JP6499872B2 - Specimen transfer device and specimen transport system - Google Patents

Description

The present invention relates to a specimen test processing apparatus and system suitable for automatically performing a specimen test in the clinical laboratory field, and more particularly to an apparatus and system having a mechanism for transferring a specimen.

  In hospitals and laboratories, specimens such as blood and urine are analyzed for clinical examinations, but specimens from patients are not always used for analysis, and pretreatment for analysis is performed. There are many. An example of a system that automates from such preprocessing to analysis is described in Patent Document 1. In such a sample processing system, different types of carriers may be used in the sample pretreatment system and the analysis system. For example, in the pretreatment system, each sample container is transported on a carrier, and in the analysis system, a plurality of sample containers such as five or ten are collectively held in a carrier and transported.

When automating transport by connecting these pretreatment system and analysis system, for example, as a transfer device that moves a sample container between carriers from a carrier used in the pretreatment system to a carrier used in the analysis system, for example, a patent The configuration of Document 2 is disclosed.

Japanese Patent Laid-Open No. 7-280815 Japanese Patent No. 4669288

  In a transfer device that transfers sample containers between carriers, when transferring sample containers from a transfer source carrier to a transfer destination carrier, it is important to manage the number of transfer destination carriers. . For example, the transfer source carrier can hold a plurality of sample containers (for example, five racks), and the transfer destination carrier can hold a smaller number of sample containers than the transfer source carrier. In the case of a carrier (for example, one holder), it is necessary to supply an appropriate number of empty transfer destination carriers at an appropriate timing in order to smoothly execute the transfer process. If the number of sample containers that can be loaded on the supplied transfer destination carrier is less than the number of sample containers loaded on the transfer source carrier, the sample containers cannot be transferred smoothly and the processing efficiency Decreases.

  On the other hand, if more transfer destination carriers than the number mounted on the transfer source carrier are supplied, transfer destination carriers that have not been used for the transfer process are mixed in the processing area, resulting in a reduction in processing efficiency. .

In view of the above problems, an object of the present invention is to appropriately manage a transfer destination carrier when transferring a sample container from a transfer source carrier to a transfer destination carrier.

  In view of the above problems, the characteristic configuration of the present invention is as follows. In a sample transfer apparatus comprising a carrier transferred from a pretreatment system, a carrier transferred to an analysis system, and a transfer means for transferring a sample container between the carrier of the pretreatment system and the carrier of the analysis system. Control means for adding state information to the carrier used in the pretreatment system and controlling it when transferring the sample container from the carrier used in the system to the carrier used in the pretreatment system Prepare.

  Further, this configuration may be reversed, and a state may be added to the carrier used in the analysis system.

Furthermore, a sample transfer apparatus having the above features may be incorporated between the preprocessing system and the analysis system to form a system.

According to the present invention, the provision of the above means makes it possible to appropriately manage the number of transfer destination carriers, and to avoid a decrease in processing efficiency in the system.

Configuration diagram of sample transport system Block diagram of sample transfer device Operation diagram during transfer preparation transition Operation diagram during transfer preparation transition Operation diagram during transition to reuse standby Operation diagram during transition to reuse standby Operation diagram during transition from re-use standby to transfer preparation Operation diagram during transition from re-use standby to transfer preparation Holder management information flow chart Operation diagram during transition from reuse to standby Flow chart regarding holder management information discard transition

  Embodiments according to the present invention will be described with reference to the drawings.

  FIG. 1 is a configuration example of a sample transport system 100 in which a pretreatment system 102 and an analysis system 109 are connected by a sample transfer module 101. A plurality of connected devices (modules) and the control computer transmit and receive information via the communication line 113.

  In the sample transport system 100, the transport process starts by loading the sample to be analyzed into the sample loading module 103 of the preprocessing system 102 that executes various types of preprocessing. In the present embodiment, the preprocessing system 102 places the sample on a carrier (hereinafter, referred to as a single holder) that holds the sample one by one and transports it on the path 104. The carrier holding the sample is subjected to preprocessing for analysis in the analysis system 109 via the centrifuge module 106, the plug-opening module 107, and the dispensing module 108 in accordance with instructions from the control computer 105. The sample for which preprocessing has been completed is analyzed by the analysis system 109 via the sample transfer module 101 in accordance with an instruction from the control computer 105, or returned to the plugging module 110 disposed upstream by the path 104. And stored in the sample storage module 111.

  The analysis system 109 uses a carrier capable of holding a plurality of specimens (hereinafter referred to as five racks) and transports the specimen on the path 112. Therefore, the sample transfer module 101 is arranged between the pretreatment system 102 and the analysis system 109 and has a configuration having a transport path for transporting both one holder and five racks.

  The sample that has been analyzed by the analysis system 109 is transferred again to the sample transfer module 101, transferred from the five racks to one holder, and transferred to the closing module 110 and the sample storage module 111 of the pretreatment system 102. The Therefore, the inspection / transfer module has a function of transferring samples in both directions between one holder and five racks.

  FIG. 2 is a diagram showing the configuration of the sample transfer module 101.

  The sample transfer module 101 has a holder processing area for processing one holder and a rack processing area for processing five racks. The holder processing area includes a sample main transport line 201, a sample return line 207, an empty holder recovery line 210, and an empty holder supply line 217. Furthermore, a buffer line 205 for storing a specimen may be provided to realize rapid processing.

  The sample main transport line 201 is a line that is connected to the preprocessing system and transports it to the transfer position after receiving one holder transported from the preprocessing system. The black arrows in the figure indicate the direction in which one holder and five racks are conveyed. One holder is provided with an information recording medium such as a bar code label or a tag for storing information for identifying the mounted sample. By a bar code reader or an RFID reader provided at a key point of each transport line, The transport destination is controlled for each sample that is read.

  On the sample main transport line 201, a reader 203 that reads information in one holder stopped by a stopper 202 is provided. Here, information for specifying the sample is read, and it is identified whether it is (i) a normal sample or (ii) a sample to be urgently processed (emergency sample).

  In the case of a normal sample (above (i)), the branching mechanism 204 sequentially transports one holder to the holder transfer source position 206 after being transported to the buffer line 205. In the case of an urgent sample ((ii) above), the normal sample buffered on the buffer line 205 can be overtaken because the branch mechanism 204 is not driven and is directly transferred to the holder transfer source position 206. it can.

  The transported sample is stopped by the stopper 219. This stop location is a holder transfer source position 206, and a reader 220 for reading information in one holder is provided. Here, the reader 220 reads out information specifying the specimen, and identifies whether it is (iii) a specimen to be transferred or (iv) a specimen not to be transferred (passing specimen). A passing sample is generated when a barcode label or tag attached to a container is poorly read or a sample that does not require transfer is recognized.

  In the case of the sample to be transferred (above (iii)), it is extracted from one holder by a rack transfer mechanism (not shown) and is transferred to the rack waiting at the rack transfer destination position 208. The empty one holder from which the specimen has been extracted is recovered to the empty holder recovery line 210 by the branch mechanism 209. In the case of the passing sample (above (iv)), the sample is not transferred at the holder transfer source position 206, but is transported to the sample return line 207, and is transferred to the pretreatment system via the sample return line 207. It is stored in a predetermined error sample storage position.

  The rack processing area of the sample transfer module includes a five-rack supply unit 212, a five-rack collection unit 213, an analysis system connection transport line 214, and an analysis system connection return line 215. When it is detected that one holder carrying a sample that requires a transfer process is conveyed, the five transfer destination racks are conveyed from the rack supply unit 212 to the rack transfer destination position 208. Sample transfer processing is executed at the rack transfer destination position 208, and racks loaded with samples at all positions are carried out to the analysis system via the analysis system connection transfer line 214.

  The sample that has been analyzed by the analysis system is transported to the rack transfer source position 216 via the analysis system connection return line 215. At this time, a holder for holding the sample transferred from the rack is supplied from the empty holder supply line 217 to the holder transfer destination position 218 on the sample return line 207 and stopped by the stopper 221. The specimen is extracted from the five racks by a rack transfer mechanism (not shown) at the rack transfer source position 216 and transferred to the holder on the holder transfer destination position 218. When the transfer process is completed, the stopper 221 is opened, and the holder on which the sample is mounted is transported on the sample return line 207 and is a storage module provided in the preprocessing system or an analysis system that needs to be analyzed next. It is conveyed to. The empty rack from which the sample has been extracted moves from the five-rack collection unit 213 to the five-rack supply unit 212 and is reused for the next transfer.

  According to this configuration, the transfer from the rack to the holder is performed at a specific position on the transport path (in this embodiment, the holder transfer destination position on the specimen return line). It is not necessary to provide a specific mechanism or area, and the configuration of the apparatus or system can be made compact as a whole.

  3A and 3B are enlarged views of the sample main transport line 201 and the analysis system connection return line 215 of FIG. 2, and are diagrams showing basic processing when transferring a sample from five racks to one holder. It is. Near the analysis system return line 215, a rack sensor 301 for detecting the presence / absence of a rack conveyed from the analysis system to the sample transfer module and a sample sensor 302 for determining the presence / absence of a sample on the rack are provided.

  FIG. 3A (a) shows a state in which the rack sensor 301 detects that a rack with five specimens has been transported from the analysis system to the transfer module. With the detection of the rack sensor 301 as a trigger, supply of one empty holder from the empty holder supply line 217 is started. The stopper 303 provided on the empty holder supply line 217 is opened, and the holder is supplied to the sample return line 207. The control computer 105 adds a “transfer preparation” state to the supplied empty one holder as holder management information. In this embodiment, a maximum of five empty holders can stand by at the holder transfer destination position, and if they can be transported, they are transported continuously.

  FIG. 3A (b) is a diagram showing a state where the five racks have arrived at the rack transfer source position 208 and the sample sensor 302 has detected that the sample 305a is held at the leading position of the five racks. At this time, one holder 304a has arrived at the holder transfer destination position 218. The control computer 105 controls the operation of a transfer mechanism (not shown) so as to transfer the sample from the five racks to the one holder. As the transfer mechanism, any known configuration may be employed. For example, a configuration in which an arm for holding the side surface of the sample container is opened and closed to extract the sample to be transferred from the holder is common. is there.

  In FIG. 3A (c), the specimen 305a held at the top position of the five racks is transferred to the empty holder 304a located at the top of the holder transfer destination position, and the holder is unloaded from the holder transfer destination position. It is a figure which shows the state which moved the next empty holder 304b to the holder transfer destination transfer destination simultaneously. When carrying one holder for which the transfer process has been completed, the control computer 105 deletes the holder management information “transfer preparation” state for the holder. Further, the position of the five racks is moved by one, the next position of the five racks is positioned at the rack transfer source position 208 of the transfer mechanism, and the sample sensor 302 confirms whether the sample 305b is held at the position. . In the case of FIG. 3A (c), the process of transferring the sample held at the position 305b from the five racks to the one holder is performed, and thereafter the remaining three samples held in the five racks are similarly processed. The transfer process is repeated (FIG. 3B (d)).

  FIG. 3B (e) is a diagram illustrating a state in which transfer of all the specimens held on the five racks is completed and an empty rack is collected in the five rack collection unit 213.

  FIGS. 4A and 4B are diagrams illustrating processing when a five-rack holding two samples is transported to the sample transfer module in other cases. Note that description of the same processing as in FIG. 3 is omitted.

  FIG. 4A is a diagram illustrating a state in which the arrival of the rack is detected by the rack sensor 301. At this time, only the presence / absence of the rack is detected, so it is not known how many samples are held in the rack. With the arrival of the rack as a trigger, five empty holders are supplied from the empty holder supply line to the holder transfer destination position. The control computer 105 adds a “transfer preparation” state to the holder management information for the supplied one holder. The empty holder 402a is in a “transfer preparation” state.

  4A (b) shows a state in which five racks have arrived at the rack transfer source position 208 and one holder 402a has arrived at the holder transfer destination position 218. FIG. The sample sensor 302 detects whether or not the sample is held at the head position of the rack. In the case of (b), since the sample 401a is held, the sample is transferred from the five racks to the one holder 402a by the transfer mechanism. The empty holders 402b and 402c are in a “transfer preparation” state.

  In FIG. 4A (c), one holder 402a on which the transfer of the specimen 401a has been completed is transported by the specimen return line 207, and at the same time, the empty holder 402b for transferring the next specimen is moved to the holder transfer destination position. . When the single holder 402a is transported, the control computer 105 deletes the “transfer preparation” state from the holder management information of the holder. On the 5-rack side, the position of the 5-rack is moved by one, and the sample sensor 302 confirms the presence or absence of the sample for the next position. In the case of (c), since the sample 401b is held, the sample 401b is transferred to the empty holder 402b. The empty holder 402d is in the “transfer preparation” state.

  FIG. 4B (d) is a diagram illustrating a case where the sample sensor 302 does not detect the sample on the position after moving the position of the five racks. At this time, the sample transfer process is not performed, and the holder 402c prepared at the transfer destination position is reused when the next sample arrives, so the holder management state is set to “transfer preparation”. However, the holder management state of the empty holder 402e supplied last (fifth) is changed from the “transfer preparation” state to the “reuse standby” state (standby state).

  Thereafter, the five racks are moved again by one position, and when the sample sensor 302 does not detect the presence of the sample container, the holder management state is referred to from the last supply side, and the empty holder 402d in the “transfer preparation” state. The holder management state of the holder 402c is maintained in the “transfer preparation” state.If the sample is held at another position, the sample is transferred to the holder 402c. The holder management state “Transfer preparation” state is deleted.

  The above process is repeated for all the positions of the five racks. When all the positions are empty (FIG. 4B (e)), the empty racks that have been transferred are collected by the rack collection unit. If there is an empty holder waiting at the holder transfer destination position, the holder management information of the first empty holder 402c is in the “waiting for reuse” state, and the holder is next transferred. It waits at the holder transfer destination position until it occurs.

  FIGS. 5A and 5B show a case where five racks to be transferred next are transported to the analysis system connection return line 215 in a state where there is a holder in a “reuse standby” state at the holder transfer destination position. It is a figure which shows the process of. The situation of FIG. 5 occurs following FIG.

  FIG. 5A (a) is a diagram illustrating a state in which a plurality (three in the figure) of empty holders 502a, 502b, and 502c are waiting in a “reuse standby” state at the holder transfer destination position 218.

  FIG. 5A (b) is a diagram showing a state where the five racks 503 holding the specimen are transported from the analysis system to the rack transfer source device 218 and the presence of the rack is detected by the rack sensor 301. When the conveyance of the five racks 503 is detected, the control computer 105 can change the holder status information of one holder managed in the “reuse standby” state to the “transfer preparation” state and can carry it. Then, supply of one empty holder from the empty holder supply line 217 to the holder transfer destination position 218 is started. A “transfer preparation” state is added to the supplied one holder. The number of holders to be transferred to the transfer destination position is set to five, which is equal to the maximum number that can be waited on, including the number of state changes.

  FIG. 5A (c) is a diagram illustrating a state in which the five racks 503 have arrived at the rack transfer source position 208. FIG. When the sample sensor 302 checks the presence or absence of the sample at the head position of the five racks 503 and confirms that the sample 501a is held, the sample is transferred from the five racks to the empty holder 502a by a transfer mechanism (not shown). Processing is performed.

  In FIG. 5B (d), the empty holder 502a that has been transferred is carried out to the specimen return line, and at the same time, the next empty holder 502b is moved to the holder transfer destination position. Simultaneously with the transfer of the holder 502a after the transfer process is completed, the control computer 105 deletes the “transfer preparation” state of the holder management information for the holder. For the five racks 503, the rack is moved by one position, and the presence or absence of the sample is confirmed by the sample sensor 302 for the next position. When it is detected that the sample 501b is mounted, the sample is transferred from the five racks to the one holder 502b as in FIG. 5A (c). In FIG. 5B (e), the transfer of the remaining three samples is repeated in the same manner, and after the movement of the five racks is completed, the empty rack from which all the samples have been extracted as shown in FIG. Collected in the department.

  FIG. 6 is a flowchart showing the holder management information change executed by the control computer 105.

  When it is detected that five racks have been transported from the analysis system to the sample transfer module (step 601), the control computer 105 has one holder that is waiting in the “reuse standby” state at the holder transfer destination position. It is checked whether or not there is (step 602).

  When there is no one holder waiting in the “reuse standby” state, the maximum number of one holder that can be kept waiting at the holder transfer destination position is supplied from the empty holder supply line (step 603). The holder management information “transfer preparation” state is given to the holder (step 604).

  On the other hand, if it is determined in step 402 that there is one holder waiting in the “waiting for reuse” state, the number of the holders is checked (step 605), and the number of waiting is confirmed. One holder waiting in the “waiting” state is changed to the “transfer preparation” state (step 606). The number of holders to be supplied to the holder transfer destination position is calculated according to the number of holders waiting, and the number of holders supplied from the empty holder supply line is controlled (step 607). For example, in the situation where three empty holders are already waiting at the holder transfer destination position, when five racks are conveyed, empty holders are additionally supplied so that two empty holders are supplied. Control the supply line. At this time, the holder management information of the empty holder to be supplied is in the “transfer preparation” state (step 608).

  Next, the presence or absence of the sample on the five racks that have arrived is confirmed. First, n = 1 is set so as to check the head position in the conveyance direction of the five racks (step 609), and it is checked whether or not the sample is held at the position (step 610). If the sample is held as a result of the check, the sample is transferred to the empty holder at the head of the holder transfer destination position (step 611), and the holder management information “transfer preparation” of the holder is deleted. (Step 612). Thereafter, it is determined whether or not there is a next position in the rack (step 613), and if there is, 1 is added to n (step 614), and steps 610 to 612 are repeated for the next position.

  If the position n is identified as having an empty position, the process moves from step 610 to step 615. In step 615, referring to the holder management information, the "transfer preparation" state is detected from the last side of the supplied holder, and the "transfer preparation" state is changed to the "reuse standby" state.

  When the series of processes for ending the determination for all positions is completed and it is detected that the next rack has arrived, the process is restarted from step 601.

  In the present embodiment, the case where the specimen is transferred from the five racks to the one holder has been described as an example, but the present invention is not limited to this case. For example, a carrier that holds a larger number of specimens than 10 racks or an array may be used.

  Further, the transfer source may be a carrier that holds a plurality of specimens in a fixed state, such as a tray, instead of a carrier. In the case of using a tray, for example, it is conceivable that the above control is performed by a sample loading module into which a sample mounted on a 50-tray or a 100-tray is loaded. When transferring the sample from the tray to a holder or rack, when the installation of the tray is detected, the empty holder is supplied from the empty holder supply line to the holder transfer destination position, and the maximum number of holders that can stand by is prepared. To do. The prepared holder is given a “transfer preparation” state and waits. When a sample is transferred, the “transfer preparation” state is deleted and carried downstream, and the tray is emptied without transferring the sample. Then, the “transfer preparation” state is changed to the “reuse standby” state, and the next tray is waited for.

  According to the present embodiment, even when an empty holder that is not used is generated at the holder transfer destination position by transporting a rack having an empty position from the analysis system, the holder is placed in a “reuse standby” state. Therefore, it is possible to suppress the occurrence of traffic congestion on the line due to the empty holder occupying the return line without constantly transporting the empty holder onto the return line.

In addition, since it is possible to suppress the congestion of the transport line as described above while adopting a configuration in which the holder transfer destination position is provided on the transport path of the holder, there is no need to prepare a dedicated place for the transfer of the specimen, System and equipment area can be reduced.

  In the present embodiment, an embodiment will be described in which a holder carrying a sample to be quickly collected is generated without executing the transfer process. FIG. 7 is a diagram illustrating processing when a passing sample occurs.

  FIG. 7A shows the holder 702a, 702b, and 702c in the “waiting for reuse” state at the holder transfer destination position 218, and the reader 220 detects the passing specimen 701 at the holder transfer source position 206. It is a figure which shows the state which carried out. Since it is necessary to quickly collect the sample and check the situation on the user side, the control computer 105 changes the status of the holders 702a to 702c waiting at the holder transfer destination position to the “reuse standby” state. Change to "Discard" state. When the holder state is changed, the stopper 221 that has been waiting for the holders 702a to 702c is opened at the holder transfer destination position 218, the holder is transported on the sample return line while being empty, and the empty holder is recovered by a path (not shown). It is collected into a line (FIG. 7 (b)). The empty holder that occupied the sample return line is discarded, and the sample return line is opened, so that the passing sample 701 can be quickly transported to a predetermined collection position (FIG. 7C).

In the present embodiment, the passing specimen means a specimen that is no longer required to be transferred during the transportation of the specimen, or an error specimen in which a barcode or RFID tag has become unreadable.

  FIG. 8 is a flowchart of holder management information that the control computer 105 has when a passing sample is detected.

  When the occurrence of a passing sample is detected at the holder transfer source position 206 (step 801), the control computer 105 determines whether or not there is an empty holder managed in the “reuse standby” state at the holder transfer destination position. Check (step 802). In a state where the empty holder is not waiting at the holder transfer destination position, the passing sample is transferred to the sample return line as it is (step 805), and the process is terminated.

  On the other hand, if at least one empty holder in the “reuse standby” state is waiting at the holder transfer destination position, the passing sample cannot be returned to the sample return line as it is. The state is changed to the “discard” state (step 803), the standby state of the empty holder is released, and it is carried out downstream (step 804). As a result, the sample return line is opened, and the passing sample is transported so as to be returned to the pretreatment system via the holder transfer destination position (step 805).

In this embodiment, even when an empty holder that is not used is generated at the holder transfer destination position by transporting a rack having an empty position from the analysis system, the holder is managed as a “reuse standby” state. Therefore, it is possible to suppress the occurrence of the jam of the holder due to the empty holder occupying the specimen return line and to pass the empty holder without steadily transporting the empty holder onto the return line. When a sample is generated, it is possible to quickly carry out the sample downstream.

100: Sample transport system 101: Sample transfer module 102 to which the present invention is applied 102: Sample input module 103: Sample input device 104: Carrier path 105 transported by the preprocessing system 105: Control computer 106: Centrifugal module 107: Opening module 108: Dispensing module 109: Analysis system 110: Closing module 111: Sample storage module 112: Carrier path 113 transported by the analysis system 113: Communication line 201: Sample main transport line 202: Stopper 203: Reader 204: Branch mechanism 205: Buffer line 206: Holder transfer source position 207: Sample return line 208: Rack transfer destination position 209: Branch mechanism 210: Empty holder recovery line 211: Line 212 for receiving racks from the analysis system: Supply of five racks Part 213: This rack recovery unit 214: analysis system connection transport line 215: analysis system connection return line 216: rack transfer source position 217: empty holder supply line 218: holder transfer destination position 219: stopper 220: reader 221: stopper 301: rack Sensor 302: Specimen sensor 303: Stoppers 304a, 304b: Supplied empty holders 305a, 305b: Specimen 401a on five racks 401b, Specimens 402a, 402b, 402c, 402d, 402e on five racks: Supplied empty holders 501a, 501b: specimens 502a, 502b, 502c on five racks: supplied empty holder 503: five racks 701: passing specimens 702a, 702b, 702c: supplied empty holders

Claims (6)

A transport line for transporting the first holder;
A stopper capable of waiting the first holder at a predetermined position on the transport line;
Transfer means for transferring a sample extracted from a second holding tool capable of holding a greater number of samples than the first holding tool to the first holding tool positioned at the predetermined position;
In a specimen transfer device comprising a control means for controlling the operation of each mechanism means,
The control means gives a transfer preparation state, a standby state or a discarding state as state information of the first holding tool to the first holding tool waiting at the predetermined position ,
The control means includes
Transferring the specimen extracted from the second holder to the first holder in which the state information is in a transfer preparation state;
At the predetermined position, the first holder whose state information is in the standby state is in a standby state, and is held by another first holder that conveys from the upstream to the downstream of the predetermined position. A sample transfer device that controls to change the state information of the first holder to a discarding state, open the stopper, and flow the first holder downstream when a sample is generated . The specimen transfer apparatus according to claim 1, wherein
A specimen transfer apparatus comprising means for supplying an empty first holder to the predetermined position. The specimen transfer apparatus according to claim 1, wherein
The control means waits for the first holding tool when the first holding tool is in the predetermined position when the transfer of the sample held on the second holding tool is completed. And a sample transfer device that controls the transfer of the sample held in another second holding tool. In a control method of a transfer apparatus for transferring a sample extracted from a second holding tool capable of holding a larger number of samples than the first holding tool to a first holding tool waiting at a predetermined position. ,
Detecting the presence or absence of a second holder;
Transferring the specimen held in the second holder to the first holder waiting in the predetermined position;
In the state where the first holder is waiting at the predetermined position, when a sample held in another first holder transported from upstream to downstream from the predetermined position occurs, Releasing the standby state of the first holder . The control method according to claim 4 , wherein
A control method comprising supplying a first holder to the predetermined position. The control method according to claim 4 , wherein
When the presence of a new second holding tool is detected, it is determined whether or not there is a first holding tool waiting at the predetermined position, and the new holding tool is compared with the new holding tool. A control method for executing transfer of the specimen held in the second holder.