JP2023083911A - Lid removal method, lid removal device, execution information recording method and execution information recording device - Google Patents

Abstract

A method and apparatus capable of removing a lid adhering to a hand without manual intervention, and a method and apparatus for recording execution information of lid removal work are provided. SOLUTION: The lid removing method of the present invention is a method for removing the lid from the gripping portion by bringing the lid attached to the gripping portion equipped to the robot into contact with the lid removing tool. The lid removing device of the present invention includes a robot and a lid removing tool, and the robot and/or the lid removing tool performs an operation of bringing the lid attached to the gripper into contact with the lid removing tool. The execution information recording method of the present invention is a method of capturing an image of the gripped portion after the cover is removed, and recording the evidence obtained by the image capturing in association with the sample identification information that identifies the sample. The execution information recording apparatus of the present invention includes a photographing means for photographing the grip portion after the cover is removed, and a recording means for recording the evidence obtained by the photographing by the photographing means in association with the sample specifying information for specifying the sample. It is prepared. [Selection drawing] Fig. 1

Description

The present invention relates to a method and apparatus for removing lids attached to the grasping portion of various robots such as arm-type robots and parallel link-type robots, and a method and apparatus for recording execution information when a lid removal operation is performed.

In the fields of life sciences such as biology, biochemistry, bioengineering, and food science, various tests and experiments are performed using specimens (including specimen liquids to which buffer solutions have been added). Before a test or experiment using a sample, pretreatment such as so-called dispensing is performed to transfer the sample in a sample container (eg, tube) to a discharge destination container (eg, plate).

In the pretreatment dispensing work, the lid of the sample container containing the sample is removed in order to suck up the sample in the sample container. The removed lid is discarded at a predetermined location (for example, a lid collection box located by coordinates XYZ in the work space). Specimens may adhere to the inside and sides of the removed lid, which may contribute to contamination.

In tests and experiments using specimens, retests and experiments may be conducted after the fact, so the specimens remaining in the specimen container must be stored in a sealed state to prevent denaturation. . In order to store the sample, a new lid is attached to the sample container after the sample is sucked up.

When the pretreatment is performed by a robot, opening and closing of the lid of the specimen container is performed by gripping it with a gripping section that is an end effector of the robot. Conventionally, as a device for opening and closing a lid by gripping it with a gripper, there is known a device for removing a lid from a specimen container by rotating a gripper that grips the lid (Patent Document 1).

JP 2016-123313 A

By the way, the lid removed from the sample container is discarded in a lid collection box or the like. When the grip is released, the outer periphery of the lid may adhere to the inner surface of the grip portion and may not be discarded in a lid collection box or the like.

In the tests and experiments using the specimens mentioned above, if the next operation is performed with the lid attached to the grip, contamination may occur, so it is necessary to remove the lid attached to the grip without fail. . Until now, no technology has been proposed to reliably remove the lid attached to the gripper at a specified location in order to prevent or avoid contamination. This hindered labor saving and work efficiency. Under such circumstances, there is a demand from the field for a proposal of a technique that can remove the lid adhering to the hand without manual intervention.

The present invention has been made in view of such circumstances, and the problem to be solved is to ensure that the lids attached to the gripping portions of various robots are securely placed in a predetermined position without human intervention in order to prevent or avoid contamination. To provide a lid removing method and a lid removing device capable of removing a lid, and an execution information recording method and an execution information recording device when the lid removal work is performed.

[Lid removal method]
A method for removing a lid according to the present invention is a method for removing a lid attached to a gripper mounted on a robot, in which the lid attached to the gripper is brought into contact with a lid remover to remove the lid from the gripper. is.

[Lid removing device]
A lid removing apparatus of the present invention is an apparatus for removing a lid attached to a gripper equipped with a robot, which includes a robot and a lid contacting tool, and removes a lid attached to the gripping part by the operation of the robot and/or the lid removing tool. It is a device that performs an operation of bringing the lid and the lid remover into contact with each other.

[Execution information recording method]
The method of recording execution information of the present invention is a method of recording execution information when the lid is removed by the method of removing the lid of the present invention. , is a method of recording in association with sample specifying information that specifies a sample.

[Execution information recording device]
The execution information recording apparatus of the present invention is a recording apparatus of execution information when the lid is removed by the lid removing apparatus of the present invention, and comprises a photographing means for photographing the grip portion after the lid is removed, and a A recording means is provided for recording the documented evidence in association with the specimen identification information for identifying the specimen.

In the lid removing method and the lid removing apparatus of the present invention, the lid attached to the gripping portion and the lid removing tool are brought into contact with each other. It can be removed without hesitation. In addition, in the execution information recording method and the execution information recording device of the present invention, the grasped portion after the lid is removed is photographed, and the evidence obtained by the photographing is recorded in association with the specimen identification information that identifies the specimen. Execution information regarding lid removal can be confirmed after the fact.

4 is a flow chart showing an example of pretreatment for a test using a specimen. (a) is a perspective view showing an example of a lid remover projecting inside the lid collection box, and (b) is an explanatory diagram of the projection length of the lid remover in (a). 4(a) to 4(c) are operation explanatory diagrams when the first hand is moved to bring the lid gripped by the claws of the first hand into contact with the lid remover to remove the lid. (a) to (d) are diagrams for explaining the operation when sucking up a specimen. (a) shows an example of a chip image after being sucked up, and (b) is an explanatory diagram of an air portion and a sample portion in the chip image after being sucked up in (a). (a) to (c) are explanatory diagrams of operations when a sample is discharged. (a) shows an example of the chip image after ejection, (b) is an explanatory diagram of the air portion and the remaining specimen portion in the chip image after ejection of (a), and (c) is the chip image after ejection of (a). Explanatory drawing of an air portion and a remaining specimen portion when a part is blackened. FIG. 1 is a configuration explanatory diagram showing an example of a system that performs pretreatment for an examination using a sample; (a) shows an example of a state in which the claws of the first hand are brought closer, and (b) shows an example of a state in which the claws of the first hand are released. FIG. 2 is a functional block diagram showing an example of a system that performs pretreatment for testing using a sample; (a) is a perspective view showing an example of a tube vise before holding a tube, and (b) is a perspective view showing an example of a tube vise holding a tube. The perspective view which shows an example of a deep well plate and a plate seat. The perspective view which shows an example of a tip rack and a tip rack case. FIG. 2 is a functional block diagram showing an example of the configuration of a PC; FIG.

(embodiment)
An example of embodiments of the lid removing method, the lid removing device, the execution information recording method, and the execution information recording device of the present invention will be described with reference to the drawings. Here, it is assumed that the lid removing method and lid removing device of the present invention are executed by a recording method and a recording device of execution information obtained in the process of pretreatment of an examination using a specimen or an experiment executed by the robot 30. Take for example. Prior to a detailed description of the execution information recording method and the execution information recording apparatus, the meanings of the terms used in this application will be explained.

The "tests and experiments using specimens" in the present application include tests and experiments for analyzing base sequences of nucleic acids and tests and experiments for analyzing amino acid sequences. Specifically, tests and experiments that analyze nucleic acid base sequences (e.g., gene base sequences) using sequencers (e.g., next-generation sequencers), peptides that automate the Edman method, a type of amino acid sequence analysis method It includes tests and experiments that analyze amino acid sequences using a sequencer (protein sequencer). Note that the terms analysis and measurement are sometimes used instead of analysis, but analysis in the present application is a concept that includes analysis, measurement, and the like.

Specimens to be pretreated in the present application include feces, urine, saliva, skin, body hair, intestinal microflora (intestinal flora), and the like. These specimens are not limited to those collected from humans, but also those collected from various animals (mammals, fish, birds, amphibians, reptiles, etc.), insects, shellfish, agricultural products, plants, their seeds and seedlings, microorganisms, etc. is also included.

The specimen referred to in the present application includes not only the specimen itself, but also a specimen obtained by adding a buffer solution (buffer component) having a buffering action (hereinafter referred to as "specimen liquid"). For convenience of explanation, in the present application, the specimen itself or the specimen liquid is referred to as "specimen" except when it is necessary to distinguish between them. The term "buffering action" as used herein refers to the action of softening the effects of the addition of a small amount of acid or base and keeping the pH substantially constant.

Examples of buffers include phosphate buffers, acetate buffers, citrate buffers, citrate phosphate buffers, borate buffers, tartrate buffers, Tris buffers, McIlvain buffers and the like. One type or two or more types of buffers are added depending on the specimen.

The sample liquid of the present application also includes suspensions in which solid particles of a sample such as stool are dispersed. A sample liquid obtained by adding a buffer solution to a sample has the characteristic that events such as films and air bubbles easily occur in a chip Z and a tube X, which will be described later.

Further, after the sample sucked up from the tube X is discharged into a discharge destination container (for example, a plate such as a deep well plate) 18, which will be described later, the sample remaining in the tube X is generally stored. At this time, it is also important to close the lid of the tube X and to ensure airtightness so that the nucleic acid in the sample cells remaining in the tube X is not denatured.

The pretreatment of the present application is performed in the pre-stage of tests and experiments using specimens (for example, tests and experiments for analyzing the base sequences of genes and amino acid sequences contained in proteins), and includes the robot 30 described later. It means the processing performed by the pre-processing execution system.

As an example, as shown in FIG. 1, plate ID reading step S001-removing step S002-specimen ID reading step S003-specimen ID imaging step S004-lid removing step S005-chip mounting step S006-mounted chip confirmation step S007-sucking Step S008—suction amount confirmation step S009—discharge step S010—discharge amount confirmation step S011—tip removal step S012—lid closing step S013—lid closing confirmation step S014—accommodation step S015 and the like are included. It should be noted that the pretreatment in the present application does not necessarily include all of these steps, and may refer to only a part of them.

In this embodiment, the preprocessing is executed by a preprocessing execution system including a robot 30, which will be described later, and various types of execution information obtained in the process of executing the preprocessing are recorded. This preprocessing execution system includes a robot 30 and an electronic computer (hereinafter referred to as "PC") 40, and preprocessing (the entire process described above) is executed according to a protocol registered in either or both of them. .

The protocol is an execution procedure document in which the processing procedure, processing conditions, etc. of the pretreatment are defined, and is registered in both or one of the robot 30 and the PC 40 prior to the start of the process of the embodiment. The content of the protocol varies depending on the characteristics of the sample, the inspection after pretreatment, the specifications of the experiment, and the like. The protocol may include items to be set by the preprocessing side. The protocol may be registered in a device other than the robot 30 or PC 40 (for example, a device having functions corresponding to the processor, memory, etc. of the robot 30 or PC 40). In addition, when performing preprocessing corresponding to a plurality of protocols on one robot 30 (preprocessing execution system), a unique protocol ID may be assigned to each of the plurality of protocols.

In the protocol, based on the three-dimensional (XYZ) work space coordinates set on the basis of the robot 30, the motion start point, motion path, motion posture, motion end point, stop posture, movement speed, waypoint, motion In addition to the time and the like, there are cases where part or all of the number of revolutions, pressure, etc. of the first hand 31a and the second hand 32a are determined.

In addition, the protocol includes a reading method with the reading means 13, an imaging method with the imaging means 14, a gripping method with the tube vise 16, etc., a reference amount of sample suction, a reference amount of sample discharge, a method for determining the amount of suction, and a method for determining the amount of discharge. Details such as how to determine the amount, how to remove the lid, how to determine whether to remove the lid, how to close the lid, how to determine whether to close the lid, how to process evidence, and how to record execution information obtained in each process are defined. The "time" of processing and judgment of each process is also recorded as execution information.

In this embodiment, among the protocols, the actions of the robot 30 are registered in the robot 30, and the judgments and accompanying processing branch instructions of the robot 30 are registered in the PC 40. Both or either one of the side and the PC 40 side can be registered. Individual judgments and instructions can also be made on the PC 40 side in the execution of the registered protocol.

Further, in this embodiment, the motion record (execution information) executed based on the registered protocol is recorded in the robot 30 for the motion of the robot 30 after the execution, and judgment (including evidence) and processing condition branching are performed. is recorded on the PC 40 side. After the execution, the operation record (execution information) executed based on the registered protocol, including the operation of the reading means 13, the imaging means 14, the tube vise 16, etc., can be transferred in whole or in part to the robot 30 and the PC 40. can be recorded in either or both. In addition, all or part of readings, judgments, and instruction execution records (execution results, evidence, etc.) based on the registered protocol shall be recorded in both or either of the robot 30 and the PC 40. can also The execution information may be recorded in a device other than the robot 30 and the PC 40 (for example, a device having functions corresponding to the processor, memory, etc. of the robot 30 and the PC 40). The content of registration is omitted in this specification.

Based on the above, an example of the lid removing method, the lid removing device, the execution information recording method, and the execution information recording device of the present invention will be described. The execution information recording method and execution information recording apparatus of the present invention are a method and apparatus for recording execution information acquired in each step of preprocessing. The execution information acquired in each step of the pretreatment is automatically recorded in the storage 43 in association with later-described sample specifying information and/or protocol specifying information for each sample. This recording is automatically performed at the same time (immediately after execution) as each process is executed.

[Overview of preprocessing flow]
FIG. 1 shows an example of a flow chart of pretreatment performed before an examination or experiment using a specimen. The preprocessing in FIG. 1 includes a plate ID reading step S001, a removal step S002, a sample ID reading step S003, a sample ID imaging step S004, a lid removing step (opening step) S005, a chip mounting step S006, and a mounted chip confirmation step S007. Suction step S008—Suction amount confirmation step S009—Discharge step S010—Discharge amount confirmation step S011—Tip removal step S012—Lid closure step (Capping step) S013—Lid closure confirmation step S014—Accommodation step S015. As described above, each of the steps is performed according to the protocol provided by the customer (for example, a business operator who conducts inspections and experiments after pretreatment). The protocol includes processing conditions as well as processing procedures.

[Plate ID reading step]
The plate ID reading step S001 is a step in which the reading means 13 reads an identification code (hereinafter referred to as “plate ID”) displayed on the plate 18 to which the sample is to be discharged. A plate ID is a unique identification code given to each plate, and is composed of a bar code, a QR code (registered trademark, the same shall apply hereinafter), or the like. The display here includes display by attaching a sticker on which the plate ID is printed, display by directly printing the plate ID on the tube X, and the like.

In the plate ID reading step S001, the read plate ID (read plate ID) is recorded in the PC 40 as execution information. The read plate ID is obtained by reading the plate ID displayed on the plate 18 and matches the plate ID.

It should be noted that the plate ID reading step S001 is a step that is performed manually before the operation of the robot 30 is started. In this embodiment, after the plate ID reading step S001, the steps after the take-out step S002 in FIG. 1 are started.

[Extraction process]
The take-out step S002 is a step of taking out the tube X containing the sample with a hand (hereinafter referred to as "first hand") 31a of the first robot arm (hereinafter referred to as "first arm") 31. FIG. In this step, the first hand 31 a of the first arm 31 grips one tube X accommodated in the tube rack 11 .

[Specimen ID reading step]
The sample ID reading step S003 is a step in which the reading means 13 reads sample specifying information (hereinafter referred to as “sample ID”) that specifies the sample displayed on the tube X. FIG. The sample ID is a unique ID assigned to each sample, and is composed of a bar code, a QR code, a code (hereinafter referred to as an "identification code") consisting of a combination of letters, numbers, etc. representing the sample ID. Specifically, there are only a barcode, only a QR code, a combination of an identification code and a barcode, a combination of an identification code and a QR code, and the like. Note that the display here includes not only display by attaching a seal on which the specimen ID is printed, but also display by directly printing the specimen ID on the tube X, and the like.

In this step, the first arm 31 moves the tube X to the reading position of the reading means 13 , and the specimen ID displayed on the tube X is read by the reading means 13 . The sample ID can be read while the tube X is stopped, or while the tube X is rotated in the forward or reverse direction. By rotating the tube X forward or backward, even if the sample ID is displayed obliquely with respect to the longitudinal axis of the tube X, it can be read accurately and reliably. When reading the specimen ID, the tube X can be rotated continuously or intermittently in a plurality of times. Further, when reading the specimen ID, the tube X may be moved up and down so as to cope with the vertical error in the position where the seal is attached to the tube X.

In the sample ID reading step S003, if the reading is successful, the sample ID read by the reading means 13 (hereinafter referred to as "read sample ID") is set as the execution information, and if the reading is unsuccessful, the tube X is recorded in the PC 40 that has been moved to the evacuation box. Since the read sample ID is obtained by reading the sample ID displayed on the tube X, it matches the sample ID.

[Specimen ID imaging process]
The sample ID photographing step S004 is a step of photographing the sample ID displayed on the tube X by the photographing means 14. FIG. In this step, the first arm 31 moves the tube X to the imaging position of the imaging means 14 , and the specimen ID displayed on the tube X is imaged by the imaging means 14 .

The sample ID displayed on the tube X may be displayed diagonally with respect to the longitudinal axis of the tube X, may be displayed in a left-right reversed direction, may be displayed upside down, etc. It is preferable that the imaging is performed a plurality of times by rotating the tube X continuously or intermittently in the normal direction or the reverse direction. An image obtained by imaging (hereinafter referred to as a “specimen ID image”) can ensure traceability. Also, the sample ID image can be used for checking the read sample ID read by the reading means 13 .

In the specimen ID imaging step S004, the specimen ID image obtained by imaging with the imaging means 14 is recorded in the PC 40 as execution information.

[Lid removal process]
The lid removing step S005 is a step of removing the lid Y of the tube X (opening the cap). In this step, the tube X is placed at a predetermined position in the tube vise 16 by the first arm 31 , and the lid Y of the tube X clamped by the clamping portion 16 a of the tube vise 16 is removed by the first hand 31 a of the first arm 31 . be done.

In this embodiment, the lid Y of the tube X held by the tube vise 16 is gripped by the first hand 31a of the first arm 31, and the lid Y of the tube X is removed by rotating the first hand 31a. It's done like this. The first hand 31a is a member that grips the lid Y in the lid removing step S005, and corresponds to the gripping portion in the present invention. Moreover, the plurality of claws 31f (FIGS. 9A and 9B) that constitute the first hand 31a correspond to the grasping portion constituting body in the present invention.

When the operation of removing the lid by the first arm 31 is completed, it is determined whether or not the lid has been successfully removed based on a determination condition (lid removal determination condition) set in advance based on the protocol. Various methods can be used to determine whether or not the lid has been successfully removed. It is designed to be

In other words, when the lid Y is gripped by the first hand 31a, the two claws 31f are opened to the diameter of the lid Y or more. is less than the diameter of the lid Y, it is possible to determine whether the lid Y is gripped (whether the lid Y is opened) by measuring the position (distance) of both claws 31f.

Successful lid removal can also be determined in other ways. For example, it can be determined by load measurement of a motor (not shown) incorporated in the wrist. If the cover Y is not removed from the tube X clamped by the tube vise 16, a load of a predetermined amount or more is applied to the wrist of the first hand 31a when the cover Y is rotated. It can be determined whether the lid removal was successful. This method can be employed in place of or together with the method of measuring the pressure and position of the first hand 31a (two claws 31f).

In the lid removing step S005, the judgment result (lid removal judgment result) as to whether or not the lid removal was successful is recorded in the PC 40 as execution information. Further, in this embodiment, the robot 30 is temporarily stopped when it is determined that the lid removal has failed. In this embodiment, when the robot 30 stops temporarily, it is notified by sound, light, or the like.

The lid Y removed from the tube X in the lid removing step S005 is discarded in a predetermined location, such as a lid recovery box 17 described later whose position is specified by coordinates XYZ in the working space. However, when the grip of the lid Y with the claws 31f is released, the outer periphery of the lid Y may adhere to the inner surface of the claws 31f and the lid Y may not be discarded in the lid recovery box 17 or the like. This phenomenon occurs when static electricity is generated between the outer circumference of the lid Y and the inner surface of the claw 31f. may occur.

The lid Y attached to the tube X has a structure that is press-fitted into the opening of the tube X, or has a structure that has a female screw that is screwed into a male screw formed on the outer circumference of the tube X on the opening side ( so-called screw cap). In the case of a screw cap, a strong force is required to start turning the lid Y, so the gripping force of the claws 31f may be set to be strong. It may become easy to stick by digging into the groove.

Since contamination may occur if the next operation is performed with the lid Y attached, it is necessary to remove the lid Y attached to the claw 31f without fail. In the lid removing step S005 of this embodiment, when the lid Y removed from the tube X is discarded in the lid recovery box 17 or the like, an operation for removing the lid Y adhering to the claws 31f can be added. This operation can be executed by the operation of the first hand 31a and/or the operation of the lid remover 26 described later (by moving the positions of the first hand 31 and the lid remover 26).

For example, as shown in FIGS. 2(a) and 2(b), a lid removing tool 26 is projected in the lid recovery box 17, and the lid Y adhering to the claw 31f is brought into contact with the lid removing tool 26. , the lid Y adhering to the claw 31f can be removed. If a screw or the like is used to fix the lid collection box 17 to the installation table 10 , the screw or the like can be used as the lid remover 26 .

The lid Y and the lid remover 26 can be brought into contact with each other by moving the position of the first hand 31a that grips the lid Y, and also by moving the position of the lid remover 26 . In some cases, the lid remover 26 can be brought into contact with the lid Y by moving the positions of both the first hand 31a and the lid remover 26. FIG.

For example, when the lid Y is brought into contact with the lid remover 26 by moving the position of the first hand 31a gripping the lid Y, the lid Y is gripped so that the lid remover 26 is positioned between the plurality of claws 31f. The position of the first hand 31a is moved (Fig. 3(a)), and then the position of the first hand 31a is moved in the direction in which the lid Y approaches the lid remover 26 (Fig. 3(b) )), the lid Y adhering to the claw 31f is brought into contact with the lid removing tool 26, and the lid Y can be removed from the claw 31f by the contact (FIG. 3(c)).

When moving the position of the first hand 31a that grips the lid Y so that the lid remover 26 is positioned between the plurality of claws 31f, the lid remover 26 is positioned between the plurality of claws 31f. It is desirable to move the position of the first hand 31a so that it is positioned facing the top surface of the lid Y (the outer top surface of the lid Y) attached to one or more of the plurality of claws 31f.

Further, when the lid remover 26 is brought into contact with the lid Y by moving the position of the lid remover 26, the lid remover 26 is gripped by the claws of another robot arm (not shown), and the position of the robot arm is moved. By moving the position of the lid remover 26 so that the lid remover 26 is positioned between the plurality of claws, and then moving the position of the lid remover 26 in the direction of approaching the lid Y, The lid remover 26 is brought into contact with the lid Y attached to the nail, and the lid Y can be removed from the nail by the contact.

In this case, instead of providing another robot arm, the lid remover 26 is gripped by the claws of a second arm 32 described later, and the second arm 32 is moved to bring the lid remover 26 into contact with the lid Y. can also be Alternatively, the lid remover 26 may be attached to a slide mechanism or the like (not shown) so that the lid remover 26 is brought into contact with the lid Y by the operation of the slide mechanism.

Since there is a possibility that the specimen is attached to the inner surface of the lid Y (the portion covering the opening of the tube X), when the lid remover 26 and the lid Y are brought into contact with each other, the top surface and the side surface of the lid Y should be removed. and lid remover 26 are preferably in contact.

The lid Y and the lid remover 26 are in a state in which the grip of the lid Y by the claws 31f is released, in other words, one or more of the plurality of claws 31f are in contact with the lid Y, and the other claws 31f are separated. It is also possible to make contact with the lid Y in a state in which all the claws 31f are in contact with the lid Y.

The contact between the lid Y and the lid remover 26 is preferably made inside the lid collection box 17 or above the collection port 17 a of the lid collection box 17 . By bringing the lid Y and the lid remover 26 into contact with each other at such a position, the lid Y removed from the claws 31f can be collected in the lid collection box 17 as it is.

When the operation of removing the lid Y is inserted after the lid removing step S005, a photograph of the first hand 31a after removing the lid Y is taken by the photographing means 14 described later, and the evidence obtained by the photographing is the lid. As execution information when the removal is executed, it can be recorded in the PC 40 in association with the specimen identification information.

In this case, the position of the first hand 31a specified by the coordinates XYZ and the load of its mounting portion are measured, and the measurement results are recorded in the PC 40 in association with the specimen specifying information and/or the evidence obtained by the photographing. You can also make

The evidence photographed by the photographing means 14 can be displayed on the monitor 21. - 特許庁It is also possible to determine whether or not the removal of the lid Y has succeeded based on the result of photography or the result of measurement. In this case, the robot 30 can be stopped when it is determined that the removal of the lid Y has failed based on the photographing result or the measurement result.

When the robot 30 stops due to a failure to remove the lid Y, the operator can confirm the status of the monitor 21 and/or the lid Y before restarting operation.

In this embodiment, the case where the robot 30 is an arm type (double arm type) robot is taken as an example. A robot or the like having claws (including those corresponding to claws) from which Y can be removed may be used.

[Chip mounting process]
The tip attachment step S006 is a step of attaching the tip Z to the tip of the pipette P gripped by the hand (hereinafter referred to as the "second hand") 32a of the second robot arm (hereinafter referred to as the "second arm") 32. be. In this step, the second arm 32 lowers the pipette P moved above the tip rack 19 toward a predetermined tip Z so that the tip Z is fitted to the tip of the pipette P and attached. be.

In this step, the second arm 32 moves the tip Z attached to the tip of the pipette P to the imaging position of the imaging means 14, and the imaging means 14 images the tip Z. As shown in FIG. The photographing can be performed in a stationary state or while rotating the chip Z in the normal direction or the reverse direction. A photographed image (hereinafter referred to as a "mounted chip image") photographed in this process can ensure traceability.

In the chip mounting step S006, a mounted chip image obtained by photographing by the photographing means 14 is recorded in the PC 40 as execution information.

[Mounting chip confirmation process]
The attached tip confirmation step S007 is a step of checking whether or not the tip Z is attached to the tip of the pipette P based on a criterion (tip attachment criterion) set in advance based on the protocol. In this process, it is also confirmed whether or not the mounted chip Z is empty. Various methods can be used to determine whether or not the chip Z has been successfully mounted. In this embodiment, it is determined whether or not the chip Z has been mounted based on the mounted chip image. .

This determination is made by the processor 41 of the PC 40. From the attached tip image, it is determined that the attachment is successful when the tip Z is attached to the tip of the pipette P, and when the tip Z is not attached to the tip of the pipette P. is determined to be a mounting failure.

In the mounted chip confirmation step S007, the determination result (chip mounting determination result) as to whether or not the chip mounting was successful is recorded in the PC 40 as execution information. Further, in this embodiment, the robot 30 is temporarily stopped when it is determined that the chip attachment has failed. As in the other steps, this step is also notified by sound, light, or the like when the robot 30 is temporarily stopped.

[Suction process]
The sucking step S008 is a step of sucking the sample in the tube X held by the tube vice 16 into the tip Z attached to the tip of the pipette P. FIG. This process is performed by cooperation of the first arm 31 and the second arm 32 .

Specifically, as shown in FIGS. 4A to 4D, the push button PB of the pipette P held by the second hand 32a of the second arm 32 is pushed down by the first hand 31a of the first arm 31. , the tip Z attached to the pipette P is inserted into the tube X in this state. After that, the sample in the tube X is sucked into the chip Z by releasing the push button PB of the pipette P. When inserting the tip Z into the specimen in the tube X, the tip of the tip Z should be positioned near the liquid surface of the specimen so as not to touch the bottom of the tube X.

In this embodiment, by making the lowering speed of the first arm 31 that pushes down the push button PB of the pipette P slower than the lowering speed of the second arm 32 that holds the pipette P, the pushing down of the push button PB is released. , the sample is sucked up into the chip.

In this embodiment, the descending speed of the second arm 32 (in other words, the descending speed of the pipette P held by the second arm 32) is equal to or The speed is adjusted to be faster than that, so that the tip of the tip Z does not rise above the liquid surface of the sample in the tube X when the sample is sucked up.

When sucking up the sample, the liquid level of the sample gradually drops as the sample is sucked up. Therefore, depending on the downward speed of the second arm 32, the tip of the tip Z may rise above the liquid level of the sample in the tube X. , air may be mixed. As in this embodiment, by adjusting the lowering speed of the second arm 32 as described above, it is possible to avoid mixing of air when sucking up the sample.

In this step, the second arm 32 moves the tip Z attached to the tip of the pipette P after sucking up the specimen to the imaging position of the imaging means 14 , and the imaging means 14 images the tip Z. The photographing can be performed in a stationary state or while rotating the chip Z in the normal direction or the reverse direction. The traceability can be ensured by the photographed image (hereinafter referred to as "post-sucking chip image") photographed in this process.

In the sucking step S008, the chip image after sucking obtained by photographing with the photographing means 14 is recorded in the PC 40 as execution information.

[Suction amount confirmation process]
The sucked-up amount checking step S009 is a step of checking the sucked-up amount of the sample. In this step, it is determined whether or not a prescribed volume of sample has been sucked into the tip Z attached to the tip of the pipette P from the tip image after being sucked up. The specified volume referred to here is an amount that is arbitrarily set according to the characteristics of the specimen and the specifications of the analytical test, and is specified as part of the protocol. In addition, the manufacturer, model number, size, etc. of the chip may also be included as part of the protocol.

It should be noted that the whole or part of the chip Z may be photographed in this step. When photographing a part, for example, the sucked specimen part and the air part above it can be included. The post-sucking chip image includes the entire chip Z, the specimen sucked into the chip Z, and the air above the sucked specimen.

In this embodiment, it is determined whether or not a specified volume of specimen has been sucked up by image processing of the chip image after sucking up. Specifically, as shown in FIGS. 5(a) and 5(b), an air portion S1 (surrounded by a dashed line in FIG. 5(b)) in the chip Z of the photographed image data (FIG. 5(a)) The size, width, configuration, target area, or numerical values of these figures within the plane or curved surface of the area) are the judgment criteria set in advance based on the protocol (hereinafter referred to as "suction amount judgment criteria") ) is satisfied, it is determined that the specified volume of sample has been sucked up, and if the criterion is not satisfied, it is determined that the specified volume of sample has not been sucked up.

In this embodiment, the size, width, configuration, target area, or numerical values of these figures within the plane or curved surface of the air portion S1 in the chip Z are used as criteria for judgment. The size, breadth, configuration, target area, or numerical representation of the figure in the plane or curved surface of the specimen portion S2 in Z (the area surrounded by the two-dot chain line in FIG. 5(b)) It can also be used as a criterion. In this case as well, the size, width, configuration, target area, or numerical values of these within the plane or curved surface of the specimen portion S2 within the photographed chip Z are set in advance based on the protocol. It can be determined that the specified volume of sample has been sucked up when the sucked-up amount determination criterion is satisfied, and it is determined that the specified volume of sample has not been sucked up when the determination criterion is not satisfied.

It should be noted that whether or not the specified volume of the sample has been sucked up is determined by the size, width, configuration, and target area of the figure within the plane or curved surface of the air portion S1 and the sample portion S2, as well as numerical values thereof. , the distance from the upper end to the lower end of the air portion S1, the distance from the upper end to the lower end of the specimen portion, the area ratio of the air portion and the specimen portion, the distance ratio from the upper end to the lower end of both, etc. can also

In the sucked-up amount confirmation step S009, the judgment result (sucked-up amount judgment result) as to whether or not the specified volume of the sample has been sucked into the chip Z is recorded in the PC 40 as execution information. In addition to whether or not the suction amount is within the range of the specified capacity, the suction amount determination result referred to here may include a specific numerical value of the suction amount.

Further, in this embodiment, the robot 30 is temporarily stopped when it is determined that the specified volume of specimen has not been sucked up. As in the other steps, this step is also notified by sound, light, or the like when the robot 30 is temporarily stopped.

[Blowing process]
The spitting step S010 is a step of spitting the sucked sample into the plate hole 18a. As shown in FIGS. 6(a) to 6(c), this process is performed by cooperation of the first arm 31 and the second arm 32. FIG. Specifically, after the tip Z of the tip of the pipette P is moved to a predetermined position on the plate 18 by the second arm 32, the push button PB of the pipette P is pushed down by the first hand 31a at that position, and the inside of the tip Z is A specimen is expelled into the plate hole 18a.

In the discharge step S010, as execution information, the plate ID of the discharge destination (hereinafter referred to as "discharge destination plate ID") and the information of the plate hole (discharge destination plate hole) in the discharge destination plate ID are recorded in the PC 40.

The discharge destination plate hole is specified by XYZ coordinates (for example, three axes of XYZ coordinates or two axes of X coordinate and Y coordinate) in work space coordinates set with robot 30 as a reference. The ejection destination plate hole specified by the plate ID and the X and Y coordinates referred to here is recorded in the PC 40 as ejection destination specifying information for specifying the ejection destination. For the discharge destination identification information, combination information of codes A to H assigned to the columns (X axis) of the plate 18 and numbers 1 to 12 assigned to the rows (Y axis) can be used.

[Discharge amount confirmation process]
The discharge amount confirmation step S011 is a step of confirming whether or not a prescribed volume of sample has been discharged from the chip Z. As shown in FIG. In this step, the second arm 32 moves the tip Z attached to the tip of the pipette P to the imaging position of the imaging means 14, and the tip Z is imaged by the imaging means 14, resulting in a captured chip image (hereinafter referred to as " The processor 41 of the PC 40 determines whether or not the prescribed volume of sample has been discharged from the chip Z, based on the chip image after discharge").

As in the suction amount confirmation step S009, the whole or part of the chip Z may be photographed in this step. When photographing a portion, for example, the sample remaining in the chip Z after being ejected (hereinafter referred to as "remaining sample") and the air portion above the remaining sample portion can be included. In this case, the post-spitting chip image includes the entire chip Z, the residual specimen, and the air above the residual specimen portion.

In this embodiment, as in the sucked-up amount confirmation step S009, image processing of the chip Z photographed by the photographing means 14 is used to determine whether or not a specified volume of specimen has been exhaled. Specifically, as shown in FIGS. 7(a) and 7(b), the air portion S1 (the area surrounded by the dashed-dotted line in FIG. 7(b)) of the photographed post-exhalation chip image is within a plane or a curved surface. If the size, width, composition, target area, or numerical value of the figure satisfies the criteria set in advance based on the protocol (hereinafter referred to as the "discharge amount criteria") (within the range of the threshold If it exists), it is determined to be normal, and if it does not satisfy the criteria (threshold) (if it is outside the range of the threshold), it is determined to be an error. This determination is made by the processor 41 of the PC 40 in the same manner as in the suction amount confirmation step S009.

In addition, when making a determination, the film or air bubble (hereinafter referred to as "film, etc.") generated in the chip Z is erroneously recognized as a sample, even though the discharge amount is appropriate, and the specified volume of sample is discharged. It may be determined that the The film or the like F is an event that hinders the determination of the discharge amount, and may be caused by, for example, the characteristics and temperature of the buffer solution, the shape and size of the tip Z, and the like.

When an event such as membrane F that interferes with determination of the discharge amount occurs, processing is performed so that this event does not interfere with the determination. As a processing method, for example, as shown in FIG. There is a method of hiding (blacking) to narrow the determination target area. In this case, the size, width, configuration, target area, or numerical values of these figures within the plane or curved surface of the air portion S1 and the residual specimen portion S3 in the narrowed determination target region are calculated. Then, based on the calculated value, it may be determined whether or not the specified volume of the specimen has been exhaled.

In FIG. 7(c), the determination target area is restricted by hiding the portion of the film F where the event occurred (hereinafter referred to as the "event occurrence portion") by blacking. can also be restricted by For example, by excising (removing) part of the image including the part where the event occurred, limiting the judgment target area, and judging whether or not a specified volume of specimen was vomited based on evidence after excision. can be considered.

As a method of hiding the event occurrence portion, for example, there is a method of presetting a hidden range so that the relevant range of the voucher is uniformly hidden. For example, a range to hide the voucher can be set in advance, such as an upper 10% range of the voucher or a range of 50 mm from the top of the voucher, so that the range on the voucher is hidden. The hidden range can also be set by a method such as 50 mm from the top of the voucher. Note that these numerical values are only examples, and other numerical values can also be set. Also, the reference of the hiding position is not limited to the top of the voucher, and for example, it can be set to several percent or several millimeters from the upper end of the chip in the voucher with the upper end of the chip in the voucher as the reference.

It is also possible to hide the event occurrence part by changing the hidden position and range for each voucher based on a certain standard. For example, when a specific phenomenon (for example, a line appearing in chip Z on the voucher) is confirmed on the voucher, the hidden position or range can be changed for each voucher based on the event. In addition, for example, it is possible to change the position and range to be hidden for each voucher based on the characteristics and properties of the specimen and buffer solution, mechanical wear and tear of the pipette P and tip Z, and the working environment (temperature, humidity, atmospheric pressure, etc.). .

For example, a mounting angle is detected from a photographed image when the tip Z is mounted, a change in the amount of discharge is predicted from that angle, and a hiding place (for example, position or range) is changed accordingly, or a predetermined time (for example, It is also possible to hide the event-occurring portion by, for example, moving the region to be hidden downward every few seconds. The former is for dealing with mechanical wear such as when the sealability of the joint C between the pipette P and the tip Z is shaken. It can be an effective method as a countermeasure when necessary. Here, the case of hiding part of the evidence is explained, but the same method can be used to cut off part of the evidence.

When limiting the judgment target area by blacking or removing the event occurrence part or by other methods, the evidence (chip image after discharge) before limitation (before blackening processing or excision processing) and after limitation (blackening processing or It is preferable to keep both the evidence (post-processing chip image) as a record. Also, the evidence before restriction and the evidence after restriction can be displayed side by side on the monitor 21. - 特許庁However, the two vouchers may be individually displayed without being arranged side by side.

By recording both the evidence before restriction (for example, raw image data such as still images and videos) and the evidence after restriction, it is possible to confirm the state of the event occurrence part after the fact. can be done. In this embodiment, the voucher before restriction and the voucher after restriction are linked and recorded in the recording means (the storage 43).

Here, a case where a photograph (still image) taken by the photographing means 14 is used as an evidence (hereinafter referred to as "photographing evidence") is taken as an example, but a moving image photographed by the photographing means 14 is used as the photographing evidence. can also In other processes of the present application, the photographing means 14 is also used for photographing, but in any case, still images or moving images may be taken. Still images and moving images obtained by photographing can be used as photographing vouchers.

The method of image processing when an event that hinders determination occurs may be a method other than hiding or removing a part, for example, image correction, image conversion, image processing, feature extraction, image recognition , three-dimensionalization, digitization, or the like.

Image correction here includes correcting contrast, brightness, color, etc. Image conversion includes converting a color image to a monochrome image, etc. Image processing includes noise removal, edge enhancement, enlargement, and so on. Image feature extraction includes measurement of area and circularity, image recognition includes target object identification, 3D conversion includes 3D processing of 2D images, and digitization involves image processing. , including conversion to numerical values. All of these processes are methods of processing on a digital image. For example, in the case of image recognition, it is possible to specify the event occurrence part for each voucher and hide or remove the event occurrence part.

Whether or not the prescribed volume of the sample has been discharged is determined by numerically quantifying the size, width, configuration, and target area of the figure within the plane or curved surface of the remaining sample portion S3 in the chip Z after discharge. can also be used as criteria. In this case as well, the size, width, configuration, target area, or numerical values of these within the plane or curved surface of the remaining sample portion S3 in the photographed chip Z are set in advance based on the protocol. If the criteria (threshold) are met (within the threshold range), it is determined to be normal, and if the criteria (threshold) are not met (outside the threshold range), it is determined to be an error. can be made

Whether or not the specified volume of the sample has been exhaled depends on the size, width, configuration, and target area of the figure within the plane or curved surface of the air portion S1, or their numerical values, or the residual sample portion S3. In addition to the size, breadth, configuration, and target area of figures within a plane or curved surface, or numerical values of these, the distance from the upper end to the lower end of the air portion, the distance from the upper end to the lower end of the remaining sample portion, The determination can also be made based on the area ratio of the air portion and the residual specimen portion, the ratio of the distance from the upper end to the lower end of both, and the like.

In the discharge amount confirmation step S011, as execution information, in addition to the chip image after discharge obtained by imaging with the imaging means 14, the chip image after processing, and the result of determination as to whether or not a specified volume of sample has been discharged (hereinafter referred to as "discharge amount determination result”) is recorded in the PC 40. The discharge amount determination result referred to here may include a specific numerical value of the discharge amount, in addition to whether or not the discharge amount is within the range of the specified volume.

Further, in this embodiment, the robot 30 is temporarily stopped when it is determined that the discharge amount does not satisfy a criterion set in advance based on the protocol (hereinafter referred to as "discharge amount criterion"). As in the other steps, this step is also notified by sound, light, or the like when the robot 30 is temporarily stopped.

[Chip removal process]
The tip removing step S012 is a step of removing the tip Z attached to the tip of the pipette P. FIG. In this step, the connecting portion C of the pipette P and the tip Z is hooked on the peripheral edge of the locking recess 20d of the tip remover 20 by the second arm 32, and the pipette P is lifted in this state to remove the tip Z from the pipette P. is removed.

[Lid closing process]
The lid-closing step S013 is a step of lid-closing (stopping) the tube X clamped by the tube vise 16 . In this step, the first hand 31a of the first arm 31 takes out a new lid Y from the lid rack 12, and the lid Y is attached to the tube X held by the tube vice 16 (closed). be. In this embodiment, by rotating the first hand 31a holding the lid Y, the lid of the tube X is closed.

[Lid closing confirmation process]
The lid closing confirmation step S014 is a step of confirming whether or not the lid of the tube X after completion of the lid closing step S013 is closed (whether or not the lid Y is attached to the tube X). In this step, it is determined whether or not the lid has been successfully closed based on criteria (lid closing criteria) set in advance based on the protocol. Confirmation of whether or not the lid is closed can be performed by, for example, the following two methods.

In the first method, when the lid Y of the tube X is picked up by the first hand 31a of the first arm 31, the load applied to the first hand 31a is determined according to the lid closing criterion set in advance based on the protocol. This is a method of judging by whether or not the condition is satisfied. In the case of judging by this method, if the tube X is lifted together with the lid Y (when the lid closing criterion is satisfied), it is judged that the lid is closed successfully. If the judgment criteria are not met), it is determined that the lid closing is insufficient (insufficient airtightness) and that the lid closing is unsuccessful.

After the lid is closed, the tube X is lifted by the first hand 31 a of the first arm 31 when being returned to the tube rack 11 . Judgment by this method can be performed when the lid Y is picked up when the tube X after the lid is closed is returned to the tube rack 11. Therefore, since there is no separate process, it is possible to efficiently determine whether the lid is closed.

The second method is a method of judging from an image captured by the image capturing means 14 (hereinafter referred to as "tube image after lid closure"). In this method, the lid Y of the tube X is picked up by the first hand 31 a of the first arm 31 and moved to the imaging position by the imaging means 14 . When the first arm 31 moves the tube X to the photographing position, the photographing means 14 photographs the tube X. As shown in FIG. If the tube image after closing the lid includes both the lid Y and the tube X, it is determined that the lid closing is successful. If the lid-closed tube image includes only the lid Y and does not include the tube X, the lid closing fails It is determined that Whether or not the lid has been successfully closed can also be determined by other methods.

Confirming whether or not the lid Y is attached to the tube X, in other words, whether or not the tube X is sealed prevents adverse effects such as contamination and sample denaturation due to the tube X not being sealed. done for If the lid Y is not closed, the tube X falls or tilts, causing the remaining sample to scatter and possibly cause contamination. In addition, carbon dioxide in the air dissolves to change the pH, which may denature the residual sample (denature the nucleic acid in the cell).

In order to prevent these inconveniences, in this embodiment, it is checked whether or not the lid Y is attached to the tube X, and if the lid closing fails, the robot 30 stops. As a result, it is possible to avoid in advance the above-mentioned adverse effects caused by the lid Y not being closed.

In the lid closing confirmation step S014, as execution information, in addition to the tube image after lid closing obtained by photographing with the photographing means 14, the judgment result of whether or not the lid closing was successful (lid closing judgment result) is recorded in the PC 40. be done.

Further, in this embodiment, the robot 30 is temporarily stopped when it is determined that the lid closing has failed. As in the other steps, this step is also notified by sound, light, or the like when the robot 30 is temporarily stopped.

[Accommodation process]
The accommodating step S<b>015 is a step of taking out the capped tube X from the tube vise 16 and returning it to the accommodating concave portion 11 a of the tube rack 11 . In this step, the tubes X whose lids are closed are removed from the tube vise 16 by the first hand 31 a of the first arm 31 , and the removed tubes X are returned to the original storage recesses 11 a of the tube rack 11 .

[Other processes]
Although omitted in the flowchart of FIG. 1, in this embodiment, after reading in the sample ID reading step S003, it is determined whether or not the read sample ID overlaps with an already read sample ID. As a result of the determination, when it is determined that the sample ID is duplicated, the tube X with the sample ID displayed is stored in a retraction box (not shown) by the operation of the robot 30 . In this case, the specimen ID displayed on the tube X is recorded in the PC 40 .

Further, in this embodiment, it is determined whether or not the sample ID is omitted from the pre-registered sample ID list. As a result of the determination, when it is determined that the sample ID is missing from the sample ID list, the tube X with the sample ID displayed is accommodated in a withdrawal box (not shown) by the operation of the robot 30 . Also in this case, the specimen ID displayed on the tube X is recorded in the PC 40 .

The execution information obtained in each step of the pretreatment is recorded in the storage (recording means) 43 of the PC 40 in association with the sample ID (read sample ID). That is, each piece of execution information is recorded for each sample ID. For example, in the case of a sample with a sample ID of "xxxxx", all execution information related to this sample ID of "xxxxx" will be linked and recorded.

As a result, for example, for the sample ID "xxxx", it is confirmed whether or not the discharge amount satisfies the determination criteria based on the discharge amount determination result, and the post-discharge chip image linked to the sample ID "xxxxx" is matched. By doing so, it is possible to check whether or not the discharge amount determination result for the sample ID "xxxxx" is appropriate. In this way, by recording two or more pieces of execution information for one process, it becomes possible to compare a protocol with an execution result (execution information) and between execution results (execution information).

In each step of the above-described embodiment, the success or failure of removing the lid, the success or failure of attaching the chip, whether the suction amount is within the specified capacity range, whether the discharge amount is within the specified capacity range, whether the lid closing is successful or not, etc. are controlled by the PC 40. Each judgment criterion, which is a criterion for success or failure, is appropriately set according to the specifications of the examination and experiment using the specimen and the equipment to be used (pipette P, tip Z, tube X, lid Y, etc.). It is what is done. Each criterion is set in advance according to the specification from the customer side, and the position and pressure of the first arm 31, the second arm 32, the first hand 31a, the second hand 32a, etc., the image processing method, etc. It may be created by the preprocessing execution system provider side.

In the above-described embodiment, the case where the taking-out step S002 to the reading step S015 are performed in a series of steps is taken as an example, but each of the steps can also be performed in units of each step or in units of a plurality of steps. In addition, not all of the above steps are essential steps, and unnecessary steps can be omitted as appropriate. The above-described embodiment is an example, and steps can be appropriately replaced, changed, added, etc. without changing the gist of the embodiment.

[Outline of the system that performs preprocessing]
Next, an example of a preprocessing execution system that implements each of the steps will be described with reference to the drawings. This pretreatment execution system has a function of automatically recording execution information when each step is executed, and a part or all of it functions as the execution information recording apparatus of the present invention. As an example, the system shown in FIGS. 8 and 10 includes an installation table 10, a tube rack 11, a lid rack 12, a reading means 13, an imaging means 14, a lighting fixture 15, a tube vise 16, a lid recovery box 17, a plate 18, and a tip rack. 19, a chip remover 20, a monitor 21, an input/output port 23, a robot 30, a PC 40, and the like.

The installation table 10 includes a tube rack 11, a lid rack 12, a reading means 13, an imaging means 14, a lighting fixture 15, a tube vise 16, a plate 18, a tip rack 19, a tip remover 20, a monitor 21, a robot 30, a PC 40, and the like. It is a stand on which various devices are installed. A stainless stand or the like can be used as the installation stand 10 .

In this embodiment, by installing various devices that make up the system on one installation table 10, the installation space is reduced compared to a conventional system configured by combining devices modularized according to function (by process). It has the advantage of not taking it.

The tube rack 11 is a container for accommodating tubes X containing specimens. In this embodiment, the tube rack 11 is provided with 96 (vertical 8×horizontal 12) storage recesses 11a with bottoms. The tube rack 11 has a height such that at least the lid Y of the tube X protrudes upward from the upper surface of the tube rack 11 when the tube X is accommodated in the accommodation recess 11a.

The lid rack 12 is a container for accommodating a new lid Y attached to the tube X after sucking up the sample. In this embodiment, the lid rack 12 is provided with 96 (8 vertical×12 horizontal) bottomed lid accommodating portions 12a. The lid rack 12 has a height such that at least the lid Y protrudes upward from the upper surface of the lid rack 12 when the lid Y is housed in the lid housing portion 12a.

For the lid rack 12, for example, a detachable type that can be put into an irradiation type sterilizer (ultraviolet sterilizer equipped with an ultraviolet lamp) with all or part of the lid Y placed thereon can be used. When using a detachable one that can be placed in an irradiation sterilizer, if a human (for example, worker) gene accidentally adheres to the lid Y, the gene can be destroyed, and contamination can be prevented. can be done.

The reading means 13 is a device for reading the sample ID displayed on the tube X. FIG. Various readers such as a bar code reader and a QR code reader can be used as the reading means 13 . In this embodiment, a stationary barcode reader capable of reading one-dimensional codes and two-dimensional codes is used as the reading means 13 . Other reading means 13 can also be used.

In this embodiment, when the sample ID displayed on the tube X reaches the reading range of the reading means 13, the reading means 13 reads the sample ID. The read plate ID that has been read is transmitted to the PC 40 and recorded in the storage 43 .

The photographing means 14 is a device for photographing the specimen ID displayed on the tube X and the chip Z. FIG. A camera or the like having a varifocal lens can be used as the photographing means 14 . In this embodiment, one camera is used as an example, but the photographing means 14 can be composed of a plurality of cameras. In addition to shooting a still image, the shooting means 14 may shoot a moving image, or shoot both a still image and a moving image.

The illuminator 15 is a device for illuminating the tube X (specimen ID) and chip Z, which are objects to be photographed by the photographing means 14 . A first power source 22a is connected to the lighting device 15, and the lighting device 15 is operated by the power supplied from the first power source 22a. In this embodiment, a highly directional white light is used as the lighting fixture 15 . The illuminating device 15 is thin plate-shaped, and is attached to the installation base 10 in a vertically standing state. Other lighting fixtures 15 may also be used.

In this embodiment, when the tube X is moved to the photographing position by the first arm 31 to be described later, or when the chip Z is moved to the photographing position by the second arm 32 to be described later, the tube X and the chip are illuminated by the lighting device 15 . Z is illuminated and photographed by photographing means 14 . The captured images (specimen ID image, attached chip image, sucked chip image, exhaled chip image, lid closed chip image, etc.) are transmitted to the PC 40 and recorded in the storage 43 .

The tube vise 16 is a device that holds the tube X therebetween. As shown in FIGS. 11A and 11B, the tube vise 16 of this embodiment includes a clamping portion 16a that clamps the tube X, a drive mechanism 16b that opens and closes the clamping portion 16a, and a drive source that operates the drive mechanism 16b. (Motor) 16M is provided.

The clamping portion 16a of this embodiment includes two clamping pieces 16c and 16d arranged opposite to each other. One clamping piece (hereinafter referred to as "fixed clamping piece") 16c is an L-shaped plate disposed on a clamping piece pedestal 16f provided on a base plate 16e. ) 16d is a part (rising portion) of a movable T-shaped plate 16n that is moved by the driving mechanism 16b. Cushioning members 16g and 16h are provided on the opposing surfaces of both clamping pieces 16c and 16d.

The drive mechanism 16b has a coupling 16i, a ball screw 16j, and a ball nut (not shown). A motor 16M is connected to the ball screw 16j through a coupling 16i, and a ball nut (not shown) is provided on the ball screw 16j. One linear guide 16k is arranged parallel to the ball screw 16j on both outer sides of the ball screw 16j. Each linear guide 16k is supported by guide supports 16m at both ends in the longitudinal direction.

The T-shaped plate 16n is fixed to the ball nut, and is constructed so that the movable clamping piece 16d moves toward or away from the fixed clamping piece 16c in conjunction with the movement of the ball nut. A guide block 16p having a through hole is provided on each of the longitudinal ends of the back surface of the T-shaped plate 16n, and the linear guide 16k is inserted through the through hole. As a result, the T-shaped plate 16n is prevented from moving laterally during movement of the T-shaped plate 16n.

The lid recovery box 17 is a container for recovering the lid Y removed from the tube X. As shown in FIG. An existing resin container or the like can be used for the lid collection box 17 . The lid collection box 17 can be installed at any position that the first arm 31 can reach (on the side of the installation table 10 in this embodiment).

As shown in FIGS. 2(a), 2(b) and 8, the lid recovery box 17 of this embodiment is attached to the side surface of the installation table 10 so that the recovery port 17a faces upward. The lid collection box 17 can be fixed to the installation base 10 using screws or the like.

As shown in FIGS. 2(a) and 2(b), in this embodiment, a lid remover 26 protrudes toward the inside of the lid collection box 17. As shown in FIG. The lid remover 26 is a member for removing the lid Y from the claw 31f by coming into contact with the lid Y attached to the claw 31f. An existing screw or the like can be used for the lid remover 26 . 2(a), 2(b) and 8, when the lid recovery box 17 is attached to the installation base 10 with screws or the like, the screws or the like used for attachment can also be used as the lid remover 26. FIG.

The lid remover 26 can be made variable in its projection length within the lid collection box 17 . For example, in the examples of FIGS. 2(a) and 2(b), the projection length can be changed by adjusting the threaded length of the lid remover 26 as shown in FIG. 2(b). The lid remover 26 shown in FIGS. 2A and 2B is an example, and the lid remover 26 may have other configurations. The lid remover 26 can also be configured so that the projecting position and angle within the lid collection box 17 can be changed.

The plate 18 is a container for transferring the sucked sample. Although not shown, each plate 18 displays a plate ID such as a bar code or QR code. The display here includes not only display by attaching a sticker on which the plate ID is printed, but also display by directly printing the plate ID on the plate 18, and the like.

As shown in FIG. 12, in this embodiment, the plate 18 is provided with 96 square wells (plate holes 18a) (8 vertical×12 horizontal). In this plate 18, codes A to H are assigned to the columns (X axis) and numbers 1 to 12 are assigned to the rows (Y axis). It is

A fitting portion 18b that fits into a fitting groove 24c of a plate seat 24, which will be described later, projects outward from the outer periphery of the plate 18. As shown in FIG. The plate 18 shown here is just an example, and other plate 18 may be used. A plurality of plates 18 can also be added.

The plate 18 is installed on a plate seat 24 fixed to the installation base 10 . The plate seat 24 of this embodiment has a rectangular mounting surface 24a in plan view. A flange 24b protrudes from the plate seat 24, and the flange 24b can be fixed to the installation table 10 with fasteners such as screws.

Fitting grooves 24c are provided on three sides of the mounting surface 24a of the plate seat 24, and the plate 18 is fixed to the plate seat 24 simply by fitting the fitting portion 18b of the plate 18 into the fitting grooves 24c. It is like this. The remaining one side of the mounting surface 24a is open, through which the fitting portion 18b of the plate 18 can be inserted into the fitting groove 24c. The number of plate seats 24 can be increased according to the number of plates 18 .

The tip rack 19 is a container for accommodating new tips Z to be attached to the pipette P. As shown in FIG. In this embodiment, the tip rack 19 is provided with 100 (vertical 10×horizontal 10) chip accommodating portions. Other tip racks 19 may be used.

In this embodiment, the tip rack 19 is accommodated in the tip rack case 25 so that the tip rack 19 can be positioned and adjusted. As an example, a tip rack case 25 shown in FIG. 13 includes a base portion 25a fixed to the installation table 10 and an erect portion 25b erected from the base portion 25a. The upright portion 25b is composed of three fixed walls 25c and one movable wall 25d surrounding the four sides, and the inner width of the upright portion 25b can be adjusted by appropriately moving the movable wall 25d. .

The size and shape of the tip rack 19 differ depending on the manufacturer. It is possible to flexibly deal with tip racks 19 having different shapes. After the movement, the movable wall 25d is fixed to the base portion 25a with a screw or the like (not shown) so as not to move unintentionally.

By attaching the tip rack 19 to the tip rack case 25 having such a structure, the tip rack 19 is positioned at the part where the four corners of the tip rack 19 match the four corners of the tip rack case 25, and the position of the origin is less likely to shift. The attachment of the tip Z to the tip of the pipette P can be performed reliably.

The tip remover 20 is a jig for removing the tip Z attached to the tip of the pipette P after use. The chip remover 20 of this embodiment has a fixed portion 20a fixed to the mounting table 10, a raised portion 20b rising upward from the fixed portion 20a, and a protruding portion 20c protruding outward from the middle stage of the raised portion 20b. I have.

A locking recess 20d is provided at the tip of the protruding portion 20c to accommodate the coupling portion C of the pipette P and the tip Z. The pipette is held in a state where the coupling portion C of the pipette P and the tip Z is hooked on the peripheral edge of the locking recess 20d. Tip Z can be removed from pipette P by moving P upwards.

The monitor 21 displays the operation status of the system, an image captured by the photographing means 14, a signal read by the reading means 13, and the like. In this embodiment, the monitor 21 also displays buttons for starting, resuming, stopping, reading, and resampling the application.

The input/output port 23 is means for inputting or outputting signals. In this embodiment, a general-purpose input/output (GPIO) that can be used for both input and output is used as the input/output port 23 . The GPIO can receive signals transmitted from the PC 40 and control the tube vise 16 . The input/output port 23 is connected to a second power source 22b which is common to the tube vise 16, and is operated by the power supplied from the second power source 22b.

By using GPIO as the input/output port 23, there is an advantage that all of the various devices that make up the system can be controlled on the PC 40 side. As a result, control on the robot 30 side is reduced, and an improvement in the processing speed of the robot 30 can be expected. In addition, since it is possible to control various devices that make up the system from the PC 40 side, various robots 30 other than the robot 30 used in this embodiment can also use various devices that make up the system. This has the advantage of making it easier to respond to customer requests.

The robot 30 is a robot that handles the tube X and the pipette P. As shown in FIG. In this embodiment, as the robot 30, a dual-arm articulated robot having a first arm 31 and a second arm 32 is used. A first hand 31a is provided on the first arm 31, and a second hand 32a is provided on the second arm 32. The tube X and the pipette P are held by the first hand 31a and the second hand 32a.

As an example, a first hand 31a shown in FIGS. 9(a) and 9(b) has two claws 31f (gripping portion constituents). A lower recessed portion 31b and an upper recessed portion 31c smaller than the lower recessed portion 31b are provided on the mutually facing surfaces of the claws 31f. The lower concave portion 31b and the upper concave portion 31c formed in each claw 31f communicate with each other.

In the first hand 31a of this embodiment, when both claws 31f are brought closer, the lower lid fitting portion 31d is formed between the lower recessed portions 31b of both claws 31f, and the upper lid fitting portion 31e is formed between the upper recessed portions 31c. It is formed. Both the lower lid accommodating portion 31d and the upper lid accommodating portion 31e are portions in which the lid Y of the tube X is accommodated when the lid Y is gripped. The reason why two types of lid fitting portions are provided is to be able to correspond to lids Y having different sizes and shapes. The structure of the first hand 31a is an example, and a structure other than this is also possible.

As shown in FIG. 10, the robot 30 is equipped with (incorporated in) a control means 33 , and the control means 33 controls the first arm 31 and the second arm 32 . The robot arm returns to the origin in a timely manner and starts a new operation from there.

In this embodiment, the first arm 31 at least grips the tube X accommodated in the tube rack 11, moves the tube X to the reading position, moves the tube X to the imaging position, moves the tube X to the tube vice 16, and moves the tube X to the tube vice 16. removal of the lid of the tube X clamped by the tube vice 16, disposal of the removed lid Y into the lid recovery box 17, closing the lid of the tube X, and storage of the tube X after closing the lid in the tube rack 11, pipette The push button PB of P is operated.

In this embodiment, the second arm 32 performs at least various operations of the pipette P, movement of the pipette P to the tip attachment position, movement of the tip Z to the imaging position, and movement of the tip Z to the tip remover 20. It is supposed to be done.

In the robot 30, motion information such as motion start position, motion end position, motion path, pause position, motion speed, motion angle, etc., and branching method, etc. are registered. A first arm 31, a second arm 32, a first hand 31a, a second hand 32a, etc. of 30 are operated. These numerical values can be arbitrarily set/changed according to the characteristics of the sample to be processed.

As the monitor 21, various existing liquid crystal displays such as those compatible with a touch panel can be used. It should be noted that the information displayed on the monitor 21 can be appropriately selected and displayed according to the customer's request.

The PC 40 sends commands to the control means 33 of the robot 30, receives and records data (execution information) transmitted from the reading means 13, the photographing means 14, etc., performs various processes such as judgment, , the photographing means 14, the lighting device 15, the monitor 21, the power supply 22, and other means, and the answers to the questions from the robot 30, and the like.

As shown in FIG. 14 , the PC 40 of this embodiment includes a processor 41 , memory (main storage device) 42 , storage (auxiliary storage device) 43 , communication section 44 , input section 45 and output section 46 . The communication section 44 includes a transmission section 44a and a reception section 44b. These elements are electrically connected by a bus 47 .

The processor 41 determines whether the lid has been removed successfully, whether the tip has been attached successfully, the suction amount, the discharge amount, and the lid closing success/failure. The communication unit 44 functions as recording means for recording information, and functions as communication means for transmitting/receiving information to/from a customer side system (external device) 50, which will be described later.

In addition, the processor 41 of this embodiment also functions as processing means for processing so that, when an event such as a film F that hinders determination of the discharge amount occurs, this event does not interfere with the determination. The processing performed by the processing means is as described above.

As shown in FIG. 10, the system of this embodiment is communicably connected to a customer-side system 50 via a communication line L. , and the customer side system 50. The communication line L may be wireless or prioritized. Communication between the system of this embodiment and the customer side system 50 can also be performed via a record tampering prevention device (not shown).

From the customer-side DB 51 of the customer-side system 50, for example, a registered sample ID registered in the customer DB is obtained. Also, when using a plurality of plates 18, the designated plate ID and designated plate hole information are also acquired from the customer side DB 51. FIG.

Data exchange with the customer-side system 50 can be performed according to specifications specified by the customer, such as CSV linkage and API linkage. In addition, since necessary information differs from customer to customer, it is possible to pass arbitrary execution information selected and set from the execution information recorded on the system side to the customer side system 50 .

This preprocessing execution system operates by software (program) for executing each of the above processes. This software can also be provided as a program separated from the preprocessing execution system, more specifically, a program that causes a computer to operate as the preprocessing execution system and the execution information recording device of the present invention. The computer referred to here may be anything that has a functional unit corresponding to a processor and memory, and is a concept that includes the PC 40 that constitutes the system, the robot 30, the entire system, and each device that constitutes the system. be.

The program does not need to be stored in one computer (for example, PC 40), but may be stored in both the PC 40 and the robot 30, or in one or more of the devices that make up the system. In short, the program here means a program that enables execution of each of the processes described above.

The software may be provided in a downloadable manner or as a recording medium recorded in a computer-readable form. The recording medium referred to here includes an optical disk, a magneto-optical disk, a semiconductor memory, etc. Specifically, HD (hard disk), CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-R, DVD -RW, DVD-RAM, MO, DVD, flash memory, memory card, etc.

In the pretreatment flow and pretreatment system of the above embodiment, the execution information is automatically recorded in association with the specimen ID (reading specimen ID) and plate ID (reading plate ID). Multiple matching can be performed reliably.

In the preprocessing flow and the system that executes the preprocessing of the above embodiment, not only execution information when the system operates normally, but also processing procedures defined as normal operations in the protocol when the robot 30 stops, etc. Since execution information is also recorded when the preprocessing is executed under procedures and conditions other than the processing conditions, whether or not the preprocessing by the robot 30 has been performed according to the protocol during the execution of the preprocessing or after the completion of the preprocessing is recorded. Verification can be done.

The flow of preprocessing and the system for executing preprocessing of the above-described embodiments have the advantage that human errors such as forgetting to record, erroneous recording, and omission of recording do not occur. Once the sample contained in the tube X is sucked up from the tube X, it cannot be identified by the sample ID, so it is necessary to record information about which sample was dispensed to which hole of which plate. .

Conventionally, this recording was often done manually by workers, but it was difficult to do both work and recording at the same time because both hands would be occupied during the work. In this case, recording is performed after the completion of the work, but human errors such as forgetting to record, erroneous recording, and omission of recording may occur.

On the other hand, in the preprocessing flow and preprocessing execution system of the above embodiment, execution information obtained in the course of preprocessing is automatically recorded. There is almost no need to do the work, human errors that occur when the worker manually performs the recording work do not occur, and it also contributes to the reduction of the burden on the worker.

It should be noted that the preprocessing flow and the system for executing the preprocessing in the above embodiment are examples, and the configuration of the above embodiment is not limited. Changes such as replacement and omission can be made as appropriate within the range of not changing .

The present invention provides pretreatments performed prior to examinations and experiments using specimens, such as humans and various animals (mammals, fish, birds, amphibians, reptiles, etc.), insects, shellfish, agricultural products, plants, their seeds and It is particularly suitable for pretreatment prior to tests and experiments using various specimens collected from seedlings, microorganisms, and the like. In addition, when the lid Y of the specimen container X used in tests and experiments assuming the reuse of specimens or in pretreatment thereof adheres to the claw 31f, a method or apparatus for removing the lid Y from the claw 31f. It can also be suitably used as Also in the field of material chemistry, a pipette P is sometimes used for the purpose of sucking up a predetermined amount of a relatively small amount of liquid during pretreatment and discharging it into another container for measurement or transfer. The present invention can also be used in such fields of material chemistry.

REFERENCE SIGNS LIST 10 installation table 11 tube rack 11a housing recess 12 lid rack 12a lid housing section 13 reading means 14 photographing means 15 lighting fixture 16 tube vise 16a clamping section 16b drive mechanism 16c clamping piece (fixed clamping piece)
16d clamping piece (movable clamping piece)
16e base plate 16f clamping piece pedestal 16g (fixed clamping piece side) cushion material 16h (movable clamping piece side) cushion material 16i coupling 16j ball screw 16k linear guide 16m guide support 16n T-shaped plate 16p guide block 16M drive source (motor)
17 lid recovery box 17a recovery port 18 discharge destination container (deep well plate (plate))
18a plate hole 18b fitting portion 19 tip rack 20 tip remover 20a fixing portion 20b rising portion 20c protrusion 20d locking recess 21 monitor 22 power source 22a first power source 22b second power source 23 input/output port 24 plate seat 24a placement surface 24b Flange 24c Fitting groove 25 Tip rack case 25a Base part 25b Standing part 25c Fixed wall 25d Movable wall 26 Lid remover 30 Robot 31 First robot arm (first arm)
31a hand of the first arm (first hand)
31b lower concave portion 31c upper concave portion 31d lower lid fitting portion 31e upper lid fitting portion 31f claw 32 second robot arm (second arm)
32a second arm hand (second hand)
33 control means 40 electronic computer (PC)
41 processor 42 memory (main storage device)
43 Storage (auxiliary storage device)
44 communication unit 44a transmission unit 44b reception unit 45 input unit 46 output unit 47 bus 50 customer side system (external device)
51 Customer-side database (customer-side DB)
C Binding part F Membrane etc. L Communication line P Pipette PB Push button S1 Air part S2 Specimen part S3 Remaining specimen part X Specimen container (tube)
Y Lid Z Tip

Claims (24)

A method for removing a lid attached to a gripper equipped on a robot, comprising:
removing the lid from the grip by bringing the lid attached to the grip and the lid remover into contact;
A lid removing method characterized by: The lid removal method according to claim 1,
removing the lid from the grip by moving the position of the grip and bringing the lid attached to the grip into contact with the lid remover;
A lid removing method characterized by: The lid removal method according to claim 1,
removing the lid from the grip by moving the position of the lid remover and bringing the lid remover into contact with the lid attached to the grip;
A lid removing method characterized by: In the lid removal method according to any one of claims 1 to 3,
removing the lid from the grip by bringing the top surface or side surface of the lid into contact with the lid removal tool;
A lid removing method characterized by: In the lid removal method according to any one of claims 1 to 4,
The grip and/or the lid remover are moved so that the lid remover is positioned between a plurality of gripping portion constituents constituting the gripping portion, and the lid adhered to the gripping portion constituent and the lid remover are brought into contact with each other. let
A lid removing method characterized by: In the lid removal method according to claim 5,
By moving the gripping part and/or the lid removing tool, the lid removing tool can be removed from the plurality of gripping part constituents constituting the gripping part and the lids attached to any one or more of the gripping part constituents. located between and facing the top surface of the lid,
By moving the gripping part or the lid removing tool, the lid attached to the gripping part structure and the lid removing tool are brought into contact with each other.
A lid removing method characterized by: The lid removal method according to claim 6,
Any one or two or more of the plurality of gripping portion constituents are in contact with the lid, and the other gripping portion constituents are separated from the lid, or all of the plurality of gripping portion constituents are in contact with the lid contacting the lid and the lid remover in the state of
A lid removing method characterized by: The lid removal method according to any one of claims 1 to 7,
The operation of removing the lid attached to the grip part is performed in the lid collection box for discarding the removed lid or above the collection port of the lid collection box.
A lid removing method characterized by: In the lid removal method according to any one of claims 1 to 8,
The lid is a screw cap with an internal thread,
A lid removing method characterized by: A device for removing a lid attached to a gripper equipped on a robot,
Equipped with a robot and lid remover,
By the operation of the robot and/or the lid remover, an operation of bringing the lid attached to the gripping part into contact with the lid remover is performed.
A lid removing device characterized by: The lid removing device according to claim 10, wherein
By the action of the robot, the action of moving the position of the gripping part and bringing the lid attached to the gripping part into contact with the lid remover is executed.
A lid removing device characterized by: 11. The lid removal device of claim 10, wherein
By the operation of the lid remover, an operation of moving the lid remover and bringing it into contact with the lid attached to the grip is executed.
A lid removing device characterized by: In the lid removing device according to any one of claims 10 to 12,
The operation of bringing the top surface or side surface of the lid and the lid remover into contact is performed by the operation of the robot and/or the lid remover.
A lid removing device characterized by: In the lid removing device according to any one of claims 10 to 13,
The gripping portion comprises a plurality of gripping portion formations,
An operation of positioning the lid remover between the plurality of gripping part structures and bringing the lid adhered to the gripping part structures into contact with the lid remover is executed by the operation of the robot and/or the lid remover. to be
A lid removing device characterized by: 15. The lid removal device of claim 14, wherein
By the operation of the robot and/or the lid remover, the lid remover is moved between the plurality of gripping part constituents and the lid attached to one or more of the gripping part constituents, and on the lid. An operation of positioning the lid at a location facing the top surface, and an operation of moving the grip portion or the lid remover to bring the lid attached to the grip portion structure into contact with the lid remover are performed.
A lid removing device characterized by: 16. The lid remover of claim 15, wherein
The operation of bringing the lid into contact with the lid remover is performed in a state in which any one or more of the plurality of gripping portion constituents are in contact with the lid and the other gripping portion constituents are separated from the lid, or a plurality of gripping portion constituents are separated from the lid. all of the gripper formations are carried out in contact with the lid,
A lid removing device characterized by: In the lid removing device according to any one of claims 10 to 16,
Equipped with a lid collection box where lids are discarded,
the action of removing the lid is performed in the lid collection box or above a collection port of the lid collection box;
A lid removing device characterized by: In the lid removing device according to any one of claims 10 to 17,
The lid remover protrudes into the lid collection box,
A lid removing device characterized by: 19. The lid removal device of claim 18, wherein
The lid remover can change its projecting length and/or projecting position within the lid collection box,
A lid removing device characterized by: In the lid removing device according to any one of claims 10 to 19,
The lid is a screw cap with an internal thread,
A lid removing device characterized by: A method for recording execution information when lid removal is executed by the lid removal method according to any one of claims 1 to 9,
Take a picture of the grip after removing the lid,
Record the evidence obtained by the photographing in association with the specimen identification information that identifies the specimen,
An execution information recording method characterized by: In the execution information recording method according to claim 21,
Measuring the position of the grip after the lid is removed and/or the load on the grip or its attachment,
The measurement results are recorded in association with specimen identification information that identifies the specimen and / and evidence obtained by imaging,
An execution information recording method characterized by: A device for recording execution information when lid removal is executed by the lid removal device according to any one of claims 10 to 20,
a photographing means for photographing the grip portion after the lid is removed;
A recording means for recording the evidence obtained by imaging with the imaging means in association with specimen identification information for identifying the specimen,
An execution information recording device characterized by: 24. The execution information recording device according to claim 23,
a measuring means for measuring the position of the grip after the lid is removed and/or the load on the grip or its attachment;
A measurement result obtained by the measuring means is recorded in a recording means in association with specimen identification information that identifies the specimen and/or evidence obtained by imaging.
An execution information recording device characterized by:

Images