JP6211391B2 - Automatic analyzer - Google Patents

Description

  The present invention relates to an automatic analyzer.

  An automatic analyzer described in JP-A-11-316237 (Patent Document 1) includes a dispensing mechanism for dispensing a sample and a reagent into a reaction cell, a stirring mechanism for stirring the sample and the reagent in the reaction cell, A photometer for measuring the physical properties of the reaction solution after the reaction is completed. In this photometer, the light beam emitted from the light source is transmitted to the reaction solution in the reaction cell, then guided to the spectroscopic device, and the absorbance is calculated based on the light intensity value at a specific wavelength. Analyzing the chemical composition of

  In the fields of chemistry and medical analysis, the miniaturization of specimens used for analysis is a major issue. That is, as the number of analysis items increases, the amount of specimen that can be divided into single items has become very small. In addition, when the collected sample itself is a small amount such as a pediatric sample, analysis must be performed using a very small amount of sample.

  Here, after the sample probe aspirates the sample from the sample container, there may occur a sample (hereinafter referred to as a dead volume) that cannot be normally sucked and remains in the sample container. By reducing the dead volume, the amount of specimen necessary for analysis can be reduced. The bottom surface of the sample container is formed so that the center is the lowest. If the position of the sample probe is shifted from the center position of the sample container, the dead volume generated at the center of the sample container increases.

  Conventionally, in order to reduce the dead volume, a small cup dedicated to a small amount of specimen having a small cross-sectional area on the bottom surface has been used.

  Japanese Patent Application Laid-Open No. 2010-91469 (Patent Document 2) describes the difference between the lowered position of the sample probe and the center position of the sample container caused by the difference in the diameter of each sample container held by the sample container holding rack. A technique for correcting misalignment is described.

JP-A-11-316237 JP 2010-91469 A

  When a small cup is used, there is a problem that it takes time to dispense from the blood collection tube to the small cup.

  Further, in the technique described in Patent Document 2, various factors (for example, when the user installs the sample container at an angle, or an earthquake occurs for each of the plurality of sample containers held by the sample container holding rack) Thus, there has been a problem that the positional deviation caused by the horizontal position of the specimen container may not be corrected for each specimen container.

  An object of the present invention is to provide a technique that makes it possible to correct misalignment caused by various factors for each specimen container.

  Of the inventions disclosed in the present application, the outline of typical ones will be briefly described as follows.

  One embodiment of the present invention includes a sample container holding rack that holds a plurality of sample containers, a sample probe that sucks a sample from the sample container at a sample suction position, and a sample container handling that moves the sample container holding rack. An automatic analyzer having a mechanism and a sample dispensing mechanism for moving the sample probe, based on the relative position between the sample container and the sample probe at the sample aspiration position before correction, A relative position measuring device for calculating a sample aspiration position; A controller that controls at least one of the sample container handling mechanism and the sample dispensing mechanism so that the sample probe aspirates the sample from the sample container at the corrected sample aspiration position; Have.

  Among the inventions disclosed in the present application, effects obtained by typical ones will be briefly described as follows.

  According to the exemplary embodiment of the present invention, it is possible to correct a positional shift caused by various factors for each specimen container.

2 is a diagram illustrating an outline of a configuration example of an automatic analyzer according to Embodiment 1. FIG. FIG. 3 is a longitudinal sectional view of a sample container holding rack, a sample container, a sample dispensing mechanism, a sample probe, and a relative position measuring device in the first embodiment. FIG. 3 is a diagram showing an overview of overall processing in the first embodiment. 6 is a diagram showing an overview of relative position information calculation processing in Embodiment 1. FIG. 3 is a plan view of a sample container holding rack in Embodiment 1. FIG. 3 is a longitudinal sectional view of a sample container holding rack according to Embodiment 1. FIG. FIG. 3 is a plan view of a sample container in the first embodiment. FIG. 10 is another plan view of the sample container in the first embodiment. FIG. 10 is a longitudinal sectional view of a sample container holding rack, a sample container, a sample dispensing mechanism, a sample probe, and a relative position measuring device according to a second embodiment. FIG. 10 is a diagram showing an outline of relative position information calculation processing in the second embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiment, and the repetitive description thereof will be omitted.

[Embodiment 1]
A first embodiment of the present invention will be described with reference to FIGS. In the first embodiment, a relative position measurement device (for example, a camera) captures an image of the opening of the sample container and the sample probe that has moved to above the sample container. Based on the captured image, the relative position between the center position of the opening of the sample container and the sample probe is calculated. Then, based on the calculated relative position, the position of the sample probe or the position of the sample container holding rack that holds the sample container is corrected. As a result, the sample probe can suck the sample from the center position of the sample container.

<Overall configuration>
FIG. 1 is a diagram showing an outline of a configuration example of the automatic analyzer according to the first embodiment. In FIG. 1, the automatic analyzer includes an analysis unit 100 and a control unit 200. The analysis unit 100 includes a water discharge mechanism 102, a photometer 103, a waste liquid discharge mechanism 104, a reagent disk 105, a plurality of reaction cells 101 provided at predetermined intervals along the outer periphery of the reagent disk 105, and a sample distribution. It has an injection mechanism 106, a specimen container holding rack 107, a reagent dispensing mechanism 108, a reaction disk 109 that is driven to rotate, and a specimen container handling mechanism 110.

  The control unit 200 stores information necessary for the analysis by the analysis unit 100 in a storage unit (not shown). The control unit 200 uses the information stored in the storage unit, the water discharge mechanism 102, the waste liquid discharge mechanism 104, the sample dispensing mechanism 106, the sample container holding rack 107, the reagent dispensing mechanism 108, The reaction disk 109 is controlled.

  The reaction disk 109 rotates at a predetermined cycle.

  The photometer 103 emits analysis light toward the analysis light irradiation position.

  The water discharge mechanism 102 supplies cell washing water or cell blank water to the reaction cell 101.

  The sample container holding rack 107 holds a plurality of sample containers. The sample container contains a sample. Furthermore, the upper end of the sample container is open.

  The sample container handling mechanism 110 moves the sample container holding rack 107 to the sample aspirating position by moving the sample container holding rack 107. The sample container handling mechanism 110 moves the sample container holding rack 107 by sliding in the horizontal direction on the movement path.

  The sample dispensing mechanism 106 has a sample probe. The sample dispensing mechanism 106 moves the sample probe in a horizontal direction on a circular locus centering on the rotation axis 111. The sample dispensing mechanism 106 lowers and raises the sample probe. The trajectory along which the sample probe moves passes above the moving path of the sample container holding rack 107.

  The sample probe sucks the sample from the sample container at the sample suction position. The sample probe discharges the sample sucked into the reaction cell 101 at the sample discharge position.

  The reagent dispensing mechanism 108 has a reagent probe (not shown). The reagent probe sucks the reagent from the reagent disk 105 at the reagent suction position. The reagent probe discharges the reagent sucked into the reaction cell 101 at the reagent discharge position.

  Hereinafter, a series of operations of the automatic analyzer will be described.

  After the reaction cell 101 is washed with water discharged from the water discharge mechanism 102, the water discharge mechanism 102 discharges water to the reaction cell 101. The reaction cell 101 containing water passes through the analysis light irradiation position as the reaction disk 109 rotates. Then, cell blank measurement is performed when the reaction cell 101 containing water passes through the analytical light irradiation position. In the cell blank measurement, the absorbance of the reaction cell 101 itself is measured by the photometer 103. After the cell blank measurement, the water in the reaction cell 101 is sucked out by the waste liquid discharge mechanism 104.

  The reaction cell 101 from which water has been sucked out by the waste liquid discharge mechanism 104 is moved to the specimen discharge position as the reaction disk 109 rotates. Then, the sample probe discharges the sample to the reaction cell 101 at the sample discharge position.

  The reaction cell 101 from which the sample has been discharged is moved to the reagent discharge position. Then, the reagent probe discharges the reagent to the reaction cell 101 at the reagent discharge position. The specimen and the reagent discharged to the reaction cell 101 are mixed by being stirred by a stirring mechanism (not shown) (this stirring mechanism is provided on the outer peripheral side of the reaction disk 109).

  The reaction cell 101 containing the reaction liquid in which the sample and the reagent are mixed passes through the spectral light irradiation position. Then, the photometer 103 measures the absorbance of the reaction solution in the reaction cell 101 when passing through the spectral light irradiation position. The photometer 103 measures the absorbance of the reaction solution in the reaction cell 101 based on the difference between the measured absorbance and the absorbance of the reaction cell 101 itself. The photometer 103 measures the absorbance of the reaction solution once or every time the reaction cell 101 containing the reaction solution passes.

  After the absorbance is measured, the reaction liquid in the reaction cell 101 is discharged to the waste liquid discharge mechanism 104. After discharging the reaction liquid to the waste liquid discharge mechanism 104, the water discharge mechanism 102 discharges water to the reaction cell 101. Thereby, the inside of the reaction cell 101 is cleaned.

<Detailed configuration>
FIG. 2 is a vertical cross-sectional view of the sample container holding rack 107, the sample container 201, the sample dispensing mechanism 106, the sample probe 203, and the relative position measuring device 204 in the first embodiment.

  As shown in FIG. 2, the sample dispensing mechanism 106 includes a sample probe 203 and a sample probe position index 205.

  The sample probe 203 has a rod shape. One end of the sample probe 203 is fixed to the lower surface of the sample dispensing mechanism 106. The other end of the sample probe 203 is directed downward. The sample probe 203 is hollow, and a suction port for sucking the sample is formed at the other end of the sample probe 203.

  The sample dispensing mechanism 106 lowers the sample probe 203 in the vertical direction. When the sample probe 203 is lowered, the sample probe 203 is inserted into the sample container 201 through the opening 202 on the upper surface of the sample container 201. The sample probe 203 is lowered by a predetermined distance after detecting the contact of the sample with the liquid surface, and then the descent is stopped. Then, the sample probe 203 aspirates the sample while being inserted into the sample container 201. After aspirating the sample, the sample probe 203 is pulled up in the vertical direction. Note that the descent of the sample probe 203 is also stopped when contact with the bottom surface of the sample container 201 is detected.

  The sample probe position index 205 indicates the position of the lower surface of the sample dispensing mechanism 106 to which the sample probe 203 is fixed. The sample probe position index 205 is provided on the upper surface of the sample dispensing mechanism 106 and an extension on the central axis of the sample probe 203. Note that the sample probe position index 205 may be provided at a position other than the center axis of the sample probe 203. In this case, the relative position measurement device 204 stores the direction and distance from the position of the sample probe position index 205 to the position on the central axis of the sample probe 203 on the upper surface of the sample dispensing mechanism 106.

  The relative position measuring device 204 corresponds to an optical measuring device that captures an image by acquiring a principal ray incident through an imaging lens. The relative position measuring device 204 is provided above the upper surface of the sample dispensing mechanism 106 with the imaging lens facing downward.

  Hereinafter, a series of operations for calculating the relative position information including the direction from the center position of the opening 202 to the position of the sample probe 203 and the distance from the center position of the opening 202 to the position of the sample probe 203 will be described.

  The relative position measurement device 204 images the opening 202 that is the upper end of the sample container 201 and the sample probe position index 205. Here, the relative position measuring device 204 cannot simultaneously image the opening 202 of the sample container 201 and the sample probe position index 205. Therefore, the relative position measurement device 204 images the sample probe position index 205 after imaging the opening 202. Specifically, first, the relative position measurement device 204 images the opening 202 of the sample container 201 after the sample container 201 has been moved to the sample aspiration position. Next, the relative position measuring device 204 images the sample probe position index 205 after the sample probe 203 is moved to the sample aspiration position in the horizontal direction.

  The relative position measuring device 204 detects wrinkles of the opening 202 from the captured image by image processing. Then, the relative position measuring device 204 specifies the center position of the opening 202 of the sample container 201 based on the detected wrinkles of the opening 202.

  The relative position measurement device 204 detects the sample probe position index 205 from the captured image. Then, the relative position measurement device 204 specifies the detected position of the sample probe position index 205 as the position of the sample probe 203. When the sample probe position index 205 is provided at a position other than on the center axis of the sample probe 203, the relative position measurement device 204 determines the position on the center axis of the sample probe 203 from the position of the sample probe position index 205 stored in advance. Based on the direction and distance to the position and the detected position of the sample probe position index 205, the position of the sample probe 203 is specified. More specifically, the relative position measurement device 204 specifies a position moved from the detected position of the sample probe position index 205 by a distance stored in a previously stored direction as the position of the sample probe 203.

  Then, the relative position measuring device 204 calculates relative position information indicating the relative position between the sample probe 203 and the sample container 201. Specifically, the relative position measuring device 204 is configured to have a relative position including a direction from the center position of the specified opening 202 to the position of the sample probe 203 and a distance from the center position of the specified opening 202 to the sample probe 203. Calculate information.

  The relative position measuring device 204 may be configured by an object side telecentric optical system. The object side telecentric optical system is designed so that the optical axis of the camera and the principal ray incident on the imaging lens are parallel to each other. The magnification is constant regardless of the distance between the camera and the subject. By configuring the relative position measuring device 204 with the object side telecentric optical system, even if the magnification of the target in the captured image changes, the relative position information can be accurately calculated without adjusting the focal position.

<Overall processing>
FIG. 3 is a diagram showing an overview of the overall processing in the first embodiment.

  First, in S301, a relative position information calculation process (described later, FIG. 4) is executed. By executing the relative position information calculation process, the relative position information is calculated.

  Next, in S302, the control unit 200 determines whether the type of the sample to be measured is a minute sample whose amount of the sample to be measured is a minute amount or a normal sample whose amount of the sample to be measured is not a minute amount. . In S302, when the control unit 200 determines that the type of the sample to be measured is a normal sample (S302—normal sample), the process proceeds to S303. On the other hand, when the control unit 200 determines in S302 that the type of sample to be measured is a trace sample (S302—trace sample), the process proceeds to S304. The type of specimen to be measured is selected by receiving an input from the user at the start of measurement (for example, an input unit (not shown) receives input).

  In S303, the sample probe 203 sucks the sample at the sample suction position before correction. Then, after moving to the sample discharge position, the sample probe 203 discharges the sample aspirated at the sample discharge position.

  In S304, the control unit 200 controls the sample dispensing mechanism 106 so as to move the sample probe 203 to the sample discharge position. Thereby, the sample probe 203 is moved to the sample discharge position without sucking the sample at the sample suction position before correction.

  Here, when the type of sample to be measured is a trace amount sample, the initial amount of the sample contained in the sample container 201 is small. When the sample is aspirated at the pre-correction sample aspiration position, the amount of sample necessary for the measurement remains despite the amount of sample remaining in the center of the sample container remaining. Otherwise, there is a possibility of misjudging. If the sample type is a small amount of sample, in S304, the sample probe 203 is moved to the sample discharge position without performing sample aspiration, so that there is no amount of sample necessary for measurement. Can be prevented from being erroneously determined.

  In S305, the control unit 200 calculates the corrected sample aspiration position based on the relative position information 702 as shown in FIG. Then, the control unit 200 calculates the moving direction and moving amount of the sample container holding rack 107 necessary for moving the sample suction position 701 before correction to the corrected sample suction position 801 shown in FIG. Further, the control unit 200 calculates the moving direction and moving amount of the sample probe 203 necessary for moving to the corrected sample aspirating position 801. Note that the control unit 200 detects the locus of the movement of the sample probe 203 around the rotation axis 111 and the sample container 201 (the sample container 201 is held at the head of the sample container holding rack 107 on the sample probe side). The intersection point with the trajectory along which the center position of the opening 202 (or the center position of the bottom surface of the sample container 201) moves may be calculated as the corrected sample aspiration position 801.

  Next, in S306, the control unit 200 controls the sample container handling mechanism 110 so that the sample container holding rack 107 is moved by the movement amount calculated in the movement direction calculated in S305. As a result, the sample container holding rack 107 is a sample container 201 in which the sample is not aspirated, and the center position of the opening 202 of the sample container 201 held at the head on the sample probe 203 side is corrected sample. It is moved until it is located at the suction position 801.

  Next, in S307, the sample probe 203 is moved from the sample discharge position to the corrected sample aspiration position 801.

  In step S308, the sample probe 203 aspirates the sample at the corrected sample aspiration position 801. Then, after moving to the sample discharge position, the sample probe 203 discharges the sample aspirated at the sample discharge position.

  Next, in S309, the control unit 200 determines whether or not a sample of a predetermined amount (for example, an amount necessary for measurement) or more remains in the sample container 201. In S309, when the control unit 200 determines that a predetermined amount of sample remains (S309-Yes), the process proceeds to S307. On the other hand, when the control unit 200 determines in S309 that a predetermined amount of sample does not remain (S309-No), the process proceeds to S301.

  Here, in the automatic analyzer, each operation is performed at a constant cycle (time). Since the time allocated to each operation is determined, if an operation for moving from the suction position before the correction to the suction position before the correction is added in the first measurement, the suction and discharge are performed within the cycle. Operation may not be possible.

  In the first embodiment, the sample probe 203 is corrected from the sample aspiration position 701 before correction in the first measurement in order to keep a series of operations from the sample suction to the discharge within the cycle of analysis. It is not moved directly to the subsequent specimen suction position 801. That is, after the first measurement, the control unit 200 moves the sample probe 203 from the sample aspiration position 701 before correction to the sample discharge position, and then moves the sample probe 203 from the sample discharge position to the corrected sample aspiration position 801. The sample dispensing mechanism 106 is controlled. As a result, a series of operations from aspiration of the specimen to ejection can be contained in the cycle.

  Here, if a series of operations can be accommodated within the cycle even if the specimen is moved from the specimen suction position 701 before correction to the specimen suction position 801 after correction, the specimen suction position after correction is changed from the specimen suction position 701 before correction. You may make it move to 801. As a result, it is possible to prevent a series of useless operations that do not perform suction and discharge.

  An input for selecting the sample container 201 for calculating the corrected sample suction position 801 may be received from the sample container 201 held in the sample container holding rack 107.

<Relative position information calculation process>
FIG. 4 is a diagram showing an outline of the relative position information calculation processing in the first embodiment.

  First, in S <b> 401, the sample container handling mechanism 110 moves the sample container holding rack 107. The sample container holding rack 107 is a sample container 201 in which no sample is sucked, and the center position of the opening 202 of the sample container 201 held at the head in the moving direction is the sample suction before correction. It is moved until it is located at position 701.

  Next, in S402, the relative position measurement device 204 captures an image. Then, the relative position measuring device 204 detects wrinkles of the opening 202 of the sample container 201 from the captured image by image processing. Thereafter, the relative position measuring device 204 identifies the center position 501 of the opening 202 of the sample container 201 based on the detected wrinkles of the opening 202 as shown in FIG.

  Here, as shown in FIG. 6, the sample container 201 may be held in an inclined state with respect to the sample container holding rack 107. In this case, the center position of the opening 202 of the sample container 201 and the center position of the bottom surface of the sample container 201 are different. Therefore, even if the sample probe 203 is inserted from the center position of the opening 202, the sample cannot be aspirated from the center position of the bottom surface of the sample container 201.

  Refer to FIG. 4 again. Next, in S403, the relative position measurement device 204 specifies the center position of the specimen container installation hole from the captured image.

  Hereinafter, an example of the center position 503 of the specimen container installation hole 502 identified by the relative position measurement device 204 will be described with reference to FIG. First, the relative position measuring device 204 detects a flaw in the sample container installation hole 502 of the sample container holding rack 107 by image processing. Thereafter, the relative position measurement device 204 identifies the center position 503 of the sample container installation hole 502 based on the detected eyelid of the sample container installation hole 502. When the inclination is zero, the center position of the bottom surface of the sample container 201, the center position of the sample container installation hole 502, and the center position 501 of the opening 202 of the sample container 201 coincide with each other.

  Refer to FIG. 4 again. Next, in S404, the relative position measurement apparatus 204 matches the center position 501 of the opening 202 of the sample container 201 specified in S402 with the center position 503 of the sample container installation hole 502 specified in S403. Determine whether. If the relative position measurement device 204 determines in S404 that the center position 501 of the opening 202 of the sample container 201 matches the center position of the sample container installation hole 502 (S404-Yes), the process proceeds to S407. On the other hand, when the relative position measurement device 204 determines in S404 that the center position 501 of the opening 202 of the sample container 201 does not match the center position 503 of the sample container installation hole 502 (S404-No), the process proceeds to S405. move on.

  In step S <b> 405, the relative position measurement apparatus 204 tilts the sample container 201 with respect to the sample container holding rack 107 based on the center position 501 of the opening 202 of the sample container 201 and the center position 503 of the sample container installation hole 502. Is calculated. Then, the relative position measurement device 204 specifies the center position of the bottom surface of the sample container 201 from the height of the sample container 201, the calculated inclination, and the center position 501 of the opening 202 of the sample container 201.

  Hereinafter, the process of calculating the inclination of the sample container 201 with respect to the sample container holding rack 107 will be described in detail with reference to FIG. First, the relative position measurement device 204 calculates a distance 604 from the center position 501 of the opening 202 of the sample container 201 to the center position 503 of the sample container installation hole 502. In addition, the relative position measuring apparatus 204 is configured such that the height 601 of the specimen container holding rack 107 (height 602) is measured from the height 601 of the specimen container 201 (the height 601 is stored by the control unit 200 for each type of specimen container 201). Is stored by the control unit 200), the height 603 of the portion of the sample container 201 protruding from the sample container holding rack 107 is calculated. Then, the inclination of the sample container 201 with respect to the sample container holding rack 107 is calculated from the height 603 and distance 604 of the protruding portion using trigonometry.

  Note that the height 601, the height 602, and the height 603 may be measured by an autofocus function of the relative position measurement device 204. Further, by providing a laser displacement system or laser distance meter in the horizontal direction, the relative position between the sample probe 203 and the bottom surface of the sample container 201 can be determined by measuring the bottom surface of the sample container 201 and the horizontal position of the sample probe 203. You may make it measure.

  Refer to FIG. 4 again. Next, in S406, the relative position measurement device 204 corrects the center position 501 of the opening 202 of the sample container 201 specified in S402 to the center position of the bottom surface of the sample container 201 specified in S405.

  Next, in S407, the sample dispensing mechanism 106 moves the sample probe 203 to the sample aspiration position 701 before correction in the horizontal direction.

  Next, in S408, the relative position measurement device 204 captures an image.

  Next, in S409, the relative position measurement device 204 detects the sample probe position index 205 from the captured image. Then, the relative position measurement device 204 specifies the detected position of the sample probe position index 205 as the position of the sample probe 203.

  Next, in S410, the relative position measurement device 204 determines the center position 501 of the opening 202 specified in S402 or the center position of the opening 202 after correction in S406 (hereinafter referred to as the opening center position). And relative position information is calculated based on the position of the sample probe 203 identified in S408.

<Effect of Embodiment 1>
According to the first embodiment described above, the corrected sample aspiration position 801 is calculated based on the relative position between the sample container 201 and the sample probe 203 at the sample aspiration position before correction, and the corrected sample aspiration position. By controlling the sample probe 203 to suck the sample from the sample container 201 at 801, it is possible to correct the positional deviation caused by various factors.

  In addition, every time one of the sample containers 201 held in the sample container holding rack 107 is moved to a position where the sample is sucked, the corrected sample suction position 801 is calculated, so that the sample container holding rack 107 The positional deviation can be corrected for each specimen container to be held.

  Further, by calculating the corrected sample suction position 801 based on the center position of the bottom surface of the sample container 201 and the sample probe 203, the center position of the opening 202 of the sample container 201 and the sample container 201 are calculated. Even when the center position of the bottom surface of the sample container is different, the sample can be aspirated from the center position of the bottom surface of the sample container.

  Further, the opening 202 of the sample container 201 is imaged, and the corrected sample aspiration position 801 is calculated based on the relative position between the center position of the imaged opening 202 and the sample probe 203, thereby The sample can be aspirated from the center position of the bottom surface.

  When the type of specimen to be measured is a trace quantity specimen, the specimen remains at the center of the bottom surface by moving the specimen probe 203 to the specimen ejection position without aspirating the specimen at the specimen aspiration position 701 before correction. In spite of this, it is possible to prevent an erroneous determination that there is no sample necessary for measurement.

  In addition, the specimen probe 203 is moved from the specimen aspiration position 701 before correction to the specimen ejection position, and then moved from the specimen ejection position to the specimen aspiration position 801 after correction. A series of operations can be executed within a predetermined cycle.

[Embodiment 2]
The second embodiment is different from the first embodiment in that the relative position measuring device 204 of the second embodiment is provided in the sample dispensing mechanism 106. Hereinafter, the differences between the second embodiment and the first embodiment will be described mainly with reference to FIGS. 9 and 10.

<Detailed configuration>
FIG. 9 is a longitudinal sectional view of the sample container holding rack 107, the sample container 201, the sample dispensing mechanism 106, the sample probe 203, and the relative position measuring device 204 in the second embodiment.

  As shown in FIG. 9, the relative position measuring device 204 is fixed to the lower surface of the sample dispensing mechanism 106 with the imaging lens facing downward. In this case, the relative position measuring device 204 is fixed in the vicinity of one end of the sample probe 203 (the relative position measuring device 204 is fixed at a position where the distance from the position where one end of the sample probe 203 is fixed is 20 mm or less). The The sample dispensing mechanism 106 moves the relative position measuring device 204 together with the sample probe 203. Hereinafter, a series of operations for calculating the relative position information will be described with reference to FIG.

  First, the relative position measurement device 204 images the opening 202 of the sample container 201 after the sample probe 203 is moved to the sample aspiration position 701 before correction.

  Next, the relative position measurement device 204 detects wrinkles of the opening 202 from the captured image by image processing. Then, the relative position measurement device 204 specifies the center position of the sample container based on the detected edge of the opening 202.

  Here, the relative position measurement device 204 stores in advance the position of the sample probe 203 in the image to be captured.

  Then, the relative position measurement device 204 calculates relative position information based on the center position of the opening 202 of the specified sample container 201 and the stored position of the sample probe 203.

  In the example shown in FIG. 9, it is desirable to apply a small camera (for example, a CCD camera) as the relative position measuring device 204.

<Relative position information calculation process>
FIG. 10 is a diagram showing an outline of the relative position information calculation processing in the second embodiment.

  First, in S1001, the sample container handling mechanism 110 moves the sample container holding rack 107. The sample container holding rack 107 is a sample container 201 in which no sample is sucked, and the center position 501 of the opening 202 of the sample container 201 held at the head in the moving direction is the sample suction position before correction. It is moved until it is located at 701.

  Next, in S1002, the sample dispensing mechanism 106 moves the sample probe 203 to the sample aspiration position 701 before correction in the horizontal direction.

  Next, in S1003, the relative position measurement device 204 captures an image. Then, the relative position measuring device 204 detects wrinkles of the opening 202 of the sample container 201 from the captured image by image processing. Thereafter, the relative position measurement device 204 specifies the center position 501 of the opening 202 of the sample container 201 based on the detected wrinkles of the opening 202.

  In step S <b> 1004, the relative position measurement device 204 specifies the center position 503 of the sample container installation hole 502 from the captured image.

  Next, in S1005, the relative position measurement apparatus 204 matches the center position 501 of the opening 202 of the sample container 201 specified in S1003 with the center position 503 of the sample container installation hole 502 specified in S1004. Determine whether. In S1005, when the relative position measurement apparatus 204 determines that the center position 501 of the opening 202 of the sample container 201 matches the center position 503 of the sample container installation hole 502 (S1005-Yes), the process proceeds to S1006. On the other hand, when the relative position measurement device 204 determines in S1005 that the center position 501 of the opening 202 of the sample container 201 does not match the center position 503 of the sample container installation hole 502 (S1005-No), the process proceeds to S1006. move on.

  In step S <b> 1006, the relative position measurement device 204 tilts the sample container 201 with respect to the sample container holding rack 107 based on the center position 501 of the opening 202 of the sample container 201 and the center position 503 of the sample container installation hole 502. Is calculated. Then, the relative position measurement device 204 specifies the center position of the bottom surface of the sample container 201 from the height 601 of the sample container 201, the calculated inclination, and the center position 501 of the opening 202 of the sample container 201.

  In S1007, the relative position measurement apparatus 204 corrects the center position 501 of the opening 202 of the sample container 201 specified in S1003 to the center position of the bottom surface of the sample container 201 specified in S1006.

  Next, in S1008, the relative position measurement apparatus 204 determines the center position 501 of the opening 202 after the specification in S1003 or the correction in S1007, and the position of the sample probe 203 (the position of the sample probe 203 is Relative position information is calculated on the basis of the relative position measurement device 204.

<Effect of Embodiment 2>
As described above, according to the second embodiment, by providing the relative position measuring device 204 in the sample dispensing mechanism 106, as a different effect from that of the first embodiment, the sample after correction is obtained only by imaging once. There is a point that the suction position 801 can be calculated.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say.

DESCRIPTION OF SYMBOLS 100 ... Analysis part 101 ... Reaction cell 102 ... Water discharge mechanism 103 ... Photometer 104 ... Waste liquid discharge mechanism 107 ... Sample container holding rack 108 ... Reagent dispensing mechanism 109 ... Reaction disk 110 ... Sample container Handling mechanism 111... Rotating axis 200... Control unit 201. Sample container 202. Opening 203 203 Sample probe 204. Relative position measuring device 205. Sample probe position index 501, 503 Center position 502 ... Sample container installation hole, 601,602,603 ... Height, 604 ... Distance, 701,801 ... Sample suction position, 702 ... Relative position information.

Claims (5)

A sample container holding rack for holding a plurality of sample containers, a sample probe for aspirating a sample from the sample container at a sample aspirating position, a sample container handling mechanism for moving the sample container holding rack, and moving the sample probe An automatic analyzer having a sample probe moving mechanism,
Among the plurality of sample containers, the position of the sample container to be sample aspirated is calculated, the position of the sample probe is calculated, and the relative position based on the calculated position of the sample container and the position of the sample probe A relative position calculation unit that calculates relative position information that is information;
An aspiration position calculation unit that calculates a sample aspiration position that is a position for aspirating the sample, based on the relative position information calculated by the relative position calculation unit;
At least one of the sample container handling mechanism and the sample probe moving mechanism is controlled so that the sample probe aspirates the sample from the sample container at the sample aspiration position calculated by the aspiration position calculation unit A control unit;
I have a,
The relative position calculation unit includes an imaging unit, images the opening of the sample container to be aspirated using the imaging unit and the sample container installation hole, and based on the imaged result, Identify the center position and the center position of the sample container installation hole, calculate the inclination of the sample container relative to the sample container holding rack based on the center position of the opening and the center position of the sample container installation hole, Based on the height of the sample container, the inclination, and the center position of the opening, the center position of the bottom surface of the sample container is calculated as the position of the sample container to be sample aspirated.
Automatic analyzer. The automatic analyzer according to claim 1,
The said aspiration position calculation part is an automatic analyzer which calculates the said sample aspiration position , whenever the sample container of the said sample aspiration target is moved to the position of the said sample container . The automatic analyzer according to claim 1,
The imaging means is provided in the sample probe moving mechanism,
The automatic analysis apparatus, wherein the sample probe moving mechanism moves the imaging means together with the sample probe. The automatic analyzer according to claim 1,
When the type of the sample to be aspirated is a very small amount of sample, the control unit moves the sample probe to the sample discharge position without sucking the sample at the position of the sample probe. Automatic analyzer that controls. The automatic analyzer according to claim 1,
Wherein the control unit, the sample probe is moved to a sample discharging position from the position of the specimen probe, then, to move to the specimen discharging position or et before Symbol sample suctioning position, and controls the sample probe moving mechanism, Automatic analyzer.

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