JP2010164432A - Automatic analysis apparatus and abnormal stop recovery method for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic analysis apparatus and an abnormal stop recovery method for the same capable of re-starting an analysis in a short period of time without wasting reagents and specimens in the middle of the analysis, even if the analysis apparatus stops abnormally by the collision of a device to be driven with an obstacle. <P>SOLUTION: The automatic analysis apparatus which includes the plurality of devices to be driven by a driving means and analyzes specimens by reacting the specimens and reagents, and the abnormal stop recovery method for the same are provided. The automatic analysis apparatus 1 includes a light sensor for detecting the driving position of the devices to be driven, and a control unit 41 for controlling the plurality of devices to be driven and for determining whether the device to be driven collides with the obstacle based on the output of the light sensor. When the control unit determines that the device to be driven 23 collides with the obstacle, the control unit stops the collided device to be driven 23 together with other devices to be driven, and re-starts driving by synchronizing the device to be driven 23 with other devices to be driven after initializing the device to be driven 23, while being stopped. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic analyzer and its abnormal stop recovery method.

  Conventionally, an analyzer is driven by a transfer mechanism such as a dispensing arm for dispensing a sample or a reagent in accordance with an analysis operation, a stirring rod for stirring a liquid, a robot arm for transferring a reaction container or a dispensing tip, and the like. A plurality of devices are provided (see, for example, Patent Document 1).

JP 2003-83992 A

  By the way, in the conventional analyzer, when an obstacle enters the driving range of the driven device and collides, the entire device is abnormally stopped and then a plurality of driven devices are initialized again. For this reason, there is a problem that not only reagents and samples in the middle of analysis are wasted, but also the time required for initialization is wasted.

  The present invention has been made in view of the above, and even when an obstacle collides with a driven device and the analyzer stops abnormally, analysis can be performed in a short time without wasting a reagent or sample being analyzed. It is an object of the present invention to provide an automatic analyzer that can be restarted and a method for recovering from its abnormal stop.

  In order to solve the above-described problems and achieve the object, the automatic analyzer of the present invention includes a plurality of driven means driven by a driving means, and analyzes the specimen by reacting the specimen and the reagent. Whether the driven means has collided with an obstacle based on the output from the detecting means, while detecting the driving position of the driven means and the plurality of driven means. Control means for determining whether or not the control means, when it is determined that the driven means collides with an obstacle, stops the driven means that collided with other driven means, The driven means is initialized while stopped, and then the driven means that collided is synchronized with the other driven means to resume driving.

  The automatic analyzer according to the present invention is characterized in that, in the above invention, the driven means that has collided is driven by a stepping motor.

  In the automatic analyzer according to the present invention as set forth in the invention described above, the detection means is an optical sensor installed on a drive path of the driven means that has collided.

  The automatic analyzer according to the present invention is characterized in that, in the above-mentioned invention, the plurality of driven means have interference areas in which driving paths overlap each other.

  In order to solve the above-described problems and achieve the object, the method for recovering from an abnormal stop of the automatic analyzer of the present invention includes a plurality of driven means driven by a driving means, and reacts a sample and a reagent. A method for recovering from an abnormal stop of an automatic analyzer for analyzing a sample, wherein a driving position acquisition step of acquiring a driving position of the driven means, and the driven means collides with an obstacle based on the acquired driving position. A collision determination step for determining whether or not, when the driven means collides with an obstacle, an abnormal stop step for abnormally stopping the driven means that has detected a collision together with other driven means, and the collision An initialization process for initializing the driven means during an abnormal stop, and a stop recovery process for restarting the driving in synchronization with the other driven means are included.

  Further, in the above-described invention, the method for recovering from an abnormal stop of the automatic analyzer according to the present invention is such that, when the plurality of driven means have an interference area where the driving paths overlap each other, the driven means that collides with an obstacle is the interference. A stop area determining step for determining whether or not the area is stopped, and a moving step for moving the driven means stopped in the interference area to the outside of the interference area. .

  According to the present invention, when the driven means collides with an obstacle, the collided driven means is stopped together with other driven means, and the collided driven means is initialized while stopped, and then collided. Since the driven means is synchronized with other driven means and the driving is resumed, even if an obstacle collides with the driven apparatus and the analyzer stops abnormally, the reagent or sample being analyzed is not wasted. An automatic analyzer capable of resuming the analysis in a short time and an abnormal stop recovery method can be provided.

  Hereinafter, referring to the drawings, the automatic analyzer according to the present invention and the method for recovering from abnormal termination thereof will be described as an example of an automatic analyzer that performs an immunoassay by performing an antigen-antibody reaction of a blood sample by enzyme immunoassay (EIA) Explained.

  FIG. 1 is a schematic diagram showing a configuration of an automatic analyzer. As shown in FIG. 1, the automatic analyzer 1 includes a measuring mechanism 2 that measures the amount of luminescence of a luminescent substrate due to the action of a reaction product between a specimen and a reagent, and control of the entire automatic analyzer 1 including the measuring mechanism 2. And a control mechanism 4 for analyzing the measurement result in the measurement mechanism 2. The automatic analyzer 1 automatically performs immunological analysis of a plurality of specimens by cooperation of these two mechanisms.

  As shown in FIG. 1, the measurement mechanism 2 includes a sample transfer device 21, a chip storage unit 22, a sample dispensing device 23, an immune reaction table 24, a BF table 25, a first reagent store 26, a second reagent store 27, 1 reagent dispensing device 28, second reagent dispensing device 29, enzyme reaction table 30, photometric device 31, first reaction tube transfer device 32 and second reaction tube transfer device 33 are provided. Each component of the measurement mechanism 2 includes one or a plurality of units that perform predetermined operation processing.

  As shown in FIG. 1, the sample transport device 21 sequentially transports a plurality of sample racks 21b holding a plurality of sample containers 21a containing samples in the direction of the arrows in the figure. The sample stored in the sample container 21a is blood or urine collected from the sample provider. The sample transfer device 21 conveys the sample rack 21b by driving the belt conveyor by a drive unit 21c such as a motor.

  The chip storage unit 22 is provided with a chip case in which a plurality of chips are aligned. The chip storage unit 22 supplies the chip from this case to the nozzle of the sample dispensing device 23. This tip is a disposable sample dispensing tip that is attached to the tip of the nozzle of the sample dispensing device 23 and is exchanged for each sample dispensing in order to prevent carryover when measuring an infectious disease item.

  As shown in FIG. 1, the sample dispensing device 23 includes an arm 23 a that moves up and down in the vertical direction and rotates around its base end as a rotation axis, and is driven by a stepping motor 23 b so that the distal end of the arm 23 a A chip for sucking and discharging the specimen is detachably attached. The sample dispensing device 23 sucks the sample in the sample container 21a moved to the suction position by the sample transfer device 21 with the tip, rotates the arm 23a, and transfers the reaction tube 10 conveyed by the BF table 25 at a predetermined timing. Dispense.

  Here, in the sample dispensing device 23, the optical sensors S11 to S14 are arranged on the drive path of the arm 23a. The optical sensors S11 to S14 are detection means for detecting the drive position of the arm 23a, and output the detection signal of the arm 23a detected by each sensor to the control unit 41. As such an optical sensor, a reflective optical sensor can be used, and the same applies to optical sensors S21 to S24, optical sensors S31 to S34, and optical sensors SA1 and SA2 described below.

  As shown in FIG. 1, in the immune reaction table 24, a plurality of reaction lines in which a plurality of reaction tubes 10 are arranged are arranged on a concentric circle, and are rotated around a rotation axis passing through the center by a drive unit 24a such as a motor. Then, the arranged reaction tube 10 is conveyed in a circumferential direction indicated by an arrow. The immune reaction table 24 reacts the specimen and a predetermined reagent corresponding to the analysis item in the reaction tube 10 arranged in each reaction line. The immune reaction table 24 is rotated for each reaction line, and a reaction tube arranged on the immune reaction table 24 is transferred to a predetermined position at a predetermined timing.

  As shown in FIG. 1, the BF table 25 has a plurality of reaction lines arranged in a plurality of concentric circles arranged in a plurality of reaction tubes 10, and rotates around a rotation axis passing through the center by a drive unit 25a such as a motor. The arranged reaction tube 10 is conveyed in the circumferential direction indicated by the arrow. The BF table 25 performs a BF cleaning process for performing BF (Bound-Free) separation for sucking and discharging a predetermined cleaning liquid to the reaction tube 10 and separating unreacted substances in the specimen or reagent. For this reason, the BF table 25 is a BF cleaning unit 25b having a BF cleaning nozzle that collects magnetic particles necessary for BF separation and a BF cleaning nozzle that discharges and sucks BF cleaning liquid into the reaction tube 10 to perform BF separation. And a stirring mechanism for dispersing the magnetically collected magnetic particles.

  As shown in FIG. 1, the first reagent storage 26 stores a plurality of first reagent containers 26 a that store the first reagent to be dispensed in the reaction tube 10 disposed on the BF table 25, and a driving unit such as a motor. It is rotated around a rotation axis passing through the center by 26b. By this rotation, the first reagent storage 26 conveys the arranged reaction tube 10 in the circumferential direction indicated by the arrow. The first reagent is a reagent in which a reactive substance that specifically binds to an antigen or antibody in a sample to be analyzed is fixed to magnetic particles that are insoluble carriers.

  As shown in FIG. 1, the second reagent container 27 stores a plurality of substrate liquid containers 27b containing a second reagent container 27a containing a second reagent and a substrate liquid containing a substrate liquid containing a substrate that emits light by an enzyme reaction with a labeling substance. To do. The second reagent storage 27 is rotated around a rotation axis passing through the center by a driving unit 27c such as a motor, and conveys the stored second reagent container 27a and substrate liquid container 27b in a circumferential direction indicated by an arrow. The second reagent is a reagent containing a labeling substance (for example, an enzyme) that specifically binds to an antigen or antibody bound to magnetic particles.

  As shown in FIG. 1, the first reagent dispensing device 28 includes an arm 28 a that moves up and down in the vertical direction and rotates around the base end of the first reagent, and performs aspiration and discharge of the first reagent. Is attached to the tip of the arm 28a. The first reagent dispensing device 28 is driven by a drive unit 28b such as a motor, and aspirates the first reagent from the first reagent container 26a transported to the suction position by the first reagent storage 26, and the first reagent on the BF table 25 is drawn. The first reagent is dispensed by being discharged into the reaction tube 10 conveyed to the reagent discharge position. In addition, the first reagent dispensing device 28 sucks the substrate liquid from the substrate liquid container 27b transported to the suction position by the second reagent storage 27, and enters the reaction tube 10 transported to the substrate liquid discharge position on the BF table 25. Dispense and dispense substrate solution.

  Similar to the first reagent dispensing device 28, the second reagent dispensing device 29 has an arm 29a with a probe attached to the tip, and a drive unit 29b such as a motor. The second reagent dispensing device 29 sucks the second reagent from the second reagent container 27a transported to the suction position by the second reagent storage 27 and is transported to the second reagent discharge position on the BF table 25. To dispense the second reagent.

  As shown in FIG. 1, the enzyme reaction table 30 has a reaction line that arranges the reaction tubes 10 transferred from the BF table 25 along the circumferential direction, and the substrate in the substrate liquid injected into the reaction tube 10. Enzyme reaction treatment is performed so as to emit light. The enzyme reaction table 30 is rotated around a rotation axis passing through the center by a driving unit 30a such as a motor, and conveys the arranged reaction tube 10 in a circumferential direction indicated by an arrow. Luminescence emitted from the substrate in the reaction solution in the reaction tube 10 is measured by the photometric device 31.

  The photometric device 31 includes, for example, a photomultiplier tube that detects weak light emission generated by chemiluminescence, and measures the amount of light emission using a counting method. The photometric device 31 holds an optical filter, and calculates the true light emission intensity based on the measured value dimmed by the optical filter according to the light emission intensity.

  As shown in FIG. 1, the first reaction tube transfer device 32 includes an arm 32 a that moves up and down in the vertical direction and rotates around its base end as a rotation axis, and is driven by a stepping motor 32 b. The first reaction tube transfer device 32 moves the reaction tube 10 containing the liquid to the immune reaction table 24, the BF table 25, the enzyme reaction table 30, the reaction tube supply unit, and the reaction tube discarding unit (both together) by the arm 32a at a predetermined timing. It is transferred to a predetermined position (not shown).

  Here, in the first reaction tube transfer device 32, the optical sensors S21 to S24 and the optical sensors SA1 and SA2 are arranged on the drive path of the arm 32a. The optical sensors S21 to S24 and the optical sensors SA1 and SA2 are detection means for detecting the driving position of the arm 32a, and output detection signals of the arm 32a detected by the sensors to the control unit 41. Whether or not the arm 32a is in the interference area Ai (see FIG. 4) where the drive path overlaps with the arm 33a of the second reaction tube transfer device 33 is output from the optical sensors S21 to S24 and the optical sensors SA1 and SA2. The control unit 41 makes a determination based on the above.

  The second reaction tube transfer device 33 is configured in the same manner as the first reaction tube transfer device 32. As shown in FIG. 1, the second reaction tube transfer device 33 includes an arm 33a and a stepping motor 33b, and a part of the drive path of the arm 33a. Is overlapped with the arm 33 a of the first reaction tube transfer device 32. The second reaction tube transfer device 33 transfers the reaction tube 10 containing the liquid to a predetermined position of the enzyme reaction table 30, the photometry device 31, and the reaction tube discard unit (not shown) at a predetermined timing by the arm 33a.

  Here, in the second reaction tube transfer device 33, the optical sensors S31 to S34 and the optical sensors SA1 and SA2 are arranged on the drive path of the arm 33a, and the first reaction tube transfer device 32 and the optical sensors SA1 and SA2 are shared. ing. The optical sensors S31 to S34 and the optical sensors SA1 and SA2 are detection means for detecting the drive position of the arm 33a, and output the detection signal of the arm 33a detected by each sensor to the control unit 41. Whether the arm 33a is within the interference area Ai (see FIG. 4) is determined by the control unit 41 based on the outputs from the optical sensors S31 to S34 and the optical sensors SA1 and SA2.

  The control mechanism 4 includes a control unit 41, an input unit 42, an analysis unit 43, a storage unit 44, an output unit 45, and a transmission / reception unit 46. These units included in the measurement mechanism 2 and the control mechanism 4 are electrically connected to the control unit 41. The control mechanism 4 is realized using one or a plurality of computer systems. The control mechanism 4 uses various programs related to each process of the automatic analyzer 1 to control the operation process executed by the measurement mechanism 2 and to analyze the measurement result in the measurement mechanism 2.

  The control unit 41 is configured using a CPU or the like having a control function, and controls processing and operation of each component of the automatic analyzer 1. The control unit 41 performs predetermined input / output control on information input / output to / from each of these components, and performs predetermined information processing on this information. The control unit 41 controls the automatic analyzer 1 by reading a program including a time chart stored in the storage unit 44 from the memory.

  Here, the control unit 41 is a control unit as defined in claim 1 and is a sample transfer device 21, a sample dispensing device 23, an immune reaction table 24, a BF table 25, a first reagent storage 26, which are driven units, The second reagent storage 27, the first reagent dispensing device 28, the second reagent dispensing device 29, the enzyme reaction table 30, the first reaction tube transfer device 32, and the second reaction tube transfer device 33 are controlled. Based on the drive positions detected by the optical sensors S11 to S14, optical sensors S21 to S24, optical sensors SA1 and SA2, and optical sensors S31 to S34, the control unit 41 sets the arms 23a, 32a, and 33a at a predetermined timing. Whether it is in the position, and therefore collision with an obstacle is detected, thereby determining whether or not the stepping motors 23b, 32b, 33b are out of step. In addition, the control unit 41 determines whether or not the arms 32a and 33a are within the interference area Ai (see FIG. 4) based on outputs from the optical sensors S21 to S24, the optical sensors S31 to S34, and the optical sensors SA1 and SA2. Determine.

  The input unit 42 is configured using a keyboard for inputting various information, a mouse for designating an arbitrary position on the display screen constituting the output unit 45, and the like. Information, instruction information of analysis operation, etc. are acquired from the outside.

  The analysis unit 43 performs an analysis process on the sample based on the measurement result acquired from the measurement mechanism 2.

  The storage unit 44 is configured by using a hard disk that magnetically stores information and a memory that loads various programs related to the process from the hard disk and electrically stores them when the automatic analyzer 1 executes the process. Various information including the analysis result of the specimen and the recovery method at the time of abnormal stop is stored. The storage unit 44 may include an auxiliary storage device that can read information stored in a storage medium such as a CD-ROM, a DVD-ROM, or a PC card.

  The output unit 45 is configured using a printer, a speaker, and the like, and outputs various information related to analysis under the control of the control unit 41. The output unit 45 includes a display unit 45a configured using a display or the like.

  The transmission / reception unit 46 has a function as an interface for performing transmission / reception of information according to a predetermined format via a communication network (not shown).

  In the automatic analyzer 1 configured as described above, the reaction tube 10 is transferred by the first reaction tube transfer device 32 to a predetermined position of the BF table 25 from a reaction tube supply unit (not shown in FIG. 1). A first reagent containing magnetic particles is dispensed into the reaction tube 10 by the pouring device 28. Then, the sample is dispensed into the reaction tube 10 on the BF table 25 by the sample dispensing device 23 attached with the chip from the sample container 21a transferred to the suction position by the sample transfer device 21.

  Next, the reaction tube 10 is stirred by the stirring mechanism of the BF table 25 and then transferred to the immune reaction table 24 by the first reaction tube transfer device 32. In this case, a reaction product in which the antigen in the specimen and the magnetic particles are combined is generated with a certain reaction time. Thereafter, the reaction tube 10 is transferred again to the BF table 25 by the first reaction tube transfer device 32, and a first BF cleaning process for removing unreacted substances in the reaction tube 10 is performed. Next, in the reaction tube 10 after BF separation, a labeled reagent containing a labeled antibody is dispensed as a second reagent from the second reagent dispensing device 29 and stirred by a stirring mechanism. As a result, an immune complex in which the reaction product and the labeled antibody are bound to each other is generated.

  Then, the reaction tube 10 is transferred to the immune reaction table 24 by the first reaction tube transfer device 32, and is transferred to the BF table 25 after a certain reaction time has elapsed. Next, the reaction tube 10 is subjected to the second second BF cleaning process on the BF table 25 to remove the unreacted labeled antibody. Thereafter, in the reaction tube 10, the substrate solution containing the substrate is dispensed by the second reagent dispensing device 29 and again stirred by the stirring mechanism.

  Next, the reaction tube 10 is transferred to the enzyme reaction table 30 by the first reaction tube transfer device 32, allowed to stand for a certain period of time to cause the enzyme reaction, and then transferred to the photometry device 31 by the second reaction tube transfer device 33. Is done. The substrate that has undergone the enzyme reaction emits light due to the enzyme action of the immune complex. In the reaction tube 10, the light emission of the substrate is measured by the photometric device 31 in this state. Then, the analysis unit 43 performs an analysis process for obtaining the amount of antigen to be detected based on the measured light quantity.

  At this time, in the automatic analyzer 1 of the present invention, an obstacle such as an operator's arm may collide with the arm 23a of the sample dispensing device 23, for example. In this case, after abnormally stopping the automatic analyzer 1, the control unit 41 initializes the sample dispensing device 23, and recovers from the abnormal stop as follows. Hereinafter, an example of the case where the arm 23a of the sample dispensing apparatus 23 collides with an obstacle will be described with reference to the flowchart shown in FIG. To do.

  The controller 41 acquires the drive position of the arm 23a (step S100). At this time, the control unit 41 detects the optical sensors S11 to S14, and the control unit 41 acquires the drive position of the arm 23a based on the detection signals input from the optical sensors S11 to S14. The acquisition of the driving position is continuously executed until the control unit 41 ends the analysis when the automatic analyzer 1 starts the analysis operation. Next, the control unit 41 determines whether or not the arm 23a collides with an obstacle (step S102). Here, when the arm 23a collides with an obstacle, the stepping motor 23b is stepped out and the arm 23a is displaced from a position that should be at a predetermined timing. Therefore, the control unit 41 compares the driving position of the arm 23a detected based on the outputs from the optical sensors S11 to S14 with the driving timing of the arm 23a, and determines whether the arm 23a collides with an obstacle. judge.

  As a result of the determination, when the arm 23a does not collide with an obstacle (No at Step S102), the control unit 41 returns to Step S100 and repeats the process of acquiring the drive position of the arm 23a. On the other hand, if the result of determination is that the arm 23a has collided with an obstacle (step S102, Yes), the control unit 41 abnormally stops all the devices including the sample dispensing device 23 that has detected the collision (step S104). .

  Next, the control unit 41 initializes the sample dispensing device 23 in which the arm 23a collides with an obstacle during an abnormal stop (step S106). Next, the control unit 41 refers to the time chart read from the storage unit 44, synchronizes the sample dispensing device 23 with the state when the other driven devices are stopped, and includes all the devices including the sample dispensing device 23. Is resumed (step S108).

  The automatic analyzer 1 executes the abnormal stop recovery method as described above. At this time, in the sample transfer device 21, the sample dispensing device 23, the immune reaction table 24, the BF table 25, the first reagent storage 26,..., The second reaction tube transfer device 33, which are driven means of the automatic analyzer 1. FIG. 3 shows a time chart from the abnormal stop of the entire apparatus due to the collision between the arm 23a and the obstacle to the restart of operation.

  As shown in FIG. 3, when the arm 23a of the sample dispensing device 23 collides with an obstacle at time T1, the stepping motor 23b steps out. For this reason, the control part 41 determines the step-out of the stepping motor 23b based on the outputs from the optical sensors S11 to S14, and abnormally stops the entire apparatus at time T2. After the abnormal stop, the control unit 41 initializes the sample dispensing device 23, synchronizes with the other devices, and then restarts the driving of the entire device at time T3.

  As described above, the automatic analyzer 1 and its abnormal stop recovery method stop the entire apparatus when it collides with an obstacle, but after initializing only the sample dispensing apparatus 23 that collided with the obstacle, The drive is resumed in synchronization with the device. Therefore, the automatic analyzer 1 and its abnormal stop recovery method require less time for initialization than the case of initializing the entire apparatus, so that reagents and specimens in the middle of analysis are not wasted. For example, in the automatic analyzer 1, the specimen dispensing device 23, the first reagent dispensing device 28, the second reagent dispensing device 29, and the first one that are driven means may collide with an obstacle. Although the reaction tube transfer device 32 and the second reaction tube transfer device 33 are the same driven means, the sample transfer device 21, the immune reaction table 24, the BF table 25, the first reagent storage 26, the second Compared with the reagent store 27 and the enzyme reaction table 30, the time required for initialization is shorter.

  Here, as shown in FIG. 4, the first reaction tube transfer device 32 and the second reaction tube transfer device 33 have an interference region Ai where the drive path L1 of the arm 32a and the drive path L2 of the arm 33a overlap. . For this reason, one of the arm 32a and the arm 33a may stop in the interference area Ai. For this reason, when it has interference area Ai, the drive of the whole apparatus is restarted as follows. The method for recovering from an abnormal stop of the automatic analyzer in this case will be described below with reference to the flowchart shown in FIG.

  The controller 41 acquires the drive positions of the arms 32a and 33a of the first reaction tube transfer device 32 and the second reaction tube transfer device 33 (step S200). Next, the control unit 41 determines whether or not the arms 32a and 33a collide with an obstacle (step S202). In this case, the controller 41 detects the driving positions of the arms 32a and 33a and the driving timings of the arms 32a and 33a detected based on the outputs from the optical sensors S21 to S24, the optical sensors S31 to S34, and the optical sensors A1 and A2. To determine whether the arms 32a and 33a collide with an obstacle.

  As a result of the determination, when the arms 32a and 33a do not collide with the obstacle (step S202, No), the control unit 41 returns to step S200 and repeats the process of acquiring the drive positions of the arms 32a and 33a. On the other hand, if one of the arms 32a and 33a collides with an obstacle as a result of the determination (step S202, Yes), the control unit 41 detects the first reaction tube transfer device 32 or the second reaction tube transferred. All devices including the device 33 are abnormally stopped (step S204).

  Next, the control unit 41 determines whether or not the arm colliding with the obstacle is stopped in the interference area Ai (step S206). As a result of the determination, for example, as shown in FIG. 6, when the colliding arm 32a is stopped in the interference area Ai (step S206, Yes), the control unit 41 drives the stepping motor 32b, As indicated by the arrow, the arm 32a is moved out of the interference area Ai (step S208). At this time, the control unit 41 confirms the movement of the arm 32a outside the interference area Ai based on the outputs from the optical sensors A1 and A2.

  Thereafter, the control unit 41 initializes the first reaction tube transfer device 32 in which the arm 32a has collided with the obstacle during abnormal stop (step S210). Next, the control unit 41 refers to the time chart read from the storage unit 44, synchronizes the first reaction tube transfer device 32 with the state when the other driven devices are stopped, and the first reaction tube transfer device 32. The driving of all the devices including is resumed (step S212).

  On the other hand, as a result of the determination, if the arm 32a that has collided has stopped outside the interference area Ai (step S206, No), the control unit 41 proceeds to step S210 and executes the subsequent steps, thereby performing the entire apparatus. Restart the drive.

It is a schematic diagram which shows the structure of an automatic analyzer. It is a flowchart explaining the abnormal stop recovery method of the automatic analyzer of this invention. It is a time chart which shows the abnormal stop recovery method of the automatic analyzer of this invention. It is a schematic diagram which expands and shows the case where two driven means have the interference area | region where a drive path overlaps. It is a flowchart explaining the abnormal stop recovery | restoration method of an automatic analyzer when two driven means have an interference area | region with which a drive path overlaps. It is a schematic diagram which expands and shows the case where the to-be-driven means which has the interference area | region where a drive path overlaps abnormally stops in an interference area | region.

DESCRIPTION OF SYMBOLS 1 Automatic analyzer 2 Measurement mechanism 4 Control mechanism 10 Reaction tube 21 Specimen transfer device 22 Chip storage part 23 Specimen dispensing device 24 Immune reaction table 25 BF table 26 First reagent storage 27 Second reagent storage 28 First reagent dispensing device 29 Second reagent dispensing device 30 Enzyme reaction table 31 Photometric device 32 First reaction tube transfer device 33 Second reaction tube transfer device 41 Control unit 42 Input unit 43 Analysis unit 44 Storage unit 45 Output unit 46 Transmission / reception unit S11 to S14 Light Sensor S21 ~ S24 Optical sensor S31 ~ S34 Optical sensor SA1, SA2 Optical sensor

Claims (6)

An automatic analyzer comprising a plurality of driven means driven by a driving means and analyzing a sample by reacting a sample and a reagent,
Detecting means for detecting a driving position of the driven means;
Control means for controlling the plurality of driven means, and for determining whether or not the driven means collides with an obstacle based on an output from the detection means;
The control means, when it is determined that the driven means has collided with an obstacle, the collided driven means is stopped together with other driven means, and the collided driven means is stopped. After the initialization, the automatic analyzing apparatus characterized in that the driven means that collided is restarted in synchronization with the other driven means.   2. The automatic analyzer according to claim 1, wherein the driven means that has collided is driven by a stepping motor.   3. The automatic analyzer according to claim 1, wherein the detection unit is an optical sensor installed on a drive path of the driven unit that has collided.   The automatic analyzer according to any one of claims 1 to 3, wherein the plurality of driven means have interference areas in which driving paths overlap each other. A method for recovering from an abnormal stop of an automatic analyzer that comprises a plurality of driven means driven by a driving means and analyzes a specimen by reacting the specimen with a reagent,
A drive position acquisition step of acquiring a drive position of the driven means;
A collision determination step of determining whether or not the driven means has collided with an obstacle based on the acquired driving position;
When the driven means collides with an obstacle, an abnormal stop step of abnormally stopping the driven means that has detected the collision together with other driven means;
An initialization step of initializing the driven means that has collided during an abnormal stop;
A stop recovery step of restarting driving in synchronization with the other driven means that has collided,
An abnormal stop recovery method for an automatic analyzer characterized by comprising: When the plurality of driven means have an interference region where the driving paths overlap each other,
A stop area determination step for determining whether or not the driven means that has collided with an obstacle is stopped in the interference area;
A moving step of moving the driven means stopped in the interference area outside the interference area;
The method for recovering from an abnormal stop of an automatic analyzer according to claim 5.

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