (GS) and the distance sensor (107); and lowering control for controlling the drive device so that the hollow pin (141) is lowered to be brought into contact with the gel sheet (GS). The lowering control includes first position control for controlling a position of the tip end of the hollow pin (141) with respect to the gel sheet (GS) according to the first distance and the reference distance.

Description

Sample collection device 【0001】 This disclosure relates to a sample collection device. 【0002】 Japanese Patent Application Laid-Open No. 2023-104589 (Patent Document 1) discloses a sample collection device. The sample collection device includes a sample stage, a hollow pin, and a control device. The sample stage fixes (holds) a gel plate composed of a gel sheet and a film disposed under the gel sheet. The gel sheet is a sheet-like material of gel that supports the sample to be collected. The control device controls the position of the hollow pin so that the hollow pin descends relative to the sample stage and cuts a part of the gel sheet to collect the sample from the gel sheet. 【0003】 Japanese Patent Application Laid-Open No. 2023-104589 【0004】 When collecting a sample using the hollow pin as described above, it is important that the hollow pin contacts the surface of the gel sheet appropriately. For example, if the contact between the hollow pin and the surface of the gel sheet is insufficient (or they are not in contact), the hollow pin may not be able to collect the sample by cutting a part of the gel sheet. Thus, depending on the contact state between the hollow pin and the gel sheet, the sample may not be collected appropriately from the gel sheet. Such a problem is not considered in Patent Document 1. 【0005】 This disclosure has been made to solve the above problems, and its object is to provide a sample collection device for appropriately collecting a sample from a gel sheet that supports the sample. 【0006】The sample collection device of this disclosure comprises a first holding member, a hollow pin, a distance sensor, a first drive device, a pressure sensor, a storage device, and a control device. The first holding member has a holding surface for holding a gel plate composed of a gel sheet supporting a sample and a film placed beneath the gel sheet. The hollow pin is configured to allow sample collection by cutting a portion of the gel sheet. The distance sensor is fixed to the hollow pin and measures the distance to an object in the direction perpendicular to the holding surface. The first drive device moves the hollow pin and the distance sensor relative to the first holding member. The pressure sensor detects contact between the tip of the hollow pin and an object located below it when the tip of the hollow pin is in contact with the object. The storage device stores information indicating a reference position and information indicating a reference distance. The reference position is the position of the hollow pin in the vertical direction immediately after the start of contact detection by the pressure sensor or immediately before the end of contact detection. The reference distance is the distance between the distance sensor and the object in the vertical direction when the hollow pin is in the reference position. The control device performs a first measurement control, which controls the first drive device so that the distance sensor measures a first distance indicating the distance between the surface of the gel sheet as an object and the distance sensor, and a descent control, which controls the first drive device so that the hollow pin descends vertically relative to the first holding member and contacts the gel sheet. The descent control includes a first position control, which controls the position of the tip relative to the gel sheet in the vertical direction according to the first distance and a reference distance. 【0007】 The position of the tip of the hollow pin in the vertical direction (micro-pressure position), where the pressure exerted on the surface of the gel sheet by the hollow pin is at a minute level, is estimated according to a first distance and a reference distance. With the above configuration, the position of the tip of the hollow pin relative to the gel sheet is controlled according to the first distance and the reference distance. This allows the hollow pin to be lowered relative to the gel sheet and brought into contact with the gel sheet, taking the micro-pressure position into consideration. As a result, the accuracy of controlling the position of the tip of the hollow pin relative to the gel sheet is improved, and the hollow pin can be brought into contact with the gel sheet with micro-pressure. Therefore, the contact state between the hollow pin and the gel sheet becomes appropriate, and a sample can be appropriately taken from the gel sheet using the hollow pin. 【0008】 The first position control may include a first stop control that stops the tip at a first position in the vertical direction. The first position may be determined according to the difference between a first distance and a reference distance, and a predetermined amount of indentation of the tip into the gel sheet. 【0009】 With the above configuration, the tip of the hollow pin punctures the gel sheet and stops at the appropriate position in the vertical direction (first position), and the sample is collected within the hollow pin. This prevents situations where the sample is not collected due to insufficient contact (or no contact) between the tip of the hollow pin and the gel sheet. 【0010】 The sample collection device may further include an observation device. The observation device recognizes a first region as a specific area on the surface of the gel sheet by optically observing the surface of the gel sheet. The first measurement control may include controlling the first drive device so that the distance sensor measures the distance between the distance sensor and the first region. The first position control may include controlling the position of the tip relative to the first region in the vertical direction. 【0011】 With the above configuration, the first measurement control and first position control are performed on the same area of ​​the gel sheet surface. As a result, even if the thickness of the gel sheet is uneven, the position of the tip of the hollow pin is appropriately controlled in the first position control, allowing for proper sample collection. 【0012】The sample collection device may further include a discharge pin, a second holding member, and a second drive device. The discharge pin is configured to be insertable into a hollow pin and discharges the sample inside the hollow pin to the outside of the hollow pin. The second holding member holds a container in which the sample discharged from the hollow pin can be placed. The second drive device lowers the discharge pin relative to the second holding member. The first drive device may move the hollow pin and the distance sensor relative to the second holding member. The control device may further perform a second measurement control that controls the first drive device so that the distance sensor measures a second distance indicating the distance between the bottom surface of the container's containment area and the distance sensor, and a placement control that controls the first and second drive devices so that the hollow pin descends vertically relative to the second holding member and approaches the bottom surface, and the sample discharged from the hollow pin is placed inside the container. The placement control may include a second position control that controls the position of the tip relative to the bottom surface in the vertical direction according to the second distance and a reference distance. 【0013】 The position of the container's bottom surface in the vertical direction is estimated according to a second distance and a reference distance. With the above configuration, the position of the tip of the hollow pin relative to the container's bottom surface is controlled according to the second distance and the reference distance. This allows the hollow pin to be lowered relative to the container's bottom surface, taking into account the position of the container's bottom surface in the vertical direction. As a result, the accuracy of controlling the position of the hollow pin tip relative to the container's bottom surface is improved, and the sample collected in the hollow pin can be dispensed at an appropriate height. Therefore, the sample in the hollow pin can be properly placed in the container. 【0014】 The second position control may include a second stop control that stops the tip at a second vertical position. The second position may be determined according to the difference between a second distance and a reference distance and a predetermined offset amount of the tip from the bottom surface. The position control may include a discharge control that controls the second drive device after the second stop control so that the discharge pin descends vertically. 【0015】With the above configuration, the tip of the hollow pin stops at an appropriate position (second position) above the bottom surface of the container's containment area, after which the sample is dispensed from the hollow pin into the container. This prevents parts of the sample from falling outside the container's containment area, parts of the sample from remaining inside the hollow pin, or damage to the sample due to crushing. 【0016】 The sample collection device may further include an observation device. The observation device recognizes a second region as a specific area of ​​the bottom surface by optically observing the container. The second measurement control may include controlling the first drive device so that the distance sensor measures the distance between the distance sensor and the second region. The second position control may include controlling the position of the tip relative to the second region in the vertical direction. 【0017】 With the above configuration, the second measurement control and second position control are performed on the same area of ​​the bottom surface of the container's containment area. As a result, even if the height of the bottom surface of the container's containment area is not constant, the position of the tip of the hollow pin is appropriately controlled in the second position control, and the sample inside the hollow pin can be appropriately placed inside the container. 【0018】 The sample collection device may further include an input device. The input device receives user input to instruct the start of sample collection. In response to the user operation, the control device may further perform contact control, which controls the first drive device so that its tip contacts the object; third measurement control, which controls the first drive device so that the distance sensor measures the distance between the object and the distance sensor; first determination processing, which determines a reference position according to the detection result of the pressure sensor in the contact control; and second determination processing, which determines a reference distance according to the measurement result of the distance sensor in the third measurement control. 【0019】 The object may be a pressure sensor. 【0020】 According to this disclosure, a sample can be appropriately collected from the gel sheet supporting the sample. 【0021】This is a schematic front view of the interior of the sample collection device according to this embodiment. This is a diagram showing the main components of the sample collection device. This is a diagram illustrating the configuration of the gel plate. This is a diagram showing the configuration of the collection and placement device in detail. This is a diagram showing how a sample is collected by a hollow pin puncturing the gel sheet and cutting out a portion of the gel sheet. This is a diagram showing how the sample is ejected from the hollow pin. This is a diagram showing the detailed configuration of the control system. This is a diagram illustrating a series of controls by the control device for determining the reference position and reference distance of the hollow pin in this embodiment. This is a diagram illustrating a series of controls by the control device for determining the reference position and reference distance of the hollow pin in this embodiment. This is a diagram illustrating a series of controls by the control device for determining the reference position and reference distance of the hollow pin in this embodiment. This is a diagram illustrating a series of controls by the control device for determining the reference position and reference distance of the hollow pin in this embodiment. This is a diagram illustrating a series of controls by the control device for determining the reference position and reference distance of the hollow pin in this embodiment. This is a diagram illustrating a series of controls by the control device for determining the reference position and reference distance of the hollow pin in this embodiment. This diagram illustrates a series of controls performed by the control device to determine the reference position and reference distance of the hollow pin in the embodiment. This is a flowchart showing an example of a process performed by the control device in the embodiment. This diagram illustrates the controls performed by the control device in the embodiment. This diagram illustrates the controls performed by the control device in the embodiment. This diagram illustrates the minute pressure position in detail. This diagram illustrates the first position control in more detail. This diagram illustrates the advantage of the first measurement area and the sampling area being the same. This is a flowchart illustrating another process performed by the control device in the embodiment. This is a flowchart showing the detailed procedure of the first descent control. This diagram illustrates the controls performed by the control device to properly position the sample within the container's containment area. This diagram illustrates the controls performed by the control device to properly position the sample within the container's containment area.This diagram illustrates the control performed by the control device to properly position the sample within the container's containment area. This diagram illustrates the advantage of having the second measurement area and the sampling area be the same. This flowchart illustrates yet another process performed by the control device in the embodiment. This flowchart shows the detailed procedure for placement control. 【0022】 Embodiments of this disclosure will be described in detail below with reference to the drawings. The same or corresponding parts in the drawings will be denoted by the same reference numerals and their descriptions will not be repeated. Each of the embodiments and its modifications may be combined with one another as appropriate. 【0023】 Figure 1 is a schematic front view of the interior of a sample collection device according to this embodiment. Figure 2 is a diagram showing the main components of the sample collection device. For the sake of explanation, the X, Y, and Z directions are introduced. The XY plane corresponds to the horizontal plane, and the Z direction corresponds to the direction perpendicular to the XY plane (vertical direction). 【0024】 Referring to Figures 1 and 2, the sample collection device 100 includes a sample XY stage 101, a holding member 101A, a container XY stage 102, a holding member 102A, a collection and placement device 104, an observation device 106, a distance sensor 107, a pressure sensor 108, a Z-axis table 110, and a control system 115. 【0025】 The sample XY stage 101 is located inside the processing chamber CH of the sample collection device 100. The sample XY stage 101 is movable horizontally, i.e., along the XY direction (X direction and Y direction). In this example, a guide member is installed on the underside of the sample XY stage 101. This guide member is slidably connected to a guide rail installed on the bottom surface of the processing chamber CH. 【0026】 The holding member 101A is fixed to the sample XY stage 101. The holding member 101A has a holding surface for holding the gel plate GP. This holding surface is parallel to the XY plane and perpendicular to the Z direction. The holding member 101A moves in conjunction with the sample XY stage 101. A through hole HL (see Figure 2) is formed in the holding member 101A. 【0027】 Figure 3 is a diagram illustrating the configuration of a gel plate GP. Referring to Figure 3, the gel plate GP includes a film FL and a gel sheet GS. The film FL is provided for placing the gel sheet GS on and is positioned beneath the gel sheet GS. The gel sheet GS is transparent or translucent and is fabricated on the film FL to support a sample sm. The sample sm is, for example, cells or tissue. Because the gel sheet GS supports the sample sm, it can protect the sample sm from shear stress and prevent displacement of the sample sm. 【0028】 Referring again to Figure 1, the container XY stage 102 is positioned below the holding member 101A. The container XY stage 102 is movable horizontally, i.e., along the XY direction (X direction and Y direction). Specifically, for example, a guide is installed on the underside of the container XY stage 102. This guide is slidably connected to a guide rail installed on the bottom surface of the processing chamber CH. 【0029】 The holding member 102A is fixed to the container XY stage 102 and holds the container CT. In this example, the sampling and placement device 104, gel plate GP, holding member 101A, container CT, and holding member 102A are arranged in the order from top to bottom in the Z direction. 【0030】 The sampling and placement device 104 is provided for collecting a sample sm by cutting off a portion of the gel sheet GS of the gel plate GP. The sampling and placement device 104 is also provided for placing (transferring) the cut portion of the gel sheet GS and the collected sample sm into the container CT. 【0031】 Figure 4 is a diagram showing the configuration of the sampling and dispensing device 104 in detail. Referring to Figure 4, the sampling and dispensing device 104 includes a hollow pin 141, a fixing holder 142, a discharge pin 143, and a motor 144. 【0032】The hollow pin 141 is a needle having a hollow region inside, and is connected to a fixing holder 142. The discharge pin 143 is configured to be insertable into the hollow pin 141 and is connected to a motor 144 via a drive mechanism (not shown). The motor 144 functions as a drive device that lowers the discharge pin 143 relative to the holding member 101A by driving this drive mechanism. The motor 144 corresponds to an example of the "second drive device" of this disclosure. 【0033】 Figure 5 illustrates how a sample is collected by a hollow pin 141 puncturing the gel sheet GS and cutting off a portion of it. The hollow pin 141 can perform a sampling operation to collect a sample sm by descending in the Z direction and cutting off a portion of the gel sheet GS. Since a through hole HL is formed in the holding member 101A, the hollow pin 141 is prevented from contacting the holding member 101A during the sampling operation. In this example, the sampling operation is assumed to be an operation in which the hollow pin 141 descends until it penetrates the film FL and then stops, but the hollow pin 141 may also descend to the height of the boundary between the gel sheet GS and the film FL and stop at that height. The gel sheet portion PG is the portion of the gel sheet GS that has been cut off. The sample sma is the collected sample sm. Note that two or more samples sm may be collected during the sampling operation. 【0034】 Figure 6 shows how the sample sma is ejected from the hollow pin 141. Referring to Figure 6, the ejection pin 143 can perform an ejection operation by pressing the gel sheet portion PG and the sample sma inside the hollow pin 141, pushing them out of the hollow pin 141 and ejecting them from the hollow pin 141. As a result, the gel sheet portion PG and the sample sma are placed within the containment area of ​​the container CT. 【0035】Referring again to Figure 1, the observation device 106 recognizes a specific region of the object to be observed by optically observing the object. For example, if the object to be observed is a gel sheet GS, the observation device 106 recognizes a specific region (first region) on the surface of the gel sheet GS by optically observing the surface of the gel sheet GS. This specific region is, for example, the central region of the surface of the gel sheet GS, but it may also be the region on the surface of the gel sheet GS where the sample is located. The object to be observed may also be a container CT. If the holding member 101A is not located above the holding member 102A, the observation device 106 can also recognize a specific region (second region) on the bottom surface of the housing area of ​​the container CT by optically observing the container CT. This specific region is, for example, the central region of the bottom surface of the housing area of ​​the container CT, but it may also be a different region. The object to be observed may also be a pressure sensor 108 (described later). In this case, the observation device 106 can also recognize the central region of the surface of the pressure sensor 108 by optically observing the surface of the pressure sensor 108. 【0036】 The observation device 106 may include a CCD (Charge Coupled Devices) camera. This CCD camera generates an image of the object to be observed and converts the image into an electrical signal. The observation device 106 irradiates the object to be observed with visible light, infrared light, X-rays, or ultrasound and observes the surface of the object according to the irradiation results. If the object to be observed is a gel sheet GS, depending on the material of the gel sheet GS, the observation device 106 may observe the gel sheet GS using magnetism. In this case, the gel sheet GS does not have to be transparent or translucent, and may be opaque. 【0037】 The distance sensor 107 is an optical sensor that measures the distance between the distance sensor 107 (specifically, its lower end) and the object to be measured in the Z direction. This object to be measured is an example of the "object" in this disclosure, and is, for example, a gel sheet GS, a container CT, or a pressure sensor 108. 【0038】The pressure sensor 108 is a film-like sensor sheet. The pressure sensor 108 detects contact between an object and the pressure sensor 108 by measuring the pressure exerted on the pressure sensor 108 by an object located above it that is in contact with the pressure sensor 108. For example, if a hollow pin 141 descends and its tip comes into contact with the pressure sensor 108, the pressure sensor 108 detects contact between the tip of the pin and the pressure sensor 108. In this example, the pressure sensor 108 is positioned on the holding member 102A, but it may also be positioned on the holding member 101A. The pressure sensor 108 is an example of an "object" in this disclosure. 【0039】 The Z-axis table 110 is movable in the Z direction. The Z-axis table 110 is connected to the sampling and placement device 104, the observation device 106, and the distance sensor 107. As a result, the sampling and placement device 104, the observation device 106, and the distance sensor 107 move in the Z direction in conjunction with the Z-axis table 110. Consequently, even when the Z-axis table 110 moves, the relative positional relationship between the sampling and placement device 104, the observation device 106, and the distance sensor 107 does not change. Therefore, for example, the distance sensor 107 is fixed to the hollow pin 141 of the sampling and placement device 104. 【0040】 Figure 7 is a diagram showing the detailed configuration of the control system 115. Referring to Figure 7, the control system 115 includes a drive unit 120, a storage device 125, an input device 130, and a control device 135. 【0041】The drive unit 120 includes a motor (not shown). The drive unit 120 moves the sample XY stage 101, the container XY stage 102, and the Z-axis table 110 in three-dimensional space by driving them. For example, the drive unit 120 moves the sample XY stage 101 in the XY direction and the Z-axis table 110 in the Z direction, thereby moving the sampling and placement device 104 (hollow pin 141), the observation device 106, and the distance sensor 107 relative to the holding member 101A in three-dimensional space. The drive unit 120 can also move the observation device 106, the distance sensor 107, and the sampling and placement device 104 (hollow pin 141) relative to the holding member 102A in three-dimensional space by moving the container XY stage 102 in the XY direction and the Z-axis table 110 in the Z direction. 【0042】 After the sampling operation (Figure 5), the drive unit 120 raises the hollow pin 141 by raising the Z-axis table 110. The drive unit 120 drives the sample XY stage 101 so that the holding member 101A moves horizontally (for example, to the right in Figure 1) so that it is no longer positioned above the holding member 102A. Then, the drive unit 120 drives the container XY stage 102 so that the holding member 102A moves directly below the hollow pin 141. As a result, the housing area of ​​the container CT moves directly below the hollow pin 141. The drive unit 120 corresponds to an example of the "first drive unit" of this disclosure. 【0043】The memory device 125 includes gel sheet information 126, command value information 127, reference position information 128, and reference distance information 129. The gel sheet information 126 represents the material of the gel sheet GS and the thickness of the gel sheet GS in the Z direction. The command value information 127 is the command value for the descending speed of the hollow pin 141 in the above-described sampling operation. The reference position information 128 indicates the reference position of the hollow pin 141. The reference position is the position of the hollow pin 141 in the Z direction where the pressure applied from the hollow pin 141 to the pressure sensor 108 is at a minute level. In the following description, the reference position is assumed to be the position of the tip of the hollow pin 141, but it may be a position other than the tip. The reference distance information 129 indicates the reference distance, which is the distance between the distance sensor 107 and the pressure sensor 108 in the vertical direction when the hollow pin 141 is at the reference position. The reference position and the reference distance will be described in detail later. 【0044】 The input device 130 receives inputs of various user operations. The user operation is, for example, an operation for specifying the above-described command value. The user operation may be an operation for instructing the start of the sampling operation (sampling start operation). 【0045】 The control device 135 includes a memory 137 and a CPU (Central Processing Unit) 139. The memory 137 includes a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM stores programs executed by the CPU 139. The RAM functions as a working memory. The CPU 139 executes various arithmetic processes according to the programs. 【0046】 The control device 135 controls the driving device 120 to move the sample XY stage 101, thereby controlling the position of the gel sheet GS in the XY direction. Similarly, the control device 135 controls the driving device 120 to move the container XY stage 102, thereby controlling the position of the container CT in the XY direction. The control device 135 moves the sample XY stage 101 or the container XY stage 102 so that, for example, the gel sheet GS or the container CT is positioned directly below the observation device 106 or the hollow pin 141. 【0047】 The control device 135 receives the measured value mvd from the distance sensor 107 and the measured value mvp from the pressure-sensitive sensor 108. The control device 135 may calculate the lowering distance of the hollow pin 141 and the lowering distance of the discharge pin 143 according to these measured values, and thereby control the sampling operation and the discharge operation. 【0048】 As shown below, the control device 135 controls the position (height) of the hollow pin 141 in the Z direction by controlling the drive device 120 to move the Z-axis table 110. When a sampling start operation is performed, the control device 135 reads out the command value of the lowering speed of the hollow pin 141 in the sampling operation from the command value information 127. The control device 135 calculates the rotational speed of the motor of the drive device 120 based on this command value, and rotates this motor at the calculated rotational speed. The control device 135 sequentially determines the position and the moving distance (rising distance or lowering distance) of the hollow pin 141 in the Z direction according to the number of rotations from the start of rotation of this motor, and sequentially stores the information indicating the determined position in the RAM. The hollow pin 141 descends at a predetermined speed due to the rotation of the motor, and then stops and rises. As a result, the above-described sampling operation is performed. 【0049】 The control device 135 may be configured to communicate with an external control system (not shown). In this case, the control device 135 may receive the above-described command value from the control system and control the motor according to the received command value. The control device 135 may appropriately calculate the above-described command value according to the thickness of the gel sheet GS indicated by the gel sheet information 126. 【0050】Figures 8 to 14 illustrate a series of controls performed by the control device 135 to determine the reference position of the hollow pin 141 and the aforementioned reference distance in the embodiment. This control is performed in response to the sampling start operation. Before the start of the series of controls, the control device 135 moves the sample XY stage 101 horizontally so that the holding member 101A is retracted horizontally (for example, to the right in the figure) and does not interfere with the hollow pin 141. As a result, the holding member 101A is no longer positioned above the holding member 102A. The observation device 106 then recognizes the center of the pressure sensor 108 on the holding member 102A. 【0051】 Referring to Figure 8, the control device 135 controls the drive device 120 to move the container XY stage 102 so that the XY coordinates of the center of the pressure sensor 108 coincide with the predetermined XY coordinates of the center of the hollow pin 141. 【0052】 Referring to Figure 9, the control device 135 then controls the drive unit 120 to lower the Z-axis table 110 so that the tip of the hollow pin 141 descends relative to the holding member 101A and contacts the center of the pressure sensor 108 (contact control). During contact control, the control device 135 monitors the measured value mvp from the pressure sensor 108. As long as the hollow pin 141 descends with its tip in contact with the pressure sensor 108, the measured value mvp continues to rise. After the measured value mvp exceeds the threshold, the control device 135 temporarily stops the drive unit 120. As a result, the movement of the Z-axis table 110 stops, and the descent of the hollow pin 141 stops. Consequently, the measured value mvp no longer rises. 【0053】 Referring to Figure 10, the control device 135 then resumes control of the drive device 120 to raise the Z-axis table 110 so that the hollow pin 141 rises. As a result, the measured value mvp continues to decrease. When the tip of the hollow pin 141 moves away from the pressure sensor 108, the measured value mvp becomes zero and the contact control ends. 【0054】Referring to Figure 11, the changes in the measured value mvp from the pressure sensor 108 in contact control are explained. The vertical axis represents the measured value mvp, and the horizontal axis represents time. Line 205 shows the changes in the measured value mvp. 【0055】 Time t1 is the time immediately after the start of contact detection by the pressure sensor 108. At time t1, the measured value mvp is a small value α, so the control device 135 determines that contact detection has just started and the measured value mvp has switched from zero to non-zero (risen). The small value α is a predetermined positive value that is approximately zero. The control device 135 determines the position of the hollow pin 141 in the Z direction at time t1. The control device 135 determines this position as the reference position Zn. The reference position Zn corresponds to the position of the hollow pin 141 in the Z direction where the pressure applied from the hollow pin 141 to the pressure sensor 108 is at a small level. The control device 135 stores the information indicating the reference position Zn as reference position information 128 in the storage device 125. 【0056】 The reference position Zn will be explained in detail with reference to Figure 12. The reference position Zn is lower than position Z0 by a predetermined small distance md. Position Z0 is the position of the surface of the pressure sensor 108 in the Z direction when the tip of the hollow pin 141 is not in contact with the pressure sensor 108. 【0057】 Referring again to Figure 11, the control device 135 may determine the reference position Zn according to the measurement value mvp immediately before the end of contact detection by the pressure sensor 108, as described below. 【0058】 Time t2 is the time immediately before the end of contact detection by the pressure sensor 108. At time t2, the measured value mvp has decreased to a small value α, so the control device 135 determines that contact detection is about to end and the measured value mvp will soon switch from non-zero to zero. The control device 135 determines the position of the hollow pin 141 in the Z direction at time t2. The control device 135 may determine this position as the reference position Zn. The control device 135 stores the information indicating the reference position determined as described above as reference position information 128 in the storage device 125. 【0059】Referring to Figure 13, after contact control, the control device 135 controls the position of the hollow pin 141 to the reference position Zn, and controls the drive device 120 so that the distance sensor 107 measures the distance between the pressure sensor 108 (in this example, its central region) and the distance sensor 107. This control is also called "pre-measurement control". The procedure for pre-measurement control will be described below. 【0060】 For example, when the measured value mvp in contact control drops to a small value α (when the hollow pin 141 reaches the reference position Zn), the control device 135 raises the Z-axis table 110 by a predetermined distance. Then, the control device 135 moves the container XY stage 102 so that the center of the pressure sensor 108 is positioned directly below the distance sensor 107. After that, the control device 135 lowers the Z-axis table 110 by a predetermined distance. As a result, the distance between the pressure sensor 108 and the distance sensor 107 with the hollow pin 141 at the reference position Zn is measured by the distance sensor 107. The control device 135 determines this distance as the reference distance Dn. The control device 135 stores information indicating the determined reference distance Dn as reference distance information 129 in the storage device 125. 【0061】 The control device 135 may determine the reference distance Dn without lowering the Z-axis table 110 by a predetermined distance as described above. For example, the control device 135 raises the Z-axis table 110 by a predetermined distance from the reference position, then moves the container XY stage 102, and causes the distance sensor 107 to measure the distance between the pressure sensor 108 and the distance sensor 107. The control device 135 may determine the measured distance mvd from the distance sensor 107 and determine (estimate) the reference distance Dn by subtracting the predetermined distance from this distance. 【0062】 Referring to Figure 14, the reference distance Dn will be explained in detail. The reference distance Dn is a small distance md shorter than the distance between the distance sensor 107 and the tip of the hollow pin 141 in the Z direction. In other words, the position of the tip of the hollow pin 141 is a distance of the sum of the reference distance Dn and the small distance md from the distance sensor 107 in the Z direction. 【0063】Figure 15 is a flowchart showing an example of the process executed by the control device 135 in this embodiment. This flowchart is started in response to a user's operation to start sampling. Hereinafter, steps will be abbreviated as "S". The series of processes S10 to S40 described below will also be referred to as "preprocessing". 【0064】 Referring to Figure 15, the control device 135 performs contact control by controlling the drive unit 120 so that the tip of the hollow pin 141 contacts the center of the pressure sensor 108 (S10). The control device 135 determines the reference position Zn according to the detection result of the pressure sensor 108 in the contact control (S20). Specifically, the control device 135 determines the position of the hollow pin 141 in the Z direction where the measured value mvp is a small value α as the reference position Zn. The control device 135 performs pre-measurement control by controlling the drive unit 120 so that the distance sensor 107 measures the distance between the distance sensor 107 and the pressure sensor 108 when the hollow pin 141 is at the reference position Zn (S30). The control device 135 determines the reference distance Dn according to the measurement result of the distance sensor 107 in the pre-measurement control (S40). 【0065】 The control device 135 may determine the reference distance Dn by the method described below. First, the control device 135 controls the drive device 120 so that the distance sensor 107 measures the distance between the pressure sensor 108 and the distance sensor 107 (inter-sensor distance) when the hollow pin 141 is in a predetermined position in the Z direction. This control is also an example of the "pre-measurement control" of this disclosure. 【0066】After controlling the drive unit 120 as described above, the control device 135 matches the XY coordinates of the center of the pressure sensor 108 with the XY coordinates of the center of the hollow pin 141 and performs the aforementioned contact control. The control device 135 determines the reference position Zn according to the detection result of the pressure sensor 108 in the contact control. The control device 135 calculates the difference between the predetermined position and the reference position Zn. The control device 135 determines the reference distance Dn according to the calculated difference and the distance between the sensors described above. When the control device 135 determines the reference distance Dn in this way, unlike the flowchart example in Figure 15, it performs contact control after measurement by the distance sensor 107. 【0067】 Referring again to Figure 5, in the sampling operation using the hollow pin 141, it is important that the hollow pin 141 makes proper contact with the surface of the gel sheet GS. For example, if the contact between the hollow pin 141 and the gel sheet GS is insufficient (or they do not make contact), the hollow pin 141 may not be able to collect the sample sm by cutting off a portion of the gel sheet GS. Thus, depending on the contact state between the hollow pin 141 and the gel sheet GS, it may not be possible to properly collect the sample sm from the gel sheet GS. 【0068】 Figures 16 and 17 illustrate the control performed by the control device 135 in the embodiment to address such problems. In these figures, only the gel sheet GS of the gel plate GP is shown for ease of understanding. First, the control device 135 moves the sample XY stage 101 (holding member 101A) so that the central region of the surface of the gel sheet GS is positioned directly below the observation device 106. This allows the observation device 106 to recognize the central region of the surface of the gel sheet GS. 【0069】Referring to Figure 16, the control device 135 controls the drive unit 120 so that the distance sensor 107 measures the distance D1. This control is also called the "first measurement control". The distance D1 is the distance in the Z direction between the surface of the gel sheet GS (in this example, its central region R1) and the distance sensor 107. The control device 135 calculates the difference ΔD1 (= D1 - Dn) between the distance D1 and the reference distance Dn and stores it in the memory 137. 【0070】 Referring to Figure 17, the control device 135 then controls the drive device 120 to move the sample XY stage 101 so that the central region R1 is located directly below the hollow pin 141. Subsequently, the control device 135 controls the drive device 120 so that the hollow pin 141 descends relative to the holding member 101A and contacts the gel sheet GS. This control is also referred to as the "first descent control". In the first descent control, the control device 135 controls the position of the tip of the hollow pin 141 relative to the gel sheet GS in the Z direction according to the distance D1 and the reference distance Dn (specifically, the difference ΔD1) (first position control). 【0071】 As described above, the tip of the hollow pin 141 is located in the Z direction at a distance equal to the sum of the reference distance Dn and the minute distance md (Figure 14) from the distance sensor 107. Since the distance sensor 107 is fixed to the hollow pin 141, the distance between the distance sensor 107 and the tip of the hollow pin 141 does not change while the hollow pin 141 is descending. Hereinafter, the position of the tip of the hollow pin 141 in the Z direction where the pressure applied from the hollow pin 141 to the surface of the gel sheet GS is at a minute level will also be referred to as the "minute pressure position". 【0072】 Figure 18 is a diagram illustrating the micropressure position in detail. Referring to Figure 18, if the surface of the gel sheet GS is at a distance D1 from the distance sensor 107 in the Z direction, the micropressure position Z1 is estimated to be at a position vertically at a difference ΔD1 (= D1 - Dn) from the position of the tip of the hollow pin 141. In other words, the micropressure position Z1 is estimated according to the distance D1 and the reference distance Dn (more specifically, the difference ΔD1). 【0073】According to the first position control, the tip of the hollow pin 141 is lowered to the minute pressure position Z1, and from the position where the hollow pin 141 is in contact with the gel sheet GS at minute pressure, it is lowered further by a distance greater than the thickness of the gel sheet GS, or the total thickness of the gel sheet GS and film FL, thereby allowing the hollow pin 141 to collect the sample sm. As a result, the sampling operation is performed with the hollow pin 141 in an appropriate contact state with the gel sheet GS, so the sample sm can be collected appropriately. 【0074】 Figure 19 is a diagram illustrating the first position control in more detail. In this diagram as well, for ease of understanding, only the gel sheet GS of the gel plate GP is shown. Referring to Figure 19, in the first position control, the control device 135 lowers the Z-axis table 110 until the amount of descent of the hollow pin 141 reaches the sum of the difference ΔD1 and the indentation amount Δd1, and stops the tip of the hollow pin 141 at position Z1a in the Z direction (first stop control). Position Z1a is determined according to the minute pressure position Z1 based on the difference ΔD1 and the indentation amount Δd1. The indentation amount Δd1 is appropriately predetermined according to the gel sheet information 126 as the amount of indentation of the tip of the hollow pin 141 relative to the gel sheet GS. The indentation amount Δd1 is determined as a distance greater than or equal to the thickness of the gel sheet GS. For example, the indentation amount Δd1 is larger the greater the thickness of the gel sheet GS. 【0075】 According to the first stop control, the tip of the hollow pin 141 punctures the gel sheet GS and stops at an appropriate position in the Z direction (position Z1a), and the sample is collected inside the hollow pin 141. This makes it possible to avoid a situation where the sample sm is not collected due to insufficient contact (or no contact) between the hollow pin 141 and the gel sheet GS. 【0076】 The region on the surface of the gel sheet GS where the distance sensor 107 measures the distance (first measurement region) and the region on the surface of the gel sheet GS where the hollow pin 141 contacts to collect the sample sma (collection region) may be somewhat different, but it is preferable that these regions be the same, as will be explained below. 【0077】Therefore, in the first position control, the control device 135 controls the position of the tip of the hollow pin 141 in the Z direction with respect to the region (central region R1) whose distance is measured by the distance sensor 107. This point will be explained below. 【0078】 Figure 20 illustrates the advantage of having the first measurement area and the sampling area be the same. Referring to Figure 20, in this example, air bubbles (not shown) are mixed into the gel sheet GS during its preparation, resulting in uneven thickness of the gel sheet GS in the Z direction. As a result, the surface height of the gel sheet GS is not constant. 【0079】 As a comparative example to the embodiment (first comparative example), we consider an example where the first measurement area is different from the sampling area. The central area R1 and areas Ra and Rb are located on the surface of the gel sheet GS, and are separated from the distance sensor 107 by distances D1, Da, and Db in the Z direction, respectively. 【0080】 In this comparative example, the first measurement area is region Ra or Rb, while the sampling area is the central region R1. In this case, the accuracy of the first position control may decrease due to the non-uniformity of the thickness of the gel sheet GS. Specifically, the contact state between the hollow pin 141 and the gel sheet GS may be insufficient or excessive. This is because the minute pressure position Z1 depends on the measurement result in the first measurement control (the distance between the distance sensor 107 and the first measurement area), and therefore the position Z1a depends on the measurement result in the first measurement control (for example, whether the distance between the distance sensor 107 and the first measurement area is distance D1, Da, or Db). In the first comparative example, since the position Z1a is determined based on distance Da or distance Db, the above contact state may be insufficient or excessive. 【0081】In contrast, according to this embodiment, the first measurement control and first position control are performed on the same specific region on the surface of the gel sheet GS recognized by the observation device 106 (for example, so that both the first measurement region and the sampling region are the central region R1 as the first region mentioned above). As a result, the tip of the hollow pin 141 descends from the estimated minute pressure position Z1 to a position (for example, position Z1a) by a pressure amount Δd1 (a distance greater than or equal to the maximum thickness of the gel sheet GS) and stops at this position. As a result, even if the height of the surface of the gel sheet GS is not constant, the position of the tip of the hollow pin 141 is appropriately controlled in the first position control, and the contact state is appropriate. Therefore, the hollow pin 141 can appropriately collect the sample sm. Note that the first measurement control and first position control may be performed so that both the first measurement region and the sampling region are region Ra or Rb. 【0082】 Figure 21 is a flowchart illustrating another process performed by the control device 135 in the embodiment. This flowchart is executed automatically after the aforementioned preprocessing (S10 to S40 in Figure 15). The series of processes S102 to S115 described below is also referred to as the "collection process". 【0083】 Referring to Figure 21, the control device 135 determines a specific area on the surface of the gel sheet GS (in this example, the central area R1) according to the recognition result by the observation device 106 (S102). The control device 135 performs a first measurement control so that the distance D1 is measured (S105). The control device 135 calculates the difference ΔD1 between the distance D1 and the reference distance Dn and stores it in the memory 137 (S110). The control device 135 performs a first descent control according to the difference ΔD1 (S115). 【0084】Figure 22 is a flowchart showing the detailed procedure of the first descent control (S115). Referring to Figure 22, the control device 135 calculates position Z1a according to the difference ΔD1 and the amount of indentation Δd1 (S205). The control device 135 determines whether the tip of the hollow pin 141 in the Z direction has reached position Z1a (S210). If the tip of the hollow pin 141 has not yet reached position Z1a (NO in S210), the control device 135 controls the drive device 120 so that the hollow pin 141 descends relative to the holding member 101A (S212). If the tip of the hollow pin 141 has reached position Z1a (YES in S210), the control device 135 stops the tip of the hollow pin 141 at position Z1a by executing the first stop control (S215). After that, the hollow pin 141 is raised by controlling the Z-axis table 110, and the process ends. 【0085】 As described above, according to the embodiment, the position of the tip of the hollow pin 141 relative to the surface of the gel sheet GS is controlled according to the distance D1 and the reference distance Dn. This allows the hollow pin 141 to be lowered to the minute pressure position Z1 and brought into contact with the gel sheet GS at this position, thereby allowing the hollow pin 141 to collect the sample sm. As a result, the contact state between the hollow pin 141 and the gel sheet GS becomes appropriate, and the sample sm can be appropriately collected using the hollow pin 141. 【0086】The reference distance Dn and reference position Zn are determined according to the results of the aforementioned contact control and pre-measurement control. As a result, the reference position Zn and reference distance Dn are determined immediately before sampling by the hollow pin 141, according to the detection result of the pressure sensor 108 and the measurement result (actual data) of the distance sensor 107. Therefore, the reference position Zn and reference distance Dn in this embodiment are more accurate than in examples where they are predetermined as design values. For example, if the value of the reference distance Dn is predetermined as a design value, the actual value of the reference distance Dn may deviate somewhat from the design value due to slight changes in the installation position of the distance sensor 107 and hollow pin 141 caused by component variations of the distance sensor 107 and hollow pin 141, or by vibrations associated with the continuous operation of the sampling device 100, leading to a decrease in the accuracy of the first position control. On the other hand, according to this embodiment, such a situation can be avoided. 【0087】 The following describes the processing and control by the control device 135 for placing the sample sma collected by the hollow pin 141 into the container CT. If the distance between the hollow pin 141 and the sample placement surface on the container CT is not appropriate, there is a possibility that the sample sma may be poorly placed or damaged by being crushed. Thus, depending on the distance between the hollow pin 141 and the sample placement surface on the container CT, it may not be possible to properly place the sample sma into the container CT. Therefore, in this embodiment, after the hollow pin 141 collects the sample sma through the first measurement control and the first position control, the control device 135 performs control to properly place the sample sma from the hollow pin 141 into the storage area of ​​the container CT. 【0088】Referring again to Figure 6, in order for the sample sma collected in the hollow pin 141 to be properly placed within the containment area of ​​the container CT, the sample must be discharged into the containment area of ​​the container CT at an appropriate height while the hollow pin 141 is appropriately close to the bottom surface of the containment area of ​​the container CT in the Z direction. For example, if the sample is discharged from the hollow pin 141 with the tip of the hollow pin 141 excessively far from the bottom surface of the containment area of ​​the container CT, a portion of the sample sma may fall outside the containment area of ​​the container CT and not be placed within it. On the other hand, if the tip of the hollow pin 141 is excessively close to the bottom surface of the containment area of ​​the container CT, the sample sma may not be sufficiently discharged from the hollow pin 141 into the containment area of ​​the container CT, and a portion of the sample sma may remain inside the hollow pin 141, or excessive pressure may be applied during sample discharge, causing damage such as crushing of the sample sma. 【0089】 Therefore, the control device 135 of the sample collection device 100 according to the embodiment has a configuration to address such problems. Specifically, the control device 135 controls the position of the tip of the hollow pin 141 according to the reference distance Dn and reference position Zn when the sample sma is placed in the containment area of ​​the container CT. This allows the sample to be discharged into the containment area of ​​the container CT while the hollow pin 141 is appropriately close to the bottom surface of the containment area of ​​the container CT in the Z direction. As a result, the sample sma collected in the hollow pin 141 can be appropriately placed in the containment area of ​​the container CT. This point will be explained in detail below. 【0090】 Figures 23 to 25 illustrate the control performed by the control device 135 to appropriately position the sample sma within the containment area of ​​the container CT. First, the control device 135 moves the sample XY stage 101 (holding member 102A) so that the central area of ​​the bottom surface of the containment area of ​​the container CT is located directly below the observation device 106. As a result, the observation device 106 recognizes the central area of ​​the bottom surface of the containment area of ​​the container CT. 【0091】Referring to Figure 23, the control device 135 controls the drive unit 120 so that the distance sensor 107 measures a distance D2. This control is also called the "second measurement control". Distance D2 is the distance in the Z direction between the bottom surface area of ​​the container CT's housing area (in this example, the central area R2) and the distance sensor 107. The control device 135 calculates the difference ΔD2 (= D2 - Dn) between distance D2 and the reference distance Dn and stores it in the memory 137. When the bottom surface of the container CT's housing area is a distance D2 away from the distance sensor 107 in the Z direction, the position Z2 (the position of the bottom surface in the Z direction) is estimated to be approximately equal to the difference ΔD2 (more specifically, the difference between the difference ΔD2 and a small distance md) in the vertical direction from the tip of the hollow pin 141. In other words, the position Z2 is estimated according to the distance D2 and the reference distance Dn. 【0092】 Referring to Figure 24, the control device 135 then moves the container XY stage 102 so that the central region R2 is located directly below the hollow pin 141. Subsequently, the control device 135 controls the drive unit 120 and motor 144 so that the hollow pin 141 descends relative to the holding member 102A and approaches the bottom surface of the container CT's housing area, and the sample sma discharged from the hollow pin 141 is positioned within the container CT's housing area. This control is also called "positioning control". In positioning control, the control device 135 controls the position of the tip of the hollow pin 141 relative to the bottom surface of the container CT's housing area in the Z direction by controlling the drive unit 120 according to the distance D2 and the reference distance Dn (specifically, the difference ΔD2) (second positioning control). 【0093】 Referring to Figure 25, according to the second position control, the position of the tip of the hollow pin 141 relative to the bottom surface of the container CT is controlled according to the distance D2 and the reference distance Dn. This allows the discharge pin 143 to be lowered, taking position Z2 into consideration, so that the sample can be discharged from the hollow pin 141 into the container at an appropriate height. As a result, the sample sma collected in the hollow pin 141 can be properly placed in the container CT. The second position control will be described in more detail below. 【0094】In the second position control, the control device 135 lowers the Z-axis table 110 until the amount of descent of the hollow pin 141 reaches the difference ΔD2 minus the offset amount Δd2, and stops the tip of the hollow pin 141 at position Z2a in the Z direction (second stop control). Position Z2a is determined according to position Z2 based on the difference ΔD2 and the offset amount Δd2. The offset amount Δd2 is appropriately predetermined as the offset amount (clearance amount) of the tip of the hollow pin 141 from the bottom surface of the housing area of ​​the container CT. The larger the offset amount Δd2, the higher the tip of the hollow pin 141 is above the bottom surface of the housing area of ​​the container CT. In the placement control, after the second stop control, the control device 135 controls the motor 144 (Figure 4) so ​​that the discharge pin 143 descends in the Z direction (discharge control). 【0095】 With this configuration, the tip of the hollow pin 141 stops at an appropriate position (position Z2a) above the bottom surface of the container CT, and then the sample sma is discharged from the hollow pin 141 into the container CT. This prevents a portion of the sample sma from falling outside the containment area of ​​the container CT, a portion of the sample sma from remaining inside the hollow pin, or damage to the sample sma due to crushing. 【0096】 The region on the bottom surface of the container CT where the distance sensor 107 measures the distance (second measurement region) and the region on the bottom surface of the container CT where the hollow pin 141 approaches (approach region) may be somewhat different, but it is preferable that these regions be the same, as will be explained below. Therefore, in the second position control, the control device 135 controls the position of the tip of the hollow pin 141 in the Z direction with respect to the second measurement region (more specifically, its central region R2). This point will be explained below. 【0097】 Figure 26 illustrates the advantage of having the second measurement area and the sampling area be the same. Referring to Figure 26, in this example, the bottom surface of the container CT's housing area is not horizontal due to the inclination of the bottom surface of the container CT's housing area itself, or the inclination of the holding member 102A (for example, a slight inclination due to vibrations associated with the second measurement control or placement control). As a result, the height of this bottom surface is not constant. 【0098】 As a comparative example to the embodiment (second comparative example), we consider an example in which the second measurement area is different from the approach area. The central area R2 and areas Rc and Rd are located on the bottom surface of the housing area of ​​the container CT, and are separated from the distance sensor 107 by distances D2, Dc, and Dd in the Z direction. 【0099】 In this comparative example, the second measurement area is assumed to be area Rc or Rd, while the approach area is the central area R2. In this case, the accuracy of the second position control may decrease due to the fact that the height of the bottom surface of the containment area is not constant. Specifically, the tip of the hollow pin 141 may not approach the bottom surface of the containment area sufficiently or may approach it too closely (e.g., make contact). This is because the stopping position (position Z2a) of the tip of the hollow pin 141 in the second position control depends on the measurement result in the second measurement control (the distance between the distance sensor 107 and the second measurement area). In the second comparative example, since position Z2a is determined based on distance Dc or distance Dd, the tip of the hollow pin 141 may not approach the bottom surface of the containment area sufficiently or may approach it too closely. As a result, it may not be possible to properly place the sample sma into the containment area of ​​the container CT by discharging the sample sma from the hollow pin 141 using the discharge pin 143. 【0100】 In contrast, according to this embodiment, the first measurement control and the second position control are performed on the same specific area on the bottom surface of the container CT's housing area recognized by the observation device 106 (for example, so that both the first measurement area and the approach area are the central area R2 as the second area mentioned above). As a result, the tip of the hollow pin 141 descends to a position (for example, position Z2a) offset by Δd2 from the specific area and stops at this position, and the sample sma is discharged. Consequently, even if the height of the bottom surface of the container CT's housing area is not constant, the position of the tip of the hollow pin 141 is appropriately controlled in the second position control. Then, after the second stop control, the sample sma can be discharged from the hollow pin 141 and appropriately placed within the container CT's housing area. 【0101】Figure 27 is a flowchart illustrating yet another process performed by the control device 135 in the embodiment. This flowchart is performed after the aforementioned sampling process (S102 to S115 in Figure 21). 【0102】 Referring to Figure 27, the control device 135 determines a specific area on the bottom surface of the container CT (in this example, the central area R2) according to the recognition result by the observation device 106 (S302). The control device 135 performs a second measurement control so that the distance D2 is measured (S305). The control device 135 calculates the difference ΔD2 between the distance D2 and the reference distance Dn and stores it in the memory 137 (S310). The control device 135 performs placement control according to the difference ΔD2 (S315). 【0103】 Figure 28 is a flowchart showing the detailed procedure for placement control (S315). Referring to Figure 28, the control device 135 performs the second descent control (S402). Specifically, the control device 135 performs S405 to S415 below. 【0104】 First, the control device 135 calculates the position Z2a according to the difference ΔD2 and the offset amount Δd2 (S405). The control device 135 determines whether the tip of the hollow pin 141 in the Z direction has reached position Z2a (S410). If the tip of the hollow pin 141 has not yet reached position Z2a (NO in S410), the control device 135 controls the drive device 120 so that the hollow pin 141 descends relative to the holding member 102A (S412). If the tip of the hollow pin 141 has reached position Z2a (YES in S410), the control device 135 stops the tip of the hollow pin 141 at position Z2a by executing a second stop control (S415). 【0105】 After S415, the control device 135 performs discharge control, controlling the motor 144 so that the discharge pin 143 descends in the Z direction and the sample sma is discharged from the hollow pin 141 (S420). 【0106】As described above, according to the embodiment, the position of the tip of the hollow pin 141 relative to the bottom surface of the container CT's containment area is controlled according to the distance D2 and the reference distance Dn. This allows the sample sm to be discharged from the hollow pin 141 into the container CT's containment area at an appropriate height, taking into account the position of the bottom surface of the container CT's containment area. As a result, the sample sma collected within the hollow pin 141 can be appropriately placed within the container CT's containment area. 【0107】 <Modification 1 of the Embodiment> The pressure sensor 108 may be built into the sampling and placement device 104. In this case, an object different from the pressure sensor 108 is provided below the tip of the hollow pin 141. Even in such a case, the pressure sensor 108 detects contact between the tip of the hollow pin 141 and the object. In this modification as well, the reference position Zn is defined as the position of the hollow pin 141 in the Z direction immediately after the start of contact detection by the pressure sensor 108 or immediately before the end of contact detection. The object is an example of the "object" of this disclosure. 【0108】 <Modification 2 of the Embodiment> The control device 135 may execute a series of controls multiple times, in which it executes the first measurement control and the first position control, followed by the second measurement control and the second position control. As a result, if multiple gel sheets GS are prepared, the sampling and placement operations are repeated for each of these gel sheets GS. In this case, the first position control is executed immediately after measuring the distance D1, and the second position control is executed immediately after measuring the distance D2. As a result, even if the positions of the holding members 101A and 102A change due to vibrations caused by the continuous operation of the sample collection device 100, causing a slight change in the distances D1 and D2, the first position control and the second position control are less affected by the change in the distances D1 and D2, respectively. Therefore, the position of the tip of the hollow pin 141 can be controlled with greater precision. 【0109】In contrast, the control device 135 may perform the first measurement control and the second measurement control once, and then perform the first position control and the second position control multiple times (for example, as many times as there are gel sheets GS). In this case, since it is not necessary to measure the distances D1 and D2 each time, the series of sampling and placement operations can be completed in a relatively short time. 【0110】 <Other Modifications> The drive unit 120 may be configured to move the sample XY stage 101 or the container XY stage 102 in the Z direction. In this case, in the first descent control (S212 in Figure 22), the control device 135 may control the drive unit 120 so that the sample XY stage 101 rises toward the hollow pin 141. Similarly, in the second descent control (S412 in Figure 28), the control device 135 may control the drive unit 120 so that the container XY stage 102 rises toward the hollow pin 141. Similarly, in the contact control (S10 in Figure 15), the control device 135 may control the drive unit 120 to raise the container XY stage 102 so that the pressure sensor 108 contacts the tip of the hollow pin 141. 【0111】 The drive unit 120 may be configured to move the sampling and placement device 104, the observation device 106, and the distance sensor 107 in the XY direction. In this case, the pre-measurement control, the first measurement control, or the second measurement control may be performed by moving the sampling and placement device 104, the observation device 106, and the distance sensor 107 in the XY direction using the drive unit 120. 【0112】 The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope of equivalents of the claims are intended. 【0113】100 Sample collection device, 101 XY stage for sample, 102 XY stage for container, 101A, 102A Holding members, 104 Collection and placement device, 106 Observation device, 107 Distance sensor, 108 Pressure sensor, 110 Z-axis table, 115 Control system, 120 Drive device, 125 Storage device, 130 Input device, 135 Control device, 141 Hollow pin, 143 Discharge pin, 144 Motor, CT container, GS gel sheet.

Claims

1. A first holding member having a holding surface for holding a gel plate composed of a gel sheet supporting a sample and a film placed beneath the gel sheet; a hollow pin from which the sample can be taken by cutting a portion of the gel sheet; a distance sensor fixed to the hollow pin and measuring the distance to an object in the vertical direction of the holding surface; a first drive device for moving the hollow pin and the distance sensor relative to the first holding member; a pressure sensor that detects contact between the tip of the hollow pin and an object when the tip of the hollow pin is in contact with an object located below it; a storage device that stores information indicating a reference position, which is the position of the hollow pin in the vertical direction, immediately after the start of contact detection by the pressure sensor or immediately before the end of contact detection, and information indicating a reference distance, which is the distance between the distance sensor and the object in the vertical direction when the hollow pin is in the reference position. A sampling device comprising: a first measurement control that controls the first drive device to measure a first distance indicating the distance between the surface of the gel sheet as the object and the distance sensor; and a control device that performs a descent control that controls the first drive device to lower the hollow pin in the vertical direction relative to the first holding member and contact the gel sheet, wherein the descent control includes a first position control that controls the position of the tip relative to the gel sheet in the vertical direction according to the first distance and the reference distance.

2. The sample collection device according to claim 1, wherein the first position control includes a first stop control that stops the tip at a first position in the vertical direction, the first position being determined according to the difference between the first distance and the reference distance and a predetermined amount of indentation of the tip into the gel sheet.

3. The sampling apparatus according to claim 1, further comprising an observation device that recognizes a first region as a specific area on the surface of the gel sheet by optically observing the surface of the gel sheet, wherein the first measurement control includes controlling the first drive device so that the distance sensor measures the distance between the distance sensor and the first region, and the first position control includes controlling the position of the tip relative to the first region in the vertical direction.

4. The sample collection device according to claim 1, further comprising: a discharge pin configured to be insertable into the hollow pin and for discharging the sample from the hollow pin to the outside of the hollow pin; a second holding member for holding a container in which the sample discharged from the hollow pin can be placed; and a second drive device for lowering the discharge pin relative to the second holding member, wherein the first drive device moves the hollow pin and the distance sensor relative to the second holding member; the control device further performs a second measurement control for controlling the first drive device so that the distance sensor measures a second distance indicating the distance between the bottom surface of the container's containment area as the object and the distance sensor; and a placement control for controlling the first drive device and the second drive device so that the hollow pin descends vertically relative to the second holding member and approaches the bottom surface, and the sample discharged from the hollow pin is placed in the container, wherein the placement control includes a second position control for controlling the position of the tip relative to the bottom surface in the vertical direction according to the second distance and the reference distance.

5. The sampling apparatus according to claim 4, wherein the second position control includes a second stop control that stops the tip at a second position in the vertical direction, the second position is determined according to the difference between the second distance and the reference distance and a predetermined offset amount of the tip from the bottom surface, and the position control includes a discharge control that controls the second drive device after the second stop control so that the discharge pin descends in the vertical direction.

6. The sampling apparatus according to claim 4, further comprising an observation device that recognizes a second region as a specific region of the bottom surface by optically observing the container, wherein the second measurement control includes controlling the first drive device so that the distance sensor measures the distance between the distance sensor and the second region, and the second position control includes controlling the position of the tip relative to the second region in the vertical direction.

7. The sample collection apparatus according to claim 1, further comprising an input device for receiving input of a user operation instructing the start of sample collection, wherein in response to the user operation, the control device further performs: contact control, which controls the first drive device so that the tip contacts the object; third measurement control, which controls the first drive device so that the distance sensor measures the distance between the object as the target object and the distance sensor; first determination process, which determines the reference position according to the detection result of the pressure sensor in the contact control; and second determination process, which determines the reference distance according to the measurement result of the distance sensor in the third measurement control.

8. The sample collection device according to any one of claims 1 to 7, wherein the object is the pressure sensor.

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