JPS63289451A - Operation controller for sample supply robot - Google Patents

Abstract

PURPOSE:To achieve a stable inspection, by controlling lifting operation of a sample container in response to the amount of the sample in a sample con tainer grasped to enable automatic setting of the sample on a hemocytecounter with a constant suction level of the sample. CONSTITUTION:Receiving a command of an operation controller having a microprocessor, a sample supply robot 1 grasps and transfers a sample container 30 to an analysis window 75 of a hemocytecounter 3 from a sample supply position of an automatic sampler 2 and the hemocytecounter 3 is operated with a lift of the sample container 30 grasped at the analysis window 75 to perform a sucking operation of a sample with a pipette 74. Then lifting opera tion of the sample container 30 is automatically controlled in response to the amount of the sample in the sample container 30 grasped with the sample supply robot 1 without altering sucking operation of blood with the pipette 74 of the hemocytecounter 3.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention aims to maintain a constant amount of sample aspirated in a blood counting device and to automatically perform the aspirating operation of the sample without relying on human hands. This invention relates to an operation control device for a sample supply robot that can perform

[Prior art and its problems]

Many conventional blood cell counters were not equipped with a function to automatically supply a sample (so-called autosampler device). Therefore, sample containers containing blood are manually transferred one by one to a blood counter device and measured each time.

However, despite the rapid increase in demand for blood tests due to improvements in health management in recent years, relying on human labor as in the past has resulted in extremely low blood test efficiency and a high incidence of acquired disease. In today's world, where so-called contact-transmissible diseases such as immunodeficiency syndrome are occurring, the current situation is that infection through blood tests has become a major social problem.

In order to solve these problems, it would be possible to replace the hemocytometer with an autosampler, but this would waste the existing hemocytometer and would be uneconomical in terms of equipment costs. be.

Therefore, the present applicant has already proposed a sample supply robot for a blood cell counter that can be used in an existing blood cell counter.

This sample supply robot transports the sample container holding the sample to the analysis window of the hemocytometer.

The present invention is characterized in that by vertically lifting the sample container at this position and activating the start switch, blood cell counting processing in an existing blood cell counting device is performed.

However, when setting a sample supply robot to the existing blood cell counter mentioned above, the amount of sample aspirated by each model is not constant, and the amount of sample aspirated by the existing blood cell counter may be adjusted slightly depending on the sample supply robot. If the correction is made by adjusting, the work is very complicated, and the use of the hemocytometer must be changed significantly.

This invention was devised in view of the current situation, and its purpose is to make it possible to stabilize the amount of sample aspirated without significantly changing the use of existing blood cell counting devices. Moreover, it is an object of the present invention to provide an operation control device for a sample supply robot that can automatically set a sample in a hemocytometer and can safely conduct this type of test.

(Means for Solving the Problems) In order to achieve the above object, the present invention grips and transfers a sample container from the sample supply position of the sample supply device to the analysis window of the hemocytometer. The above-mentioned operation control device is based on an operation control device for a sample supply robot that is configured to raise a sample container held at an analysis window to activate a blood cell counter and cause a bed to aspirate a sample. is characterized in that the lifting operation of the specimen container is controlled in accordance with the amount of sample in the gripped specimen container.

[Effect]

Therefore, in the operation control device for the sample supply robot according to the present invention, the sample supply robot can be adapted to the above-mentioned hemocytometer without changing the blood suction operation using the pipette of the existing hemocytometer. The device is characterized in that it is configured to automatically control the amount of upward movement.

(Example) Hereinafter, the present invention will be described in detail based on an example shown in the accompanying drawings.

FIG. 1 shows a sample supply robot l to which an operation control device according to an embodiment of the present invention is applied, and in which the amount of elevation of the arm 39 is varied in accordance with an existing set sample suction amount. ing.

This sample supply robot (hereinafter simply referred to as the robot)
1 is electrically connected to the autosampler device 2 via a cable 33, and starts upon receiving a startup command from the autosampler device 2, grips a predetermined sample container 30, and transfers the sample container 30. It is configured to send back a completion signal when the operation is completed.

Reference numeral 34 in FIG. 1 is a fixed base, and a control unit is built inside the fixed base.

Reference numeral 35 in FIG. 1 is a main column fixed to the fixed base 34, and a main shaft 36 is attached to the main column 35, which is driven to expand and contract in the vertical direction and is driven once.

The front portion of the main shaft 36 is formed in a concave shape, and an arm 39 is pivotally supported by a shaft 38 so as to be rotatable in the vertical direction.

Note that the reference numeral 37 is a balance weight.

The arm 39 has a mechanism that allows it to expand and contract in the long sleeve direction. A gripping part 40 is installed at the front end of the arm 39, and this gripping part 40 includes a pair of gripping claws 10 for gripping the sample container 30, a gripping claw driving part 9 for driving the gripping claws 1O to open and close them, and a gripping part 40 for gripping the sample container 30. It is comprised of a rotation shaft 8 for stirring the sample container 30 in a gripped state by rotating the claw drive unit 9 counterclockwise. In addition, the sample container 30
The container is sealed in advance with a rubber stopper to prevent blood from leaking out when the container is stirred.

The gripping claw 10 is equipped with a pressure detection sensor (not shown), and a pressure greater than necessary is applied to the specimen container 3 made of glass or the like.
It is configured so that it does not add to 0. The gripping claw 10 is also equipped with a level sensor that optically detects whether a predetermined amount of blood is held in the sample container 30.

Reference numeral 32 in FIG. 1 denotes a phototransistor, and the phototransistor 32 is configured to
When transferred to the analysis window lower 5 of the hemocytometer 3 by counterclockwise rotation of the arm 39, the light emitting diode 68 is provided at a position opposite to the position of the light emitting diode 68 provided on the left side of the analysis window lower 5, When the blood cell counting device 3 is out of order or abnormal, the light emitting diode 68 does not light up, so that the failure of the blood cell counting device 3 is detected. The light emitting diode 68 and a drive circuit 64 for the light emitting diode 68, which will be described later, are added to the existing blood cell counting device 3.

Next, the control section of this robot will be explained based on the block diagram of FIG.

Reference numeral 11 in FIG. 2 indicates a microprocessor (MPU), from which a common bus 12 comes out.

The common lot 12 is composed of address signal lines, data signal lines, and control signal lines. 13 is read-only memory (
ROM), and a control program is stored in advance. 14 is a control panel used when performing maintenance, inspection, etc. of the robot l. 16 is AClo
This is a power supply unit that inputs oV and supplies Vcc voltage etc. to various parts. Reference numeral 15 denotes an interface circuit, which transmits and receives start commands and termination signals to and from the autosampler device 2. The common bus 12 is connected to the following various control circuits that control the mechanism of the robot l, and 19 is a main spindle control circuit, in which a motor 20 that vertically drives the main shaft 36 and a motor 20 that rotates the main shaft 36 are connected. control with the motor 20'. An arm control circuit 21 controls the inclination angle of the arm 39, and by controlling the rotation of the motor 32, the arm 39 is rotated about the shaft 38 as a fulcrum.
The inclination angle can be controlled arbitrarily. 23
is an arm extension/contraction control circuit that controls the extension/contraction of the arm 39 in its longitudinal direction, and by controlling the rotation of the motor 24, the extension/contraction distance of the arm 39 can be freely controlled. 25 is an axis control circuit that rotationally controls the shaft 8 of the gripping part 40, and by controlling the rotation of the motor 26,
The rotation of the shaft 8 can be freely controlled. With this mechanism, the shaft 8 is controlled to reciprocate by a predetermined angle while the specimen container 30 is gripped and rotated, and the specimen container 30 is shaken and agitated. Reference numeral 27 denotes a gripping control circuit, which controls the rotation of the motor 28 to control the gripping of the specimen container 30 by the gripping claws 10 and the gripping force applied to the specimen container 30. Further, as described above, the gripping force is fed back to the pressure sensor 30, the amplifier 29, and the MPU II, so that the gripping force is automatically controlled to be gripped with a desired pressure.

Reference numeral 31 in FIG. 2 is an amplifier that amplifies the signal of the phototransistor 32.

Therefore, in the phototransistor 32, when the arm 39 is driven to rotate and the grip portion 40 that grips the sample container 30 reaches a predetermined position of the analysis window lower 5 of the hemocytometer 3,
Relative to the position of the light emitting diode 68 of the blood cell counter 3,
It is configured to be turned on or off depending on the presence or absence of light from the light emitting diode 68.

Therefore, as a result, the robot 1 is controlled so as not to start the transfer operation of the primary sample container 30 until the analysis process in the hemocytometer 3 is completely completed for the 1 sample.

In addition, the control unit of the robot 1 positions the arm 39 at a sample suction position P, which will be described later, in an initial routine after power is turned on.

Next, returning to FIG. 1, the configuration of the autosampler device 2 will be explained.

This autosampler device 2 includes a sample container 30 that contains a predetermined amount of blood mixed with a diluent in advance and that is sealed with a rubber stopper.
(in this example, 10 cells containing general blood)
A total of 11 sample containers are arranged, including 1 sample container and 1 sample container containing a comparison sample. ) A plurality of held sample cassettes A for general samples are detachably attached to cassette trays 31 and 32. In addition, the cassette tray 31 of this autosampler device 2,
A sample cassette lateral transport mechanism (not shown) is installed below the sample cassette 32, which intermittently moves the sample cassette A for general samples in the front row in the counterclockwise arrow direction.
When the sample cassette A for general samples is moved in sequence, the sample cassettes A for general samples are driven from the right cassette tray 32 at the same speed. It has become. In this way,
When the sample cassettes A reach the middle of the cassette tray 32, the sample cassette vertical feeding mechanism is activated, and all the sample cassettes A in the cassette tray 32 are slid vertically by one force set. Next, the cross-feeding mechanism is activated, and the same operation as described above is repeated to transfer the sample cassette A to the right side. In this example, the specimens stored in the first to tenth containers 30 on the right end of sample cassette A are blood as general samples, and the specimens stored in the eleventh container at the end on the left end are as follows: It is a substance for quality control, and uses, for example, serum or artificial serum that shows standard values for animals.

Reference numeral 45 in FIG. 2 is a start switch for starting the operation of the autosampler device 2, and 46 is a start switch for stopping the operation of the autosampler device 2 when the start switch 45 is operated. be. Note that the switches 45 and 46 are of the momentary button type.

Next, the configuration of the control section of this autosampler device 2 is changed to a second one.
This will be explained based on the diagram.

41 is a microprocessor (MPU), 42 is a common lotus, 43 is a ROM storing a control program, 44 is an input interface circuit for the start switch 45 and stop switch 46;
5. ON/OFF signals are output to the MPU 41 in response to ON/OFF operations of the stop switch 46. 47 is a control panel for maintenance and inspection. 49
1 is a lateral feed control circuit, which drives the lateral feed mechanism by controlling the rotation of the motor 50. 5
Reference numeral 1 denotes a vertical feed control circuit, which similarly controls the rotation of the motor 52 to drive the vertical feed mechanism. 53 is the robot l interface circuit 1
5 via a cable 33, a start command is output to the robot I side, and a termination signal is input from the robot I side. 48 is a power supply unit which inputs AC 100V and supplies Vcc voltage etc. to each part.

As mentioned above, the blood cell counting bag H3 is a slightly modified version of the existing device, and has an appearance as shown in FIG. For example, the number of blood cells (RBC, WBC1 platelets) contained in a unit volume can be automatically measured using a Coulter method and displayed on a CRT screen, or the measurement data can be output to an external large computer, etc. It is configured. This blood cell counting device 3 employs a so-called piercing method in which a stainless steel pipette 74 is passed through the rubber stopper of the specimen container 30 and a predetermined amount is aspirated. 75 is an analysis window, put the sample container there, lift it vertically and turn on the start switch 7.
When 3 is pressed, this blood cell counting device 3 is activated. 62 is a control panel composed of various switches and indicator lamps.

The light emitting diode 68 is turned off when the blood cell counting device 3 is malfunctioning or abnormal, and turned on when normal measurement is possible.

Next, the blocks of the control section of this blood cell counting device 3 will be explained.

61 is a microprocessor (MPU), 66 is a common bus, and 62 is a control panel, which controls the operation of the hemocytometer/counter 3 and displays various statuses using lamps. 63 is the bet side control circuit 1
When the sample reaches the analysis window lower 5 and the activation switch 73 is pressed upward, the needle-like bed 74 is passed through the rubber stopper of the sample container 30 and a predetermined amount of blood held therein is aspirated. After suction, the blood cell is moved to the blood cell counting section 65 and the suctioned blood is discharged into a predetermined counting container.

In this case, the amount of elevation of the arm is controlled based on sample suction amount information in the blood cell counting device that is input in advance to the microprocessor (MPU) of the robot I.

That is, in this embodiment, the microprocessor (MPU) of the robot 1 stores, for example, the amount of increase corresponding to the amount of sample aspirated by the bed 74 of the hemocytometer.
The IC card K is input to a card K, and by inserting this IC card K into a reader device (not shown) provided on the robot L, the amount of rise of the arm is automatically controlled. .

The blood cell counting section 65 employs, for example, a Coulter method, and counts blood cells in a predetermined amount of liquid held in a counting container, and sends the results to the MPU 61 via a common bus 66.
It is designed to output to . 67 is a CRT control unit; 6
9 is a CRT, and the MPU 61 transfers the above measurement results to this CRT.
It is output to the RT control section 67 and displayed on the CRT 69. Reference numeral 70 denotes an R5232C output interface circuit, which collectively outputs the measurement results to an external data processing device (such as a large computer) via a connector 71 so as to perform diagnostic processing.

Reference numeral 64 denotes a lighting drive circuit, which drives the light emitting diode 68 to turn off the light when a failure or abnormality occurs.

The control signal to this lighting drive circuit 64 naturally comes from the MPU 61.

Reference numeral 72 is a power supply unit which inputs AClooV and supplies Vcc voltage and the like to each circuit.

Next, the operation of the robot 1 is controlled by the autosampler device 2.
This will be explained together with the operation of the blood cell counting device 3.

When each device is powered on, it first goes through step 81 until the start switch 45 is pressed, as shown in the operation flowchart of the autosampler device 2 in FIG.
It's waiting in a loop. When the start switch 45 is pressed, in step 82, the sample cassettes A containing the sample containers 30 begin to be intermittently transferred counterclockwise one pitch at a time. When one of the sample containers arrives at the sample suction position P, a start command is sent to the interface circuit 53 in step 83. It is output to the robot l via the cable 33. Then, the process proceeds to step 84, where the stop switch 46 is monitored, and at step 85, it is detected whether or not the end signal of the continuous transfer operation from the robot l has arrived, and the process returns to step 84, and thereafter, The process waits in a loop of steps 84 and 85. If the stop switch 46 is pressed during this loop standby, the process advances from step 84 to step 86, and a stop command is output to the robot l.

Step 87 until the start switch 45 is pressed again
If the start switch 45 is pressed, a start command is output to the robot 1 to restart it, and the process returns to step 85.

When the robot 1 receives a start command from the autosampler device 2 in step 83, the robot 1 starts operating based on the operation flowchart of the robot 1 shown in FIG. Upon receiving the startup command, step 91 after power-on
The process exits from the loop standby state and proceeds to step 92.
The arm 39 is rotated to the center of the sample suction position P and lowered, and in step 93 when the arm 39 reaches the sample suction position P, the sample container 30 is gripped by the gripping claws 10.

Then, in step 94, a predetermined level sensor checks whether the amount of sample held is appropriate, and if the amount is found to be appropriate, the process proceeds to step 95. At this time, if the sample amount is insufficient, the process proceeds from step 94 to step 104, where the grip on the sample container 30 is released, and an end signal is output to the autosampler device 2 at step 105. At this time, it would be convenient if the number information of the sample container and the like is also outputted, since the autosampler device 2 can process the sample container 30 that is in short supply.

As described above, after gripping the sample container 30, step 95
Now lift arm 39. Then, start turning counterclockwise. During this rotation, shaking is performed to ensure a mixed state of the diluent and blood. This shaking and stirring can be achieved by reciprocating the shaft 8 by a predetermined angle. Note that this can also be achieved by vertically vibrating the sample container. While stirring the tow, rotate it,
When reaching the analysis window of the blood cell counter M3, step 9
At step 7, the rotation operation is stopped and the arm is advanced a predetermined distance toward the analysis window 1. Therefore, step 9
8, whether the light emitting diode 68 is turned on or off is detected via the phototransistor 32, and it is determined whether the blood cell counting device 3 is normal or not. If the hemocytometer 3 is out of order at this time, steps 101, 102, and 103
At step 104, the arm 39 retreats, rotates backward, and lowers the arm 39, and then releases the grip on the sample container 30 (step 104).
Then, an end signal is output (step 105) and the process enters a standby state. If blood cell counter H3 is normal, step 9
8 to step 99, the sample container 30 is lifted vertically a predetermined distance and the start switch 73 is turned on. This ON state is continued for a predetermined period of time.

Then, the blood cell counting device 3 exits the loop consisting of the self-diagnosis step 111 and the startup command detection process step 112 of the operation flowchart shown in FIG. 6, and proceeds to step 113. In step 113, the pipette 74 is lowered to penetrate the rubber stopper of the sample container 30, and in step 114, a predetermined amount of blood is aspirated. Then, in step 115, the pipette is raised, and
The blood is discharged into a blood cell counting container, and the pipette 74 is washed using a known bed washing device. On the other hand, the blood cell counting section 65 counts the blood cells in the blood cell counting container and outputs the counting results to the MPU 61 . Then, the MPU 61 displays the result on the CRT 69. Furthermore, when a large computer is connected to the connector 71, the results are also transmitted to the large computer. Then, the series of counting processes is completed and the process waits in a loop of steps 111 and 112 until a start command arrives again.

Returning again to FIG. 5, after lifting the sample container 30 for a predetermined time in step 99, it is lifted vertically, retreated in step 101, and rotated in the reverse direction (step 102).
, the arm 39 is lowered (step 103), the grip on the sample container 30 is released (step 104) L/, and an end signal is output to the autosampler device 2 to complete the series of transfer processing, and the loop of step 91 is completed. Wait for the activation command to arrive.

Then, when the autosampler device M2 receives the end signal from the robot l, it recognizes this end signal in step 85, returns from step 85 to step 82, and drives the sample cassette Attl pitch counterclockwise again to sample the sample. The container is transferred one pitch and a start command is output to robot l. Then, the robot l picks up the same inspection pot container 30 as described above.
In addition, the blood cell counting device 3 performs processing such as counting and displaying blood cells in the same manner as described above. This repeated operation will continue until the stop switch 46 of the autosampler device 2 is pressed.

(Effects of the Invention) As explained above, according to the present invention, the sample supply robot can raise the blood pressure in response to the blood cell counting device without changing the blood suction operation using the pipette of the existing blood cell counting device. Since it is configured to automatically control the operating amount, it is possible to maintain a constant amount of sample aspirated without significantly changing the use of the existing hemocytometer.
The sample can be automatically set in the hemocytometer, and this type of test can be carried out safely.

[Brief explanation of the drawing]

FIG. 1 is an external view of a sample supply robot to which an operation control device according to an embodiment of the present invention is applied, and a conceptual diagram of its operation during operation. FIG. 2 is a block diagram of an autosampler device and a control section of the robot. Figure 3 is a block diagram of the control unit of the blood cell counter, Figure 4 is an operation flowchart of the autosampler device,
FIG. 5 is an operation flowchart of a robot to which the above-mentioned operation control device is applied, and FIG. 6 is an operation flowchart of a blood cell counter. (Explanation of symbols) 1-...Robot 3...Blood cell counter 39-...
Arm MPU...Microprocessor K...-IC card

Claims (1)

[Claims] The sample container is gripped and transferred from the sample supply position of the sample supply device to the analysis window of the hemocytometer, and the gripped specimen container is raised at the analysis window to operate the hemocytometer and aspirate the sample with a pipette. An operation control device for a sample supply robot configured to perform an operation, characterized in that the operation control device controls the lifting operation of the sample container in accordance with the amount of sample in the gripped sample container. Operation control device for sample supply robot.