Liquid dispensing device and automatic staining device

Abstract

The present invention addresses the problem of suppressing, in a liquid dispensing device in which a dispensing tip is attached to a dispensing nozzle before dispensing a liquid and is detached and dropped into a recovery container after dispensing the liquid, dropped dispensing tips from stacking up and overflowing from the recovery container despite a spatial margin for accommodating the dispensing tips remaining in the recovery container.　A control mechanism performs control so that, when the dispensing tip is detached from the dispenser, a detachment position of the dispensing tip with respect to the recovery container is varied among a plurality of two-dimensionally different positions in a horizontal direction.

Description

Liquid dispensing apparatus and automatic staining apparatus

[0001] The present invention relates to a liquid dispensing apparatus and an automatic staining apparatus.

[0002] A liquid dispensing apparatus that dispenses liquid is known. Further, as one type of liquid dispensing apparatus, there is an apparatus configured such that a replacement dispensing tip is attached to the nozzle tip of a dispenser to suck and discharge liquid, and the used dispensing tip is detached from the dispenser. For example, Patent Document 1 describes an example of a liquid dispensing apparatus using a dispensing tip. Note that the liquid dispensing apparatus is used, for example, in automatic staining apparatuses and the like in the field of pathological examination.

[0003] International Publication No. 2019 / 244427

[0004] In a liquid dispensing apparatus that attaches dispensing tips to a dispenser, when the step of detaching used dispensing tips from the dispenser and dropping them is repeatedly performed, generally, used dispensing tips are often dropped into the recovery container from the same position in the same posture. Therefore, inside the recovery container, the dropped used dispensing tips may locally stack up. This may cause the stacked used dispensing tips to overflow from the recovery container even though there is still sufficient spatial capacity left in the recovery container for accommodating more dispensing tips.

[0005] An object of the present invention is to make it possible to suppress overflow of used dispensing tips from a recovery container in a liquid dispensing apparatus that uses replacement dispensing tips.

[0006] As means for solving the aforementioned problem, the technology described in the claims is used.

[0007] For example, a liquid dispensing device may be configured to include a dispensing machine that has a dispensing tip attached before aspirating the liquid and detaches and drops the dispensing tip after dispensing the liquid, a collection container that contains the dropped dispensing tip, and a control mechanism that controls the position of at least one of the dispensing machine and the collection container so that the dispensing tip detachment position, which is the relative position of the dispensing machine to the collection container when the dispensing tip is detached, can be changed to a plurality of different two-dimensional positions in the horizontal direction.

[0008] For example, to give another example, the automated staining apparatus includes a liquid dispensing device, which dispenses a reagent onto a sample using the liquid dispensing device and stains the sample, wherein the liquid dispensing device comprises a dispensing machine that has a dispensing tip attached before aspirating the reagent and detaches and drops the dispensing tip after dispensing the reagent, a collection container that contains the dropped dispensing tip, and a control mechanism that controls the position of at least one of the dispensing machine and the collection container such that the dispensing tip detachment position, which is the relative position of the dispensing machine with respect to the collection container when the dispensing tip is detached, is changed to one of several different two-dimensional positions in the horizontal direction.

[0009] According to embodiments of the present invention, in a liquid dispensing device using replaceable dispensing tips, it is possible to prevent used dispensing tips from overflowing from the collection container. Further issues and solutions will become clear from the detailed description of the invention.

[0010] This is a plan view (top view) showing the external appearance of the automatic staining apparatus according to Embodiment 1. This is a side view showing the external appearance of the automatic staining apparatus according to Embodiment 1. This is a side view showing the operation of the dispensing unit according to Embodiment 1. This is a top view showing an example of the configuration of the dispensing unit according to Embodiment 1. This is a diagram showing an example of the configuration of the control unit according to Embodiment 1. This is a diagram showing how the dispensing machine detaches the dispensing tip. This is a diagram showing an example of the configuration of the dispensing machine according to Embodiment 1. This is a diagram showing how the dispensing tip is attached to and detached from the dispensing machine according to Embodiment 1. This is a diagram showing the processing flow in the dispensing unit according to Embodiment 1. This is a diagram for explaining Embodiment 1. This is a diagram for explaining Embodiment 1. This is a diagram for explaining Embodiment 2. This is a diagram for explaining Embodiment 3. This is a diagram for explaining Embodiment 4. This is a diagram for explaining Embodiment 5. This is a diagram for explaining Embodiment 6. This is a diagram for explaining Embodiment 6. This is a diagram showing how the dispensing tip is detached by a conventional method.

[0011] (Background of the study) Before describing embodiments of the present invention, we will explain in more detail the background of the inventors' study.

[0012] As mentioned above, some types of liquid dispensing devices use replaceable or disposable dispensing tips. Such devices are often used when it is important to avoid carryover or contamination of liquids or samples, that is, when it is necessary to prevent a liquid or sample from mixing with liquids or samples to be used in subsequent tests. With such devices, an unused dispensing tip is attached to the nozzle of the dispensing machine before each dispensing step, and after the dispensing step is completed, the used dispensing tip is detached from the dispensing machine and collected. In addition to disposable tips, some dispensing tips can be washed and reused.

[0013] Figure 18 shows how a dispensing tip is detached using a conventional method. In Figure 18, the horizontal direction is defined as the X direction, and the vertical direction as the Z direction. Figure 18(A) shows how a used dispensing tip 48 is detached from the fitting 424, which is the tip of the dispensing machine 42, and allowed to free fall into the collection container 44. Inside the collection container 44, multiple dispensing tips 48 that have already been stored are overlapping. One dispensing tip 48 is stuck in the gap between the overlapping dispensing tips 48.

[0014] Figure 18(B) shows the situation when a used dispensing tip 48 is further detached from the fitting 424 of the dispensing machine 42, in the state shown in Figure 18(A). Inside the collection container 44, a used dispensing tip 48 falls from above the dispensing tip 48 that is stuck in the gap between the multiple overlapping dispensing tips 48, and the tip of the fallen dispensing tip 48 fits into the opening of the stuck dispensing tip 48, causing the stacking of dispensing tips 48 to develop. In other words, multiple dispensing tips 48 are beginning to be stacked locally.

[0015] Figure 18(C) shows the situation when used dispensing tips 48 are further detached from the fitting 424 of the dispensing machine 42, in the state shown in Figure 18(B). Inside the collection container 44, used dispensing tips 48 fall further from above the stacked dispensing tips 48, and the tip of the falling dispensing tip 48 gets stuck in the opening of the topmost dispensing tip 48, causing the stack of dispensing tips 48 to develop further. The last dispensing tip 48 to fall protrudes from inside the collection container 44 and flies out above the opening of the collection container 44. If any more used dispensing tips 48 fall, the dispensing tips 48 may overflow from the collection container 44, even though there is still space to accommodate the used dispensing tips 48.

[0016] In this way, if the used dispensing tips 48 are repeatedly detached and dropped from the same position relative to the collection container 44, the used dispensing tips 48 will overlap and be locally stacked. The tip of the next dispensing tip 48 will then enter the opening of the dispensing tip 48 that fell earlier, causing multiple dispensing tips 48 to pile up and resulting in a stack of dispensing tips 48. If the stack of dispensing tips 48 reaches above the opening of the collection container 44, the dispensing tips 48 may overflow from the collection container 44, even though there is still space remaining in the collection container 44 to accommodate the dispensing tips 48.

[0017] The inventors of the present invention have devised this invention as a result of diligent study to solve the above problems. Hereinafter, each embodiment of the present invention will be described with reference to the drawings. In each embodiment, components having common or similar functions will, in principle, be denoted by the same reference numerals, and repeated explanations will be omitted unless particularly necessary.

[0018] (Embodiment 1) Figure 1 is a plan view (top view) showing the external appearance of the automatic staining apparatus according to Embodiment 1. Figure 2 is a side view showing the external appearance of the automatic staining apparatus according to Embodiment 1. In Figures 1 and 2, the horizontal left-right direction is represented as the X direction, the horizontal depth direction is represented as the Y direction, and the vertical direction is represented as the Z direction. In addition, one direction in the X direction is denoted as X1 and the other direction as X2, one direction in the Y direction is denoted as Y1 and the other direction as Y2, and the upward direction in the Z direction is denoted as Z1 and the downward direction as Z2.

[0019] The automated staining apparatus 1 according to Embodiment 1 is used, for example, in the field of pathological examination to stain specimens such as tissue and blood by adding reagents, and to examine the condition of the specimens based on the degree of staining. The automated staining apparatus 1 is composed of, for example, a transport unit 2, a staining unit 3, a dispensing unit 4, an overall control unit C1, an operation unit P1, and a storage unit M1. The dispensing unit 4 is an example of a liquid dispensing device in this application. The transport unit 2 is not an essential component of the automated staining apparatus 1.

[0020] The transport unit 2 receives the glass slides on which the samples are placed and transports the loaded glass slides to the staining unit 3. The staining unit 3 places the transported glass slides on the upper surface of a rotatable stage and controls the rotational angle of the stage to move the target glass slide to a position where reagents are dispensed onto the sample placed on it. The dispensing unit 4 moves the dispensing machine above the target glass slide and dispenses reagents onto the sample placed on that glass slide.

[0021] The overall control unit C1 is electrically or communicatively connected to the transport unit 2, the staining unit 3, and the dispensing unit 4. The operation unit P1 and the storage unit M1 are electrically or communicatively connected to the overall control unit C1. The user inputs information related to various settings of the automatic staining apparatus 1 by operating the operation unit P1. The overall control unit C1 stores the information input via the operation unit P1 in the storage unit M1. In addition to the input information, the storage unit M1 stores various information, programs, etc., necessary for controlling each unit. In order to automatically stain the sample, the overall control unit C1 executes the program stored in the storage unit M1 and performs processing to control each unit using the information stored in the storage unit M1. This control includes, for example, the transport of slide glasses and reagent disks to predetermined positions.

[0022] Figure 3 is a side view showing the operation of the dispensing unit according to Embodiment 1. Figure 4 is a top view showing an example of the configuration of the dispensing unit according to Embodiment 1. As shown in Figures 3 and 4, the dispensing unit 4 mainly comprises a base 40, a dispensing mechanism 41, a dispensing machine 42, a dispensing tip magazine 43, a collection container 44, a magazine feeder mechanism 45, a cooler 47, an operation unit P4, a storage unit M4, and a control unit C4. The control unit C4 is an example of a control mechanism in this application. Furthermore, a combination of the control unit C4 and at least one of the dispensing mechanism 41, the magazine feeder mechanism 45, and the suction discharge mechanism 422 described later is also an example of a control mechanism in this application.

[0023] The base 40 is installed on a floor surface (not shown). The base 40 supports the dispensing mechanism 41 and the magazine feeder mechanism 45, and incorporates a cooler 47 for keeping reagents cool. Inside the cooler 47 is a rotatable reagent disc (not shown) on which multiple reagent containers containing liquid reagents are placed. By rotating the reagent disc, reagent containers containing predetermined reagents can be moved to the dispensing (aspiration) position.

[0024] The dispensing mechanism 41 supports the dispensing machine 42 and is a mechanism that allows the dispensing machine 42 to be moved in the horizontal and vertical directions. The dispensing tip magazine 43 is supported by the magazine feeder mechanism 45 and holds multiple unused dispensing tips arranged in a horizontal two-dimensional direction. The collection container 44 is supported by the magazine feeder mechanism 45 and collects used dispensing tips that are released from the dispensing machine 42 and fall out. The dispensing tip magazine 43 and the collection container 44 are movable in the horizontal and vertical directions by the magazine feeder mechanism 45.

[0025] Furthermore, it is desirable that the magazine feeder mechanism 45 be installed between the refrigerator 47 and the staining unit 3, as shown in Figure 3. With this configuration, the dispensing tip magazine 43 and the collection container 44 can be installed in the region between the reagent aspiration position VP1 and the reagent discharge position VP2 by the dispensing machine 42, allowing for efficient attachment and detachment of dispensing tips. This reduces the time required for the dispensing process.

[0026] The control unit C4 is connected to various drive sources (not shown). By controlling these drive sources, the control unit C4 operates each mechanism to perform actions such as moving the dispenser 42, attaching the dispenser tip to the dispenser 42, aspirating and dispensing reagents by the dispenser 42, detaching the dispenser tip from the dispenser 42, and adjusting the temperature inside the refrigerator 47.

[0027] The control unit C4 is electrically or communicatively connected to the operation unit P4 and the storage unit M4. The user can input information related to various settings of the dispensing unit 4 by operating the operation unit P4. The control unit C4 stores the information input via the operation unit P4 in the storage unit M4. In addition to the input information, the storage unit M4 stores various information, programs, etc., necessary for controlling the dispensing unit 4. In order to have the dispensing unit 4 perform the predetermined operations described above, the control unit C4 executes the program stored in the storage unit M4 and performs processing to control the dispensing unit 4 using the information stored in the storage unit M4.

[0028] Normally, the control unit C4 performs various settings or controls of the dispensing unit 4 based on information received from the higher-level overall control unit C1. However, the control unit C4 is configured to be able to perform various settings or controls of the dispensing unit 4 independently as needed.

[0029] When the dispenser 42 draws reagent from the refrigerator 47, the dispenser 42 moves to the draw position VP1 as shown by the arrow, descends, draws reagent from the reagent container which is the source of the dispenser, and then rises. When the dispenser 42 dispenses reagent, the dispenser 42 moves to the dispense position VP2, descends, dispenses the reagent to the sample which is the destination, and then rises.

[0030] When the dispensing machine 42 attaches a dispensing tip, the dispensing machine 42 moves to the dispensing tip attachment / detachment position. The dispensing tip magazine 43 moves to a predetermined position corresponding to the dispensing tip attachment / detachment position. The dispensing machine 42 attaches the dispensing tip by pressing the tip of the dispensing nozzle into the opening of the unused dispensing tip.

[0031] Figure 5 shows an example of the configuration of a control unit according to Embodiment 1. As shown in Figure 5, the overall control unit C1 includes, for example, a processor C11, memory C12, storage C13, interface C14, and communication bus C15. The processor C11, memory C12, storage C13, and interface C14 are connected to each other via the communication bus C15, and can send and receive information from each other. The overall control unit C1 is, for example, a computer, a microcontroller, etc.

[0032] The processor C11 is a component that performs various calculations and processes, such as a CPU or MPU. The memory C12 is a semiconductor memory component, such as a ROM or RAM. The storage C13 is a memory component that utilizes magneto-optics, electromagnetics, etc., such as an HDD or SSD. The interface C14 is a component that acts as an intermediary for data communication to enable information exchange between the inside and outside of the overall control unit C1, for example, by receiving input information from the operation unit P1 or outputting information to the output unit (not shown). A predetermined program PR may be stored in the storage C13 or memory C12. The processor C11 can perform various calculations, processes, controls, etc., by reading and executing the program PR.

[0033] The operation unit P1 connected to the overall control unit C1 is composed of, for example, a keyboard, mouse, touch panel, etc. The storage unit M1 connected to the overall control unit C1 is composed of, for example, an HDD or SSD, etc. Note that the storage unit M1 may be integrated with the storage unit C13.

[0034] Furthermore, the control unit C4, operation unit P4, and storage unit M4 connected to the dispensing unit 4 have the same configuration and functions as, for example, the overall control unit C1, operation unit P1, and storage unit M1, respectively.

[0035] Figure 6 shows how the dispensing machine detaches the dispensing tip. When the dispensing machine 42 detaches the used dispensing tip 48, as shown in Figure 3, the dispensing machine 42 moves to the dispensing tip attachment / detachment position by the dispensing mechanism 41. The collection container 44 moves to a predetermined position corresponding to the dispensing tip attachment / detachment position by the magazine feeder mechanism 45. The dispensing machine 42 detaches the dispensing tip 48 by pressing a dispensing tip remover (not shown) against the dispensing tip 48 from above in the Z direction, and drops it into the collection container 44. Although Figure 3 depicts a dispensing machine 42 having one dispensing nozzle system, the dispensing unit 4 may be equipped with a dispensing machine having multiple dispensing nozzle systems.

[0036] Figure 7 shows an example of the configuration of a dispensing machine according to Embodiment 1. As shown in Figure 7, the dispensing machine 42 has a motor 421, a suction dispensing mechanism 422, a dispensing tip remover 423, and a fitting 424 as its main components. The combination of the suction dispensing mechanism 422 and the dispensing tip remover 423 is an example of a detachment mechanism in this application.

[0037] The rotation axis of the motor 421 is connected to the suction / discharge mechanism 422. When the rotation axis of the motor 421 is driven to rotate in one direction (for example, the forward rotation direction), the suction / discharge mechanism 422 moves vertically upward, i.e., in the Z1 direction, and operates in such a way that it exerts a force to draw liquid from the fitting 424. On the other hand, when the rotation axis of the motor 421 is driven to rotate in the other direction (reverse rotation direction), the suction / discharge mechanism 422 moves vertically downward, i.e., in the Z2 direction, and operates in such a way that it exerts a force to discharge liquid from the fitting 424.

[0038] The fitting 424 corresponds to the tip of the dispensing nozzle and is the part to which the dispensing tip 48 is attached. The dispensing tip remover 423 and the fitting 424 have, for example, a double-tube structure. The dispensing tip remover 423, which corresponds to the outer tube, is provided so as to surround the fitting 424, which corresponds to the inner tube.

[0039] The dispensing tip remover 423 is connected to the suction dispensing mechanism 422. The dispensing tip remover 423 is configured to move in the same direction as the drive direction of the suction dispensing mechanism 422. When the suction dispensing mechanism 422 descends in the Z2 direction beyond the lower limit of its range of motion for dispensing the aspirated liquid, the dispensing tip remover 423 comes into contact with the upper part of the dispensing tip 48 attached to the fitting 424. When the suction dispensing mechanism 422 descends further in the Z2 direction, the dispensing tip remover 423 operates to push down the dispensing tip 48 and detach it from the fitting 424.

[0040] Conventionally, the detachment mechanism for the dispensing tip 48 was separate from the dispensing machine 42, resulting in limited flexibility in changing the detachment position and making it difficult to adequately suppress localized accumulation of the dispensing tips 48 contained within the collection container 44. In contrast, according to Embodiment 1, the dispensing machine 42 itself has a detachment mechanism for detaching the dispensing tip 48, so the detachment position of the dispensing tip 48 extends to the range of movement of the dispensing machine 42 relative to the collection container 44, making it possible to set and change the detachment position relatively freely.

[0041] Figure 8 shows the process of attaching and detaching a dispensing tip to a dispensing machine according to Embodiment 1. As shown in Figures 8(A) to 8(B), when attaching an unused dispensing tip 48 to the dispensing machine 42, at least one of the dispensing mechanism 41 and the magazine feeder mechanism 45 is used to move the dispensing machine 42 and at least one of the dispensing tip magazine 43. This movement causes the fitting 424 to be pressed into the opening of the unused dispensing tip 48 held in the dispensing tip magazine 43, thereby attaching the dispensing tip 48.

[0042] As shown in FIGS. 8(C) to 8(E), when removing a used dispensing tip 48 from the dispenser 42, the suction and discharge mechanism 422 is driven further to the discharge side beyond the driving range for suction and discharge, thereby moving the dispensing tip remover 423 downward to perform the operation of removing the dispensing tip 48 from the dispenser 42. That is, when the suction and discharge mechanism 422 moves downward, the dispensing tip remover 423 also moves downward. When the suction and discharge mechanism 422 moves further downward beyond the lower limit of the range it moves during the discharge operation, the dispensing tip remover 423 comes into contact with the dispensing tip 48 attached to the fitting 424, presses the upper part of the dispensing tip 48 downward from above, and the dispensing tip 48 is detached.

[0043] With such a configuration in which the suction and discharge mechanism 422 and the dispensing tip remover 423 operate in conjunction with each other, the structure or control of the detachment mechanism for the dispensing tip 48 can be simplified, and space saving, reduction of manufacturing cost, reduction of failure risk, and the like can be achieved.

[0044] FIG. 9 is a diagram showing a processing flow in the dispensing unit according to the first embodiment. As shown in FIG. 9, the processing in the dispensing unit 4 mainly includes steps S101 to S109.

[0045] In step S101, as an initial state, processing for positioning the dispenser at the home position is performed. Specifically, when the automatic staining apparatus 1 or the dispensing unit 4 is activated, the control unit C4 controls the dispensing mechanism 41 to position the dispenser 42 at the home position. The home position is, for example, a position above the base 40 and at the upper limit of the movable range of the dispenser 42 in the vertical direction, that is, the Z direction.

[0046] In step S102, processing for moving the dispenser to above an unused dispensing tip is performed. Specifically, the control unit C4 controls at least one of the dispensing mechanism 41 and the magazine feeder mechanism 45 to position the dispenser 42 above the target dispensing tip 48 to be attached next among the unused dispensing tips 48 held in the dispensing tip magazine 43.

[0047] In step S103, the dispensing tip is attached to the dispensing machine. Specifically, the control unit C4 controls the dispensing mechanism 41 to lower the dispensing machine 42, press-fit the fitting 424 of the dispensing machine 42 into the opening of the dispensing tip 48, and attach the dispensing tip 48 to the dispensing machine 42.

[0048] In step S104, the dispensing machine is moved to the liquid aspiration position. Specifically, the control unit C4 controls the dispensing mechanism 41 to move the dispensing machine 42 to the liquid aspiration position, which is the position where the tip of the dispensing tip 48 is immersed in the reagent contained in the reagent container in the refrigerator 47.

[0049] In step S105, the reagent is aspirated as a liquid using the suction and dispensing mechanism. Specifically, the control unit C4 controls the drive of the motor 421 and controls the suction and dispensing mechanism 422 to aspirate the reagent into the dispensing tip 48 attached to the dispensing machine 42.

[0050] In step S106, the dispensing machine is moved to the liquid dispensing position. Specifically, the control unit C4 controls the dispensing mechanism 41 to move the dispensing machine 42 to the liquid dispensing position, which is above the target slide glass from which the reagent will be dispensed, among the multiple slide glasses on which the sample is placed. In Embodiment 1, the stage of the staining unit 3 is rotated to move the target slide glass below the liquid dispensing position, but the dispensing mechanism 41 may be driven along the X-Y axis to move the liquid dispensing position for each target slide glass.

[0051] In step S107, the reagent is dispensed using the aspiration dispensing mechanism. Specifically, the control unit C4 controls the drive of the motor 421 and the aspiration dispensing mechanism 422 to dispense the reagent previously aspirated into the dispenser 42 toward the sample on the target slide glass. If there are multiple target slide glasses (samples) to which the reagent is to be dispensed, steps S106 and S107 may be repeated for the number of samples.

[0052] In step S108, the dispensing machine is moved to the dispensing tip detachment position on the collection container. Specifically, the control unit C4 controls the dispensing mechanism 41 to move the dispensing machine 42 to the dispensing tip detachment position on the top of the collection container 44. Multiple positions are set for the dispensing tip detachment position on the collection container 44 in a horizontal two-dimensional direction. When detaching the dispensing tip 48 from the dispensing machine 42, the dispensing tip detachment position is changed according to each detachment timing (Nth time, N+1th time, N+2nd time, ...). By changing the dispensing tip detachment position in this way, the height (bulk) of the stacked used dispensing tips 48 in the collection container 44 is made uniform, the volume of the collection container 44 is used effectively, and the used dispensing tips 48 do not overflow from the collection container 44.

[0053] In step S109, the dispensing tip is detached. Specifically, the control unit C4 controls the drive of the motor 421 of the dispensing machine 42, causing the suction dispensing mechanism 422 to move further in the dispensing direction, i.e., downward, thereby moving the dispensing tip remover 423 downward and detaching the dispensing tip 48 from the fitting 424. After that, the processing steps return to step S102, and the processing in steps S102 to S109 is repeated. However, if a command to intentionally stop the processing is input or a system error occurs, the processing is stopped midway.

[0054] As described above, the dispensing unit according to Embodiment 1 has a detachment mechanism that detaches the dispensing tip, and the dispensing unit is equipped with a movement mechanism that can change the relative position of the dispensing machine with respect to the collection container to multiple positions in a horizontal two-dimensional direction. Furthermore, the control unit controls the movement mechanism to change the detachment position of the dispensing tip to the above multiple positions according to the timing of detachment of the dispensing tip. In other words, the dispensing unit can collect used dispensing tips while shifting their detachment position relative to the collection container, thereby equalizing the stacking height of tips in the collection container and making effective use of the volume of the collection container. As a result, it is possible to suppress the accumulation and overflow of used dispensing tips in the collection container.

[0055] Next, we will describe, in order, various embodiments applicable to the dispensing unit 4 described above, including an embodiment of the method for separating dispensing tips and an embodiment of the method for moving the dispensing machine and recovery container.

[0056] <Example 1> Figures 10 to 11 are diagrams illustrating Example 1. Example 1 is an example in which the detachment position FP of the dispensing tip from the recovery container 44 in the dispensing unit 4 is changed to multiple different two-dimensional positions in the horizontal direction (XY plane direction).

[0057] As described above, under the control of the control unit C4, the dispensing unit 4 moves the dispensing machine 42 to the dispensing tip mounting position of the dispensing tip magazine 43, then descends and presses the tip of the fitting 424 into the opening of the dispensing tip 48 to mount the dispensing tip 48. After that, the dispensing machine 42 rises and moves to the aspiration position to aspirate the reagent. After that, the dispensing machine 42 moves to the discharge position and discharges the reagent. After that, the dispensing machine 42 moves to the dispensing tip 48 detachment position FP. At this time, if multiple used dispensing tips 48 are repeatedly detached at the same location and dropped in succession, then, as shown chronologically in the order of (A), (B), and (C) in Figure 17, the dispensing tips 48 will pile up in the collection container 44, and as shown in (C) of the same figure, there is a risk that the dispensing tips will overflow from the collection container 44.

[0058] Therefore, in Example 1, as shown in Figures 10 to 11, the detachment position FP of the dispensing tip 48 in the recovery container 44 is determined according to the detachment timing of the dispensing tip 48 (Nth time, N+1th time, N+2nd time, ...). Ｎ FP Ｎ＋１ FP Ｎ＋２ The dispensing tips 48 are changed and moved. This causes the dropping positions of the dispensing tips 48 within the collection container 44 to vary, suppressing localized stacking of the dispensing tips 48 within the collection container 44. As a result, the stacking of the dispensing tips 48 within the collection container 44, i.e., the height of the stack, is made equal, allowing for effective use of the volume of the collection container 44.

[0059] Furthermore, it is preferable that the release position FP of the dispensing tip 48 is controlled so that the (N+1)th position is shifted from the Nth position by a distance greater than or equal to the maximum diameter of the dispensing tip 48, thereby changing the release position FP of the dispensing tip 48. When controlled in this way, the positions of the falling dispensing tips 48 become more varied, and local stacking of the dispensing tips 48 can be further suppressed.

[0060] The arrangement of the multiple detachment positions FP, which are changed according to the detachment timing, may be, for example, arranged in parallel, alternating, or randomly without any regularity relative to the collection container 44. Figure 10 shows an example where the arrangement of detachment positions FP is alternating.

[0061] Furthermore, the detachment position FP may be controlled to change sequentially with each detachment timing, or it may be controlled to change with each of multiple detachment timings. Also, the detachment position FP may be controlled to move and change regularly from one end to the other within the collection container 44, or it may be controlled to move and change in a non-linear, random order.

[0062] <Example 2> Figure 12 is a diagram illustrating Example 2. In Figure 12, the upper figure is a top view of the collection container 44 with the dispensing tips 48 contained, and the lower figure is a side cross-sectional view of the collection container 44 with the dispensing tips 48 contained. Example 2 is an example in which a guide 441 is provided in the dispensing unit 4 to divide the entire area inside the collection container 44, and used dispensing tips 48 are stacked and stored in each of the divided areas 442.

[0063] In Example 2, for example, as shown in Figure 12, a grid-like guide 441 is provided inside the collection container 44. The grid-like guide 441 has a structure obtained by the intersection of multiple wall portions 441X, which have wall surfaces parallel to the XZ plane and are spaced apart in the Y direction, and multiple wall portions 441Y, which have wall surfaces parallel to the YZ plane and are spaced apart in the X direction. The entire area inside the collection container 44 is divided by the guide 441, and multiple rectangular parallelepiped-shaped divided regions 442 are formed. Used dispensing tips 48 are then intentionally stacked in each divided region 442.

[0064] The structure of the guide 441 is not limited to the above example, and any structure is acceptable as long as it forms multiple partitioned areas 442 capable of accommodating dispensing tips 48. For example, the guide 441 may be the grid-like structure described above rotated in the XY plane. Alternatively, the guide 441 may be a honeycomb structure with the partitioned areas 442 in the shape of a regular hexagonal prism. Alternatively, the guide 441 may be a structure in which multiple cylinders are connected so that their sides are in contact, with the partitioned areas 442 in the shape of a cylinder.

[0065] Furthermore, if the arrangement of the multiple partitioned regions 442 when viewed in the Z direction is configured to be parallel, the structure of the guide 441 can be made into a simple structure such as a grid. Also, if the arrangement of the multiple partitioned regions 442 when viewed in the Z direction is configured to be alternating, the dispensing tips 48 can be collected at high density.

[0066] According to this embodiment 2, a guide 441 provided inside the collection container 44 forms multiple compartmentalized areas 442, allowing used dispensing tips 48 to be stacked and stored in each compartmentalized area 442. This equalizes the height of the stacked dispensing tips 48 inside the collection container 44, making effective use of the volume of the collection container 44. As a result, it prevents the dispensing tips 48 from overflowing from the collection container 44, and allows for the collection of dispensing tips 48 within the collection container 44 with the aim of achieving close packing.

[0067] <Example 3> Figure 13 is a diagram illustrating Example 3. Example 3 is an example relating to a method for changing the release position FP of the dispensing tip 48, and is an example in which the release position FP of the dispensing tip is changed by moving only the dispensing machine 42 out of the dispensing machine 42 and the collection container 44. In Example 3, the position of the collection container 44 is fixed in principle with respect to the base 40. The control unit C4 controls the dispensing mechanism 41 which can be driven on two axes in the X-Y plane, and moves the dispensing machine 42 in a horizontal two-dimensional direction as shown by the dashed line in Figure 13, thereby realizing that the release position FP of the dispensing tip 48 can be changed to one of several two-dimensional positions in the horizontal direction. However, the control unit C4 may also control the magazine feeder mechanism 45 to move the collection container 44 linearly in the Y direction so that it is located below the movable range of the dispensing machine 42.

[0068] According to this embodiment 3, the relative release position FP of the dispensing tip 48 with respect to the collection container 44 can be changed to multiple two-dimensional positions in the horizontal direction. Furthermore, according to embodiment 3, since only the dispensing mechanism 41 needs to be controlled to change the relative position between the dispensing machine 42 and the collection container 44, the mechanism for changing the release position FP can have a simple structure, thereby reducing costs and simplifying control. Moreover, by making the dispensing mechanism 41 driveable on two axes in the X-Y plane, it becomes easy to set multiple dispensing positions, such as changing the dispensing position for each placed slide glass.

[0069] <Example 4> Figure 14 is a diagram illustrating Example 4. Example 4 is an example relating to a method for changing the detachment position FP of the dispensing tip 48, and is an example in which the detachment position FP of the dispensing tip 48 is changed by moving both the dispensing machine 42 and the collection container 44. In Example 4, the magazine feeder mechanism 45 is configured to move the collection container 44 not only in the Y direction (the direction in which the dispensing tip magazine 43 moves) but also in a direction different from the Y direction, for example, in the X direction. The control unit C4 controls the dispensing mechanism 41 and the magazine feeder mechanism 45 to move both the dispensing machine 42 and the collection container 44 in the horizontal direction, as shown by the dashed line in Figure 14, thereby realizing that the detachment position of the dispensing tip 48 can be changed to multiple positions in a horizontal two-dimensional direction.

[0070] According to this embodiment 4, the relative detachment position of the dispensing tip 48 from the collection container 44 can be changed to multiple positions in the horizontal two-dimensional direction. Furthermore, according to embodiment 4, by moving both the dispensing machine 42 and the collection container 44, the relative speed between the dispensing machine 42 and the collection container 44 can be increased, thereby shortening the time required to prepare for detaching the used dispensing tip 48. In addition, because the collection container 44 moves, this movement makes it easier for the stack of used dispensing tips 48 collected inside the collection container 44 to collapse.

[0071] <Example 5> Figure 15 is a diagram illustrating Example 5. Example 5 is an example relating to a method for suppressing the localized accumulation of detached and dropped used dispensing tips 48, and is an example of equalizing the accumulation of dispensing tips 48 by shaking the collection container 44. In Example 5, the control unit C4 controls the magazine feeder mechanism 45 to shake or vibrate (reciprocate) the collection container 44 in one or more directions in the horizontal two-dimensional XY direction and in at least one direction in the vertical Z direction.

[0072] For example, as shown by the dashed line in Figure 15, the dispenser tip magazine 43 may be shaken in the X direction, the Y direction, or the Z direction. The dispenser tip magazine 43 may be configured to be shaken in conjunction with the collection container 44, or it may be configured not to be shaken independently of the collection container 44. When the dispenser tip magazine 43 is shaken in conjunction with the collection container 44, it prevents the dispenser tip 48 from sticking to the dispenser tip magazine 43 and facilitates the smooth attachment of the dispenser tip 48 to the fitting 424.

[0073] The action of shaking or vibrating the collection container 44 may be performed at any time or at a predetermined time. For example, the action of shaking or vibrating the collection container 44 may be performed at least one time immediately before, during, and immediately after the dispensing tip 48 detaches and falls. Alternatively, for example, the action of shaking or vibrating the collection container 44 may be performed once, multiple times, or continuously while the dispensing process is being performed or when the dispensing process is not being performed.

[0074] According to this embodiment 5, shaking or vibrating the collection container 44 suppresses localized accumulation of the dispensing tips 48 within the collection container 44, equalizing the accumulation and allowing for effective use of the volume of the collection container 44.

[0075] <Example 6> Figures 16 and 17 are diagrams illustrating Example 6. Figure 16 is a top view of the automatic staining apparatus 1A according to Example 6, and Figure 17 is a side view of the automatic staining apparatus 1A. In the dispensing unit according to Example 6, a rotation mechanism is provided that allows the dispensing machine to be rotated around a certain point. The dispensing machine may be controlled by this rotation mechanism so that the reagent aspiration position, the reagent discharge position, and the dispensing tip detachment position move and change in an arc.

[0076] For example, as shown in Figure 16, the dispensing unit 4A according to Embodiment 6 is provided with a rotary dispensing mechanism 411. The rotary dispensing mechanism 411 has an arm 41a extending horizontally and a support column 410 connected to one end of the arm 41a and extending vertically. The other end of the arm 41a is provided with a lifting mechanism (not shown) that supports the dispensing machine 42 so that it can move vertically. The bottom of the support column 410 is connected to the table surface of the dispensing unit 4A. The arm 41a, or the arm 41a and the support column 410, are configured to rotate around the central axis of the support column 410 relative to the table surface.

[0077] The dispensing machine 42 can move to the suction position in the cold storage unit 47, the dispensing tip mounting position in the dispensing tip magazine 43, the discharge position on the glass slide of the staining unit 3, and the dispensing tip detachment position FP in the recovery container 44 by rotating the arm 41a as indicated by the arc-shaped arrow.

[0078] Here, the dispensing machine 42 can move horizontally in two dimensions above the collection container 44 by the rotation of the arm 41a and the movement of the collection container 44 by the magazine feeder mechanism 45. That is, by such movement of the dispensing machine 42 and the collection container 44, the release position FP of the dispensing tip can be moved, changed, or altered to two different horizontal positions. In Figure 16, an example is shown in which the release position FP of the dispensing tip is set to a location where the arm 41a has been rotated further than the movement from the suction position in the cold storage unit 47 to the discharge position on the slide glass of the staining unit 3. However, as shown in Embodiment 1, the collection container 44 can also be moved to the dispensing tip mounting position of the dispensing tip magazine 43 by the magazine feeder mechanism 45. By moving it in this way, the rotation angle of the rotary dispensing mechanism 411 can be reduced, and the mounting and detachment of the dispensing tip can be performed efficiently. That is, the time required for the dispensing process can be shortened. The control of the movement, change, or alteration of the release position FP is realized by the control unit C4 controlling each mechanism.

[0079] According to this embodiment 6, similar to embodiments 1 to 4, the relative detachment position FP of the dispensing tip 48 with respect to the collection container 44 can be changed to multiple positions in the horizontal two-dimensional direction.

[0080] By combining the above embodiments and examples, a more reliable liquid dispensing device or automatic staining device can be provided. The present invention is not limited to the above embodiments and examples, and includes various modifications. For example, the above embodiments and examples are described in detail for a better understanding of the present invention and are not necessarily limited to having all the configurations described. For example, although an automatic staining device 1 was described as an embodiment of the present invention, the dispensing unit 4 shown in Figure 4 is itself an embodiment of the liquid dispensing device of the present invention. The liquid to be dispensed is not limited to reagents, but can be any liquid. Also, for example, the control unit C4 is an example of an element constituting the control mechanism of the present invention, but if the overall control unit C1, which is located above the control unit C4, controls the dispensing unit 4 via the control unit C4, then this overall control unit C1 is also an example of an element constituting the control mechanism of the present invention.

[0081] Furthermore, some or all of the above-described configurations, functions, and control units are realized by a processor such as a CPU or MPU executing a predetermined program. It goes without saying that some or all of these may also be realized in hardware, for example, by designing them as integrated circuits. In other words, all or part of the functions of the processing unit may be realized by integrated circuits such as ASICs (Application Specific Integrated Circuits) or FPGAs (Field Programmable Gate Arrays) instead of a program. Both the above-described program and the non-temporary physical storage medium storing the above-described program are embodiments of the present invention.

[0082] Furthermore, the methods described above for detaching the dispensing tip in the dispensing unit, controlling the detachment position of the dispensing tip, and shaking the collection container are all embodiments of the present invention.

[0083] 1...Automatic staining device, 2...Transportation unit, 3...Staining unit, 4...Dispensing unit (liquid dispensing device), 40...Base, 41...Dispensing mechanism, 42...Dispenser, 43...Dispensing tip magazine, 44...Collection container, 45...Magazine feeder mechanism, 47...Refrigerator, 48...Dispensing tip, C1...Overall control unit, C4...Control unit, P1, P4...Operation unit, M1, M4...Storage unit, C11, C41...Processor, C12, C42...Memory, C13, C43...Storage, C14, C44...Interface, C15, C55...Communication bus, PR...Program, 410...Support column, 41a...Arm, 411...Rotating dispensing mechanism, 421...Motor, 422...Suction and discharge mechanism, 423...Dispensing tip remover, 424...Fitting, FP...Detachment position, 441...Guide, 442...Sectional area

Claims

1. A liquid dispensing device comprising: a dispensing machine that has a dispensing tip attached before aspirating a liquid and detaches and drops the dispensing tip after dispensing the liquid; a collection container that contains the dropped dispensing tip; and a control mechanism that controls the position of at least one of the dispensing machine and the collection container such that the dispensing tip detachment position, which is the relative position of the dispensing machine to the collection container when the dispensing tip is detached, is changed to a plurality of different two-dimensional positions in the horizontal direction.

2. A liquid dispensing device according to claim 1, wherein the dispensing machine has a detachment mechanism for detaching the attached dispensing tip.

3. A liquid dispensing apparatus according to claim 2, wherein the dispensing machine has, as the detachment mechanism, a suction discharge mechanism that is driven vertically upward to draw the liquid from the dispensing tip and is driven vertically downward to discharge the liquid from the dispensing tip, and a dispensing tip remover that moves in the same direction as the driving direction of the suction discharge mechanism, and the control mechanism controls the suction discharge mechanism to be driven further toward the discharge side than the driving range when dispensing the liquid, so that the dispensing tip remover moves vertically downward, thereby detaching the dispensing tip from the dispensing machine.

4. A liquid dispensing device according to claim 1, wherein a plurality of positions are defined as the dispensing tip detachment positions, and the control mechanism controls the dispensing tip detachment position to be sequentially changed among the plurality of positions at each timing for detaching the dispensing tip.

5. A liquid dispensing device according to claim 1, wherein the control mechanism controls the dispensing tip detachment position so that the N+1th position of the dispensing tip detachment position is shifted from the Nth position by a distance greater than or equal to the maximum diameter of the dispensing tip.

6. A liquid dispensing device according to claim 1, wherein the recovery container has a guide that forms a plurality of partitioned regions inside the recovery container, the dispensing tip release position corresponds to each of the plurality of partitioned regions, and the control mechanism controls the dispensing tip release position such that a plurality of the dispensing tips are stacked on top of each of the partitioned regions.

7. A liquid dispensing device according to claim 1, wherein the arrangement of the plurality of different positions is in a parallel arrangement.

8. A liquid dispensing device according to claim 1, wherein the arrangement of the plurality of different positions is an alternating arrangement.

9. A liquid dispensing apparatus according to claim 1, wherein the control mechanism controls the movement of only the dispensing machine among the recovery container and the dispensing machine.

10. A liquid dispensing apparatus according to claim 1, wherein the control mechanism controls both the recovery container and the dispensing machine to move.

11. A liquid dispensing apparatus according to claim 1, wherein the control mechanism controls the recovery container to swing or vibrate in at least one of the horizontal and vertical directions.

12. A liquid dispensing apparatus according to claim 1, wherein the control mechanism controls the dispensing machine to move in an arc shape.

13. A liquid dispensing device according to claim 1, wherein the dispensing tip magazine and the recovery container, which hold the dispensing tip before the liquid is aspirated, are provided in a region between the liquid aspiration position and the liquid discharge position.

14. An automatic staining apparatus that includes a liquid dispensing device, which dispenses a reagent onto a sample using the liquid dispensing device and stains the sample, wherein the liquid dispensing device comprises: a dispensing machine that has a dispensing tip attached before aspirating the reagent and detaches and drops the dispensing tip after dispensing the reagent; a collection container that contains the dropped dispensing tip; and a control mechanism that controls the position of at least one of the dispensing machine and the collection container such that the dispensing tip detachment position, which is the relative position of the dispensing machine with respect to the collection container when the dispensing tip is detached, is changed to a plurality of different two-dimensional positions in the horizontal direction.

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