JP4966877B2 - Sample processing equipment - Google Patents

Description

  The present invention relates to a specimen dispensing apparatus that dispenses specimens such as blood and urine collected for examination into a plurality of separate containers, or a specimen classification apparatus that classifies containers containing specimens for each purpose. The present invention relates to a sample processing apparatus.

  In recent years, hospitals and laboratories are equipped with sample dispensing devices that dispense samples such as blood and urine collected for testing into separate containers and sample classification devices that classify dispensed sample containers by purpose. Yes. The sample classification device is a device that dispenses the collected parent sample into child sample containers for use in various analyzers, and the sample classification device is a device that classifies the dispensed child sample containers.

  These sample processing devices connect to the sample transport line and process the parent sample from the carry-in, the dispensing in the sample dispensing device, and the classification in the sample classification device as a line. Diversification of processing corresponding to the increase in the number of combinations, acceleration of processing from loading to dispensing / classification, high reliability ensuring accuracy of dispensing / classification, space saving of equipment installed in the laboratory There is a need for improvement.

  In a conventional sample processing apparatus, a sample container hand mechanism such as a dispensing head or a test tube is attached to the Z axis (vertical direction), and the dispensing head dispenses a specified amount from a parent sample to a child sample container. The dispensed sample containers are classified into trays for different purposes by a hand mechanism (for example, see Patent Document 1). The total number of dispensing heads and sorting hands attached is determined in advance, and cannot be changed according to system requirements.

  In a conventional sample dispensing apparatus, there are two methods: a method that prioritizes the number of dispenses and a method that prioritizes the processing speed. In the method of giving priority to the number of dispenses, one or two dispensing heads are mounted, and each dispensing head is freely operated in the X-axis direction (a direction in which a plurality of heads are arranged), so that one original sample can be used. Dispensing into multiple child specimen containers is possible. In addition, in the method giving priority to the processing speed, a large number of dispensing heads (generally determined by the number of specimen containers mounted on the specimen container transport rack, generally five) are installed, and each dispensing head is in the X-axis direction. The processing speed is improved by performing simultaneous dispensing for the number of dispensing heads from one original sample to one or more child sample containers. Yes.

A conventional sample classification apparatus is configured such that a plurality of classification hands can be mounted so that a processing operation can be performed at a time for those that can be processed simultaneously. The number of dispensing heads and classification hands is determined at the design / manufacturing stage of the apparatus, and it is difficult to increase or decrease after actual operation or when the system is changed later.
JP 2000-9741 A

  Therefore, in the sample processing apparatus, there is a problem to be solved in that the number of processing work members can be easily changed according to the system requirements by allowing the processing work members such as the dispensing head and the classification hand to be attached and detached. is there.

  The object of the present invention is to make it easy to change the number of processing work members such as dispensing heads and sorting hands, enabling dispensing into a plurality of child sample containers and classification with one operation of a plurality of child sample containers. Thus, it is to provide a sample processing apparatus which can cope with the diversification of processing, and which is high speed and saves space.

  The present invention applies a linear motor as a driving means for a processing work member such as a dispensing head or a classification hand, and the processing work member is a linear motor movable element and a Z-axis drive actuator for a linear motor stator. In addition, by making it detachable, it is possible to easily and flexibly respond to changes in the number of processing work members.

  A plurality of processing work members are mounted on one X-axis, and the amount of movement of each processing work member in the X-axis direction can be arbitrarily controlled. Further, a controller that can simultaneously control the Y-axis driving actuator and all the X-axis driving actuators and the Z-axis driving actuator can be mounted on the sample processing apparatus.

  In addition, by installing a plurality of classification hands, it is possible to speed up classification processing when processing is possible at a time. Furthermore, it is possible to cope with a change in the number of processing work members due to a system change or the like.

  According to the sample processing apparatus of the present invention, not only can a single parent sample be dispensed into a plurality of child sample containers, but a plurality of parent samples can be simultaneously dispensed into a plurality of child sample containers. . In addition, the number of processing work members such as dispensing heads and sorting hands can be easily changed according to system requirements, and multiple dispensing and sorting can be performed at one time, depending on the number of processing work members Thus, it is possible to provide a sample processing apparatus that changes the overall processing speed, has a high processing work speed, and saves space.

  1 to 5 show an embodiment in which the sample processing apparatus according to the present invention is applied to a sample dispensing apparatus. 1 is a perspective view schematically showing the sample dispensing apparatus, FIG. 2 is a front view of the X axis of the sample dispensing apparatus shown in FIG. 1, FIG. 3 is a top view of the X axis, and FIG. FIG. 5 is a side view of the classification head. In this embodiment, the sample dispensing apparatus is equipped with five flexible dispensing heads on one X axis.

  As shown in FIG. 1, the dispensing mechanism, which is the main part of the sample dispensing apparatus, is provided with respect to the Y axis (front / rear horizontal movement) 1, 1, the X axis (left / right horizontal movement) 2, and the X axis 2. It is composed of a dispensing head group 3 arranged side by side. The Y axis 1 and the X axis 2 constitute two orthogonal axes in the horizontal plane. Although not shown, the Y axes 1 and 1 are driven by a motor via a belt. Further, the Y-axis 1 can be configured beltless by using a linear motor. The X-axis 2 is attached to the Y-axis 1, 1, and the entire X-axis 2 can be moved back and forth horizontally while maintaining orthogonality to the Y-axis 1, 1. The dispensing head group 3 is composed of a plurality of (in this example, 5) dispensing heads 11a, 11b, 11c, 11d, and 11e (hereinafter collectively referred to as “11”).

  As shown in FIGS. 2 to 4, an X-axis base 10 extending in the longitudinal direction of the X-axis 2 is provided with a linear for detecting the position of a stator (permanent magnet composed of micro magnetic domain rows) 12 and a dispensing head 11. A scale 18 is incorporated so as to extend in the longitudinal direction of the X-axis base 10. Further, a guide rail may be added in parallel to the X-axis base 10 to prevent the dispensing head 11 from shaking.

  Each dispensing head 11 includes an electromagnet 14 that is necessary for the dispensing head 11 to move in the X-axis direction, and position detectors 17a, 17b,. Is attached). The stator 12 and the electromagnet 14 constitute a linear actuator. That is, in the dispensing head 11, the electromagnet 14 is disposed to face the stator 12 with a slight gap, and the dispensing head 11 is arranged on the X axis 2 by magnetic interaction with the stator 12. Driven in the longitudinal direction. Further, the position detector 17 is arranged through a slight gap so as to face the linear scale 18, and by reading the linear scale 18, the self position on the X axis 2 can be known.

Each dispensing head 11 is provided with a Z-axis (vertical movement) base 13, 13b... 13e (collectively referred to as “13”). A Z-axis drive guide 19 is attached to the Z-axis base 13. Z axis base 13 can be separated into the Z-axis base portion 13 a and the Z-axis base portion 13 b, There is also be integrally fixed by a Z-axis base fixing screw 13 c. Z axis base fixing screws 13 c Remove By removing the Z axis base portion 13 b, and has a structure which can be removed Z-axis base 13 from the X-axis base 10.

The dispensing head 11 (the same applies to the classification head 30 shown in FIG. 5 below) is applied to one X-axis base 10 by the Z-axis base portions 13 a and 13 b and the Z-axis base fixing screw 13 c. The number mounted on the X-axis base 10 can be increased or decreased by attaching or detaching. Even when the number of mounted units is changed, as will be described later, for example, by setting and saving as parameters of a central control CPU (Central Processing Unit) 100, the number of dispensing heads 11 can be grasped, the type of each head, Operation instructions and result determination can be performed. Also, the dispensing head 11 is always numbered from the right (or left). For example, when the rightmost head is removed, the number on the left side can be raised. Alternatively, a number corresponding to the maximum number of heads determined by the width of the bed and the width of the work area can be set, and the unmounted portion can be omitted.

  The dispensing head 11 is attached to a Z-axis drive guide 19, and is used for aspirating / discharging a specimen, a Z-axis drive motor 20 necessary for movement in the Z-axis direction, a driver for driving the motor 20, and the specimen. The mechanism is built-in.

  As the linear actuator, in addition to a magnetic linear motor, an ultrasonic linear motor, an electrostatic linear motor, or the like can be applied.

  Next, a control method of the sample processing apparatus will be described with reference to FIGS. 6-a and 6-b. FIG. 6A is a control block diagram of a control system for controlling the operation of the sample processing apparatus, and this control system is composed of a plurality of control controllers constructed with a hierarchy in the vertical direction. That is, the overall controller 100 composed of the MAIN-CPU analyzes the dispensing order 201 requested by the host CPU 200, schedules the dispensing operation based on the analysis result, and sends the Y-axis controller 110 to the Y-axis controller 110. An axis operation target position instruction 101 is transmitted, an X axis operation target position instruction 102 is transmitted to the X axis controller 120, and a Z axis operation target position instruction 103 is transmitted to the Z axis controller 130. The controller 110 to 130 for each axis is composed of a SUB-CPU.

  The Y-axis controller 110 controls the Y-axis motor via the motor driver according to the received Y-axis operation target position instruction 101, and transmits the Y-axis operation result 111 to the overall controller 100. The X-axis controller 120 performs speed control and position control so that a plurality of X-axis motors do not collide with each other according to the received X-axis operation target position instruction 102, and controls the X-axis motor via a motor driver. The X-axis operation result 121 is transmitted to the overall controller 100. The Z-axis controller 130 controls the Z-axis motor via the motor driver according to the received Z-axis operation target position instruction 103, and transmits the Z-axis operation result 131 to the overall controller 100. The operation result is judged from the operation results 111, 121, and 131 from each axis, and the operation proceeds to the next operation.

The X-axis motor driver and the X controller 120 are connected by wires 125a, 125b, and 125c, and the Z-axis motor driver and the Z controller 130 are connected by wires 135a, 135b, and 135c. In order to reduce wiring, the motor control signal may be replaced by optical communication using an electric signal / optical signal converter.
Since power can be supplied to the actuators, dispensing heads, and classification hands of each axis by, for example, branching from the common wiring of DC24V at the connector, it is possible to cope with an increase or decrease in the number of processing work members.
As for the transmission of electric power, wireless transmission using light, a high-frequency magnetic field, radio waves, or the like is also conceivable.

  FIG. 6B is a control block diagram of another control system for controlling the operation of the sample processing apparatus, and this control system is also constructed with a hierarchical structure up and down like the control system shown in FIG. 6A. A plurality of control controllers. The same components as those shown in FIG. 6A are denoted by the same reference numerals, and description thereof is omitted. In the control system shown in FIG. 6B, the control signal is supplied from the optical signal converter 140 via the local network by one optical fiber 141 and further branched from the optical signal converter 142 and supplied from the X1 axis to the Xn axis. By transmitting to the motor and each motor driver of Z1 axis to Zn axis motor, the address of each dispensing head and classification hand is determined and signals are sent and received, so the dispensing head and classification hand can be increased or decreased it can.

  Furthermore, it is also possible to form a communication network by wiring only the power cable by superimposing and communicating the control signal, measurement data, and measurement result as a high frequency signal to the power source. In this case, in order to improve noise resistance, multiplex communication is possible by applying a spread spectrum CDMA (Code Division Multi Access) communication method, etc., and assigning spreading codes to the host, each dispensing head, and each classification hand. It becomes.

  Next, the specific operation of the sample processing apparatus according to the present invention will be described with reference to FIGS. The sample dispensing apparatus shown in FIGS. 7A to 7F is an operation example of the sample dispensing apparatus equipped with the five dispensing heads shown in FIGS.

  In a dispensing apparatus including the dispensing head group 3, the parent sample line 50, and the child sample line 60, the host CPU 200 requested a one-to-two dispensing (creates two child samples from one parent sample). In this case, the sample of the parent sample 50 can be aspirated by moving the Y axis and the X axis to positions on the parent sample 50 as shown in FIG. The dispensing heads 11 of the dispensing head group 3 are gathered on the X axis at intervals similar to the arrangement intervals of the parent specimens 50.

  Next, in order to perform suction from the parent sample 50, as shown in FIG. 7B, each dispensing head 11 lowers the Z-axis into the parent sample 50, and the requested dispensing amount of the sample. Perform suction operation. After completion of the aspirating operation of the parent sample 50, the Z-axis is once raised in order to leave the parent sample 50 and move it to the position of the child sample 60, and therefore again occupies the position of FIG.

  Next, as shown in FIG. 7C, in order to align each dispensing head 11 with the position of the child sample, the Y axis is moved so that each dispensing head 11 is aligned with the child sample 60, and each dispensing head is further aligned. The distance between the heads 11 on the X axis is increased, and the heads 11 are moved to the positions of every other child sample (odd number child samples). Next, in order to discharge the aspirated specimen to each container of the child specimen 60, as shown in FIG. 7-d, the Z axis of each dispensing head 11 is lowered to the vicinity of the bottom of the container, and the aspirated specimen is requested. The dispensed amount is discharged. After completion of the child sample ejection operation, the Z axis is once raised to move to the position of the next child sample, and again occupies the position of FIG.

  Next, in order to discharge the remaining sample to the child sample container, as shown in FIG. 7E, each dispensing head 11 is moved about the X axis and moved to the child sample (even-numbered child sample) position. In order to discharge the aspirated specimen to each container of the child specimen 60, as shown in FIG. 7-f, each dispensing head 11Z axis is lowered to the vicinity of the bottom of the container, and the dispensed amount for which the aspirated specimen is requested. Only dispense. Finally, when the Z-axis is raised to process the next specimen, the position of FIG.

  FIG. 8 is a longitudinal sectional view showing an example of a dispensing head for dispensing a sample from a parent sample container to a child sample container when the sample processing apparatus according to the present invention is a sample dispensing apparatus. The dispensing head 150 includes a bellows 151 for sample suction, a bellows driving actuator 152 that expands and contracts the bellows 151, and a pressure sensor 153 that detects a dispensing operation. By driving the bellows driving actuator 152 to expand the internal space of the bellows 151, the specimen can be aspirated by negative pressure. Since the pressure sensor 153 detects the suction pressure, it can be detected whether or not the dispensing operation has been performed.

  With the configuration and operation as described above, it is possible to provide a sample processing apparatus such as a dispensing apparatus or a classification apparatus that can flexibly respond to system requirements, and it is possible to simplify the apparatus configuration and improve the sample processing speed.

1 is a schematic perspective view showing an embodiment of a sample processing apparatus according to the present invention. The front view of the X-axis of the sample processing apparatus of embodiment shown in FIG. FIG. 2 is a top view of the X axis of the sample processing apparatus according to the embodiment shown in FIG. 1. The side view of the X-axis at the time of mounting of the dispensing head of the sample processing apparatus of embodiment shown in FIG. The side view of the classification | category head of the sample processing apparatus of embodiment shown in FIG. FIG. 2 is a control block diagram illustrating an example of a control controller of the sample processing apparatus according to the embodiment illustrated in FIG. 1. FIG. 5 is a control block diagram illustrating another example of the control controller of the sample processing apparatus according to the embodiment illustrated in FIG. 1. It is an operation example of the sample processing apparatus of the embodiment shown in FIG. 1, and is a diagram showing a state before the dispensing head is lowered to the parent sample. The figure which shows the state which dropped the dispensing head to the parent sample in the sample processing apparatus shown to FIG. 7-a. The figure which shows the state which extended the dispensing head shown to FIG. 7-b to the position of a child sample. The figure which shows the state which dropped the dispensing head shown to FIG. 7-c to a child sample. The figure which shows the state which extended the dispensing head shown to FIG. 7-c to the position of another child sample. The figure which shows the state which dropped the dispensing head shown to FIG. 7-e to a child sample. The longitudinal cross-sectional view which shows an example of a dispensing head when the sample processing apparatus by this invention is a sample dispensing apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Y-axis 2 ... X-axis 3 ... Z-axis 10 ... X-axis base 11 ... Dispensing head 12 ... Stator (permanent magnet)
13 ... Z-axis base 13a ... Z-axis base A 13b ... Z-axis base B
13c ... Z-axis base fixing screw 14 ... electromagnet 17 ... position detector 18 ... linear scale 19 ... Z-axis drive guide 20 ... Z-axis drive motor 50 ... parent sample line 60 ... Child sample line 100 ... Overall controller 101 ... Y-axis operation target position instruction 102 ... X-axis operation target position instruction 103 ... Z-axis operation target position instruction 110 ... Y-axis Controller 111 ... Y-axis operation result 120 ... X-axis controller 121 ... X-axis operation result 125 ... X-axis motor control signal 130 ... Z-axis controller 131 ... Z-axis operation Result 135 ... Z-axis motor control signals 140 and 142 ... Optical signal converter 141 Optical fiber 200 ... Host CPU (HOST computer) 201 ... Dispensing request

Claims (6)

In a sample processing apparatus for processing samples such as blood and urine,
One X-axis drive linear actuator stator extending in the left-right direction, a plurality of X-axis drive linear actuator movers provided so as to be movable along the stator and cooperating with the stator, and the specimen and a multiple processing tasks member having a plurality of processing tools for processing,
Each processing operation member of a plurality of processing operations member is provided with a Z-axis mechanism having a Z-axis driving linear actuator to be movable up and down the processing tool to the X-axis drive linear actuator movable element,
Wherein relative to the stator, wherein a Z-axis mechanism and the processing tool is detachable, the sample processing apparatus according to claim changeable der Rukoto the number of mounted the processing tool. The specimen processing apparatus according to claim 1, wherein
The sample processing device is a sample dispensing device for dispensing the sample from a parent sample container to a child sample container using the processing tool as a dispensing head, and the Z-axis drive linear actuator is built in the dispensing head. sample processing apparatus according to claim that you have been. The specimen processing apparatus according to claim 2 , wherein
A sample processing apparatus comprising a bellows for sample suction, a bellows driving linear actuator for expanding and contracting the bellows, and a pressure sensor for detecting a dispensing operation in the dispensing head . The specimen processing apparatus according to claim 3, wherein
A sample processing apparatus using optical communication for control signal transmission of the X-axis driving linear actuator, the Z-axis driving linear actuator, and the bellows driving linear actuator . The specimen processing apparatus according to claim 1 , wherein
The sample processing apparatus is a sample classification apparatus that classifies sample containers according to the purpose using the processing tool as a classification hand, and the linear actuator for Z-axis driving is built in the classification hand (drive mechanism unit). sample processing apparatus characterized by there. The specimen processing apparatus according to any one of claims 1 to 5 ,
A sample processing apparatus comprising a control controller capable of simultaneously controlling a plurality of X-axis drive linear actuators and a plurality of Z-axis drive linear actuators .

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