WO2022259765A1 - 自動分析装置 - Google Patents
自動分析装置 Download PDFInfo
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- WO2022259765A1 WO2022259765A1 PCT/JP2022/017863 JP2022017863W WO2022259765A1 WO 2022259765 A1 WO2022259765 A1 WO 2022259765A1 JP 2022017863 W JP2022017863 W JP 2022017863W WO 2022259765 A1 WO2022259765 A1 WO 2022259765A1
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- nozzle
- reagent
- imaging
- automatic analyzer
- sample
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- 238000004458 analytical method Methods 0.000 title claims abstract description 32
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 214
- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 238000004140 cleaning Methods 0.000 claims abstract description 68
- 238000006243 chemical reaction Methods 0.000 claims abstract description 52
- 239000000203 mixture Substances 0.000 claims abstract description 4
- 238000003384 imaging method Methods 0.000 claims description 178
- 238000005406 washing Methods 0.000 claims description 69
- 238000000034 method Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 17
- 238000010586 diagram Methods 0.000 description 29
- 238000012545 processing Methods 0.000 description 16
- 238000004364 calculation method Methods 0.000 description 11
- 238000000605 extraction Methods 0.000 description 11
- 239000007788 liquid Substances 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 238000007599 discharging Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 238000013500 data storage Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000001704 evaporation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000002966 serum Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 210000002700 urine Anatomy 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- G01N35/1004—Cleaning sample transfer devices
Definitions
- the present invention relates to an automatic analyzer that mixes specimens and reagents and performs component analysis.
- the automated analyzer dispenses specimens (samples) and reagents into small containers (reaction cells), mixes them, and analyzes the components of the samples. Since the automatic analyzer uses the same nozzle repeatedly to dispense samples and reagents, the nozzles are replaced at intervals of about half a year to one year from the viewpoint of maintaining dispensing accuracy.
- An automated analyzer uses a long, narrow nozzle with a small tip diameter to aspirate a sample contained in a sample container and a reagent contained in a reagent container, discharge the sample into a reaction cell, and wash the tip of the nozzle in a washing tank. wash.
- the nozzle is inserted into an elongated sample container, a reagent container with a narrow opening to prevent reagent evaporation, a reaction cell that is a small container, and a washing tank with a washing hole through which the nozzle passes.
- These vessels and wash baths have small openings (including holes) through which the nozzles pass. Therefore, when inserting the nozzle into these containers and washing tanks, it is necessary to align the position of the nozzle with the position of the opening through which the nozzle passes.
- the position of the nozzle and the position of the opening through which the nozzle passes are adjusted by a skilled worker to prevent a decrease in dispensing accuracy and splashing of the cleaning solution due to horizontal misalignment.
- the position of the center of the tip of the nozzle varies depending on the nozzle due to the degree of warping due to manufacturing variations, so the horizontal position of the nozzle must be adjusted each time the nozzle is replaced.
- Patent Document 1 discloses an adjustment system for an automatic analyzer that can suppress the difference in quality of adjustment between skilled and unskilled workers.
- This adjustment system includes an imaging device (camera) that captures an image of an object to be adjusted, and acquires information indicating the current position of the object to be adjusted (an arm having a nozzle) based on the image captured by the imaging device.
- the sample nozzle has stop positions in each of the sample container, the reaction cell, and the washing tank, and sucks and discharges the sample and cleans the nozzle at these stop positions.
- the reagent nozzle has stop positions in each of the reagent container, the reaction cell, and the washing tank. At these stop positions, the reagent is sucked or discharged, and the nozzle is washed. At each stop position, it is required to adjust the position of the nozzle with high accuracy with respect to the opening through which the nozzle of the container and washing tank passes (hereinafter referred to as "adjustment target").
- an imaging device is provided on the arm having the nozzle, and the image acquired by the imaging device is used to automatically determine the nozzle and the adjustment target. It is desirable to detect misalignment of However, in the image acquired by the imaging device provided on the arm, an adjustment target located at the same imaging distance as the nozzle is also imaged in addition to the nozzle. When detecting the tip of the nozzle from an image of the tip of the nozzle, if the adjustment target is imaged in the image, a part with a large contrast change or unevenness is imaged on the back of the tip of the nozzle.
- An object of the present invention is to provide an automatic analyzer capable of detecting the position of the tip of a nozzle for dispensing with high precision and adjusting the position of the nozzle with high precision.
- An automatic analyzer comprises a dispensing mechanism comprising a nozzle for dispensing a reagent or sample, a dispensing arm for moving the nozzle, a washing tank for washing the nozzle, and a position of the nozzle. and an automatic analyzer control unit for adjustment, and performs analysis processing for analyzing a mixture of the reagent and the specimen contained in the reaction cell.
- a stop position of the nozzle which is a position where the nozzle stops moving in the analysis process, is set in the pipetting mechanism.
- the dispensing mechanism includes an imaging device on the dispensing arm.
- the automatic analyzer control section moves the nozzle to an imaging position of the nozzle, and images the nozzle with the imaging device at the imaging position.
- the imaging position is a position where the nozzle can move and is a position different from the stop position.
- an automatic analyzer capable of detecting the position of the tip of a nozzle for dispensing with high precision and adjusting the position of the nozzle with high precision.
- FIG. 4 is a diagram showing a dispensing mechanism provided in the automatic analyzer according to the present embodiment, and showing a reagent dispensing mechanism provided with a detachable imaging device.
- FIG. 4 is a diagram showing a pipetting mechanism provided in the automatic analyzer according to the present embodiment, and showing a sample pipetting mechanism provided with a detachable imaging device.
- FIG. 10 is a diagram showing a dispensing mechanism provided in the automatic analyzer according to the present embodiment, and showing a reagent dispensing mechanism provided with a built-in imaging device.
- FIG. 4 is a diagram showing a dispensing mechanism provided in the automatic analyzer according to the present embodiment, and showing a reagent dispensing mechanism provided with a built-in imaging device.
- FIG. 4 is a diagram showing a pipetting mechanism provided in the automatic analyzer according to the present embodiment, and showing a sample pipetting mechanism provided with a built-in imaging device.
- FIG. 10 is an example of an image of the reagent nozzle when the reagent nozzle is above the cleaning hole, captured by the imaging device of the automatic analyzer according to the present embodiment.
- FIG. 10 is an example of an image of a reagent nozzle captured at a position where the back surface of the tip of the reagent nozzle is a plain background, captured by the imaging device of the automatic analyzer according to the present embodiment.
- FIG. 5 is a diagram showing an example of stop positions of a reagent nozzle and a sample nozzle on a horizontal plane in the automatic analyzer according to the present embodiment.
- FIG. 10 is a diagram showing an example of adjusting the position of the reagent nozzle in the vicinity of the imaging position of the reagent nozzle and the reagent cleaning position, and is a diagram showing an example of the imaging position, the cleaning hole, and the imaging range of the camera on the horizontal plane.
- FIG. 5B is a diagram showing an example of adjusting the position of the reagent nozzle in the vicinity of the imaging position and the reagent washing position of the reagent nozzle, and is a diagram showing the AA cross section of FIG. 5A.
- FIG. 10 is a diagram showing an example of adjusting the position of the reagent nozzle in the vicinity of the imaging position and the reagent washing position of the reagent nozzle, and is a diagram showing an example of the reagent washing position, the washing hole, and the imaging range of the camera on the horizontal plane.
- FIG. 5C is a diagram showing an example of adjusting the position of the reagent nozzle in the vicinity of the imaging position and the reagent washing position of the reagent nozzle, and is a diagram showing the BB cross section of FIG. 5C.
- FIG. 5 is a diagram showing the flow of processing for adjusting the position of the nozzle by the automatic analyzer controller of the automatic analyzer according to the present embodiment. It is a block diagram which shows the example of a structure of the automatic analyzer control part with which the automatic analyzer by a present Example is equipped.
- the automatic analyzer according to the present invention has a suction position where the nozzle for dispensing aspirates the reagent or sample, a discharge position where the nozzle discharges the reagent or sample, and a washing position where the tip of the nozzle is washed.
- imaging positions for imaging the nozzles with the imaging device are set at positions where the nozzles can move. Since the automatic analyzer according to the present invention takes an image of the nozzle at this imaging position, the position of the tip of the nozzle can be detected with high accuracy.
- the imaging position of the nozzle is preferably a position where the background of the tip of the nozzle is plain (a position where the background has no irregularities and changes in contrast are small) in the image of the nozzle. Since the nozzle and imaging device are mounted on the dispensing arm of the dispensing mechanism, the imaging device moves with the nozzle.
- the nozzle is moved to the imaging position of the nozzle, the nozzle is imaged, and the position coordinates of the tip of the nozzle are detected.
- the nozzle is moved to a position where the nozzle does not overlap with the object to be imaged (for example, a reagent container, a sample container, a reaction cell, or a washing tank) in the image captured by the imaging device, and then the object to be imaged is imaged.
- the object to be imaged for example, a reagent container, a sample container, a reaction cell, or a washing tank
- the object to be imaged is imaged.
- the amount of positional deviation between the nozzle and the object to be imaged is obtained from the positional coordinates of the tip of the nozzle and the positional coordinate of the object to be imaged, and the horizontal position of the nozzle is adjusted.
- the automatic analyzer can move the nozzle so that the position of the center of the nozzle and the position of the center of the object to be imaged match in the analysis process of analyzing the mixed liquid of the reagent and the sample. .
- specimens are also called samples.
- opening through which the nozzles of the reagent container, specimen container, reaction cell, and washing tank pass is called an "adjustment target.”
- FIG. 1 is a diagram showing the configuration of an automatic analyzer 10 according to an embodiment of the present invention.
- the automatic analyzer 10 includes a reagent disk 12, a reaction disk 13, a reagent dispensing mechanism 14, a sample dispensing mechanism 15, and a reagent washing tank 26 (not shown in FIG. 1, FIGS. 3A, 3C, 3D, 5B). , 5D) and a sample washing bath 27.
- FIG. The automatic analyzer 10 is provided with a plurality of reagent containers 11 , a plurality of sample containers 23 and a plurality of reaction cells 25 .
- the automatic analyzer 10 may include multiple reagent containers 11, multiple sample containers 23, and multiple reaction cells 25 as components.
- the automatic analyzer 10 executes analysis processing for analyzing the mixed liquid of the reagent and sample contained in the reaction cell 25 .
- the vertical direction of the automatic analyzer 10 is the Z direction
- two directions perpendicular to the Z direction are the horizontal directions
- the X and Y directions are the directions perpendicular to the Z direction.
- the reagent container 11 is a container that contains a reagent.
- the reagent disk 12 mounts a plurality of reagent containers 11 on its circumference and rotates to move the reagent containers 11 .
- the reagent disk 12 has a plurality of reagent containers 11 mounted on two circumferences with different diameters.
- the sample container 23 is a container that stores a sample.
- the sample is, for example, a blood-derived specimen such as serum or whole blood, or urine.
- the sample container 23 is, for example, a blood collection tube.
- a plurality of sample containers 23 are mounted on one sample rack 24 .
- a plurality of sample racks 24 move on the transport line 101 so that the samples contained in the sample containers 23 are analyzed.
- the reaction cell 25 is a container that accommodates a mixed liquid of a reagent and a sample and mixes the reagent and the sample.
- the reaction disk 13 has a plurality of reaction cells 25 mounted on its circumference and rotates to move the reaction cells 25 . In the reaction disk 13, reagents and samples are mixed and reactions are measured.
- FIG. 1 shows an enlarged view of four reaction cells 25 mounted on the reaction disk 13 .
- the reagent dispensing mechanism 14 includes a reagent nozzle 21 for dispensing a reagent and a dispensing arm for moving the reagent nozzle 21, and performs reagent aspiration and ejection.
- the sample pipetting mechanism 15 includes a sample nozzle 22 for pipetting a sample and a pipetting arm for moving the sample nozzle 22, and sucks and discharges the sample.
- the automatic analyzer 10 shown in FIG. 1 includes, as an example, two reagent pipetting mechanisms 14 and two sample pipetting mechanisms 15 .
- the reagent cleaning tank 26 is a container for cleaning the reagent nozzle 21 by washing the tip of the reagent nozzle 21 to which the reagent adheres with water.
- the sample washing tank 27 is a container for washing the sample nozzle 22 by washing the tip of the sample nozzle 22 to which the sample adheres with water.
- the reagent washing tank 26 and the sample washing tank 27 have openings (washing holes) through which the reagent nozzle 21 and the sample nozzle 22 pass, respectively.
- the reagent stored in the reagent container 11 is moved by the reagent disk 12 , sucked by the reagent nozzle 21 of the reagent dispensing mechanism 14 , and discharged into the reaction cell 25 .
- the sample stored in the sample container 23 is mounted on the sample rack 24 and moves along the transport line 101 , is sucked by the sample nozzle 22 of the sample dispensing mechanism 15 , and is discharged into the reaction cell 25 .
- the reagent dispensing mechanism 14 includes a reagent aspirating position where the reagent nozzle 21 aspirates the reagent from the reagent container 11, a reagent ejection position where the reagent nozzle 21 ejects the reagent into the reaction cell 25, and a nozzle for cleaning the reagent nozzle 21.
- the reagent cleaning position where the reagent cleaning tank 26 is located is set in advance as the stopping position of the reagent nozzle 21 .
- the stop position of the reagent nozzle 21 is the position at which the reagent nozzle 21 stops moving in the analysis process executed by the automatic analyzer 10 .
- the reagent dispensing mechanism 14 moves the reagent nozzle 21 to each stop position. Furthermore, the reagent dispensing mechanism 14 adjusts the height of the reagent container 11, the reaction cell 25, and the reagent washing tank 26 at each stop position (reagent aspirating position, reagent discharging position, and reagent washing position). The nozzle 21 is moved up and down.
- the sample pipetting mechanism 15 includes a sample suction position where the sample nozzle 22 sucks the sample from the sample container 23, a sample discharge position where the sample nozzle 22 discharges the sample into the reaction cell 25, and a cleaning mechanism for the sample nozzle 22.
- a sample cleaning position where the sample cleaning tank 27 is located is set in advance as a stop position of the sample nozzle 22 .
- the stop position of the sample nozzle 22 is the position at which the sample nozzle 22 stops moving in the analysis process executed by the automatic analyzer 10 .
- the sample dispensing mechanism 15 moves the sample nozzle 22 to each stop position. Furthermore, the sample pipetting mechanism 15 adjusts the height of the sample container 23, the reaction cell 25, and the sample washing tank 27 at each stop position (sample suction position, sample discharge position, and sample washing position). The nozzle 22 is moved up and down.
- the reagent dispensing mechanism 14 and the sample dispensing mechanism 15 each have a configuration capable of moving the reagent nozzle 21 and the sample nozzle 22 in the horizontal direction and the vertical direction.
- FIG. 1 shows, as an example, a configuration in which the reagent pipetting mechanism 14 has two degrees of freedom in the horizontal direction on two rotating axes, and a configuration in which the sample pipetting mechanism 15 has one degree of freedom in the horizontal direction on one rotating axis. showing.
- the reagent pipetting mechanism 14 and the sample pipetting mechanism 15 are not limited to this configuration, and may have any configuration, such as a configuration with two degrees of freedom combining one translational axis and one rotational axis, or a configuration with three or more degrees of freedom. can be provided.
- the automatic analyzer 10 controls the reagent dispensing mechanism 14 and the sample dispensing mechanism 15 by means of an automatic analyzer control section, which will be described later.
- the automatic analyzer 10 includes a measurement unit (not shown), and analyzes the concentration of a predetermined component in the sample by photometrically measuring the mixture of the reagent and the sample contained in the reaction cell 25 .
- the measurement unit includes, for example, a light source and a photometer.
- the photometer is for example an absorption photometer or a scattering photometer.
- FIGS. 2A to 2D are diagrams showing dispensing mechanisms 14 and 15 provided in the automatic analyzer 10 according to this embodiment.
- FIG. 2A is a diagram showing a reagent dispensing mechanism 14 with a detachable imaging device.
- FIG. 2B is a diagram showing sample dispensing mechanism 15 with a detachable imaging device.
- FIG. 2C is a diagram showing a reagent dispensing mechanism 14 with a built-in imaging device.
- FIG. 2D shows a sample dispensing mechanism 15 with an integrated imaging device.
- neither the reagent pipetting mechanism 14 nor the sample pipetting mechanism 15 may be equipped with an imaging device, and either the reagent pipetting mechanism 14 or the sample pipetting mechanism 15 may be equipped with an imaging device.
- the reagent pipetting mechanism 14 and the sample pipetting mechanism 15 may be equipped with an imaging device depending, for example, on the size of the reagent nozzle 21 and the sample nozzle 22, and on the object to be imaged (for example, the reagent container 11 and the sample container 23). , reaction cell 25, reagent washing tank 26, and sample washing tank 27).
- the description of the imaging device of the reagent pipetting mechanism 14 is for the case where the reagent pipetting mechanism 14 is equipped with the imaging device, and the description of the imaging device of the sample pipetting mechanism 15 is This is a description of the case where the sample dispensing mechanism 15 includes an imaging device.
- the dispensing mechanisms 14 and 15 shown in FIGS. 2A and 2B include a dispensing arm 201 and a detachable imaging device below the dispensing arm 201.
- the imaging device includes a camera 202 and an image acquisition section 203a, and is detachably fixed to the dispensing arm 201 at a connection section 204.
- FIG. Camera 202 includes a lens.
- the image acquisition unit 203a includes a battery. Since the camera 202 and the image acquisition unit 203a are detachable from the pipetting mechanisms 14 and 15, they can be attached to the pipetting mechanisms 14 and 15 when adjusting the positions of the nozzles 21 and 22. can. 2A and 2B show an imaging range 205 of the camera 202.
- the configuration in which the dispensing mechanisms 14 and 15 include detachable imaging devices has two main advantages.
- One is that the imaging device can be removed when normal analysis processing is performed, so the weight of the dispensing arm 201 can be reduced, and the load on the motor that drives the dispensing arm 201 can be reduced. be.
- Another advantage is that it is not necessary to install imaging devices in all of the dispensing mechanisms 14 and 15, so the cost is lower than when imaging devices are installed in all of the dispensing mechanisms 14 and 15. is.
- the dispensing mechanisms 14 and 15 shown in FIGS. 2C and 2D have a dispensing arm 201, and the dispensing arm 201 incorporates an imaging device.
- the imaging device includes a camera 202 and an image acquisition unit 203b.
- Camera 202 includes a lens.
- the image acquisition unit 203b does not have a battery. Since the imaging device is powered inside the dispensing arm 201, no battery is required. At least part of the lens of camera 202 is exposed from dispensing arm 201 .
- 2C and 2D show the imaging range 205 of the camera 202.
- the main advantages of the configuration including the imaging device (the camera 202 and the image acquisition unit 203b) in which the dispensing mechanisms 14 and 15 are built are that the weight of the dispensing arm 201 is light because no battery is required, and that the weight of the dispensing arm 201 is reduced. The point is that the nozzles 21 and 22 can be constantly monitored by the imaging device while the analysis processing is being performed.
- the imaging device (the camera 202 and the image acquisition units 203a and 203b) includes the tips of the nozzles 21 and 22 in the imaging range 205, and the tip of the camera 202 in the tip of the nozzles 21 and 22. configured to focus. Therefore, the imaging device can capture an image of an object at a distance from the camera 202 that is approximately the same distance as the tips of the nozzles 21 and 22 .
- 3A to 3D are examples of images of the reagent nozzle 21 and the cleaning hole 301 captured by the imaging device of the automatic analyzer 10 according to this embodiment.
- the cleaning holes 301 are provided in the reagent cleaning bath 26 and the sample cleaning bath 27 and are openings through which the nozzles 21 and 22 pass, that is, adjustment targets.
- FIGS. 3A, 3C, and 3D show cleaning holes 301 of the reagent cleaning tank 26 as an example.
- 3A to 3D are images on a horizontal plane (XY plane), and in FIGS. 3A to 3D, the horizontal direction of the paper surface is the X direction, and the vertical direction of the paper surface is the Y direction.
- FIG. 3A is an example of an image of the nozzle 21 when the nozzle 21 is above the cleaning hole 301.
- FIG. 3A Since the nozzle 21 is inserted into the reagent washing tank 26 through the washing hole 301 and washed, it is necessary to adjust the position of the nozzle 21 so that the tip of the nozzle 21 comes to the center of the washing hole 301 .
- the edge of the reagent washing tank 26 (for example, the edge of the convex part of the reagent washing tank 26 ) is the edge of the nozzle 21 . It is difficult to detect the exact position of the tip of the nozzle 21 because it overlaps the tip. Further, since the cleaning hole 301 overlaps the nozzle 21 in the image, it is difficult to detect the center of the cleaning hole 301 as well.
- FIG. 3B is an example of an image of the nozzle 21 captured at a position where the back surface of the tip of the nozzle 21 is a plain background.
- other components do not overlap near the edge 302 of the tip of the nozzle 21 , so the automatic analyzer 10 can easily and accurately detect the position of the tip of the nozzle 21 .
- the automatic analyzer 10 can detect the position of the tip of the nozzle 21 from the image of the nozzle 21 by any method.
- the automatic analyzer 10 can detect the position of the tip of the nozzle 21 by extracting the edge 302 of the tip of the nozzle 21 by the following method. That is, the automatic analyzer 10 adjusts the state of the picked-up image by contrast adjustment, gamma correction, etc., further divides the edges and other regions by binarization, and uses the obtained edges to determine the tip of the nozzle 21. Matching with the shape is performed, and an edge 302 determined to be the tip of the nozzle 21 is extracted.
- the automatic analyzer 10 calculates the coordinates of the center of the nozzle 21 based on the outer diameter of the nozzle 21 from the edge 302 extracted as the tip of the nozzle 21, and uses the calculated coordinates of the center as the position of the tip of the nozzle 21. can do.
- the image shown in FIG. 3B shows an X coordinate 303 and a Y coordinate 304 as coordinates of the center of the nozzle 21 .
- the edge of the tip of the nozzle 21 is used instead of the coordinates of the center of the nozzle 21.
- the coordinates of one predetermined point 302 can be calculated, and the coordinates of the calculated point can be used as the position of the tip of the nozzle 21 .
- FIG. 3C is an example of an image of the cleaning hole 301 taken after removing the nozzle 21 from the dispensing arm 201 . Since the shape and size of the cleaning hole 301 are already known, the automatic analyzer 10 can extract the edge of the cleaning hole 301 from the image shown in FIG. 3C if it has the contour information of the cleaning hole 301 in advance. However, removing the nozzle 21 and operating the dispensing arm 201 requires additional work such as blocking the flow path connected to the nozzle 21 to prevent liquid leakage. Therefore, it is not realistic to remove the nozzle 21 and take an image of the cleaning hole 301 .
- FIG. 3D is an example of an image of the cleaning hole 301 captured by moving the nozzle 21 to a position where the nozzle 21 and the cleaning hole 301 do not overlap.
- the automatic analyzer 10 detects the cleaning holes 301 from the image shown in FIG. 3D in the same manner as when using the image shown in FIG. An edge can be extracted and the coordinates of the center of cleaning hole 301 can be calculated.
- the image shown in FIG. 3D shows an X coordinate 305 and a Y coordinate 306 as the coordinates of the center of cleaning hole 301 .
- the positional relationship between the camera 202 and the nozzle 21 does not change between when the image shown in FIG. 3B is captured and when the image shown in FIG. 3D is captured. Therefore, in the image shown in FIG. 3D, the coordinates of the center of nozzle 21 are the same as the coordinates (X coordinate 303 and Y coordinate 304) obtained from the image shown in FIG. 3B. Therefore, in the image shown in FIG. 3D, the amount of misalignment between the nozzle 21 and the cleaning hole 301 is the difference 307 between the X coordinate 303 of the center of the nozzle 21 and the X coordinate 305 of the center of the cleaning hole 301 in the X direction. and in the Y direction is the difference 308 between the Y coordinate 304 of the center of the nozzle 21 and the Y coordinate 306 of the center of the cleaning hole 301 .
- the dispensing mechanisms 14 and 15 drive the dispensing arm 201 with a stepping motor. Therefore, if the amount of misalignment between the nozzle 21 and the cleaning hole 301 in the X and Y directions (the difference 307 in the X direction and the difference 308 in the Y direction) is known, the automatic analyzer 10 can By moving the nozzle 21, the center position of the nozzle 21 and the center position of the cleaning hole 301 can be aligned. That is, the automatic analyzer 10 converts this positional deviation amount into the number of pulses as the movement distance of the nozzle 21 from the current position, and gives the number of pulses as a command value to the motor to move the dispensing arm 201. The horizontal position of the nozzle 21 can be adjusted so that the center position of the nozzle 21 and the center position of the cleaning hole 301 match.
- the nozzle can be controlled in the same way by measuring the rotation angle of the pipetting arm 201 with an encoder or the like. 21 position can be adjusted.
- the dispensing mechanisms 14 and 15 have a function of moving the dispensing arm 201 to the same position (origin) each time the automatic analyzer 10 is activated using a limit sensor. Therefore, the automatic analyzer 10 adjusts the position of the nozzle 21 each time it is started, if the movement distance of the nozzle 21 is known so that the center position of the nozzle 21 and the center position of the cleaning hole 301 are aligned, 21 can be aligned with the center of cleaning hole 301 .
- the position of the tip of the nozzle 21 can be determined by imaging the nozzle 21 at a position where the back of the tip of the nozzle 21 is a plain background (FIG. 3B). can be detected with high accuracy, the horizontal position of the nozzle 21 can be accurately adjusted with respect to the adjustment target (cleaning hole 301 in the example shown in FIGS. 3A to 3D).
- FIG. 4 is a diagram showing an example of stop positions (horizontal stop positions) of the reagent nozzle 21 and the sample nozzle 22 on the horizontal plane (XY plane) in the automatic analyzer 10 according to the present embodiment.
- the reagent container 11, sample container 23, and reaction cell 25 move.
- Some of the reagent containers 11 are provided with lids for preventing the stored reagents from evaporating.
- the reagent container 11 has this lid, and the lid is provided with a hole (opening) through which the reagent nozzle 21 passes.
- the hole in the lid of the reagent container 11 is also simply referred to as "the hole in the reagent container 11".
- FIG. 4 shows the trajectory 402 at the center of the hole of the reagent container 11, the trajectory 403 at the center of the sample container 23, and the trajectory 401 at the center of the reaction cell 25.
- one reagent container 11 is provided with two holes, and the reagent containers 11 are arranged on two circumferences with different diameters. , orbits 402 are indicated by four circles.
- the stop positions of the reagent nozzle 21 are a reagent aspirating position 404 that aspirates the reagent from the reagent container 11, a reagent ejection position 405 that ejects the reagent into the reaction cell 25, and a reagent cleaning tank 26 that cleans the reagent nozzle 21.
- a reagent aspirating position 404 is positioned on the track 402 at the center of the hole of the reagent container 11 . Since there are four tracks 402 at the center of the hole of the reagent container 11 , one reagent suction position 404 is defined for each track 402 .
- a reagent ejection position 405 is located on the track 401 at the center of the reaction cell 25 . Since the automatic analyzer 10 has two reagent dispensing mechanisms 14, four reagent aspirating positions 404, one reagent discharging position 405, and one reagent washing position 406 are defined for each reagent dispensing mechanism 14. be done.
- the stop positions of the sample nozzle 22 are a sample suction position 409 for sucking the sample from the sample container 23, a sample discharge position 410 for discharging the sample to the reaction cell 25, and a sample washing tank 27 for washing the sample nozzle 22.
- a sample aspiration position 409 is located on the track 403 in the center of the sample container 23 .
- a sample ejection position 410 is located on the track 401 at the center of the reaction cell 25 . Since the automatic analyzer 10 has two sample pipetting mechanisms 15, one sample suction position 409, one sample discharging position 410, and one sample washing position 411 are defined for each sample pipetting mechanism 15. be done.
- the stop positions of the reagent nozzle 21 and the sample nozzle 22 are indicated by black circle symbols.
- a position for imaging the reagent nozzle 21 is set as an imaging position 407 of the reagent nozzle 21 .
- a position for imaging the sample nozzle 22 is set as an imaging position 412 of the sample nozzle 22 in the sample dispensing mechanism 15 .
- Imaging positions 407 and 412 are among the movable positions of reagent nozzle 21 and sample nozzle 22, respectively.
- imaging positions 407 and 412 of the reagent nozzle 21 and the sample nozzle 22 are indicated by triangular symbols.
- the imaging positions 407 and 412 are positions where the background of the tips of the nozzles 21 and 22 is plain in the images captured by the camera 202 of the tips of the nozzles 21 and 22, respectively.
- a plain background is a background that enables the automatic analyzer 10 to detect the position of the tip of the nozzle 21 from an image of the nozzle 21 with desired accuracy.
- the back surface of the nozzles 21 and 22 can be used as a plain background with a small change in contrast to the extent that it can be recognized as a smooth surface.
- the imaging positions 407 and 412 are positions different from the stop positions of the nozzles 21 and 22, respectively. At the stop positions of the nozzles 21 and 22, when the camera 202 captures an image of the tips of the nozzles 21 and 22, the back surface of the tips of the nozzles 21 and 22 does not become a plain background. The camera 202 images the tips of the nozzles 21 and 22 at imaging positions 407 and 412, respectively.
- Dispensing mechanisms 14 and 15 must be at positions where nozzles 21 and 22 can be moved, and positions where the back surfaces of the tips of nozzles 21 and 22 are plain backgrounds in images when nozzles 21 and 22 are captured.
- the imaging positions 407 and 412 may be set at arbitrary positions.
- a plurality of imaging positions 407 and 412 may be set in the dispensing mechanisms 14 and 15, respectively.
- the movable range 408 of the reagent nozzle 21 is indicated by a dashed line for the two reagent dispensing mechanisms 14 having two degrees of freedom in the horizontal direction.
- the reagent nozzle 21 is movable inside a range 408 surrounded by a dashed line.
- the imaging position 412 is on the trajectory 413 of the sample nozzle 22 .
- Nozzle 22 can only move on track 413 .
- the tip of the nozzle 22 is imaged at the imaging position 412, and the coordinate difference 307 as shown in FIG. , 308, the amount of adjustment of the position of the nozzle 22 can be accurately determined, and the position of the nozzle 22 can be adjusted efficiently.
- the automatic analyzer 10 may have a configuration in which the pipetting mechanisms 14 and 15 have two degrees of freedom in the horizontal direction. can be automatically adjusted to
- Imaging positions 407 and 412 are positions where the movable range 408 of the nozzle 21 of the reagent pipetting mechanism 14 and the movable range of the nozzle 22 of the sample pipetting mechanism 15 (orbit 413 of the nozzle 22) overlap. can also be set to
- the imaging positions 407 and 412 are positions where the nozzles 21 and 22 can move (within the movable range 408 of the nozzle 21 and on the trajectory 413 of the nozzle 22).
- the camera 202 captures an image of the tips of the nozzles 21 and 22 at a position different from the stop position (suction position, discharge position, and washing position), the back of the tips of the nozzles 21 and 22 is a plain background ( This is the position where there is no unevenness and the change in contrast is small).
- the automatic analyzer 10 can have an area (surface) where the rear surface of the tip of the nozzles 21 and 22 is a plain background in the image when the nozzles 21 and 22 are imaged.
- the imaging position 407 and the imaging position 412 may be covered with a cover except when adjusting the positions of the reagent nozzle 21 and the sample nozzle 22, respectively.
- the imaging positions 407 and 412 are covered with a cover when the automatic analyzer 10 performs analysis processing, and are not covered with a cover when the automatic analyzer 10 adjusts the positions of the nozzles 21 and 22 .
- the covers are provided to prevent the imaging positions 407 and 412 from being soiled, and when the positions of the nozzles 21 and 22 are adjusted, the back of the nozzles 21 and 22 may become dirty (regions causing contrast changes) that may cause detection errors. To reduce the risk of appearing in captured images.
- the cover can also be used as a plain background for images of the tips of the nozzles 21, 22 captured by the camera 202 when adjusting the positions of the nozzles 21, 22. That is, at least one of the imaging locations 407, 412 may be located on this cover.
- the cover covers at least one of the reagent container 11, the sample container 23, the reaction cell 25, the reagent washing tank 26, and the sample washing tank 27, and the imaging positions 407 and 412 may or may not be covered.
- the cover can have an openable, slidable, or removable configuration.
- a member (background member) having a plain background surface may be installed at the imaging positions 407 and 412, respectively, and this background member may be used as a plain background.
- the background member can have any configuration as long as it has a plain background surface, and can be composed of, for example, sheets, stickers, and blocks. Even if the back surface of the tip of the nozzles 21 and 22 does not have a plain background area, the automatic analyzer 10 can have a plain background area by using the background member.
- the automatic analyzer 10 When a plurality of imaging positions 407 (or imaging positions 412) are set in the dispensing mechanism 14 (or dispensing mechanism 15), the automatic analyzer 10 performs camera 202 automatically detects dirt and obstacles based on the number of edges, the area of edges, and the degree of color change, and selects an image pickup position 407 (image pickup position 412) with few dirt and obstacles. Automatic selection is also possible.
- the automatic analyzer 10 cannot detect the position of the tip of the nozzle 21 (nozzle 22) from the image of the nozzle 21 (or nozzle 22) captured by the camera 202 at one imaging position 407 (imaging position 412) , the imaging position 407 (imaging position 412) is switched to another imaging position 407 (imaging position 412) by an automatic analyzer control unit to be described later, and the nozzle 21 (nozzle 22) can also be imaged.
- the automatic analyzer 10 captures images at a plurality of imaging positions 407 (or imaging positions 412), detects the position of the tip of the nozzle 21 (or nozzle 22) from each of these images, and detects the plurality of The position of the tip of the nozzle 21 (nozzle 22) may be obtained by averaging the positions of the tips of the . This averaging can reduce the detection error of the position of the tip of the nozzle 21 (nozzle 22).
- 5A to 5D are diagrams showing an example of adjusting the position of the reagent nozzle 21 near the imaging position 407 and the reagent washing position 406 of the reagent nozzle 21.
- FIG. The following description can also be applied when adjusting the position of the sample nozzle 22 .
- FIG. 5A and 5B are diagrams showing a state in which the dispensing arm 201 is moved so that the nozzle 21 is positioned at the imaging position 407.
- FIG. 5A is a diagram showing an example of the imaging position 407, the washing hole 301 of the reagent washing tank 26, and the imaging range 205 of the camera 202 on the horizontal plane (XY plane).
- FIG. 5B is a diagram showing the AA section of FIG. 5A.
- components such as the reagent washing tank 26 and the dispensing mechanism 14 are installed on the base 501.
- a cover 502 is installed above the base 501 to facilitate wiping off liquids such as reagents, samples, and washing liquid that are scattered during the operation of analysis processing.
- the cover 502 covers at least one of the reagent container 11 , the sample container 23 , the reaction cell 25 , the reagent washing bath 26 and the sample washing bath 27 , and can cover or not cover the imaging positions 407 and 412 .
- the cover 502 is provided with passage holes 503 for the nozzle 21 to access the reagent container 11 , the sample container 23 , the reaction cell 25 , the reagent washing tank 26 and the sample washing tank 27 .
- the cover 502 can be used as a plain background for the image of the tip of the nozzle 21 captured by the camera 202 when adjusting the position of the nozzle 21 .
- a block material having a height similar to that of the reagent washing tank 26 is placed on the base 501.
- the image may be captured after setting a material such as a material) as a background member.
- an image of the tip of the nozzle 21, such as the example shown in FIG. 3B, can be captured. Therefore, the coordinates 303 and 304 of the center of the nozzle 21 can be accurately calculated from the image captured when the nozzle 21 is positioned at the imaging position 407 as shown in FIG. 5B.
- the automatic analyzer 10 has many openings near the passage holes 503 for accessing the reaction cells 25 and the reagent containers 11 . There is a risk of liquid splashing in the vicinity of this opening. Therefore, it is desirable to provide the imaging position 407 at a position where the nozzles 21 and 22 of the dispensing arm 201, which are not used in the dispensing operation during the analysis process, can move.
- FIG. 5C is a diagram showing an example of the reagent washing position 406, the washing hole 301, and the imaging range 205 of the camera 202 on the horizontal plane (XY plane).
- FIG. 5D is a diagram showing a BB section of FIG. 5C.
- the tip of the nozzle 21 is at a position shifted from the cleaning hole 301, and even if the cleaning hole 301 is imaged by the camera 202, the nozzle 21 and the cleaning hole 301 do not overlap as in the example shown in FIG. 3D. Therefore, the coordinates 305 and 306 of the center of the cleaning hole 301 can be accurately calculated from the image captured in the state shown in FIG. 5D.
- the passage hole 503 of the cover 502 is larger than the cleaning hole 301. Therefore, it is possible to take an image of the cleaning hole 301 without removing the cover 502 . However, depending on the depth and size of the cleaning hole 301 and the passage hole 503, the cover 502 may be removed before imaging.
- the positions of the cleaning hole 301 and the tip of the nozzle 21 are different from each other in the vertical direction (Z direction). can be extracted. Also, since the vertical position of the dispensing arm 201 can be determined from the number of pulses of the stepping motor, the vertical distance between the tip of the nozzle 21 and the reagent washing tank 26 can be calculated. Therefore, the image of the cleaning hole 301 can be corrected to an image in which the vertical position of the cleaning hole 301 and the tip of the nozzle 21 are the same.
- the automatic analyzer 10 includes an automatic analyzer controller, and the automatic analyzer controller controls the process of adjusting the positions of the reagent nozzle 21 and the sample nozzle 22 .
- the automatic analyzer control unit moves the reagent nozzle 21 and the sample nozzle 22 to imaging positions 407 and 412, respectively, and images the nozzles 21 and 22 with the camera 202 at the imaging positions 407 and 412, respectively. Adjust position.
- FIG. 6 is a diagram showing the flow of processing for adjusting the position of the reagent nozzle 21 (or the sample nozzle 22) by the automatic analyzer control unit of the automatic analyzer 10 according to this embodiment.
- An example of adjusting the position of the reagent nozzle 21 will be described below, but the following description can also be applied to the case of adjusting the position of the sample nozzle 22 .
- the automatic analyzer control unit moves the reagent nozzle 21 to the imaging position 407 of the reagent nozzle 21 and images the nozzle 21 with the camera 202 .
- the camera 202 images the tip of the nozzle 21 at an imaging position 407 .
- the imaging position 407 is given in advance to the automatic analyzer control section (stop position table 709 described later with reference to FIG. 7).
- the automatic analyzer control unit determines whether the captured image is normal. If the edge of the tip of the nozzle 21 can be extracted from the imaged image, the automatic analyzer control unit determines that the imaged image is normal, and proceeds to the processing of S603. When the edge of the tip of the nozzle 21 cannot be extracted from the captured image (for example, an edge other than the tip of the nozzle 21 due to dirt or an obstacle is detected in the vicinity of the tip of the nozzle 21) If so), it is determined that the captured image is abnormal, and the process proceeds to S608.
- the automatic analyzer control unit changes the imaging position 407 to another imaging position 407. Thereafter, the automatic analyzer control unit advances to the process of S601, moves the nozzle 21 to the changed imaging position 407, and images the tip of the nozzle 21. FIG. If another imaging position 407 is not set in the dispensing mechanism 14, the automatic analyzer control unit does not proceed to the processing of S601 and issues an alarm to the GUI or the like.
- the automatic analyzer control unit calculates and stores coordinates 303 and 304 of the center of the nozzle 21 from the captured normal image (image of the tip of the nozzle 21).
- the automatic analyzer control unit moves the nozzle 21 to a position where the nozzle 21 and the adjustment target do not overlap in the captured image of the adjustment target (opening through which the nozzle 21 passes), and the camera 202 captures an image of the adjustment target.
- a position where the nozzle 21 and the adjustment target do not overlap in an image of the adjustment target is referred to as an "adjustment target position".
- the adjustment target position is determined in advance.
- the camera 202 captures an image of the adjustment target when the nozzle 21 is at the adjustment target position.
- the automatic analyzer control section overlaps the nozzle 21 and the reagent imaging target in the image of the reagent imaging target.
- the reagent imaging target is imaged at a position where it does not occur.
- the automatic analyzer control unit controls the nozzle 22 and the sample in the image of the sample imaging target.
- the sample imaging target is imaged at a position where the imaging targets do not overlap.
- the automatic analyzer control unit moves the nozzle 21 from the imaging position 407 to the adjustment target position, it is preferable to move the nozzle 21 at a speed sufficiently lower than the moving speed of the nozzle 21 in the analysis process. If the moving speed of the nozzle 21 to the adjustment target position is reduced, the relative position between the nozzle 21 and the camera 202 changes due to the movement of the nozzle 21 even when the dispensing mechanism 14 is provided with a detachable imaging device (FIG. 2A), for example. It can prevent slippage.
- a detachable imaging device FIG. 2A
- the automatic analyzer control unit moves the nozzle 22 from the imaging position 412 to the adjustment target position (the position where the nozzle 22 and the adjustment target do not overlap). , it is preferable to move the nozzle 22 at a speed sufficiently lower than the moving speed of the nozzle 22 in the analysis process.
- the automatic analyzer control unit calculates and saves coordinates 305 and 306 of the center of the adjustment target from the captured image of the adjustment target.
- the automatic analyzer control unit determines the coordinates of the center of the adjustment target according to the size and shape of the imaged adjustment target (the hole in the lid of the reagent container 11, the opening of the sample container 23, the reaction cell 25, and the cleaning hole 301). Ask for The position, size and shape of the adjustment target are given in advance to the automatic analyzer control section.
- the automatic analyzer control unit can perform pattern matching based on the size and shape of the adjustment target given in advance, and obtain the coordinates of the center of the adjustment target from the image of the adjustment target.
- the automatic analyzer control unit calculates the amount of adjustment of the position of the nozzle 21 (the difference in coordinates 307 and 308 shown in FIG. 3D) from the coordinates 303 and 304 of the center of the nozzle 21 and 306. Then, the automatic analyzer control unit moves the nozzle 21 by this adjustment amount to match the coordinates 303 and 304 of the center of the nozzle 21 with the coordinates 305 and 306 of the center of the adjustment target. The automatic analyzer controller adjusts the position of the nozzle 21 in this manner. After that, the automatic analyzer control section images the nozzle 21 and the adjustment target with the camera 202 and records the adjustment result of the position of the nozzle 21 .
- the automatic analyzer control unit repeats the above processing from S601 to S606 for all adjustment targets.
- the automatic analyzer control unit determines whether the processes from S601 to S606 have been performed for all adjustment targets.
- the automatic analyzer control unit determines that the adjustment of the nozzle 21 position has been completed when the processes from S601 to S606 have been performed for all adjustment targets.
- the automatic analyzer control unit calculates coordinates 303 and 304 of the center of the nozzle 21 for each of all adjustment targets.
- the automatic analyzer control unit calculates the coordinates 303 and 304 of the center of the nozzle 21 only for the first adjustment target, and does not calculate the coordinates 303 and 304 of the center of the nozzle 21 for the other adjustment targets.
- the coordinates 303, 304 of the center of the nozzle 21 calculated with respect to the first adjustment target can also be used.
- the dispensing mechanism 14 When the dispensing mechanism 14 is provided with a detachable imaging device (FIG. 2A), the relative positions of the nozzle 21 and the camera 202 may shift, so the nozzle 21 is moved from the imaging position 407 to the adjustment target position. It is desirable to check the coordinates 303, 304 of the center of the nozzle 21 immediately before. Further, even if the imaging position 407 is provided near each of the adjustment target positions and the distance from the imaging position 407 to the adjustment target position is shortened, positional deviation of the camera 202 can be prevented.
- a detachable imaging device FIG. 2A
- FIG. 7 is a block diagram showing an example of the configuration of the automatic analyzer control unit included in the automatic analyzer 10 according to this embodiment.
- the automatic analyzer control section includes a dispensing mechanism control section 701, a GUI (graphical user interface) 702, a mode switching section 703, an analysis operation control section 704, a dispensing arm control section 705, a nozzle position adjustment operation control section 706, Dispensing arm horizontal driving unit 707, dispensing arm vertical driving unit 708, stop position table 709, imaging control unit 710, image data storage unit 711, nozzle tip coordinate extraction unit 712, nozzle position adjustment amount calculation unit 713, target coordinates An extraction unit 714 and an adjustment target information storage unit 715 are provided.
- the automatic analyzer control section has a mechanism for driving the reagent disk 12, the reaction disk 13, and the transfer line 101, although not shown in FIG.
- the dispensing mechanism control unit 701 instructs the mode switching unit 703 to switch the control mode according to the user's command from the GUI 702 .
- the dispensing mechanism control unit 701 executes the process of S602 in FIG. 6 to determine whether the image captured in S601 is normal or not, and executes the process of S608 to change the imaging position 407 to another imaging position. 407.
- the mode switching unit 703 can switch the operation of the dispensing mechanisms 14 and 15 between an analysis mode in which normal analysis processing is performed and an adjustment mode in which the positions of the nozzles 21 and 22 are adjusted.
- the mode switching unit 703 switches between a reset mode for moving each part of the dispensing mechanisms 14 and 15 to their initial positions and a maintenance mode for intensively cleaning the nozzles 21 and 22 and the reaction cell 25. 15 can also be executed.
- the mode switching unit 703 sends an execution command to the analysis operation control unit 704.
- the analysis operation control section 704 sends a command to the dispensing arm control section 705 to drive the dispensing arm 201 .
- the dispensing arm 201 moves the nozzles 21, 22 at high speed.
- the mode switching unit 703 sends an execution command to the nozzle position adjustment operation control unit 706.
- the nozzle position adjustment operation control section 706 sends a command to the dispensing arm control section 705 to drive the dispensing arm 201 .
- the dispensing arm 201 moves the nozzles 21 and 22 at a low speed (slower than the moving speed of the nozzles 21 and 22 in the analysis mode).
- the dispensing arm control unit 705 issues a motor driving command (for example, the number of pulses and pulse rate) are sequentially sent to move the nozzles 21 and 22 .
- the dispensing arm control unit 705 can use information stored in a stop position table 709, which will be described later, to instruct positions at which the nozzles 21 and 22 stop moving.
- the dispensing arm horizontal driving section 707 drives the dispensing arm 201 in the horizontal direction to move the nozzles 21 and 22 in the horizontal direction.
- the dispensing arm up/down driving section 708 drives the dispensing arm 201 in the vertical direction to move the nozzles 21 and 22 in the vertical direction.
- the number of dispensing arm horizontal drive units 707 varies depending on the degree of freedom of the dispensing arm 201 in the horizontal direction (the number of motors). If there are 1, there are two.
- the nozzle position adjustment operation control unit 706 drives the dispensing arm 201 by issuing a command to the dispensing arm control unit 705, and moves the nozzles 21 and 22 to imaging positions 407 and 412 and adjustment target positions (adjustment target is imaged). position where the nozzles 21 and 22 and the adjustment target do not overlap in the image).
- the stop position table 709 stores information about predetermined imaging positions 407 and 412 .
- the stop position table 709 can update the stored imaging positions 407 and 412 .
- the stop position table 709 also stores information about predetermined adjustment target positions and information about the stop positions (suction position, ejection position, and cleaning position) of the nozzles 21 and 22 in normal analysis processing.
- the nozzle position adjustment operation control unit 706 sends commands to the imaging control unit 710 to perform imaging at the imaging positions 407 and 412 and the adjustment target position.
- the imaging control unit 710 sends an imaging instruction to the camera 202, and the camera 202 images the tips of the nozzles 21 and 22 and the adjustment target.
- the imaging control unit 710 receives information about an image captured by the camera 202 from the camera 202 and stores this image in the image data storage unit 711 .
- the nozzle position adjustment operation control unit 706 sends the nozzle position adjustment amount calculation unit 713 the adjustment amounts of the positions of the nozzles 21 and 22 (shown in FIG. 3D). A command is sent to calculate the coordinate difference 307, 308).
- the nozzle position adjustment amount calculation unit 713 causes the nozzle tip coordinate extraction unit 712 to calculate coordinates 303 and 304 of the centers of the nozzles 21 and 22, and the target coordinate extraction unit 714 calculates the coordinates 305 and 306 of the center of the adjustment target.
- the nozzle tip coordinate extraction unit 712 calculates coordinates 303 and 304 of the centers of the nozzles 21 and 22 from the image captured by the camera 202 in accordance with instructions from the nozzle position adjustment amount calculation unit 713, and converts the calculated coordinates 303 and 304 to Return to the nozzle position adjustment amount calculation unit 713 .
- the target coordinate extraction unit 714 calculates the coordinates 305 and 306 of the center of the adjustment target from the image captured by the camera 202 according to the instruction from the nozzle position adjustment amount calculation unit 713, and uses the calculated coordinates 305 and 306 as the nozzle position adjustment amount. Return to the calculation unit 713 .
- the target coordinate extraction unit 714 can perform pattern matching using information about the adjustment target stored in the adjustment target information storage unit 715 when calculating the coordinates 305 and 306 of the center of the adjustment target.
- the adjustment target information storage unit 715 stores in advance information about the adjustment target, such as the size and shape of the adjustment target.
- the nozzle position adjustment amount calculation unit 713 receives coordinates 303 and 304 of the centers of the nozzles 21 and 22 from the nozzle tip coordinate extraction unit 712, receives coordinates 305 and 306 of the center of the adjustment target from the target coordinate extraction unit 714, and The amount of adjustment of the positions of the nozzles 21 and 22 (coordinate differences 307 and 308 shown in FIG. 3D) is calculated.
- the nozzle position adjustment amount calculator 713 sends a command to the nozzle position adjustment operation controller 706 to move the nozzles 21 and 22 by the calculated adjustment amount to adjust the positions of the nozzles 21 and 22 .
- the nozzle position adjustment operation control unit 706 Based on the command from the nozzle position adjustment amount calculation unit 713, the nozzle position adjustment operation control unit 706 issues a command to the dispensing arm control unit 705 to drive the dispensing arm 201 and adjust the positions of the nozzles 21 and 22. .
- the nozzle position adjustment amount calculation unit 713 updates the stop positions (suction position, ejection position, and cleaning position) of the nozzles 21 and 22 using the calculated adjustment amounts of the nozzles 21 and 22, and updates the updated stop positions. Stored in the stop position table 709 .
- the nozzle position adjustment operation control unit 706 issues a command to select the imaging positions 407 and 412 where less dirt and obstacles are detected. It can be sent to the dispensing arm control section 705 . Further, when the nozzle position adjustment operation control unit 706 cannot detect the positions of the tips of the nozzles 21 and 22 from the images of the nozzles 21 and 22 captured at one imaging position 407 and 412, the nozzle position adjustment operation control unit 706 to other imaging positions 407 and 412, and a command to perform imaging at the other imaging positions 407 and 412 can be sent to the dispensing arm control unit 705.
- the automatic analyzer 10 according to the present embodiment has the configuration described above, and can detect the positions of the tips of the reagent nozzle 21 and the sample nozzle 22 with high accuracy. Therefore, the automatic analyzer 10 according to the present embodiment can accurately adjust the positions of the reagent nozzle 21 and the sample nozzle 22, and the position of the reagent nozzle 21 and the sample nozzle 22 can be adjusted when performing analysis processing. and the position of the adjustment target can be aligned with high precision.
- the present invention is not limited to the above embodiments, and various modifications are possible.
- the above embodiments have been described in detail in order to facilitate understanding of the present invention, and the present invention is not necessarily limited to aspects having all the described configurations.
- part of the configuration of one embodiment can be replaced with the configuration of another embodiment.
- add the configuration of another embodiment to the configuration of one embodiment.
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Abstract
Description
Claims (8)
- 試薬または検体を分注するためのノズルと、前記ノズルを移動させる分注アームとを備える分注機構と、
前記ノズルを洗浄する洗浄槽と、
前記ノズルの位置を調整する自動分析装置制御部と、
を備え、
反応セルに収容された前記試薬と前記検体との混合液を分析する分析処理を実行し、
前記分注機構には、前記ノズルが前記分析処理において移動を停止する位置である、前記ノズルの停止位置が設定されており、
前記分注機構は、前記分注アームに撮像装置を備え、
前記自動分析装置制御部は、前記ノズルを前記ノズルの撮像位置に移動させ、前記撮像位置において前記撮像装置で前記ノズルを撮像し、
前記撮像位置は、前記ノズルが移動可能な位置であって、前記停止位置と異なる位置である、
ことを特徴とする自動分析装置。 - 前記停止位置は、前記ノズルが前記試薬または前記検体を収容した容器から前記試薬または前記検体を吸引する吸引位置と、前記ノズルが前記反応セルに前記試薬または前記検体を吐出する吐出位置と、前記ノズルを洗浄する洗浄位置である、
請求項1に記載の自動分析装置。 - 前記撮像位置は、前記撮像装置が前記ノズルを撮像したときの画像において、前記ノズルの先端部の背景が無地である位置である、
請求項2に記載の自動分析装置。 - 前記自動分析装置制御部は、前記撮像装置で、前記洗浄槽、前記容器、または前記反応セルを撮像対象として撮像する場合には、前記撮像対象を撮像したときの画像において前記ノズルと前記撮像対象が重ならない位置で、前記撮像対象を撮像する、
請求項2に記載の自動分析装置。 - 前記自動分析装置制御部は、前記撮像装置で前記撮像対象を撮像する場合には、前記ノズルを、前記撮像位置から前記ノズルと前記撮像対象が重ならない前記位置に、前記分析処理における前記ノズルの移動速度よりも低速で移動させる、
請求項4に記載の自動分析装置。 - 前記洗浄槽と前記容器と前記反応セルのうち少なくとも1つを覆うカバーを備え、
前記撮像位置は、前記自動分析装置が前記分析処理を行うときは前記カバーで覆われている、
請求項2に記載の自動分析装置。 - 前記洗浄槽と前記容器と前記反応セルのうち少なくとも1つを覆うカバーを備え、
前記撮像位置は、前記カバー上に位置する、
請求項2に記載の自動分析装置。 - 前記撮像位置が複数設定されており、
前記自動分析装置制御部は、複数の前記撮像位置のうち1つで撮像した前記ノズルの画像から前記ノズルの先端部の位置を検出できない場合には、他の前記撮像位置で前記ノズルを撮像する、
請求項2に記載の自動分析装置。
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Citations (5)
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US20080006653A1 (en) * | 2006-03-13 | 2008-01-10 | Biomachines, Inc. | Small volume liquid handling system |
JP2016125908A (ja) * | 2015-01-05 | 2016-07-11 | 株式会社島津製作所 | 自動試料採取装置 |
JP2017151002A (ja) * | 2016-02-25 | 2017-08-31 | 株式会社日立ハイテクノロジーズ | 自動分析装置 |
WO2019207844A1 (ja) * | 2018-04-23 | 2019-10-31 | 株式会社島津製作所 | オートサンプラ |
JP2019219418A (ja) * | 2010-11-23 | 2019-12-26 | アンドリュー・アライアンス・ソシエテ・アノニムAndrew Alliance S.A. | チップに対する情報を判別する方法 |
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- 2022-04-14 CN CN202280039320.0A patent/CN117413185A/zh active Pending
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Publication number | Priority date | Publication date | Assignee | Title |
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US20080006653A1 (en) * | 2006-03-13 | 2008-01-10 | Biomachines, Inc. | Small volume liquid handling system |
JP2019219418A (ja) * | 2010-11-23 | 2019-12-26 | アンドリュー・アライアンス・ソシエテ・アノニムAndrew Alliance S.A. | チップに対する情報を判別する方法 |
JP2016125908A (ja) * | 2015-01-05 | 2016-07-11 | 株式会社島津製作所 | 自動試料採取装置 |
JP2017151002A (ja) * | 2016-02-25 | 2017-08-31 | 株式会社日立ハイテクノロジーズ | 自動分析装置 |
WO2019207844A1 (ja) * | 2018-04-23 | 2019-10-31 | 株式会社島津製作所 | オートサンプラ |
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