WO2012157642A1 - 自動分析装置及び方法 - Google Patents

自動分析装置及び方法 Download PDF

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Publication number
WO2012157642A1
WO2012157642A1 PCT/JP2012/062408 JP2012062408W WO2012157642A1 WO 2012157642 A1 WO2012157642 A1 WO 2012157642A1 JP 2012062408 W JP2012062408 W JP 2012062408W WO 2012157642 A1 WO2012157642 A1 WO 2012157642A1
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WO
WIPO (PCT)
Prior art keywords
dispensing probe
point
contact
positioning member
dispensing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2012/062408
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English (en)
French (fr)
Japanese (ja)
Inventor
匡章 平野
中村　和弘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi High Tech Corp
Original Assignee
Hitachi High Technologies Corp
Hitachi High Tech Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi High Technologies Corp, Hitachi High Tech Corp filed Critical Hitachi High Technologies Corp
Priority to CN201280023931.2A priority Critical patent/CN103547928B/zh
Priority to US14/117,723 priority patent/US9696331B2/en
Priority to EP12785409.9A priority patent/EP2711716B1/en
Publication of WO2012157642A1 publication Critical patent/WO2012157642A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
    • G01N35/1011—Control of the position or alignment of the transfer device

Definitions

  • the present invention relates to an automatic analyzer having a dispensing drive mechanism.
  • Patent Document 1 describes that an automatic analyzer is provided with a detection unit that detects the approach or contact of a probe to a solid or liquid.
  • the document describes that a jig having a center position detection unit that enables detection of the center position of the reaction vessel is attached to the reaction vessel.
  • the probe can be positioned at the center of the reaction vessel by detecting whether the moving probe has approached or contacted the center position detection unit of the jig. It is written.
  • JP 2009-300152 A Japanese Patent No. 3996851
  • Patent Document 1 describes a method of automatically positioning a probe at a stop position in a dispensing drive mechanism including a two-dimensional horizontal movement mechanism including a rotation drive shaft. However, in this method, it is confirmed in order whether or not the place that may be the stop position is the center position of the reaction vessel. For this reason, the number of processes required for confirmation increases.
  • Patent Document 2 describes a method of automatically positioning the tip of a probe in a probe driving device having a two-dimensional horizontal movement mechanism using only a linear driving shaft.
  • the probe is driven along each linear drive axis to detect the contact point with the side wall of the cylindrical locator well, and the intermediate point is set as the center point in the direction of each drive axis. For this reason, it cannot be applied to probe positioning in a dispensing drive mechanism including rotational drive.
  • An object of the present invention is to provide an automatic analyzer capable of positioning a probe automatically and in a short time in a dispensing drive mechanism having a two-dimensional horizontal movement mechanism including at least one rotary drive shaft.
  • the present invention has the following configuration.
  • Dispensing probe for dispensing a predetermined amount of sample or reagent
  • Dispensing drive mechanism having two or more driving shafts for moving the dispensing probe two-dimensionally in the horizontal direction (however, at least of the driving shafts) One is a rotary drive shaft)
  • a positioning member that can be installed or arranged at at least one of the suction position, the discharge position, and the cleaning position of the dispensing probe (the shape of the portion that contacts the dispensing probe during positioning is positioned) Circular shape centered on the position)
  • Contact detection mechanism for detecting contact between the dispensing probe and the positioning member.
  • Only one of the two or more drive shafts of the dispensing probe drive mechanism is driven and controlled so that the circular portion of the positioning member.
  • the automatic analyzer is equipped with a dispensing drive mechanism in which at least one of two or more drive shafts for two-dimensional movement is a rotary drive shaft, the number of steps is smaller than in the prior art. And the position of the dispensing probe can be automatically positioned at a predetermined position in a short time.
  • the flowchart explaining the positioning process using a some contact point in case a dispensing drive mechanism is provided with two rotation drive shafts.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with two rotation drive shafts.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with two rotation drive shafts.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with two rotation drive shafts.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with two rotation drive shafts.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with two rotation drive shafts.
  • the flowchart explaining the positioning process using a some contact point in case a dispensing drive mechanism is provided with a linear drive shaft and a rotational drive shaft.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with a linear drive shaft and a rotational drive shaft.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with a linear drive shaft and a rotational drive shaft.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with a linear drive shaft and a rotational drive shaft.
  • the figure explaining the process of the positioning process using the some contact point in case a dispensing drive mechanism is provided with a linear drive shaft and a rotational drive shaft.
  • trajectory of a some contact point and a dispensing probe The figure explaining the process of the positioning process by the movement locus
  • trajectory of a some contact point and a dispensing probe The figure explaining the process of the positioning process by the movement locus
  • trajectory of a some contact point and a dispensing probe The figure explaining the process of the positioning process with respect to the stop position of several places.
  • Example 1 In the present embodiment, an example in which the dispensing probe is positioned by detecting a plurality of contact points when the dispensing drive mechanism includes two rotational drive shafts will be described.
  • Fig. 1 shows an example of the overall configuration of an automatic analyzer.
  • the automatic analyzer mixes a sample cup 100 containing a sample, a sample rack 101 arranged with a plurality of sample cups 100, a reagent bottle 102 containing a reagent, a reagent disk 103 arranged with a plurality of reagent bottles 102, and a sample and a reagent.
  • a reagent dispensing mechanism 107 that can move a certain amount a stirring unit 108 that stirs and mixes the sample and reagent in the cell 104, and a measurement unit 109 that irradiates the reaction solution in the cell 104 with light and receives the resulting light.
  • the output unit 116 is capable of outputting to the outside.
  • the reagent disk 103 and the cell disk 105 are both disk-shaped and are driven to rotate around the rotation axis. Note that the reagent disk 103 and the cell 104 are arranged at the outer peripheral positions of the reagent disk 103 and the cell disk 105, respectively.
  • the analysis of the component amount of the sample is performed in the following procedure. First, a predetermined amount of the sample in the sample cup 100 is dispensed into the cell 104 by the sample dispensing mechanism 106. Next, a predetermined amount of the reagent in the reagent bottle 102 is dispensed into the cell 104 by the reagent dispensing mechanism 107. Subsequently, the sample and the reagent in the cell 104 are stirred by the stirring unit 108 to obtain a reaction solution. If necessary, a plurality of reagents are additionally dispensed into the cell 104 using the reagent dispensing mechanism 107.
  • the sample cup 100, the reagent bottle 102, and the cell 104 are moved to predetermined positions by conveying the sample rack 101 and rotating the reagent disk 103 and the cell disk 105.
  • the inside of the cell 104 is washed by the washing unit 110 and the next analysis is performed.
  • the absorbance of the reaction solution is measured by the measurement unit 109 and the measurement unit 114 and accumulated as absorbance data in the data storage unit 112.
  • the accumulated absorbance data is analyzed by the analysis unit 115 based on calibration curve data and Lambert-Bear's law. By this analysis, the amount of components contained in the sample can be analyzed.
  • Data necessary for control and analysis of each unit is input from the input unit 113 to the data storage unit 112.
  • Various data and analysis results are displayed and / or output by the output unit 116.
  • FIG. 2 shows a configuration example of a dispensing drive mechanism used in this embodiment.
  • one end of the ⁇ 1 arm 122 is attached to the upper end position of the shaft 121 that can be driven up and down so as to be rotatable in the XY plane.
  • one end of the ⁇ 2 arm 123 is attached to the tip position, which is the free end of the ⁇ 1 arm 122, so as to be rotatable in the XY plane.
  • a dispensing probe 124 is attached to the tip position that is the free end of the ⁇ 2 arm 123 so as to extend downward in the Z-axis direction.
  • the dispensing probe 124 and the syringe 125 are connected via a tube 126.
  • the tube 126 passes from the pedestal of the shaft 121 through the shaft 121, the ⁇ 1 arm 122, and the ⁇ 2 arm 123, and is connected to one end side of the dispensing probe 124.
  • a plunger 127 for changing the internal volume is movably attached to the syringe 125. Depending on the movement position of the plunger 127, the sample or reagent is aspirated or discharged from the tip of the dispensing probe 124.
  • a capacitance type liquid level detector 128 is connected to the dispensing probe 124, and it is possible to detect that the dispensing probe 124 has come into contact with a sample, a reagent, or a metal.
  • FIG. 3A and 3B show a structural example of the positioning member 129.
  • FIG. 3A shows a cross-sectional structure of the positioning member 129 and the cell 104 to which the positioning member 129 is attached
  • FIG. 3B shows a top view of the positioning member 129.
  • the positioning member 129 is a jig that can be attached to and detached from the opening of the cell 104.
  • the shape of the portion of the positioning member 129 attached to the cell 104 is arbitrary as long as it can be attached to the cell 104.
  • a cylindrical structure 130 is provided on the upper end side of the positioning member 129 in the attached state.
  • the cylindrical structure 130 is formed such that its central axis coincides with a target point at the time of positioning.
  • a detachable jig will be described as an example, but the positioning process proposed in this specification can be realized even if a similar structure is formed in advance in the place where the reagent bottle 102 of the reagent disk 103 is installed, for example. It is.
  • the positioning member 129 is made of metal. Therefore, contact with the dispensing probe 124 can be detected by the liquid level detector 128. In this embodiment, contact between the dispensing probe 124 and the inner surface of the cylindrical structure 130 is detected, and the dispensing probe 124 is positioned based on the positional information. Therefore, even if there is a processing error or an assembly error, the cylindrical structure 130 is sized so that it is always located inside the cylinder when the dispensing probe 124 is moved to the initial reference position. It is desirable.
  • contact detection by the electrostatic capacity method will be described as an example.
  • the positioning member 129 and the dispensing probe 124 are connected in advance to a conduction detector (not shown), and electrical conduction by contact is performed.
  • the contact between the two members may be detected by using the method for detecting the above.
  • a recess 131 may be formed in the center of the cylindrical structure 130.
  • the recess 131 is used as a positioning confirmation jig having an inner diameter larger than the outer diameter of the dispensing probe 124. For example, after the positioning process described later, the dispensing probe 124 is lowered at the position calculated as the target point, and the dispensing probe 124 is correctly positioned by detecting whether or not the dispensing probe 124 has been inserted into the recess 131. You may be able to confirm whether it was done or not.
  • FIG. 4 is a flowchart showing an outline of the positioning processing method according to the present embodiment.
  • 5A to 5E show the positional relationship between the ⁇ 1 arm 122, the ⁇ 2 arm 123, and the cylindrical structure 130 in the positioning process.
  • the positioning process is executed by the control unit 111.
  • FIG. 5A shows a coordinate system and initial positions and dimensions of each arm used in the following description.
  • the rotation axis of the ⁇ 1 arm 122 is the coordinate origin
  • the axial direction of the ⁇ 1 arm 122 at the home position (initial position) is the X axis.
  • the axial direction orthogonal to the X axis is taken as the Y axis.
  • the arm length of ⁇ 1 arm 122 and l 1, the arm length of the ⁇ 2 arm 123 and l 2.
  • the angle of each arm after moving the dispensing probe 124 includes the initial angle of the ⁇ 1 arm 122 and the ⁇ 2 arm 123 before driving, the number of movement pulses that give the movement amount (rotation amount) with respect to the initial angle, and the movement angle. It can be obtained from the resolution. Further, the coordinate position (x, y) after movement of the dispensing probe 124 can be obtained from the length of each arm and the angle of each arm, as shown in FIG. 5B. Similarly, in the subsequent steps, the position coordinates of the dispensing probe 124 after the movement can be obtained. The calculation of the coordinate position is executed by the control unit 111.
  • the dispensing probe 124 is moved from the initial position to a predetermined reference point P (process 200).
  • the reference point P is a stop position when there is no processing error or assembly error at the time of manufacturing the part.
  • the horizontal movement of the dispensing probe 124 is realized by rotating the ⁇ 1 arm 122 and the ⁇ 2 arm 123 in the XY plane.
  • the control unit 111 lowers the shaft 121.
  • the descending amount is up to a height at which the tip portion can come into contact with the inner surface of the cylindrical structure 130 of the positioning member 129.
  • the reference point P is expected to coincide with the target point Q to be positioned.
  • the target point Q to be positioned may not coincide with the reference point P due to processing errors or assembly errors. In that case, it is necessary to reset the positioning of the dispensing drive mechanism so that the reference point P and the target point Q coincide.
  • control unit 111 can confirm that the positioning member 129 is attached and that the liquid level detector 128 is operating normally.
  • the control unit 111 stops the positioning operation without executing the following operation. At this time, it is desirable to notify the operator that the positioning operation has been stopped through the output unit 116.
  • the dispensing probe 124 When the dispensing probe 124 returns to the reference point P, as shown in FIG. 5D, this time, only the ⁇ 1 arm 122 is rotationally driven until the dispensing probe 124 contacts the inner surface of the cylindrical structure 130 of the positioning member 129. Move. Again, there are two possible directions of movement. In the case of this embodiment, the dispensing probe 124 is driven in a direction opposite to the direction in which the points A and B exist, that is, away from the points A and B. At this time, a point where contact is detected is set as a point C (processing 204). As in the case of the points A and B, the control unit 111 calculates the coordinates (x c , y c ) of the point C.
  • the coordinates (x a , y a ) to (x c , y c ) of each point are calculated by the control unit 111.
  • These points A to C are points on the circumference (more precisely, from the inner wall of the positioning member 129 by the radius of the dispensing probe 124). Therefore, the coordinates of the target point Q, which is the center of the circle on the circumference corresponding to the inner wall surface of the positioning member 129, can be calculated from these three points (processing 205).
  • This target point Q gives the coordinate position where the dispensing probe 114 is to be positioned.
  • the coordinates of the target point Q can be calculated by selecting two sets of arbitrary two points from the points A to C and obtaining the intersection of the perpendicular bisectors.
  • the equation for the perpendicular bisector can be given by:
  • the center of the circle constituting the inside of the cylindrical structure 130 can also be obtained by a method using the least square method.
  • the circumference can be expressed by the following expression using the coordinates (x Q , y Q ) of the center point (point Q).
  • the coordinates (x Q , y Q ) of the point Q and the cylindrical radius of the positioning member 129 are calculated. If the calculated coordinates of the point Q are substituted into the two equations in FIG. 5B and solved for ⁇ 1Q and ⁇ 2Q , the angles formed by the ⁇ 1 arm 122 and the ⁇ 2 arm 123 with respect to the respective reference positions can be calculated. Based on the calculated ⁇ 1Q and ⁇ 2Q , the control unit 111 drives the driving units (for example, motors) of the ⁇ 1 arm 122 and the ⁇ 2 arm 123 and positions them at the target point Q.
  • the driving units for example, motors
  • control unit 111 preferably outputs an alarm from the output unit 116 of the automatic analyzer and prompts the operator to confirm.
  • the dispensing probe 124 can be automatically positioned at a predetermined position accurately and in a short time even when the dispensing drive mechanism includes two rotational drive shafts.
  • the horizontal movement of the dispensing probe 124 is realized by a combination of two rotary drive shafts. However, in the case of this embodiment, the horizontal movement of the dispensing probe 124 is driven by one linear drive. The case where it implement
  • FIG. 6 is a flowchart showing an outline of the positioning processing method according to the present embodiment.
  • 7A to 7D show the positional relationship among the linear stage 141, the ⁇ 2 arm 123, and the cylindrical structure 130 in the positioning process.
  • FIG. 7A shows a coordinate system used in the following description and initial positions and dimensions of each movable part.
  • the X axis of the coordinate system is made to coincide with the movable direction of the linear stage 141.
  • the Y axis is set in the axial direction orthogonal to the X axis.
  • the ⁇ 2 arm 123 is installed on the linear stage 141, and its rotational drive axis is set on the X axis.
  • the attachment position of the rotation axis of the ⁇ 2 arm 123 is moved with the movement of the linear stage 141 with respect to the linear guide (X axis).
  • the arm length of the ⁇ 2 arm 123 is l 2 .
  • the dispensing probe 124 is moved from the initial position to a predetermined reference point P (process 300).
  • the reference point P is a stop position when there is no processing error or assembly error at the time of manufacturing the part.
  • the horizontal movement of the dispensing probe 124 is realized by horizontal movement and rotational movement in the XY plane by the linear stage 141 and the ⁇ 2 arm 123.
  • the control unit 111 lowers the shaft 121.
  • the descending amount is up to a height at which the distal end portion can come into contact with the inner surface of the cylindrical structure 130 of the positioning member 129.
  • the reference point P is expected to coincide with the target point Q to be positioned.
  • the target point Q to be positioned may not coincide with the reference point P due to processing errors or assembly errors. In that case, it is necessary to reset the positioning of the dispensing drive mechanism so that the reference point P and the target point Q coincide.
  • control unit 111 can confirm that the positioning member 129 is attached and that the liquid level detector 128 is operating normally.
  • the control unit 111 stops the positioning operation without executing the following operation. At this time, it is desirable to notify the operator through the output unit 116 that the positioning operation has been stopped.
  • the dispensing probe 124 When the dispensing probe 124 returns to the reference point P, as shown in FIG. 7D, this time, only the linear stage 141 is linearly driven until the dispensing probe 124 contacts the inner surface of the cylindrical structure 130 of the positioning member 129. Move in the X-axis direction. Again, there are two possible directions of movement. In the case of this embodiment, the dispensing probe 124 is driven in a direction in which a far point out of the distance between the reference point P and the point A and the distance between the reference point P and the point B exists. In the case of FIG. 7D, it moves in the direction of point A. At this time, a point where contact is detected is set as a point C (processing 304). As in the case of the points A and B, the control unit 111 calculates the coordinates (x c , y c ) of the point C.
  • the coordinates (x a , y a ) to (x c , y c ) of each point are calculated by the control unit 111.
  • These points A to C are points on the circumference (more precisely, from the inner surface of the positioning member 129 by the radius of the dispensing probe 124). Therefore, the coordinates of the point Q that is the center of the circle on the circumference corresponding to the inner surface of the positioning member 129 can be calculated from these three points (processing 305). This point Q gives the coordinate position where the dispensing probe 114 is to be positioned.
  • the dispensing probe 124 is automatically positioned at a predetermined position accurately and in a short time even when the dispensing drive mechanism has one linear drive shaft and one rotational drive shaft. be able to.
  • Example 3 In the case of the present embodiment, an example in which positioning is performed in consideration of not only the contact point but also the movement trajectory of the dispensing probe 124 will be described.
  • the device configuration of the automatic analyzer is the same as that in the first embodiment. That is, the horizontal movement of the dispensing probe 124 is realized by a combination of two rotational drive shafts.
  • the processing method described in this embodiment can also be applied to the automatic analyzer according to the second embodiment.
  • FIG. 8 is a flowchart of the positioning process based on the contact point and the movement locus of the dispensing probe 124.
  • 9A to 9D show a case where one of the positioning candidate points can be determined as the target point Q in consideration of the movement trajectory of the dispensing probe 124.
  • FIG. FIG. 10 shows a case where the positioning candidate point cannot be determined as the target point Q even when the movement trajectory of the dispensing probe 124 is taken into consideration.
  • the positioning candidate point can be determined as the target point Q by considering the movement locus.
  • the ⁇ 1 arm 122 and the ⁇ 2 arm 123 are driven, and the dispensing probe 124 is moved to the reference point P. Thereafter, the shaft 121 is lowered to a height at which the dispensing probe 124 can contact the inner surface of the cylindrical structure 130 of the positioning member 129 (process 400).
  • the two points of point A and point B on the inner surface (inner circumference) of the cylindrical structure 130 constituting the positioning member 129 are detected in the steps so far.
  • the candidate points of the positioning target point Q considering the diameter r of the cylindrical structure 130, the candidate points of the positioning target point Q, as shown in FIG. 9D, the two points of the point Q 1, the point Q 2 (processing 404). This is because there are two circles passing through two points that touch the inner circle.
  • the coordinate point of the target point Q is also uniquely determined.
  • the control unit 111 calculates a distance (PQ 2) of the reference point P and the distance between the point A (PQ 1) and the reference point P and the point B, and compares each with radius r of the cylindrical structure 130 ( Process 405 and process 407).
  • PQ 1 ⁇ r and PQ 2 > r Accordingly, a negative result is obtained in the process 405, and a positive result is obtained in the process 407.
  • the control unit 111 proceeds to processing 408 to determine the candidate point Q 1 as the target point Q.
  • the controller 111 proceeds to process 406, to determine the better Q 2 'is a candidate point to the target point Q.
  • 10A to 10D correspond to the processes 400 to 404 described above. Accordingly, the processing so far is the same procedure as in the above example.
  • control unit 111 rotates only the ⁇ 1 arm 122 in the opposite direction to the process 403 to return the dispensing probe 124 to the reference point P, and then rotates only the ⁇ 2 arm 123 in the opposite direction to the process 401.
  • the third point C is detected by driving (processing 409, 410).
  • the coordinates of the target point Q are calculated from these three points (processing 411).
  • the method of calculating the coordinates of the target point Q is as shown in FIG. 10F, and any that diameter r of the candidate points Q 1, point C of the distance CQ 1 and the candidate point Q 2 and the point C of the distance CQ 2 Either a determination method based on whether or not they coincide with each other and a method for calculating the coordinates of the target point Q from the coordinates of the points A to C as in Embodiment 1 may be used.
  • Example 4 In the case of the present embodiment, a process for positioning the dispensing probe 124 with respect to a plurality of stop positions will be described. Here, the processing will be described with reference to FIGS. 11A to 11E.
  • This figure shows a case where nine suction positions T a1 to T c3 are provided on the reagent disk 103.
  • the relative position error between the suction positions T a1 to T c3 provided on the integrated structure such as the reagent disk 103 is small, and there is an error in the positional relationship between different mechanisms such as the reagent disk 103 and the reagent dispensing mechanism 107. Is often included.
  • FIG. 11A shows an arrangement example of nine suction positions provided on the reagent disk 103.
  • the nine suction positions are distributed and arranged in three rows extending radially from the center O of the reagent disk 103.
  • three suction positions are arranged on each row. That is, a suction position sequence composed of three T a1 to T a3, a suction position sequence composed of three T b1 to T b3 , and a suction position composed of three T c1 to T c3 Are distributed over the columns.
  • the three suction positions constituting each row are arranged concentrically with the corresponding suction positions on the other suction position rows.
  • the control unit 111 positions the dispensing probe 124 with respect to the suction position Tb1 arranged on the innermost side, and calculates its position coordinates.
  • the processing method of the first or third embodiment described above is applied.
  • the processing method described in the second embodiment is applied.
  • the control unit 111 sets the three suction positions T b1 to T b1 on the same row based on the relationship between the coordinates of the suction positions T b1 and T b3 and the distances r 01 to r 23.
  • the angle ⁇ b formed by the straight line connecting T b3 and the x axis, the coordinates O (x 0 , y 0 ) of the center O, and the coordinates of the suction position T b2 are calculated.
  • the control unit 111 sets each suction position row based on the angles ⁇ ab and ⁇ bc formed with the suction position row positioned on the left and right of the suction position row that has been aligned previously.
  • the coordinates of the corresponding three suction positions T a1 to T a3 and T c1 to T c3 are calculated. As described above, even when positioning is necessary for a plurality of suction positions, if information on the positional relationship between them can be used, the minimum necessary required from the positional relationship (in this embodiment, two locations) If the actual positioning process is executed only for the suction positions Tb1 and Tb3 , the remaining suction positions can be positioned by the calculation process.
  • the actual positioning process is performed for the suction positions located at the two points of the innermost circumference and the outermost circumference among the three suction positions arranged on the same row. You may perform actual positioning about arbitrary two points.
  • the outer surface of the positioning member 129 that contacts the dispensing probe 124 is circular in the XY plane. good. That is, the shape of the portion where the dispensing probe 124 actually contacts may be a cylindrical shape. Also in this case, the central coordinates of the positioning member 129 can be calculated by calculating the coordinates for two or more contact points with the outer surface.
  • this invention is not limited to the form example mentioned above, Various modifications are included.
  • the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described.
  • each of the above-described configurations, functions, processing units, processing means, and the like may be partly or entirely realized as, for example, an integrated circuit or other hardware.
  • Each of the above-described configurations, functions, and the like may be realized by the processor interpreting and executing a program that realizes each function. That is, it may be realized as software.
  • Information such as programs, tables, and files for realizing each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a storage medium such as an IC card, an SD card, or a DVD.
  • control lines and information lines indicate what is considered necessary for explanation, and do not represent all control lines and information lines necessary for the product. In practice, it can be considered that almost all components are connected to each other.
  • DESCRIPTION OF SYMBOLS 100 ... Sample cup, 101 ... Sample rack, 102 ... Reagent bottle, 103 ... Reagent disc, 104 ... Cell, 105 ... Cell disc, 106 ... Sample dispensing mechanism, 107 ... Reagent dispensing mechanism, 108 ... Stirring unit, 109 ... Measurement unit 110 ... Cleaning unit 111 ... Control unit 112 ... Data storage unit 113 ... Input unit 114 ... Measurement unit 115 ... Analysis unit 116 ... Output unit 121 ... Shaft 122 ... ⁇ 1 arm 123 ... .theta.2 arm, 124 ... dispensing probe, 125 ... plunger, 126 ... shaft, 127 ... plunger, 128 ... liquid level detector, 129 ... positioning member, 130 ... cylindrical structure, 131 ... hollow.

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PCT/JP2012/062408 2011-05-16 2012-05-15 自動分析装置及び方法 Ceased WO2012157642A1 (ja)

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CN201280023931.2A CN103547928B (zh) 2011-05-16 2012-05-15 自动分析装置以及方法
US14/117,723 US9696331B2 (en) 2011-05-16 2012-05-15 Automatic analytical device and method
EP12785409.9A EP2711716B1 (en) 2011-05-16 2012-05-15 Automatic analytical device and method

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JP2011-109243 2011-05-16
JP2011109243A JP5714410B2 (ja) 2011-05-16 2011-05-16 自動分析装置及び方法

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EP (1) EP2711716B1 (enExample)
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WO (1) WO2012157642A1 (enExample)

Cited By (5)

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CN104596796A (zh) * 2013-10-31 2015-05-06 希森美康株式会社 吸移部件的位置调整方法及样本处理装置
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EP2711716A1 (en) 2014-03-26
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