WO2015198707A1 - Système d'automatisation d'inspection de spécimen et module de vérification de spécimen - Google Patents

Système d'automatisation d'inspection de spécimen et module de vérification de spécimen Download PDF

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Publication number
WO2015198707A1
WO2015198707A1 PCT/JP2015/062475 JP2015062475W WO2015198707A1 WO 2015198707 A1 WO2015198707 A1 WO 2015198707A1 JP 2015062475 W JP2015062475 W JP 2015062475W WO 2015198707 A1 WO2015198707 A1 WO 2015198707A1
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Prior art keywords
test tube
sample
test
specimen
automation system
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PCT/JP2015/062475
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English (en)
Japanese (ja)
Inventor
元 末成
巌 鈴木
孝浩 佐々木
樹生 中川
佳奈子 江崎
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株式会社日立ハイテクノロジーズ
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Priority to JP2016529145A priority Critical patent/JP6522608B2/ja
Publication of WO2015198707A1 publication Critical patent/WO2015198707A1/fr

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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
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system

Definitions

  • the present invention relates to a sample test automation system and a sample check module used for pre-processing before input to an automatic analyzer that analyzes component concentrations.
  • Patent Document 1 a capacitive probe that is close to the side surface of the blood collection tube and is opposed to each other is provided, and only the blood collection tube and its contents are present in the vicinity of the capacitance probe. By moving along a vertical column, it is moved up and down at a certain distance from the side of the blood collection tube. Since the influence from the blood collection tube is kept constant in the vertical movement of the capacitance probe, the difference in the dielectric constant of the material layer as the contents is detected as a change in the capacitance of the capacitance probe.
  • a technique for detecting a boundary surface of a material layer based on a capacitance change position is disclosed.
  • specimens such as blood and urine collected from patients at hospitals are sealed in test tubes, transported to hospital laboratories or testing centers, and analyzed by analyzers.
  • test tube containing a sample Prior to analysis, a test tube containing a sample (hereinafter referred to as a parent test tube) is subjected to a plurality of test tubes (hereinafter referred to as “sample tube”) used for centrifugation, opening, and dispensing of the sample from the parent test tube. It is necessary to carry out pretreatment such as dispensing into a test tube. In recent years, these pretreatments have been automated and used as a specimen test automation system in a hospital laboratory or a test center.
  • Specimens are dispensed into multiple types of child test tubes and sent to the analyzer, but if the amount of liquid is insufficient at the time of dispensing, the test item cannot be measured, so blood must be collected again.
  • checking the amount and state of the specimen is largely based on visual confirmation (manual operation) by the user, and is easily influenced by the user's experience and feeling.
  • visual confirmation manual operation
  • feeling the user's experience and feeling.
  • human method for judging at an appropriate timing in synchronization with the improved processing capability.
  • Examples of techniques for detecting the amount of liquid in a specimen include the techniques described above.
  • a barcode label with important information such as patient ID, personal information, and parameters necessary for device operation is affixed to the surface of the test tube.
  • important information such as patient ID, personal information, and parameters necessary for device operation
  • the entire tube wall is covered, or the labels are affixed over and over and the contents become invisible.
  • the principle of a capacitive proximity sensor is the same as that of a capacitor. Polarization of an object is generated by an electric field formed by a voltage applied to the capacitance sensor, and the capacitance that changes according to the electric charge generated by the polarization is changed. The detection is greatly influenced by the dielectric constant of the target substance and the distance to the target substance.
  • a test tube is placed on a holder or rack and transported through the system. Therefore, when scanning the interface with a capacitance sensor, the test tube is lifted with an arm and pulled out of the holder or rack to be gripped and fixed. Without this, the interface below the holder or rack height cannot be detected.
  • the distance of the target substance especially the inclination of the test tube, the type of test tube such as 13 cm or 16 cm in diameter
  • the gripping / fixing method is important because it is greatly influenced by the stopper of the tube and the stage on which the test tube is placed.
  • the bottom shape of the test tube varies depending on the type of test tube, it is difficult to fix the bottom of the test tube uniformly with the same shape of the depression, and if the test tube is inserted at an angle, correction at the bottom is not possible Therefore, it is fixed while tilting. Since the capacitance sensor is greatly affected by the distance to the target substance, the accuracy of interface detection deteriorates when the test tube is tilted, and it is difficult to cope with a plurality of types of test tubes by the above-described method.
  • the distance from the sensor to the arm is closer than the distance from the capacitance sensor to the test tube, so the liquid level may be erroneously detected.
  • the curvature itself changes when a diameter of 13 cm and a diameter of 16 cm are mixed. Therefore, it is difficult to respond uniformly.
  • the detection of the interface is not affected, and the gripping is not performed depending on the type of the test tube.
  • the method provides an automated specimen test system and a specimen check module with a gripping arm that allows the test tube to be pulled from a holder or rack and secured.
  • the present invention includes a plurality of means for solving the above-mentioned problems.
  • the present invention is a sample test automation system for checking a sample having at least one layer accommodated in a test tube, A measuring unit that detects information on the interface of the specimen in the test tube by a non-contact capacitance method, a moving unit that moves the measuring unit up and down relative to the test tube, and a holder for transporting or transporting the test tube A gripping mechanism that lifts the rack from the rack.
  • the gripping mechanism is configured to open and close the test tube with respect to the measurement unit when the measurement unit detects an interface without contact with the test tube.
  • a gripping arm that grips at one or more points per arm at a position that does not protrude from the test tube to the measurement unit side on the front side with respect to the measurement unit relative to the center of the test tube. Gripping to, and having a gripper arm for fixing by projecting the test tube to the measuring unit from the gripping arm end face.
  • the present invention when acquiring information about the interface of a sample having at least one layer housed in one test tube by a capacitance sensor, the detection of the interface is not affected, and the type of the test tube
  • the test tube can be pulled out from the holder or rack and fixed by a gripping method that does not depend on the method, which can greatly contribute to the improvement of the interface detection accuracy.
  • FIG. 1 is a configuration diagram showing an overall configuration of a sample test automation system according to a first embodiment of the present invention and a positional relationship with an automatic analyzer. It is a figure which shows the example of the outline of the sample container and sample which are checked with the sample test automation system in the 1st Embodiment of this invention. It is a figure which shows the example of the outline of the sample container and sample which are checked with the sample test automation system in the 1st Embodiment of this invention. It is a figure which shows the example of the outline of the sample container and sample which are checked with the sample test automation system in the 1st Embodiment of this invention.
  • FIG. 1 is an overall configuration diagram of a sample test automation system 1 according to this embodiment.
  • a sample test automation system 1 includes a system manager 2 that controls the entire sample test automation system, an input module 3, a centrifuge module 4, a sample check module 5, an opening module 6, a barcode labeler 7, a sample dispensing system.
  • Various modules such as a module 8, a capping module 9, a specimen classification module 10, and a storage module 11 are combined with each specimen processing module, and a transport line 12 transports the specimen from the specimen processing unit to another specimen test automation system. Is the basic element.
  • An automatic analyzer 13 for performing qualitative / quantitative analysis of the components in the sample is connected to the tip of the sample test automation system 1.
  • the loading module 3 is a module for loading a test tube 33 containing a sample into the sample test automation system 1, and includes a camera 3 a for imaging the test tube 33 loaded in the loading module 3. Yes.
  • the centrifuge module 4 is a module that centrifuges the test tube 33 that has been input.
  • the plug opening module 6 is a module for opening the plug of the test tube 33.
  • the barcode labeler 7 is a module for attaching a barcode or the like to the subdivided test tubes 33.
  • the sample dispensing module 8 is a module that performs subdivision for analyzing the centrifuged sample with the automatic analyzer 13 or the like.
  • the closing module 9 is a module for closing the stoppers to the subdivided containers and the test tubes 33 of the dispensing source.
  • the sample classification module 10 is a module that classifies dispensed containers.
  • the storage module 11 is a module for storing the closed container and the test tube 33.
  • the system manager 2 controls the operation of each module in the sample test automation system 1 and each mechanism in each module.
  • the system manager 2 includes a test tube information specifying unit 2 a that specifies the type of the test tube 33 introduced into the input module 3 and the type of the plug 54 of the test tube 33.
  • the test tube information specifying unit 2a recognizes the type of the test tube 33 by performing image processing on a photographed image of the test tube 33 input to the input module 3 and captured by the camera 3a.
  • a recognition method for example, there is a method of providing a database in which a test tube to be used in advance is photographed and performing matching with a captured image.
  • test tube information specifying unit 2 a acquires information on the position of the bottom of the stopper 54 attached to the test tube 33 and the diameter of the test tube 33 from the type of the specified test tube 33. The obtained information is output to the analysis calculation unit 42. Information on the diameter of the test tube 33 is used when calculating the volume of serum 52 or the like in the analysis calculation unit 42. Information on the position of the bottom of the stopper 54 is used to determine the position at which the gripping arm 36 of the test tube gripping mechanism 27 grips the test tube 33 (the amount by which the gripping arm 36 is lowered).
  • blood is taken as an example of the sample that is the contents of the test tube 33.
  • a test tube 33 having a separating agent 51 is used. From the top, the blood is separated into three layers of serum 52, separating agent 51 and clot 53 by centrifugation after blood collection.
  • the test tube 33 is provided with a stopper 54 and a bar code 55.
  • the size of the barcode 55 is smaller than the diameter of the test tube 33 and is attached only to one side, that is, the state where the contents can be seen from the gap.
  • the barcode 55 as shown in 2B is affixed to the entire side surface so as to cover the test tube 33, or the barcode 55 is affixed in a double or triple manner, so that the contents cannot be seen. is there.
  • the measurement target may have an excessive amount of specimen as shown in FIG. 2C.
  • FIG. 2C let us consider a case where a larger amount of sample and a larger amount of sample, such as serum 52 in contact with the lower surface of the stopper 54, are sealed in the blood collection tube. In this case, there is a high possibility that the sample adheres to the plug 54 and scatters when the plug 54 is opened, and the sample may be spilled during transport with the plug 54 opened. For this reason, in order to prevent infection, it is required to check the amount of sample liquid before opening, and to discharge error samples as error samples without opening.
  • the present invention can uniformly cope with any state.
  • FIG. 3 is a schematic diagram illustrating an example of the sample check module of the present embodiment.
  • the sample check module 5 includes, as main components, a base 21 for connection to the sample test automation system 1, a holder 22 for installing the sample, a carry-in line 23 for carrying the sample, a carry-out line 24, and an overtaking line 25.
  • FIG. 4 is a diagram showing an example of the configuration of the scanning mechanism 26 and the test tube gripping mechanism 27 having a liquid amount detection function for measuring the sample liquid amount provided in the sample check module 5 according to an embodiment of the present invention. It is a figure (top view 31 and front view 32), and shows a state immediately before the start of measuring the sample liquid amount.
  • the sample check module 5 can be installed between the modules in the sample test automation system 1, and is connected to the system manager 2 of the sample test automation system 1 via a communication cable. Such information can be exchanged.
  • the sample check module 5 includes, as main components, two mechanisms: a scanning mechanism 26 that scans the amount of the sample liquid, and a test tube gripping mechanism 27 that lifts and grips the test tube 33 enclosing the sample. , A signal multiplication unit 39 for multiplying the signal of the capacitance sensor 34 in the scanning mechanism 26, an analog / digital conversion unit 40 for converting the acquired analog signal into a digital signal, and a data storage unit 41 for storing the acquired data.
  • the analysis operation unit 42 is configured.
  • the analysis calculation unit 42 determines the test tube from the information on the liquid level 56 and the clot interface 57 of the specimen in the test tube 33 detected by the capacitance sensor 34 and the type of the test tube 33 specified by the test tube information specifying unit 2a.
  • the volume of the serum 52 in the test tube 33 is calculated from the information on the diameter of 33 and the like.
  • the obtained information on the volume of the serum 52 is used when the serum 52 in the test tube 33 in the specimen dispensing module 8 is subdivided.
  • the analysis calculation unit 42 indicates that the detection result by the capacitance sensor 34 is based on the sample excessive liquid level height (specified height) in which the height of the sample in the test tube 33 as shown in FIG. 2C is set in advance.
  • a control signal is output to the system manager 2 so that the test tube 33 is discharged out of the sample test automation system 1 as an abnormal sample with the stopper 54 attached. Further, when it is determined that the sample amount is smaller than the specified amount, a control signal is output to the system manager 2 so as to be issued from the child sample of the request item having a higher priority.
  • the main components of the scanning mechanism 26 include a capacitance sensor 34 that detects the interface height and a drive motor 35 that moves the capacitance sensor 34 in the vertical direction with respect to the test tube 33.
  • the main components of the test tube gripping mechanism 27 include a gripping arm 36 for lifting and gripping the test tube 33 enclosing the specimen, a gripping drive motor 37 for opening and closing the gripping arm 36, and a gripping arm 36 in the vertical direction.
  • the drive motor 38 is moved to the position.
  • the capacitance sensor 34 is a sensor that detects a boundary between layers based on a difference in capacitance of each layer of the specimen by a non-contact capacitance method, and is excellent in liquid detection.
  • the principle of the capacitance sensor 34 is the same as that of the capacitor, and the polarization of the object is generated by the electric field formed by the voltage applied to the capacitance sensor 34, and the capacitance changes in accordance with the electric charge generated by the polarization. Is detected. Therefore, it is greatly influenced by the dielectric constant of the target substance and the distance to the target substance.
  • liquid level 56 which is the interface between the air layer having a low dielectric constant and the serum 52 having a high dielectric constant
  • the blood which is the interface between the separating agent layer 51 having a relatively low dielectric constant and the clot 53 having a high dielectric constant. This is used to detect the soot interface 57.
  • the liquid level 56 and the blood clot interface 57 can be easily and stably detected even when the interface is not visible with the barcode 55 as shown in FIG. 2B.
  • Detection of the liquid level 56 and the blood clot interface 57 by the capacitance sensor 34 is performed by moving the scanning mechanism 26 from the top to the bottom.
  • a method of fixing the scanning mechanism 26 with the sensor and moving the test tube 33 up and down is generally considered.
  • the serum 51 shakes, and this shake causes a measurement error. Therefore, in the present embodiment, the liquid level 56 and the clot interface 57 are detected by moving the scanning mechanism 26 up and down without moving the test tube 33.
  • a test tube such as a test tube transfer arm used when transferring the test tube 33 from the tray to the holder as shown in FIG.
  • an arm 61 having a shape for gripping 33 from four directions and an arm 62 having a shape surrounding a test tube such as a general test tube scissors are known.
  • the capacitance sensor is a substance having a low dielectric constant, it has a disadvantage that it is detected as a substance having a high dielectric constant when the distance is short.
  • the gripping arms 61 and 62 having shapes such as a transfer chuck and a test tube scissors hold the test tube 33 at a position near the interface. Even when the grip arms 61 and 62 are made of a material having a low dielectric constant when gripped, the end surfaces 63 of the grip arms 61 and 62 are closer to the capacitance sensor 34 than the end surfaces 64 of the test tube 33. For this reason, the gripping arms 61 and 62 may react before the interface in the test tube 33. For this reason, there has been a problem that it is difficult to adjust sensitivity to prevent erroneous detection.
  • the test tube 33 tends to be inclined in this case, and the capacitance sensor 34 and the test tube 33 are inclined due to the inclination of the test tube 33. Therefore, there is a problem that the accuracy of interface detection is deteriorated.
  • the gripping arm 36 of the present embodiment has an electrostatic capacity compared to a line 66 passing through the center of the test tube 33 to be gripped when viewed from the upper surface side. It is close to the sensor 34 and contacts the test tube 33 at a position 36a that does not protrude toward the capacitance sensor 34 compared to the end surface 64 of the test tube 33, and the end surface 64 of the test tube 33 is statically moved from the end surface 65 of the grip arm 36. It is a pair of left and right arms that can be protruded and fixed with respect to the capacitance sensor 34 and hold the test tube 33 with respect to the capacitance sensor 34 by opening and closing from the left and right directions.
  • the gripping arm 36 is also in contact with the test tube 33 at a position 36b on the rear surface side with respect to the capacitance sensor 34 as compared with a line 66 passing through the center of the test tube 33 to be gripped.
  • the grip arm 36 has a curved portion 36 c that is recessed with a curvature larger than the diameter of the test tube 33 between positions 36 a and 36 b that contact the test tube 33.
  • the curved portion 36c has a curvature larger than the curvature of the test tube 33 having the smallest diameter among the test tubes 33 having various diameters that are put into the sample test automation system 1 of the present embodiment.
  • the material of the gripping arm 36 is made of rubber having a dielectric constant lower than that of water at positions 36a and 36b and the curved portion 36c that contact with the test tube 33 and the periphery thereof, and plastic.
  • the side view of the gripping arm of a general transfer chuck may overlap the liquid surface 56 and the clot interface 57 at a position close to the center of the test tube 33 as shown in FIG. 6A.
  • the shape was such that it was held as close as possible to a short length so as to be low.
  • the gripping arm 36 of the present embodiment grips the portion immediately below the stopper 54, so that the gripping test tube 33 does not tilt in the longitudinal direction of the test tube 33.
  • the line 36d is configured to contact and grip the test tube 33.
  • the length 74 of the line 36d is desirably 10 mm or more in order to hold the test tube having a height of 100 mm so as not to tilt. As shown in FIG. 6C, when a 65 mm-high test tube is stored in the holder, the distance 75 between the stopper 54 that can be gripped and the holder is about 18 mm, and the length is about 10 to 18 mm. It is desirable to be. Although the length of the line 36d is about 10 to 18 mm, it may be long enough that the test tube 33 does not tilt.
  • the user inputs the test tube 33 containing blood into the input module 3.
  • the test tube 33 is imaged by the camera 3a
  • the type of the test tube 33 is specified by the test tube information specifying unit 2a
  • the specifying result and the sample ID are stored in association with each other.
  • the test tube 33 containing the blood is installed on the dedicated holder 22, moves on the transport line 12, and is transported to the centrifuge module 4 as necessary. For example, if it corresponds to an item such as a blood cell counter, the centrifuge module 4 is skipped and allowed to pass through without being centrifuged.
  • the test tube 33 that has been subjected to the centrifugal separation process is transported to the specimen check module 5 to measure the capacity. The measured capacity is transmitted to the system manager 2. At this time, the holder 22 stores information on the sample ID.
  • the system manager 2 starts a process for determining a subdivision plan (number of subdivisions, subdivision amount, etc.).
  • the subdivision schedule is basically determined by the requested measurement item, but in this embodiment, capacity is further taken into account. For example, when all the analysis is possible or not possible with the measured capacity among the requested items, an appropriate subdivision is made using as parameters the number of items that can be analyzed.
  • the test tube 33 whose capacity measurement has been completed in the sample check module 5 is carried to the opening module 6 and the opening process is performed.
  • the preparation of the subdividing container based on the above-described schedule is performed by the bar code labeler 7, and then the actual subdividing is performed by the sample dispensing module 8. Thereafter, the sample is classified into the sample classification module 10 or stored in the storage module 11 after being transported to the automatic analyzer 13 or subjected to a plugging process by the plugging module 9 depending on the application.
  • FIGS. 7A to 7G are diagrams for explaining a series of flows from gripping the test tube 33 carried into the specimen check module 5 with the gripping arm 36, pulling it out from the holder 22, storing it in the holder 22 after scanning, and carrying it out.
  • FIGS. 8A to 8D are diagrams for explaining a series of flow from the start to the end of scanning by grasping and pulling out the test tube 33 by the gripping arm 36, and
  • FIG. 9 is a diagram showing a processing algorithm in the specimen check module 5.
  • the test tube 33 conveyed to the sample check module 5 is carried into the liquid amount scanning standby position 28 (step S81).
  • the gripping arm 36 stands by in a state as shown in FIG. 7A.
  • the sensor detects the holder 22, stops the holder 22 at the liquid amount scanning standby position 28 by a stopper or the like, and then reads the sample ID information written in the holder 22 by the ID reader 30 (step) S82).
  • the read sample ID information is transmitted to the system manager 2, and the system manager 2 determines the test tube type and operation parameters previously specified by the test tube information specifying unit 2 a for the test tube 33 installed on the holder 22 that has arrived. Then, an inquiry process for information on the requested item is performed (step S83).
  • various types of tests such as the diameter of the test tube 33 (diameter 13 cm, diameter 16 cm, etc.), the height of the test tube 33 (65 mm, 75 mm, 100 mm, etc.), the type of plug (rubber plug, screw plug, overcap), etc. Information about the tube 33 can be obtained and handled.
  • test tube 33 is transported toward the liquid amount scanning position 29.
  • the system manager 2 operates the stopper and stops the holder 22 at the liquid amount scanning position 29.
  • the system manager 2 After the holder 22 stops at the liquid amount scanning position 29, the system manager 2 outputs a signal to the drive motor 38, and the gripping arm 36 of the test tube gripping mechanism 27 is plugged into the test tube 33 as shown in FIG. 7B. The position is lowered to a position where the position directly below 54 is grasped. The descending amount of the gripping arm 36 at this time is the descending amount determined for each test tube type using the test tube information previously specified by the test tube information specifying unit 2a. After descending, the system manager 2 outputs a signal to the grip driving motor 37, operates the grip arm 36 in the closing direction, and grips the test tube 33 (step S84).
  • the system manager 2 After gripping the test tube 33, the system manager 2 outputs a signal to the drive motor 38 to raise the grip arm 36 and lift the test tube 33 from the holder 22 as shown in FIGS. 7C and 8A. (Step S85). At this time, the scanning mechanism 26 is in a standby state at a position as shown in FIG. 8A.
  • step S86 the system manager 2 outputs a signal to the drive motor 35, lowers the capacitance sensor 34 toward the test tube 33, and the liquid level. 56 and clot interface 57 are detected (step S86).
  • step S ⁇ b> 86 the scanning mechanism 26 starts to descend, and first the liquid level 56 is detected by the capacitance sensor 34. Subsequently, the clot interface 57 is similarly detected by the capacitance sensor 34.
  • the gripping arm 36 is stopped in a state where the test tube 33 is lifted, so that the interface scanning can be performed without shaking the liquid surface.
  • the test tube 33 to be gripped is exposed and fixed to the capacitance sensor 34 side from the grip arm end surface 65, the liquid level 56 and the capacitance sensor 34 are not affected by the grip arm 36.
  • the clot interface 57 can be detected.
  • the signal of the capacitance sensor 34 obtained by the interface detection scanning in step S86 is multiplied by the signal multiplication unit 39, and the data is stored through the analog / digital conversion unit 40 that converts the acquired analog signal into a digital signal. Stored in the unit 41. Further, from the obtained height information of the liquid level 56, the height information of the clot interface 57, and the test tube type information, the liquid volume of the serum 52 is calculated in the analysis calculation unit 42 (step S87).
  • the analysis calculation unit 42 determines whether or not the height of the specimen in the test tube 33 is equal to or less than a specified height (step S88).
  • step S88 When it is determined in step S88 that the specimen height is higher than the specified height, there is a high possibility that the specimen is abnormal such as an excessive liquid amount as shown in FIG.
  • the calculation unit 42 outputs a processing signal to the system manager 2 as an error sample so that the test tube 33 is carried out to the storage module 11 without being transported to the opening module 6 (step S89). This unloading operation itself will be executed later. In addition, the operator or the like is notified on the screen of the system manager 2 or the like.
  • step S90 determines whether the sample amount in the test tube 33 is equal to or greater than the specified amount.
  • the sample amount is normal, and a signal for issuing a child sample is output to the system manager 2 with reference to the examination request item (step S91).
  • the sample amount is smaller than the prescribed amount, the serum solution amount is small with respect to the test request item, and a signal to be issued from the child sample of the request item having a high priority is sent to the system manager 2.
  • Output step S92. At the same time, an alarm indicating that the amount of serum solution is low is output for the requested item, and this is notified to the operator or the like on the screen of the system manager 2 or the like.
  • the system manager 2 lowers the gripping arm 36 from the position shown in FIG. 7D to the position shown in FIG. 7E and stores the test tube 33 in the holder 22.
  • the system manager 2 outputs a signal to the gripping drive motor 37, operates the gripping arm 36 in the opening direction, and releases the test tube 33 from the gripping arm 36 as shown in FIGS. 7E to 7F.
  • the system manager 2 After releasing the test tube 33, the system manager 2 outputs a signal to the drive motor 38 to raise the gripping arm 36.
  • the system manager 2 unloads the test tube 33, The unloading module 6 or the storage module 11 is carried out. Thereafter, the test tube 33 is carried out to the opening module 6 or the storage module 11, and processing such as opening and dispensing is performed.
  • the front side of the capacitance sensor 34 is compared to the line 66 passing through the center of the test tube 33 to be grasped.
  • the test tube 33 is brought into contact with the test tube 33 at a position 36a that does not protrude toward the capacitance sensor 34 compared to the end surface 64 of the test tube 33, and the end surface 64 of the test tube 33 is moved from the end surface 65 of the grip arm 36 And a pair of left and right grip arms 36 for gripping the test tube 33 with respect to the capacitance sensor 34 by opening and closing from the left and right directions.
  • the test tube 33 is lifted from the holder 22 by the gripping arm 36 when the liquid level 56 and the blood clot interface 57 are scanned.
  • the grip arm end surface 65 of the present embodiment is closer to the capacitance sensor 34 than the end surface 63 of a grip arm such as a test tube scissor or a transfer chuck that is generally used at present.
  • the test tube 33 to be gripped can be uniformly exposed from the grip arm end surface 65 to the capacitance sensor 34 side and fixed regardless of the type of test tube.
  • the capacitance sensor 34 can detect the liquid level 56 and the blood clot interface 57 without being affected by the gripping arm 36.
  • the scanning can be performed without shaking the liquid surface at the time of interface scanning as compared with the case where the test tube 33 is moved instead of the capacitance sensor 34 for scanning. .
  • the gripping arm 36 grips the test tube 33 with a line 36d instead of a point in the longitudinal direction of the test tube 33, the gripping arm 36 grips the liquid surface 56 and the clot interface 57 in a non-contact manner and directly below the stopper 54.
  • the gripping test tube 33 can be prevented from being tilted, and erroneous detection of the interface height due to tilt can be prevented. For this reason, the information regarding the liquid amount of the specimen can be obtained stably and accurately.
  • the curved portion is recessed with a curvature larger than the curvature of the test tube 36 having the smallest diameter among the test tubes 36 of various diameters. Since it has 36c, it can hold
  • the gripping arm 36 is made of rubber 36 having a lower dielectric constant than that of water and portions 36a and 36b and the curved portion 36c that contact the test tube 33, and the periphery thereof is made of plastic. Even when the liquid surface 56 and the blood clot interface 57 are located at the position gripped by the grip arm 36 in the height direction of the test tube 33, the liquid surface 56 and the blood clot interface 57 are detected without being affected by the grip arm 36. can do.
  • the camera 3 a can be provided in the carry-in line 23 of the sample check module 5.
  • the information in the test tube 33 can be grasped by the check module alone, and it is a module suitable for addition to the existing sample pretreatment system or automatic analyzer.
  • the aspect in which the camera 3 a is provided in the carry-in line 23 of the sample check module 5 can also be applied to the remaining amount measurement of the reagent in the reagent container stored in the reagent cooler of the automatic analyzer 13. Since the reagent stored in the reagent cooler is usually operated in a colored container for light shielding purposes, the remaining amount cannot be visually confirmed. However, since the check module as described above is provided in the reagent cooler of the automatic analyzer 13 or in the vicinity thereof, the remaining amount of the reagent in the reagent container can be checked even in a situation where the reagent capacity cannot be visually confirmed. Is possible.
  • the clot interface 57 can also be performed by an optical detection system.
  • FIGS. 10 and 11 are top views of the shape of the gripping arm in the test tube gripping mechanism of the sample check module of the present embodiment.
  • the sample test automation system of the present embodiment is the same as the sample test automation system of the first embodiment except that the shape of the grip arm in the test tube gripping mechanism 27 in the sample check module 5 is different from the sample test automation system of the first embodiment. The description is omitted here.
  • the gripping arm 91 in the test tube gripping mechanism of the present embodiment is static compared to a line 66 passing through the center of the test tube 33 to be gripped with respect to one arm when viewed from the upper surface side.
  • the test tube 33 can be held by contacting the capacitance sensor 34 at two points with the position 91b on the rear surface side.
  • the grip arm 91 is not a curved portion but a straight line between the positions 91a and 91b in contact with the test tube 33, and has a shape that is angular and recessed.
  • the end surface 64 of the test tube 33 can be protruded and fixed from the end surface 65 of the gripping arm 36 to the capacitance sensor 34, and the specimen test automation system described above can be used.
  • substantially the same effects as those of the first embodiment of the sample check module can be obtained.
  • the gripping arm in the test tube gripping mechanism of the present embodiment is not limited to the form shown in FIG.
  • another shape of the gripping arm will be described with reference to FIG.
  • the grip arm 92 is on the front side with respect to the capacitance sensor 34 as compared with a line 66 passing through the center of the test tube 33 to be gripped, and the end surface of the test tube 33.
  • the capacitance sensor 34 compared to the arm portion 92 c for contacting the test tube 33 at a position 92 a that does not protrude toward the capacitance sensor 34 and the line 66 passing through the center of the test tube 33 to be grasped.
  • the arm portion 92d for contacting the test tube 33 at a position 92b on the rear surface side.
  • the gripping arm 92 is also a pair of left and right gripping arms that hold the test tube 33 by opening and closing from the left and right directions with respect to the capacitance sensor 34 by contacting the test tube 33 at two points of positions 92a and 92b. is there.
  • the end surface 64 of the test tube 33 can be protruded from the end surface 65 of the gripping arm 36 with respect to the capacitance sensor 34 and fixed. Needless to say, substantially the same effects as those of the first embodiment of the sample check module can be obtained.
  • sample check module of the present invention is not provided in the sample test automation system, but can be directly mounted on the automatic analyzer.
  • analysis calculation unit 42 is separate from the system manager 2
  • these can be provided inside the system manager 2.
  • test tube 34.
  • Capacitance sensor 35 ... Drive motor, 36 ... gripping arm, 36a, 36b ... position, 36c ... curve part, 36d ... line, 37 ... gripping drive motor, 38 ... Drive motor, 39: Signal multiplication section, 40: Analog / digital converter, 41 ... data storage unit, 42 ... analysis operation part, 51 ... separating agent, 52 ... Serum, 53 ... Clot, 54 ... stopper, 55 ... Barcode, 56 ... Liquid level, 57 ... Clot interface, 61 ... Test tube transfer arm, 62 ... arm, 63 ... end face, 64 ... end face, 65 ... end face, 66 ... line, 75 ... distance, 91: gripping arm, 91a, 91b ... position, 92 ... gripping arm, 92a, 92b ... position, 92c, 92d ... arms.

Abstract

La présente invention comprend une paire de bras de préhension gauche et droit (36) qui saisissent un tube à essai (33) par ouverture/fermeture dans la direction gauche et droite par rapport à un capteur de capacité électrostatique (34). La paire de bras de préhension gauche et droit vient en contact avec le tube à essai (33) à une position (36a) à laquelle les bras de préhension sont plus loin vers un côté de face avant par rapport au capteur de capacité électrostatique (34) qu'une ligne (66) qui traverse le centre du tube à essai (33) à saisir et où les bras de préhension ne font pas saillie plus loin vers le côté du capteur de capacité électrostatique (34) qu'une face terminale (64) du tube à essai (33). La paire de bras de préhension gauche et droit est capable de fixer le tube à essai en amenant la face terminale (64) du tube à essai (33) à faire saillie vers le capteur de capacité électrostatique (34) depuis une face terminale (65) des bras de préhension (36). Le tube à essai (33) est surélevé depuis un support (22) par les bras de préhension (36) lors du balayage d'un niveau de liquide (56) et une interface de caillot sanguin (57) par le capteur de capacité électrostatique.
PCT/JP2015/062475 2014-06-26 2015-04-24 Système d'automatisation d'inspection de spécimen et module de vérification de spécimen WO2015198707A1 (fr)

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CN109782008A (zh) * 2019-03-12 2019-05-21 中国科学院合肥物质科学研究院 一种用于土壤有机质前处理环节的自动化处理装置及其控制方法
CN111487194A (zh) * 2016-02-19 2020-08-04 纬创资通股份有限公司 试管升降机构

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JPH04232468A (ja) * 1990-12-28 1992-08-20 Nikkiso Co Ltd 懸濁液自動調製装置
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CN109782008B (zh) * 2019-03-12 2024-01-26 合肥中科方舟机器人技术有限公司 一种用于土壤有机质前处理环节的自动化处理装置及其控制方法

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