Patent Description:
There are known sample processing systems for processing samples such as blood and urine. In this type of sample processing system, a sample contained in a sample tube is transported to a sample processing apparatus by, for example, a transporting device transporting a sample rack which holds the sample tube.

In sample processing systems which transport sample tubes via sample racks, a tube sorter is used to automatically sort the sample tubes for each type of process into predetermined sample racks prior to the sample processes for processing efficiency relative to the plurality of samples (for example, <CIT>). In the sample sorter disclosed in <CIT>, the rack is transported to the sample sorting position by the sample tube transporting means. Thereafter, the sample tube is removed from the rack by a robot hand, and the removed sample tube is transferred to the sorting destination.

In the sample sorter disclosed in <CIT>, although the transport line of the sample racks is behind the sorting destination rack, the transport line is preferably arranged in front of the destination rack with sorted sample tubes and removed from the front side of the apparatus. However, the transport line must be stopped while removing the sorted sample tubes due to obstruction of the sample rack passing through the transport line in this configuration.

<CIT> is concerned with an automatic storage system. <CIT> is concerned with a laboratory organizer unit and storage unit. <CIT> is concerned with an assay testing diagnostic analyzer. <CIT> is concerned with an analyte preprocessing system.

An object of the present invention is to provide a tube sorter capable of rapidly transferring sample tubes and allowing removal of sorted sample tubes from the apparatus without stopping the transport line.

A summary of the present invention is below. It is to be noted that the scope of the present invention is defined solely by the appended claims, and is not affected to any degree by the statements within this summary.

A first aspect of the present invention is a tube sorter as defined in claim <NUM>.

According to the configuration, sample tube stored in the storing means can be removed without interfering the rack transportation since the storing means is arranged at a higher level than the transporting means. The sample tube therefore can be removed from the front side of the tube sorter without stopping the rack transportation. It should be noted that when the storing means is arranged at a higher level than the transporting means, there is a difference in the levels in the vertical direction between the sample rack positioned on the transport path and the storing means. If the sample rack is remained on the transport path, the transferring means must repeatedly move vertically between the sample rack and the storing means. As a result, a long time is required to transfer all sample tubes held in the sample rack. On the contrary, according to the present invention, all sample tubes may be lifted up at once together with the sample rack to bring each sample tube near the storing means before the transfer. Hence, the time required to transfer sample tubes can be saved.

The lifting means is preferably configured to lift the sample rack upward vertically from the transporting means.

The lifting means is preferably configured to lift the sample rack to a predetermined height and to maintain the height until lowering the sample rack, without moving the sample rack to above the storing means.

The transferring means preferably includes a gripper configured to grip the sample tube, and is configured to perform the transfer of the sample tubes in the steps of: gripping the sample tube in the sample rack lifted by the lifting means; moving upward the gripper to remove the gripped sample tube; moving the gripper to above the storing means; and lowering the gripper to set the sample tube in a target holder of the storing means.

The lifting means is preferably configured to lift the sample rack to a height at which the sample tube held in the sample rack is approximately the same height as the sample tube held in the storing means. The transfer of the sample tubes to the storing means is thus accomplished rapidly by reducing the distance the sample tubes must be moved in the vertical direction from the sample rack.

More preferably the lifting means is configured to lift the sample rack so that a height of a bottom of a holding position of the sample rack is substantially the same as a bottom of a holder of the storing means. Thus the sample tube transfer control and construction of tube sorter can be simple because the stroke removing the sample tube from the sample rack and the stroke setting the removed sample tube in the storing means are substantially similar.

Preferably the transporting means includes a belt extending along the transport path, and the lifting means includes a supporting part configured to support a bottom of the sample rack, and a drive unit configured to move the supporting part up and down between an upper end and a lower end. In this case, the transporting means is preferably configured to transport the sample rack by the belt over the supporting part when the supporting part is at the lower end.

The tube sorter preferably further comprises: a means for obtaining identification information from the sample tubes held in the sample rack being transported by the transporting means; and a means for determining whether a sample tube is to be sorted based on the identification information obtained by the obtaining means. In this case, preferably the lifting means is configured to lift the sample rack and the tube transferring means is configured to remove the sample tube from the sample rack and sets the sample tube in the storing means when the sample tube is determined to be sorted by the determining means.

The tube sorter is preferably configured as, when transferring the sample tube from the storing means to the sample rack, the lifting means lifts the sample rack, the transferring means removes the sample tube from the storing means and sets the removed sample tube in the sample rack lifted by the lifting means.

The transporting means preferably includes a first transport path provided with the lifting means, and a second transport path which is different than the first transport path. The storing means is preferably arranged so as to be drawn across over the second transport path.

The storing means preferably includes a plurality of holders each configured to receive the sample tube, and the transferring means is preferably configured to set the sample tubes so as to sequentially fill the holders from one nearest the second transport path.

The tube sorter preferably further comprises a regulating member disposed above the transporting means to regulate a horizontal movement of the sample rack lifted by the lifting means. The lifting section is preferably configured to lift the sample rack to dispose within a regulating region defined by the regulating member.

The tube sorter preferably further comprises a regulating member disposed above the transporting means to regulate a longitudinal movement of the sample rack lifted by the lifting means.

The lifting means is preferably configured to support a bottom of the sample rack and to lift the supported sample rack, and the regulating member is preferably arranged so as to be abutted with an upper part of the sample rack lifted by the lifting means.

A second aspect of the present invention is a tube sorting system as defined in claim <NUM>.

The present invention described above provides a tube sorter capable of rapidly transferring sample tubes and allowing removal of sorted sample tubes from the apparatus without stopping the transport line.

A sample processing system for examining and analyzing blood is offered as an example of an embodiment of the present invention. This embodiment is described below with reference to the drawings.

<FIG> shows the structure of the sample processing system viewed from above.

The sample processing system <NUM> of the present embodiment includes a receiving unit <NUM>, tube sorter <NUM>, relay unit <NUM>, relay unit <NUM>, recovery unit <NUM>, transport units <NUM> through <NUM>, blood cell analyzer <NUM>, smear sample preparation apparatus <NUM>, and transport controller <NUM>. The blood cell analyzer <NUM> includes an information processing unit <NUM>, and measuring units <NUM> and <NUM>. The sample processing system <NUM> is connected to a host computer <NUM> via a communication network and is capable of communication.

The receiving unit <NUM>, tube sorter <NUM>, relay units <NUM> and <NUM>, recovery unit <NUM>, and transport units <NUM> through <NUM> are arranged adjacently left to right to be capable of delivering the sample rack L. A plurality of sample racks L capable of holding ten sample tubes T each are installed in these units and the apparatus. The sample rack L is transported in the arrow direction in <FIG>. The tube sorter <NUM> has a transport path r1 for transporting the sample rack L in the leftward direction, and a transport path r2 for transporting the sample rack L in the rightward direction.

<FIG> respectively show the structures of the sample tube T and the sample rack L. <FIG> is a perspective view showing the exterior of the sample tube T; <FIG> is a perspective view showing the exterior of the sample rack L holding ten sample tubes T. <FIG> also shows the direction (front to back and left to right directions in <FIG> of the sample rack during transport.

Referring to <FIG>, the sample tube T is a tube-like container, open at the top end, and formed of transparent synthetic resin or glass. A barcode label T1 is adhered to the side surface of the sample tube T. A barcode which includes the sample ID is printed on the barcode label T1. The sample tube T contains a blood sample of whole blood collected from a patient, and the opening at the top end is sealed with a rubber cap T2.

Referring to <FIG>, a barcode label L1 is adhered to the back side of the sample rack L. A barcode indicating the rack ID is printed on the barcode label L1. The sample rack L has holders capable of vertically holding ten sample tubes T. For convenience, the position of each holder is referred to by holding positions <NUM> through <NUM> arranged in ascending order from the downstream side to the upstream side in the transport direction.

Returning to <FIG>, when the user starts a measurement of a sample, the sample tube T containing the sample is first set in the sample rack L, and the sample rack L is loaded in the receiving unit <NUM>. The sample rack L loaded in the receiving unit <NUM> is transported backward to the tube sorter <NUM>.

The tube sorter <NUM> includes a barcode unit <NUM> and storage section <NUM>. The storage section <NUM> includes buffer rack <NUM>, six archive racks R1, and one sorting rack R2. The buffer rack <NUM>, six archive racks R1, and one sorting rack R2 respectively have a plurality of holders for holding the sample tubes T, as shall be described later. A space for the installation of the sample rack L is provided in front of the sorting rack R2, and five sample racks L can be accommodated in this space.

The tube sorter <NUM> first performs processing by the barcode unit <NUM> on the sample rack L delivered from the receiving unit <NUM> to the tube sorter <NUM>. Specifically, the barcode unit <NUM> reads the rack ID from the barcode label L1 on the sample rack L1, detects the holding position at which the sample tube T is held in the sample rack L, and reads the sample ID from the barcode label T1 of the sample tube T. The tube sorter <NUM> transmits the sample ID read by the barcode unit <NUM> through the transport controller <NUM> to the host computer <NUM>. The host computer <NUM> prepares, based on the measurement order and analysis result of each sample, information (hereinafter referred to as "transfer information") which will be referred by the tube sorter <NUM> for transferring the sample tube T. The tube sorter <NUM> also receives transfer information from the host computer <NUM> through the transport controller <NUM>.

Then, the tuber sorter <NUM> transfers the sample tube T held in the sample rack L to one of the racks in the storage section <NUM>, buffer rack <NUM>, archive rack R1, sorting rack R2 or sample rack L loaded in front of the buffer rack <NUM>, according to the received transfer information. The tube sorter <NUM> can transfer the sample tube T held in the buffer rack <NUM> to the sample rack L on the transport path r1. Thereafter, the sample rack L is delivered to the relay unit <NUM>.

The sample rack L which has been delivered from the tube sorter <NUM> to the relay unit <NUM> is then delivered to the relay unit <NUM> when the destination of the sample rack L is in a leftward direction. On the other hand the sample rack which has been delivered from the tube sorter <NUM> to the relay unit <NUM> is then delivered in front of the relay unit <NUM> for delivery to the tube sorter <NUM> when the destination is in a rightward direction. The sample rack L which has been delivered from the relay unit <NUM> to the relay unit <NUM> is moved to the front of the relay unit <NUM>, and thereafter delivered to the transporting unit <NUM>.

The transporting units <NUM> through <NUM> are respectively configured to transport the sample rack L delivered from the upstream side in accordance with the instructions of the transport controller <NUM>. Specifically, the transporting units <NUM> through <NUM> transports the received sample rack L in the backward direction, when a sample tube T held by the sample rack L delivered from the upstream side is to be processed by the corresponding module (i.e., the units <NUM>, <NUM> or the apparatus <NUM>), to a position in front of the corresponding unit or apparatus. When processing is not to be performed by the measuring units <NUM> and <NUM>, the transporting units <NUM> and <NUM> move the sample rack L delivered from the upstream side straight ahead in the leftward direction, and sequentially deliver to the transporting unit on the downstream side.

The measuring units <NUM> and <NUM> are respectively configured to remove the sample tube T from the sample rack L delivered to the forward position, and to measure the sample contained in the sample tube T. The information processing unit <NUM> receives and analyzes the measurement data from the measuring units <NUM> and <NUM>, and prepares analysis results that include each analysis value of the measurement items. The information processing unit <NUM> is connected beforehand to the host computer <NUM> and is capable of communication therewith, and transmits the analysis results to the host computer <NUM>.

The smear sample preparation apparatus <NUM> is configured to aspirate the sample from the sample tube T held in the sample rack L at the forward position, and to prepare a smear sample from the aspirated sample. The smear sample preparation apparatus <NUM> is connected to the host computer <NUM> and is capable of communication therewith. The smear sample preparation apparatus <NUM> transmits a message indicating the smear sample preparation has been completed to the host computer <NUM>.

When the processing by the measuring units <NUM> and <NUM> and the smear sample preparation apparatus <NUM> is completed and there is no need for processing on the downstream side, the sample rack L is transported forward into the transporting unit, and thereafter moved to the upstream side by the transporting unit. Thus, the sample rack L is moved to the upstream side.

The sample rack L which is transported from the transporting units <NUM> through <NUM> to the upstream side is moved in the rightward direction by the relay unit <NUM> and relay unit <NUM>, and delivered to the tube sorter <NUM>. The tube sorter <NUM> moves the sample rack L received from the relay unit <NUM> to the receiving unit <NUM>.

The sample rack L delivered from the tube sorter <NUM> to the receiving unit <NUM> is moved to the back in the receiving unit <NUM> to be again delivered to the tube sorter <NUM>. In this case, the barcode unit <NUM> performs the reading process similar to above. The tube sorter <NUM> receives the transfer information from the host computer <NUM> and transfers the sample tube T held in the sample rack L in accordance with the received transfer information.

A sample tube T which does not require re-examination by the measuring units <NUM> and <NUM> or smear sample preparation (hereinafter referred to simply as "re-examination") by the smear sample preparation apparatus <NUM>, and a sample tube T which does not require processing outside the sample processing system <NUM> is transferred to the archive rack R1. A sample tube T which does not require the re-examination but does require processing outside the sample processing system <NUM> is transferred to the sorting rack R2. A sample tube T which requires the re-examination is transferred to a suitable sample rack L as already explained, then delivered to the relay unit <NUM>. Processing of a sample tube T by the sample processing system <NUM> is completed by transferring the sample tube T to the archive rack R1 or the sorting rack R2.

When all the held sample tubes T have been transferred and the empty sample rack L is delivered to the relay unit <NUM>, the sample rack L is moved forward by the relay unit <NUM> and thereafter again delivered to the tube sorter <NUM>. The tube sorter <NUM> moves the empty sample rack L received from the relay unit <NUM> to the receiving unit <NUM>. The empty sample rack L delivered to the receiving unit <NUM> is transported in a rightward direction by the receiving unit <NUM> and delivered to the recovery unit <NUM>. The sample rack L is then moved to the back of the recovery unit <NUM> and stored in the recovery unit <NUM>. The transport of the sample rack L is thus completed.

The transport controller <NUM> is connected to the receiving unit <NUM>, tube sorter <NUM>, relay units <NUM> and <NUM>, recovery unit <NUM>, and transporting units <NUM> through <NUM> and is capable of communication therewith so as to control the transport operations of the sample rack L via these units. The host computer <NUM> associates the sample ID and stores the sample measurement order, and sample analysis results. The host computer <NUM> is memorized with rules for transferring sample tubes T within the tube sorter <NUM>.

<FIG> is a perspective view showing the internal structure of the tube sorter <NUM>. The X-axis positive direction, Y-axis positive direction, and Z-axis positive direction shown in <FIG> correspond to the leftward direction, front direction, and upward direction, respectively.

In addition to the barcode unit <NUM> shown in <FIG>, the tube sorter <NUM> also internally includes a tube transferring section <NUM>, a transporting section <NUM>, a lifting section <NUM>, an empty rack storage <NUM> (refer to <FIG>), a transporting section <NUM>, six trays <NUM>, and two trays <NUM>.

The tube transferring section <NUM> moves the sample tube T inside the tube sorter <NUM>. The transporting section <NUM> moves the sample rack L, which is delivered from the receiving unit <NUM>, in a leftward direction along the transport path r1 (refer to <FIG>). The lifting section <NUM> lifts up the sample rack L when the sample rack L is disposed at a predetermined position on the transport path r1. The transporting section <NUM> moves the sample rack L, which is delivered from the relay unit <NUM>, in a rightward direction along the transport path r2 (refer to <FIG>).

Sixty holders <NUM> are formed on the buffer rack <NUM>. One hundred twenty-five holders R11 are formed on one archive rack R1. Two hundred holders R21 are formed on the sorting rack R2.

The tray <NUM> supports the archive rack R1, and is movable in the forward direction from the state shown in <FIG>. Two trays <NUM> support the sorting rack R2 and the sample racks L loaded in the forward part of the sorting rack R2, and are movable in the forward direction from the state shown in <FIG>. The two trays <NUM> are also configured to move front to back in mutual connection. The storage <NUM> and the trays <NUM> and <NUM> supporting the storage <NUM> are at a higher level than the transport sections <NUM> and <NUM>. More specifically, they are at a higher level than the top part (cap part T2) of the sample tube T being transported by the transporting sections <NUM> and <NUM>. Hence, the respective six archive racks R1 can be moved across over the transporting section <NUM>, and they can be drawn separately in the forward direction through an opening formed in the cover (not shown in the drawing) which covers the internal part of the tube sorter <NUM>. The sorting rack R2 and the sample rack L loaded at the forward part of the sorting rack R2 can be drawn forward similar to the archive rack R1.

<FIG> is a schematic view of the internal part of the tube sorter <NUM> viewed from above. Note that the lifting section <NUM> is indicated by dashed lines for convenience in <FIG>.

The tube transferring section <NUM> includes two rails <NUM> which extend in the front to back direction, rail <NUM> which extends in the left to right direction, supports <NUM> and <NUM>. The rails <NUM> are fixedly attached inside the tube sorter <NUM>, whereas the rail <NUM> is movable in the front to back direction along the rails <NUM>. The supporting part <NUM> is movable in the left to right direction along the rail <NUM>. The supporting part <NUM> is movable in the vertical direction along the supporting part <NUM>. A gripper <NUM> for gripping the sample tube T is provided at the bottom end of the supporting part <NUM>. The structure of the tube transferring section <NUM> is described later with reference to <FIG>, and <FIG>.

The transporting section <NUM> has belts <NUM> and <NUM> which extend in right to left directions, walls 117a through 117c provided at the front and back of the belts <NUM> and <NUM>, and rack extracting device <NUM>. The sample rack L loaded on the belts <NUM> and <NUM> is transported in the leftward direction by the movement of the belts <NUM> and <NUM> in the leftward direction.

<FIG> is a schematic view showing the structure when viewing the transporting section <NUM> from the front (Y-axis negative direction).

In addition to the belts <NUM> and <NUM>, the transporting section <NUM> also has pulleys 113a and 113b, 114a through <NUM>, belts 115a and 115b, and a motor <NUM>. The belt <NUM> is looped around the pulleys 113a and 113b, and the belt <NUM> is looped around the pulleys 114a through <NUM>. The pulleys 113b and <NUM> has shafts projecting on the forward side (Y-axis positive direction) and the belt 115a is looped around the shafts of the pulleys 113b and 114a. The pulley 114e also has a shaft projecting on the forward side and the belt 115b is looped around the shaft of the pulley 114e and the shaft of the motor <NUM> on the front side of the belt <NUM>. The motor <NUM> is positioned at the front side of the belt 115b.

When the motor <NUM> is actuated, the pulley 114e is rotated through the belt 115b, thus rotating the pulleys 114a through <NUM>. When the pulley 114a is rotated, the pulley 113b is rotated through the pulley 115a, thus rotating the pulley 113a. The belts <NUM> and <NUM> moved around the periphery of the pulleys in accordance with the rotation of the shaft of the motor <NUM>.

A space S1 is formed between the pulleys 113b and 114a. A space S2 is formed between the pulleys 114b and 114e. The size of the spaces S1 and S2 are sufficient to allow the insertion of the supporting part <NUM> of the lifting section <NUM>, as shown in <FIG>. The top surface of the belt <NUM> between the pulleys 113a and 113b, the top surface of the belt <NUM> between the pulleys 114a and 114b, and the top surface of the belt <NUM> between the pulleys 114e and 114f are set at the same level. These surfaces are referred to as "transport plane" hereinafter. The top edge of the walls 117a through 117c (refer to <FIG>) are positioned somewhat higher than the transport plane, and the width in the front to back direction of the walls 117a, 117b, and wall 117c is set so as to allow passage of one sample rack L.

Returning to <FIG>, the sample rack L delivered from the receiving unit <NUM> is moved in the leftward direction by the belt <NUM>, and disposed at the position P1 opposite the barcode unit <NUM>. The sample rack L set at the position P1 is detected by a sensor s1. The barcode unit <NUM> detects the holding positions at which sample tubes T are held in the sample rack L, and reads the sample ID of each.

<FIG> illustrate reading operation performed by the barcode unit <NUM>.

Referring to <FIG>, the barcode unit <NUM> has two moving parts <NUM> arranged in right to left direction. The two moving parts <NUM> are movable in the right to left direction. The moving parts <NUM> each have two rollers 121a, a roller 121b, and barcode reader 121c. The barcode reader 121c is fixedly mounted on the moving part <NUM>. The barcode reader 121c reads the rack ID from the barcode label L1 positioned at the front, and reads the sample ID from the barcode label T1.

The moving part <NUM> on the left side is sequentially disposed at positions corresponding to the holding positions <NUM> through <NUM>. The moving part <NUM> on the right side is sequentially disposed at positions corresponding to the holding positions <NUM> through <NUM>. As shown in <FIG>, the moving part <NUM> moves the two rollers 121a in the forward direction at each holding position. When the roller 121a are moved in the forward direction a distance to abut the sample tube T, the presence or absence of the sample tube T at the holding position is detected. When the roller 121a abuts the sample tube T, the roller 121b is rotated and the barcode label T1 is read.

Returning to <FIG>, when the detection and reading operations by the barcode unit <NUM> are completed, the tube sorter <NUM> transmits the read sample ID to the host computer <NUM> and receives the transfer information from the host computer <NUM> as previously described. When the sample tube T requires transfer to the sample rack L according to the transfer information, the sample rack L is moved in the leftward direction by the belts <NUM> and <NUM>. The sample rack L is moved until it abuts the flange 118a of the rack extracting device <NUM>, and disposed at the position P21. The sample rack L set at the position P21 is detected by a sensor s2. When the sample tube T does not require transfer to the sample rack L according to the transfer information, the sample rack L is moved in the leftward direction by the belts <NUM> and <NUM> so as to pass through the position P21, and is disposed at the position P3. The sample rack L set at the position P3 is detected by a sensor s3. The sample rack L disposed at position P3 is then moved in the leftward direction and delivered to the relay unit <NUM>.

The sample rack L disposed at position P21 is lifted up (Z-axis positive direction) by the lifting section <NUM> to the position P22 (refer to <FIG>). When the sample rack L is positioned at the position P22, the sample tube T requires to be transferred is removed from the sample rack L and moved to the destination rack of the storage <NUM>. If a sample tubes T to be transferred to the sample rack L is held in the buffer rack <NUM>, it is then removed from the buffer rack <NUM> and set in the sample rack L. When the transfer of the sample tube T to/from the sample rack L is completed, the sample rack L is lowered by the lifting section <NUM> and again disposed at the position P21. The sample rack L is then moved in the leftward direction by the belt <NUM> to the position P3. The sample rack L disposed at position P3 is delivered to the relay unit <NUM>.

If all sample tubes T have been removed from the sample rack L at position P22 and the sample rack L has become empty, it is moved from the position P21 to the empty rack storage <NUM> by the rack extracting device <NUM> pushing the rack surface on the front side. When the number of sample tubes T held in the buffer rack <NUM> reaches a predetermined value, the empty sample rack L stored in the empty rack storage <NUM> is pushed from the storage <NUM> to the position P21 by the rack extracting device <NUM>. And it is lifted and disposed at the position P22 by the lifting section <NUM>. The sample tubes T in the buffer rack <NUM> are then transferred to the sample rack L.

The sample rack L moved from the relay unit <NUM> to the transporting section <NUM> is transported in the rightward direction by the belt <NUM> or the belt <NUM> of the transporting section <NUM>, and disposed at position P4 or position P5. The sample rack L disposed at position P5 is then moved to position P4 by the rack extracting device <NUM> pushing on the surface on the back side. The sample rack L disposed at position P4 is then moved in the rightward direction by the belt <NUM> and delivered to the receiving unit <NUM>.

<FIG> is a schematic view of the structure of the supporting structure <NUM> of the tube transferring section <NUM>.

A pair of support plates <NUM> which extend in the front to back direction are arranged at the left end and right end of the tube sorter <NUM>. The rails <NUM> are disposed on the support plate <NUM>. A sliding part <NUM> is slidable in the Y-axis direction relative to the rail <NUM>. A support member <NUM> is fixedly mounted on the sliding part <NUM>. Pulleys 215a and 215b are installed at the front end and near the back end of the rail <NUM>. Belts <NUM> are respectively looped around the pairs of pulleys 215a and 215b. The support member <NUM> is fixedly mounted on the belt <NUM>. The right side pulley 215a and the left side pulley 215a are connected with the shaft <NUM>. The shaft of a motor <NUM> is connected to the shaft <NUM> through a belt <NUM>. The support members <NUM> on both sides can move along the Y-axis in mutual linkage via the drive force of the motor <NUM>.

<FIG> is a schematic view of the structure of the supporting part <NUM> of the tube transferring section <NUM>.

A support plate <NUM> extending in the X-axis direction is fixedly mounted on the pair of support members <NUM> of the supporting structure <NUM> (see <FIG>). The rail <NUM> is disposed on the support plate <NUM>. A sliding part <NUM> is slidable in the X-axis direction relative to the rail <NUM>. A support member <NUM> is fixedly mounted on the sliding part <NUM>. The pulleys 225a and 225b are fixed on the support plate <NUM> near the left end and right end of the rail <NUM>. The belt <NUM> is looped around pulleys 225a and 225b, and the support member <NUM> is attached to the belt <NUM>. The shaft of the motor <NUM> is connected to the right side pulley 225a. The support member <NUM> can move along the X-axis via the drive force of the motor <NUM>.

<FIG> is a schematic view of the structure of the supporting parts <NUM> and <NUM> of the tube transferring section <NUM>.

The supporting part <NUM> is described below. The support plates <NUM> extending in the Z-axis direction are fixedly mounted on the support member <NUM> of the supporting part <NUM> (see <FIG>). The rail <NUM> is disposed on the support plate <NUM>. A sliding part <NUM> is slidable in the Z-axis direction relative to the rail <NUM>. A support member <NUM> is fixedly mounted on the sliding part <NUM>. A shaft <NUM> extends in the Z-axis direction, and a screw type channel is formed in the shaft <NUM>. The support member <NUM> is attached to the shaft <NUM> so as to be movable in the Z-axis direction along the channel of the shaft <NUM> when the shaft <NUM> is rotated around the Z-axis. The shaft of a motor <NUM> is connected to the top end of the shaft <NUM>. When the motor <NUM> is actuated, the support member <NUM> moves along the Z-axis via the drive force of the motor <NUM>.

A light shield <NUM> is installed on the support member <NUM>, and a pair of sensors <NUM> for detecting intervening object are mounted on a member fixed on the support plate <NUM>. When the support member <NUM> moves upward (Z-axis positive direction), the light shield <NUM> intervenes between the pair of sensors <NUM>. Hence, the support member <NUM> is detectable at the uppermost side position.

The supporting part <NUM> is described below. The support member <NUM> is fixedly attached to the support member <NUM> of the supporting part <NUM>. A support member <NUM> is mounted below the support member <NUM> via elastic material such as a spring. The gripper <NUM> capable of holding from the Y-axis direction the top part of a sample tube T is provided below the support member <NUM>. The gripper <NUM> includes pieces movable to be approached or separated with each other. The gripper <NUM> grips the top part of a sample tube T by approaching the pieces and releases the gripped sample tube T by separating the pieces. According to this configuration, the gripper <NUM> is movable in front and back along the Y-axis by the supporting structure <NUM>, movable in left and right along the X-axis by the supporting part <NUM>, and movable in up and down along the Z-axis by the supporting part <NUM>. Although the gripper <NUM> is configured to grip the sample tube T by pinching the tube with two pieces in the present embodiment, other configuration to grip a tube can be employed. For example, the gripper may be configured to catch the tube by applying a negative pressure to the top of tube.

A light shield <NUM> is provided at the top part of a member connecting the support members <NUM> and <NUM>. When the gripper <NUM> is lowered and a force in the Z-axis positive direction is exerted by the gripper <NUM>, the light shield <NUM> intervenes between the pair of sensors <NUM>. Hence, the abutting of the gripper <NUM> against the cap T2 of the sample tube T is detected during lowering.

<FIG> is a schematic view showing the structure of the lifting section <NUM>.

The lifting section <NUM> includes a support member <NUM> mounted inside the tube sorter <NUM>, a rail <NUM> extending in the vertical direction and mounted on the support member <NUM><NUM>, sliding part <NUM> which is slidable in the vertical direction relative to the rail <NUM>, pulleys 134a and 134b mounted on the top part and bottom part of the support member <NUM>, a belt <NUM> looped around the pulleys 134a and 134b, a motor <NUM> mounted behind the support member <NUM>, a pair of light shield sensors 137a and 137b, a support body <NUM> mounted on the sliding part <NUM>, and a pair of supporting parts <NUM> mounted on the front of the support body <NUM>.

The shaft of the motor <NUM> is connected to the pulley 134b. When the motor <NUM> is actuated, the pulley 134b is rotated, thus rotating the belt <NUM>. The support member <NUM> is fixedly mounted on the belt <NUM>. The sliding part <NUM> moves along the rail <NUM> in the vertical direction via the movement of the belt <NUM>. A flange 133a is formed on the left end of the sliding part <NUM>. When the motor <NUM> is actuated, the flange 133a moves between the pair of sensors 137a and 137b. Hence, the sliding part <NUM>, support body <NUM>, and supporting part <NUM> are detected when positioned at the top end and the bottom end.

Each of the supporting part <NUM> has two walls arranged in front and back. The walls are separated by a width d1. The supporting part <NUM> is configured so that the width d1 in the Y-axis direction becomes greater than the width d2 in the lateral direction of the sample rack L. As shown in <FIG>, when the support body <NUM> is driven in the upward direction while the horizontal surface of the supporting part <NUM> supports the bottom surface of the sample rack L, the sample rack L is moved upward. Formed in the support body <NUM> is an opening 138a, which is larger than the width of the sample rack L in the longitudinal direction and larger than the width in the height direction of the sample rack L holding the sample tubes T. The empty sample rack L set at the position P21 can be pushed to the empty rack storage <NUM> by the rack extracting device <NUM> through the opening 138a.

<FIG> show sequence of transfer of the sample tube T.

As shown in <FIG>, the supporting part <NUM> is inserted beforehand into the spaces S1 and S2 shown in <FIG> and the horizontal surface of the supporting part <NUM> is positioned a predetermined distance below the transport plane. The state in which the supporting part <NUM> is positioned as shown in <FIG> is referred to below as the "standby state". Therefore, when the supporting part <NUM> is in the standby state, the sample rack L which has been transported in the X-axis positive direction from the position P1 is disposed at the position P21 as shown in <FIG>, or passes through the position P21 to the position P3.

When the sample rack L is disposed at the position P21 and the sample tube T held in the sample rack L is to be transferred, the supporting part <NUM> is moved upward and the sample rack L is lifted to the position P22 as shown in <FIG>. The state in which the supporting part <NUM> is positioned as shown in <FIG> is referred to below as the "lift state". Level of bottoms of holding positions of the sample rack L at position P22 is designated height H1.

The archive rack R1 and the buffer rack <NUM> are arranged at a predetermined height so that the height H2 of bottom of the holder R11 of the archive rack R1 and the height H3 of bottom of the supporting part <NUM> of the buffer rack <NUM> are equal to the height H1. Therefore, the heights H1, H2, and H3 are mutually equal when the sample rack L is disposed at the position P22. The sorting rack R2 and the sample rack L in front of the sorting rack R2 are also arranged at a predetermined height so that the height of the bottom of the supporting part R21 of the sorting rack R2 and the height of the bottoms of holding positions of the sample rack L set in front of the sorting rack L are equal to the height H1. That is, the heights of bottoms of holding positions of the storage <NUM> all are H1 in the present embodiment.

With the supporting part <NUM> in the lift state (sample rack L disposed at position P22), the sample tube T held in the sample rack L is transferred to the storage <NUM>, and the sample tube T held in the buffer rack <NUM> is transferred to the sample rack L. When the transfer of the sample tube T to/from the sample rack L is completed, the supporting part <NUM> is lowered and returned to the state shown in <FIG>, and the sample rack L is transported in the X-axis positive direction by the belt <NUM>. When an empty sample rack L is to be pushed from position P21 to the empty rack storage <NUM>, the supporting part <NUM> is disposed below the state shown in <FIG> not to interfere the movement to the empty rack storage <NUM>. The empty sample rack L is pushed in the Y-axis negative direction through the opening 138a of the support body <NUM>.

When the sample tubes T are transferred to the archive rack R1, the sample tubes T are set sequentially from the leftmost archive rack R1. When a single archive rack R1 is full, the sample tubes T are set in the next adjacent archive rack R1. When the rightmost archive rack R1 is filled, the sample tubes T are transferred to the leftmost archive rack R1. Holders R11 are filled in order from the leftmost one of the front row (first row) of each archive rack R1. When the first row becomes full, sequentially one row back will be filled as shown in <FIG>.

Transferring the sample tubes T to the buffer rack <NUM>, sorting rack R2, and sample rack L installed in front of the sorting rack R2 are performed similarly. The holders are filled with the transferred sample tubes T in order from the leftmost one of the first row within a predefined range, as shown in <FIG>.

<FIG> illustrate the moving distance of the sample tube T when the transfer is performed.

<FIG> shows a comparative example in which the sample tube T is removed from the sample rack L disposed at the position P21. In this case, the sample tube T is first lifted up a distance α to the same height as the sample tube T held in the buffer rack <NUM> and the like. The sample tube T is then lifted up a distance Z1 so as to not contact the sample tube T held in the buffer rack <NUM>. After moving in the X-axis direction and the Y-axis direction (XY direction), the sample tube T is lowered down a distance Z1 and set in the target holder R11, <NUM>. In this case, the sample tube T travels distances α + Z1 + Z1 from removing to setting.

<FIG> shows a comparative example in which the sample rack L is lifted up to the position at a higher level than the position P22, then the sample rack L is moved by hypothetical device <NUM> in the Y-axis direction until near the target holder R11, <NUM>. In this case, the device <NUM> moves the sample rack L in the Y-axis direction to near the target holder, then the sample tube T is lifted up, for example, a distance Z1 to remove the sample tube T from the sample rack L. After moving in the XY direction, the sample tube T is lowered down a distance Z1 + β and set in the target holder. In this case, the sample tube T travels distances Z1 + Z1 + β from removing to setting.

<FIG> shows the transfer of the sample tube T to/from the sample rack L of the present embodiment. In this case, the sample tube T is first lifted up a distance Z1 to remove the sample tube T from the sample rack L. After moving in the XY direction, the sample tube T is lowered down a distance Z1 and set in the target holder. In this case, the sample tube T travels distances Z1 + Z1 from removing to setting. The moving distance in the XY direction this time is identical to that shown in <FIG>, and greater than that shown in <FIG>.

The moving distance of the sample tube T in the vertical direction in the present embodiment is decreased by the distance α from the comparative example of <FIG>. In the present embodiment, the transfer of the sample tube T to/from the sample rack L can be performed rapidly compared to the comparative example shown in <FIG>.

In comparison with the comparative example of <FIG>, although the moving distance in the vertical direction is decreased by distance β in the present embodiment, the moving distance in the XY direction in the present embodiment is greater than the comparative example of <FIG>. In the case of the comparative example of <FIG>, however, a device <NUM> is required to move the sample rack L in the XY direction. A comparative example of <FIG> also complicates the structure of the tube sorter <NUM> since the examples requires a mechanism to transfer the sample rack L at the position P22 to the device <NUM>. Moreover, in the comparative example of <FIG>, the sample rack L will be frequently swung when moved by the device <NUM>, and the sample rack L is unstable. When the sample rack L is unstable, there may be a collision when the gripper <NUM> grasps the sample tube T. It may cause a failure of grip. To avoid this, there must be a waiting time after the XY movement by the device <NUM>, which impairs higher speed processing. In the comparative example of <FIG>, the moving distance ΔL in the Y-axis direction of the sample tube T should be reduced as short as possible to rapidly transfer the sample tube T. If the moving distance ΔL is reduced, since the position of the device <NUM> and the position of the target holder are quite near in the Y-axis direction, the device <NUM> may obstruct the travel of the sample tube T from the sample rack L to the target holder. To avoid this, the device <NUM> must be frequently moved away from the target holder in the Y-axis direction after the sample tube T is removed from the sample rack L. This procedure further destabilizes the sample rack L. On the other hand, in the present embodiment the structure of the tube sorter <NUM> is simplified compared to the comparative example of <FIG> because the transfer of the sample tube T is performed while the sample rack L is stopped at position P22. In addition, the sample tube T is held stably in the sample rack L during the transfer of the sample tube T. Thus, the present embodiment provides rapid and stable transfer of the sample tube T to the supporting part via a simple structure.

In the present embodiment, a blood collection tube is used as the sample tube T. In this case, the distance Z1 may be set at a length the same as or longer than the entire length of the longest blood collection tube among blood collection tubes expected to the used in the sample processing system <NUM>. The transferred blood collection tube can therefore be transported without colliding with the blood collection tube held in the archive rack R1. Z1 is preferably a total of entire length of the longest blood collection tube and a margin. Z1 is, for example, <NUM> to <NUM>, and more preferably <NUM> to <NUM> longer than the entire length of the tube. For example, when the longest blood collection tube is <NUM> in length, Z1 is preferably set within a range of <NUM> to <NUM>, and more preferably within a range of <NUM> to <NUM>.

<FIG> shows the structure of the tube sorter <NUM>, receiving unit <NUM>, and transport controller <NUM>.

The tube sorter <NUM> includes a controller <NUM>, communication section <NUM>, barcode unit <NUM>, tube transferring section <NUM>, drive section <NUM>, and sensor section <NUM>. The controller <NUM> controls each section in the tube sorter <NUM>, and receives signals output from each section in the tube sorter <NUM>. The controller <NUM> also communicates with the transport controller <NUM> through the communication section <NUM>.

The drive section <NUM> includes motors <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>, a drive source for driving rack extracting devices <NUM>, <NUM>, and <NUM>, and a drive source for driving the gripper <NUM>. The sensor section <NUM> includes sensors s1 through s3, sensors <NUM>, <NUM>, 137a, and 137b.

In the present embodiment, each motor included in the drive section <NUM> is a servo motor. These motors can be precisely controlled without optical sensors to detect the positions of the members driven by the motors included in the drive section <NUM>. Note that optical sensors (for example, sensors 137a and 137b of <FIG>) also maybe used to detect the positions of the members driven by the motors included in the drive section <NUM>. Hence, each motor can be controlled with greater precision.

The receiving unit <NUM> includes a controller <NUM>, communication section <NUM>, drive section <NUM>, and sensor section <NUM>. The controller <NUM> controls each section in the receiving unit <NUM>, and receives signals output from each section in the receiving unit <NUM>. The controller <NUM> also communicates with the transport controller <NUM> through the communication section <NUM>. Note that the relay units <NUM> and <NUM>, and recovery unit <NUM> are configured identically as the receiving unit <NUM>.

The transport controller <NUM> includes a controller <NUM>, communication section <NUM>, hard disk <NUM>, and display/input section <NUM>. The control section <NUM> communicates with the receiving unit <NUM>, tube sorter <NUM>, relay units <NUM> and <NUM>, recovery unit <NUM>, transporting units <NUM> through <NUM>, and host computer <NUM> through the communication section <NUM>.

<FIG> is a flow chart showing the processing performed by the tube sorter <NUM>. The controller <NUM> is programmed to perform the steps in the flow chart. This processing starts when a sample rack L is delivered from the receiving unit <NUM> to the tube sorter <NUM>.

The controller <NUM> of the tube sorter <NUM> controls the transport section <NUM> to transport the sample rack L delivered from the receiving unit <NUM> in a leftward direction via the belt <NUM>, and to dispose the rack at position P1 (S101). The controller <NUM> then detects whether a sample tube T is held at a holding position on the sample rack L, and reads the sample ID and the rack ID via the barcode unit <NUM> (S102). The controller <NUM> then queries the host computer <NUM> for transfer information for the held sample tubes T (S103). Thereafter, the controller <NUM> receives the transfer information for all sample tubes T queried in S103 (S <NUM>).

Next, the controller <NUM> determines whether any sample tube T must be transferred to/from the sample rack L based on the transfer information received in S104 (S105). When no sample tube T requires transfer (S105: NO), the controller <NUM> controls the transport section <NUM> to transport the sample rack L disposed at the position P1 in the leftward direction via the belts <NUM> and <NUM>, to pass the position P21 and to deliver the rack to the relay unit <NUM> (S110). Note that the sample rack L waits at position P1 when the supporting part <NUM> is not in the standby state or lift state, and the sample rack L passes through the position P21 when the supporting part <NUM> was in the standby state or lift state.

When there is a sample tube T requiring transfer (S105: YES), the controller <NUM> controls the transport section <NUM> to transport the sample rack L disposed at position P1 leftward via the belts <NUM> and <NUM>, to the position P21 (S106). The controller <NUM> then controls the lifting section <NUM> to lift up the sample rack L disposed at the position P21, and places the rack at position P22 (S107). The controller <NUM> then controls the tube transfer section <NUM> to transfer the sample tube T requiring transfer to/from the sample rack L (S108).

When transfer is completed, the controller <NUM> controls the lifting section <NUM> to lower the sample rack L from the position P22 to the position P21 (S109). The controller <NUM> then controls the transport section <NUM> to transport the sample rack L at the position P21 in the leftward direction via the belts <NUM> and <NUM> to deliver the rack to the relay unit <NUM> (S110). Thus, the processing of the sample rack L delivered from the receiving unit <NUM> to the tube sorter <NUM> is completed.

The tube sorter <NUM> includes structures for precisely positioning the sample rack L at position P22 and for regulating a position shift of the sample rack L during transfer. The structure will be described below.

<FIG> show the structures of the rack regulating members F and supporting part <NUM> arranged within the tube sorter <NUM>. In <FIG>, other devices (transport section <NUM>, lifting section <NUM> and the like) are omitted for convenience.

The supporting part <NUM> is fixedly attached to the internal chassis (not shown in the drawing) of the tube sorter <NUM>. A notch 181a is formed on the supporting part <NUM> in the Y-axis negative direction, and a member 181b is provided at positions circumscribing the notch 181a in the X-axis direction. Each of the rack regulating members F is fixedly attached to the top end of each member 181b. The rack regulating member F is provided above the position P21. A notch F1 is formed in the rack regulating member F. The thickness in the Y-axis positive side over the notch F1 is greater than the thickness in the Y-axis negative side. The two rack regulating members F are configured of a plastic resin and have mutually identical shapes. The rack regulating member F has a symmetrical shape, and can be mounted upside down to achieve similar function. In the state shown in <FIG>, the two rack regulating members F are arranged to be mutually symmetrical in the YZ plane. The two rack regulating members F are also arranged so that the notches F1 mutually face each other.

When transferring the sample tube T as described above, the sample rack L is first disposed at the position P21 as shown in <FIG>. Then, the sample rack L at the position P21 is lifted up by the supporting part <NUM> of the lifting section <NUM> (refer to <FIG>). The lifted sample rack L passes through the notch 181a and is disposed at region A (refer to <FIG>) defined by the notches F1 of the two rack regulating members F. The top surface of the sample rack L is then lifted up to a height substantially the same as the top surface of the rack regulating member F. The sample rack L is disposed at the position P22 as shown in <FIG>.

<FIG> shows the detailed structure of the rack regulating member F. <FIG> shows the rack regulating member F on the left side in <FIG>, and <FIG> is a planar view viewed from above of the two rack regulating members F of <FIG>.

The notch F1 is defined by surfaces F11, F21, and F31, two inclined surfaces F12, two inclined surfaces F22, and two inclined surfaces F32. The surfaces F11 and F21 are parallel to the XZ plane, and surface F31 is parallel to the YZ plane. The inclined surfaces F12, F22, and F32 are formed at the top side and the bottom side of surfaces F11, F21, and F31, respectively. Concavities are formed in the inner side of the rack regulating member F between the inclined surfaces F12 and F32, and between the inclined surfaces F22 and F32. When the two rack regulating members F configured in this way are provided as shown in <FIG>, the region A is defined in a plane parallel to the XY plane by the two openings F1 (specifically, the surfaces F11, F21, and F31).

<FIG> show the positional relationship between the rack regulating member F and the sample rack L disposed at position P22. <FIG> shows the cross section surfaces C1 and C2 parallel to the YZ plane (refer to <FIG>) viewed from the X-axis negative direction when the sample rack L is at position P22. <FIG> shows the cross section surface C3 parallel to the XZ plane (refer to <FIG>) viewed from the Y-axis positive direction when the sample rack L is at position P22. Note that in <FIG> and D the positions of the sample tube T, sample rack L, and supporting part <NUM> are indicated by dashed lines.

Referring to <FIG>, the spacing of the surfaces F11 and F21 (width of region A in the Y-axis direction) is configured to be somewhat greater than the width d2 of the sample rack L in the lateral direction. The surfaces F11 and F21 are configured to be slightly separated from the side surface of the sample rack L disposed at position P22. The spacing of the inclined surfaces F12 and F22 in the Y-axis direction are configured to be greater than the spacing of the surfaces F11 and F21 in accordance with the separation with the surfaces F11 and F21 in the downward direction.

Referring to <FIG>, the spacing of the two surfaces F31 (width of region A in the X-axis direction) is configured to be somewhat greater than the width d3 of the sample rack L in the longitudinal direction. The two surfaces F31 are configured to be slightly separated from the side surface of the sample rack L disposed at position P22. The spacing of the two inclined surfaces F32 in the X-axis direction are configured to be greater than the spacing of the two surfaces F31 in accordance with the separation with the surfaces F31 in the downward direction.

When the two rack regulating members F are configured as above and arranged in the tube sorter <NUM>, the sample rack L is guided to the position P22 without positional dislocation even when the sample rack L shifts within the XY plane due to collision and oscillation of the sample rack L when moving upward from position P21. Specifically, the sample rack L is guided within the region A and ultimately to position P22 by the end of the top surface of the lifted rack L abutting the bottom side of inclined surfaces F12, F22, and F32.

As shown in <FIG>, the gripper <NUM> of the tube transferring section <NUM> (refer to <FIG>) can smoothly remove the sample tube T held in the sample rack L disposed at position P22, since the sample rack L and the sample tube T thereon are always disposed at an intentional position. Moreover, the gripper <NUM> can smoothly sets the sample tube T removed from the buffer rack <NUM> to holding position of the sample rack L. Since the movement of the sample rack L is restricted within region A by the rack regulating members F, positional dislocation of the sample rack L is suppressed even when the sample rack L is vibrated or impacted when the gripper <NUM> sets or grasps the sample tube T, and the setting and removal of the sample tube T is unaffected thereafter.

Note that position P22 of the sample rack L is a position which puts the vicinity of the top end of the sample rack L within region A when the supporting part <NUM> of the lifting section <NUM> is in the raised state. That is, position P22 of the sample rack <NUM> is a position at which the transfer of the sample tube T can be smoothly performed by the gripper <NUM> because the vicinity of the top end of the sample rack L is within region A when the sample rack L is lifted up by the supporting part <NUM>.

According to the present embodiment, the sample tubes T can be rapidly transferred as described below. Under such configuration where the storage <NUM> is arranged at a higher level than the transporting section <NUM>, as in the present embodiment, a difference occurs in the levels in the vertical direction between the sample rack L disposed at position P21 and the storage <NUM>. Therefore, when the sample tube T is individually transferred from the sample rack L disposed at position P21 to the storage <NUM>, a long time is required to transfer all of the sample tubes T on the sample rack L because of the increase in the moving distance in the vertical direction of the sample tube T being transferred. In contrast, in the present embodiment the sample rack L is lifted up to position P22 by the supporting part <NUM> before transferring the sample tube T by the tube transferring section <NUM>. Hence, the sample tube T can be rapidly transferred due to the reduction of the moving distance in the vertical direction of the sample tube T being transferred.

According to the present embodiment, the bottoms of holding positions of the sample rack <NUM> disposed at position P22 and the bottoms of holders of the storage <NUM> are at the same height. Therefore, the sample transfer control and sample sorter construction can be simple because the stroke removing the sample tube from the sample rack and the stroke setting the removed sample tube in the sample tube storage are substantially similar.

According to the present embodiment, the storage and trays <NUM> and <NUM> are at a higher level than the transporting sections <NUM> and <NUM>, and, more specifically, are at a higher level than the top part (cap part T2) of the sample tube T being transported by the transporting section <NUM>. Each section of the storage therefore can be drawn to the front separately. Even when the sample tube T is transported by the transporting section <NUM>, each section of the storage can be drawn separately to remove the sample tube T outside the apparatus.

According to the present embodiment, the transfer of the sample tube T is performed by the tube transferring section <NUM> to sequentially fill the holders from the holder on the front side nearest the removal opening, as shown in <FIG>. Hence, amount to draw out the trays <NUM>, <NUM> to remove the sample tube T in the storage <NUM> can be saved.

According to the present embodiment, the lifted sample rack L is disposed at position P22 by the rack regulating members F, and the movement of the rack L at position P22 is regulated within the XY plane (horizontal plane). The gripper <NUM> smoothly removes the sample tube T held in the sample rack L, and sets the removed sample tube T to the sample rack L smoothly.

According to the present invention, the inclined surfaces F12, F22, and F32 guide the sample rack L to the position P22 even when the sample rack L transferred upward from position P22 shifts within the XY plane. That is, the sample rack L can be guided gradually into the region A when the rack L is lifted up. Therefore, the lifted sample rack <NUM> can be smoothly disposed at position P22.

According to the present embodiment, the rack regulating member F has surfaces F11, F21, and F31 facing the top side surface of the lifted sample rack L as shown in <FIG>, and the movement of the sample rack L is regulated by the surfaces F <NUM>, F21, and F31 abutting the top side surface of the sample rack L. The movement of the sample rack L therefore can be regulated efficiently with a simple structure compared to when using members arranged to face the entire side surface of the sample rack L.

According to the present embodiment, the rack regulating member F supports the four corners of the top part of the sample rack L which is formed as a rectangle in planar view. The movement of the sample rack L therefore is reliably regulated.

According to the present embodiment, the rack regulating member F is configured of plastic resin. Therefore, the rack regulating member F absorbs any impact when the sample rack L contacts the rack regulating member F, thus avoiding damage to the sample rack L.

Although the present invention has been described above by way of an embodiment, the present invention is not limited to this embodiment.

Although blood is the measurement object of the measuring units <NUM> and <NUM> in the above embodiment, types of samples to be measured and analyzed is not limited to blood. For example, urine, body fluid, serum and the like also may be a measurement object of the measuring units <NUM> and <NUM>. That is, the present invention is applicable to sample processing systems that include measuring units which measure urine or the likes, and the present invention is applicable to clinical sample processing systems that include measuring units which measure other types of clinical samples.

According to the above embodiment, the sample rack L disposed at position P21 is lifted up to position P22, and the transfer of the sample tube T is performed in this state as shown in <FIG>. In this configuration, if the target holder is far from the position P22 in the X-axis direction, the moving distance of the sample tube T in the X-axis direction increases as shown in <FIG>. To solve the problem, after the sample rack L is set at position P21, the rack may be moved in an oblique direction to approach the target holder of the storage <NUM>. In this case, for example, the support member <NUM> of the lifting section <NUM> is inclined relative to the Z-axis direction within the XZ plane. As shown in <FIG>, the sample tubes T can be rapidly transferred compared to the above embodiment because the distances converge in the X-axis direction of the sample tube T to be transferred from the sample rack L and the holder of the storage.

As shown in <FIG>, the sample tube T also may be transferred when the sample rack L disposed at position P21 is moved slightly in an inclined direction toward position P23 on the Y-axis positive side of position P22. In this case, for example, the support member <NUM> of the lifting section <NUM> is inclined relative to the Z-axis direction within the YZ plane.

Note that "lifting up" is not limited to vertically lifting up the sample rack L disposed at position P21 to position P22 as in the above embodiment. That is, "lifting up" stated in the scope of the claims includes moving the sample rack L in an oblique direction within the XY plane as shown in <FIG>, and moving the sample rack L in an oblique direction within the YZ plane as shown in <FIG>.

Although the sample rack L is moved in an oblique direction in <FIG>, the sample rack L may be moved in the Z-axis direction and disposed at position P22, then moved in the X-axis direction. In <FIG>, the sample rack L may be moved in the Z-axis direction and disposed at position P22, then moved in the Y-axis direction and disposed at position P23.

Although the lifting up of the sample rack L is only from position P21 to position P22 in the above embodiment, the present invention is not limited to this configuration inasmuch as the sample rack <NUM> also may be lifted up at another position on the transport path r1 in addition to the movement from position P21 to position P22. For example, a position P24 may be provided on the transport path r1 which is shifted in the X-axis direction relative to position P21 as shown in <FIG>, such that the sample rack L disposed at position P24 can be lifted up and disposed at a position P25. In this case, the sample rack L is disposed at either position P22 and P25 so that the sample tube T to be transferred from the sample rack L and the holder of the target storage converge. Transferring the sample tube T is therefore rapidly performed compared to the above embodiment.

In the above embodiment, the sample rack L is disposed at position P22 so that the height of the bottoms of holding positions of the sample rack L are equal to the height of the bottom of holders of the storage <NUM> as shown in <FIG>. However, the present invention is not limited to this configuration. The sample rack L may be lifted to the level somewhat above or below the position P22. That is, the bottom heights of holding positions of the sample rack L are not necessarily same as the bottom heights of the holders of the storage <NUM>. Even in this case, the sample tube T can be rapidly transferred compared to the mode illustrated with <FIG>.

When the sample rack L is disposed somewhat above position P22, it is preferable that a position P26 of the sample rack L after lifting is set so that the height H4 of the top surface of the sample rack L is approximately the same as the height H5 of the top surface of the cap T2 of the sample tube T held in the storage <NUM> as shown in <FIG>. In this way the vertical movement stroke of the sample tube T for sample transfer may be minimized so that the sample tube T held in the sample rack L is lifted up with a stroke only sufficient to remove the sample tube T from the sample rack L.

That is, under the configuration of position P26, the sample tube T is lifted up only a distance Z2 to be removed from the rack L so that the most bottom end of the sample tube T is somewhat higher than the height H4, and simultaneously the most bottom end of the sample tube T is positioned somewhat above the cap T2 of the sample tube T held in the storage <NUM> as shown in <FIG>. Thus, the sample tube T is moved in the Y-axis positive direction above the sample tube T held in the storage <NUM>. Since Z2 is less than Z1 in this case, the vertical moving distance (Z2+Z1) required to transfer the sample tube T is smaller than the vertical moving distance (Z1+Zl) shown in <FIG>, that is, the vertical moving distance is minimized. Hence, the transfer of the sample tube T is performed most rapidly according to this configuration.

Note that when there is variation in the length of the sample tubes T handled in the tube sorter <NUM>, the position P26 can be set according to the height of the top surface of the cap T2 of the longest sample tube T.

Although the two belts <NUM> and <NUM> are employed, and they are driven in linkage through the belt 115a in the above embodiment, a single belt <NUM> also may be used as shown in <FIG>. The configuration shown in <FIG> omits the belts <NUM> and 115a from the configuration shown in <FIG>, and adds pulleys <NUM> and 114i below the pulleys 113b and 114a. The belt <NUM> is looped around the pulleys 114a through 114i, and driven by the motor <NUM>. In this case, a space S1 is created between the pulleys 113b and <NUM> and a space S2 is created between the pulleys 114b and 114e so that the supporting part <NUM> can be inserted in the spaces S1 and S2.

Although a single tube sorter is provided in the sample processing system <NUM> of the above embodiment as shown in <FIG>, the present invention is not limited to this configuration inasmuch as two or more tube sorters may be installed adjacently.

<FIG> shows an alternative of the sample processing system <NUM> employing two tube sorters. The sample processing system <NUM> shown in <FIG> has a tube sorter <NUM> installed between the tube sorter <NUM> and the relay unit <NUM> shown in <FIG>. In this case, the sample rack L delivered to the downstream side from the receiving unit <NUM> is supplied to the two tube sorters <NUM> and <NUM>, and the transfer of the sample tube T is performed.

In this case, when the transfer of the sample tube T is performed by the tube sorter <NUM>, the sample rack L is lifted up by the supporting part <NUM> and the following sample rack L can be transported to the tube sorter <NUM>. When the transfer of the sample tube T is performed by the tube sorter <NUM>, the sample rack L is lifted up by the supporting part <NUM> and the following sample rack L can be transported to the relay unit <NUM>. That is, the transport sequence of the sample racks L can be replaced without providing a separate transport path, and the next sample rack L can be moved downstream during the transfer of the sample tube T. Hence, the transfer of the sample tube T can be performed rapidly.

<FIG> and <FIG> are flow charts showing the process performed by the system which includes two tube sorters. This process starts when the sample rack L at the back of the receiving unit <NUM> is positioned. In the process shown in <FIG> and <FIG>, tube sorters <NUM> and <NUM> are respectively referred to as the "first tube sorter" and the "second tube sorter". And hereinafter the sample rack L presents at the back of the receiving unit <NUM> is referred to as "target rack".

Referring to <FIG>, a controller <NUM> of the transport controller <NUM> determines whether the lifting section <NUM> of the second tube sorter <NUM> is on standby, that is, whether the supporting part <NUM> of the lifting section <NUM> on standby state as shown in <FIG>, and whether a sample rack L is disposed at position P21 (S201). This determination is performed based on the drive position of the motor <NUM> of the lifting section <NUM> and the detection signal of the sensor s2.

The controller <NUM> then determines whether previous rack L which has been delivered downstream from the receiving unit <NUM>, that is, the sample rack L transported immediately before the target rack L, is being transported to the first tube sorter <NUM> or being transported to the second tube sorter <NUM> (S202, S203). This determination is performed based on the history of transport instructions stored on the hard disk <NUM> of the transport controller <NUM>, and the detection signals of the sensors s1 through s3 of the first and second tube sorters <NUM> and <NUM>.

When the lifting section <NUM> of the second tube sorter <NUM> is on standby (S201: YES) and the immediately previous rack L is not being transported to the second tube sorter <NUM> (S202: NO), the controller <NUM> transmits instructions to the first tube sorter <NUM> and second tube sorter <NUM> to perform transfer on the target rack L by the second tube sorter <NUM>. Thereafter, the target rack L is moved from the receiving unit <NUM> to the first tube sorter <NUM>, and the process advances to S301. When the lifting section <NUM> of the second tube sorter is not on standby (S201: NO) and the immediately preceding rack L is being transported to the first tube sorter <NUM> (S203: YES), the process similarly advances to S301.

When the lifting section <NUM> of the second tube sorter <NUM> is not on standby (S201: NO) and the immediately preceding rack L is not being transported to the first tube sorter <NUM> (S203: NO), the controller <NUM> transmits instructions to the first tube sorter <NUM> and second tube sorter <NUM> to perform transfer on the target rack L by the first tube sorter <NUM>. Thereafter, the target rack L is moved from the receiving unit <NUM> to the first tube sorter <NUM>, and the process advances to S401. When the lifting section <NUM> of the second tube sorter <NUM> is on standby (S201: YES) and the immediately preceding rack L is being transported to the second tube sorter <NUM> (S202: YES), the process similarly advances to S401.

When the target rack L is determined to be processed by the second tube sorter <NUM>, the target rack L delivered from the receiving unit <NUM> passes through the position P22 of the first tube sorter <NUM> and is delivered to the second tube sorter <NUM> by the controller <NUM> of the first tube sorter <NUM>. Then, when the supporting part <NUM> of the first tube sorter <NUM> is in the standby state as shown in <FIG>, the target rack L passes over the supporting part <NUM> and passes through the position P21 as shown in <FIG>. When the supporting part <NUM> of the first tube sorter <NUM> is in the lift state as shown in <FIG>, the sample rack L passes under the supporting part <NUM> and passes through the position P21 as shown in <FIG>. The sample rack L is then moved to position P1 in the second tube sorter <NUM> by the controller <NUM> of the second tube sorter <NUM> (S301).

The controller <NUM> of the second tube sorter <NUM> then detects whether a sample tube T is held at holding positions on the target rack L, and reads the sample ID and the rack ID via the barcode unit <NUM> (S302). The controller <NUM> of the second tube sorter <NUM> then queries the host computer <NUM> for transfer information for the held sample tubes T (S303). Thereafter, the controller <NUM> of the second tube sorter <NUM> receives the transfer information for all sample tubes T queried in S303 (S304).

Next, referring to <FIG>, the controller <NUM> of the second tube sorter <NUM> determines whether any sample tube T must be transferred to/from the target rack L based on the transfer information received in S304 (S305). When no sample tube T requires transfer (S305: NO), the controller <NUM> of the second tube sorter <NUM> controls the transport section <NUM> to transport the target rack L in a leftward direction from position P1, passing through the position P21 of the second tube sorter <NUM> and delivers the target rack L to the relay unit <NUM> (S310). The target rack L waits at position P1 of the second tube sorter <NUM> when the supporting part <NUM> is not in the standby state or lift state. The target rack L passes through the position P21 after the supporting part <NUM> becomes in the standby state or lift state.

When a sample tube T requires transfer (S305: YES), the controller <NUM> of the second tube sorter <NUM> controls the transport section <NUM> to transport the target rack L in a leftward direction from position P1 to position P21 (S306). Then, the controller <NUM> of the second tube sorter <NUM> controls the lifting section <NUM> to lift up the target rack L disposed at position P21 with the supporting part <NUM>, and places the target rack L at position P22 (S307). The controller <NUM> of the second tube sorter <NUM> then controls the tube transferring section <NUM> to transfer the sample tube T requiring transfer to/from the sample rack L (S308).

When the transfer of the sample tube T is completed, the controller <NUM> of the second tube sorter <NUM> controls the lifting section <NUM> to lower the target rack L from position P22 to position P21 (S309). Then the controller <NUM> of the second tube sorter <NUM> controls the transport section <NUM> to transport the target rack L from position P21 to the relay unit <NUM> (S310). Processing of the sample rack L by the second tube sorter is thus completed.

Referring to <FIG>, when the target rack L is determined to be processed by the first tube sorter <NUM>, the target rack L delivered from the receiving unit <NUM> is moved to position P1 of the first tube sorter <NUM> (S401). The controller <NUM> of the first tube sorter <NUM> then detects whether a sample tube T is held at holding positions on the target rack L, and reads the sample ID and the rack ID via the barcode unit <NUM> (S402). The controller <NUM> of the first tube sorter <NUM> then queries the host computer <NUM> for transfer information for the held sample tubes T (S403). Thereafter, the controller <NUM> of the first tube sorter <NUM> receives the transfer information for all sample tubes T queried in S403 (S404).

Next, referring to <FIG>, the controller <NUM> of the first tube sorter <NUM> determines whether any sample tube T must be transferred to/from the target rack L based on the transfer information received in S404 (S405). When no sample tube T requires transfer (S405: NO), the controller <NUM> of the first tube sorter <NUM> controls the transport section <NUM> to transport the target rack L in a leftward direction from position P1, passing through the position P21 and delivers the target rack L to the relay unit <NUM> (S410). The sample rack L waits at position P1 of the first and second tube sorters <NUM> and <NUM> when the supporting part <NUM> is not in the standby state or lift state. The target rack L passes through the position P21 of the first and second tube sorters <NUM> and <NUM> after the supporting part <NUM> becomes in the standby state or lift state.

When a sample tube T requires transfer (S405: YES), the controller <NUM> of the first tube sorter <NUM> controls the transport section <NUM> to transport the target rack L in a leftward direction from position P1 to position P21 (S406). Then, the controller <NUM> of the first tube sorter <NUM> controls the lifting section <NUM> to lift up the target rack L disposed at position P21 via the supporting part <NUM>, and places the sample rack L at position P22 (S407). The controller <NUM> of the first tube sorter <NUM> then controls the tube transferring section <NUM> to transfer the sample tube T requiring transfer to/from the target rack L (S408).

When the transfer of the sample tube T is completed, the controller <NUM> of the first tube sorter <NUM> controls the lifting section <NUM> to lower the target rack L from position P22 to position P21 (S409). The controller <NUM> of the first tube sorter <NUM> controls the transport section <NUM> to transport the target rack L in a leftward direction from position P21, passing through the position P21 of the second tube sorter <NUM> and delivers the target rack L to the relay unit <NUM> (S410). Processing of the target rack L by the first tube sorter <NUM> is thus completed.

Although the above embodiment is configured so that the top surface side and bottom surface side of the rack regulating member F is symmetrical relative to the XY plane, the present invention is not limited to this configuration inasmuch as the inclined surfaces F12, F22, and F32 of the top side may be omitted as shown in FIG. In this case, the rack regulating member installed on the right side is a member with a symmetrical shape on the YZ plane relative to the rack regulating member F shown in <FIG> because the rack regulating members installed on the right and left sides do not have the same shape.

Although the above embodiment stipulates region A by surfaces F11, F21, and F31, the present invention is not limited to this stipulation inasmuch as the stipulation may be made by lines. For example, surfaces F11, F21, and F31 may be omitted and the inclined surfaces F12, F22, and F32 on the top and bottom sides may be connected in the rack regulating member F as shown in <FIG>. In this case, region A may be stipulated by the ridge line between the top and bottom sides of the inclined surface F12, the ridge line of the top and bottom sides of the inclined surface F22, and the ridge line of the top and bottom sides of the inclined surface F32.

Region A also may be stipulated by points. For example, hemispherical projections F11a, F21a, and F31a may be provided on surfaces F11, F21, and F31 in the rack regulating member F as shown in <FIG>. The projections F11a, F21a, and F31a also may be conical in shape as shown in <FIG>. In the cases shown in <FIG>, region A is stipulated by the points of the tips of the projections F11a, F21a, and F31a.

Although the lifted sample rack L is guided to position P22 by the inclined surfaces F12, F22, and F32 in the above embodiment, the present invention is not limited to this configuration inasmuch as the sample rack L also may be guided by another guiding means. For example, two inclined surfaces F12 may be formed one step lower, and two projections F12a may respectively extend in the incline direction on the two inclined surfaces F12 in the rack regulating member F as shown in <FIG>. Note that the inclined surfaces F22 and F32 may have similar projections (not shown in the drawing). In this case, the sample rack L is guided to the position P22 along the tips of the projections provided on the inclined surfaces F12, F22, and F32.

Guidance by flat surfaces such as the inclined surfaces F12, F22, and F32 is not necessary inasmuch the lifted sample rack L also may be guided via a curved surface. For example, a half cylinder part F12b also may be provided on the interior wall surface of the opening F1 in place of the surface F11 and two inclined surfaces F12 in the rack regulating member F as shown in <FIG>. Note that surface F21 and two inclined surfaces F22, and surface F31' and two inclined surfaces F32 similarly may be provided with half cylinder projections (not shown in the drawing) in place of the aforesaid. In this case, the sample rack L is guided to the position P22 along the curvature of the cylindrical part. The sample rack L also may be positioned by sandwiching the sample rack L via the apexes of the mutually opposed cylindrical parts F12b to regulate movement of the sample rack L.

Although movement of the sample rack L disposed at position P22 is regulated in both the X-axis direction and Y-axis direction via the rack regulating member F in the above embodiment, the present invention is not limited to this mode of regulation inasmuch as movement of the sample rack L in either the X-axis direction or Y-axis direction may be regulated.

<FIG> shows the structure of a rack regulating member F for regulating only the movement of the sample rack L in the X-axis direction (longitudinal direction). In this case the rack regulating member F has a shape which omits surfaces F11 and F21 and inclined surfaces F12 and F22 from the rack regulating member F of the above embodiment shown in <FIG>. In this case, as shown in <FIG>, the sample rack L is positioned within the region A set by the two surfaces F31 when the rack is lifted and movement is regulated in the X-axis direction in the lift state even when the sample rack L shifts from position P21 in the X-axis direction in the transport plane. Note that movement of the sample rack L in the Y-axis direction (lateral direction) is roughly regulated by the supporting part <NUM> (refer to <FIG>) of the lifting section <NUM>. The sample rack L is thus placed at position P22 and movement within the XY plane is regulated in the lift state similar to the above embodiment.

Although movement of the sample rack L disposed at position P22 is regulated in the XY plane by the rack regulating member F in the above embodiment, the flat spring <NUM> described below also may be used to regulate the movement in the Z-axis positive direction of the sample rack L disposed at position P22.

<FIG> shows the structure of a flat spring <NUM> provided on the rack regulating member F. The two flay springs <NUM> are fixedly attached to the top surface of the left and right rack regulating members F. The two flat springs <NUM> are configured of metal and have mutually identical shapes. In the state shown in <FIG>, the two flat springs <NUM> are installed reversed front and back, and are mutually symmetrical in the YZ plane. When viewed from the top (Z-axis negative direction) as shown in <FIG>, the flat springs <NUM> are configured encompass one part of the sample rack <NUM> disposed at position P22.

When the flat spring <NUM> is configured in this way and arranged on the top surface of the rack regulating member F, lifting up of the sample rack L is suppressed by the removal of the sample tube T from the sample rack L when a sample tube T held in the sample rack L is drawn from the sample rack L by the gripper <NUM>. Damage to the sample tube T caused by collision of the lifted sample rack L falling on the supporting part <NUM> is therefore prevented. Abnormal transport of the sample rack L is also avoided by stopping the sample rack L in this state.

In this case, the sample rack L is accurately set at the position P22 and damage to the flat springs <NUM> even when the lifted sample rack L collides with the flat springs <NUM> since the flat springs <NUM> are configured of metal.

Note that in this case the top surface of the sample rack L is pressed by the flat springs <NUM> when the step motor <NUM> of the lifting section <NUM> is regulated to lift the supporting part <NUM> of the lifting section <NUM>. In this instance pressing down on the sample rack L due to withdrawing the sample tube T from the sample rack L is prevented when the sample tube T is set in the sample rack L at position P22. Damage to the sample tube T is prevented when the depressed sample rack L collides upon returns to position P22. Abnormal transport of the sample rack L is also avoided by stopping the depressed sample rack L in this state.

Claim 1:
A tube sorter comprising:
a transporting means (<NUM>, <NUM>) for transporting sample racks (L) along a transport path (r1);
a storing means (<NUM>) for storing a plurality of sample tubes (T), arranged at a higher level than the transporting means (<NUM>, <NUM>);
a lifting means (<NUM>) for lifting up a sample rack (L) transported by the transporting means (<NUM>, <NUM>) from a first position in the transport path (r1) to a second position above the transport path (r1); and
a transferring means (<NUM>) for transferring a sample tube (T); characterized in that:
the transferring means is configured to remove a sample tube from the sample rack (L) lifted up by the lifting means (<NUM>) without moving the sample rack (L) from the second position and set the removed sample tube in the storing means (<NUM>) without moving the sample rack (L) from the second position and the transporting means is arranged to move the next sample rack (L) along the transport path (r1) during the transfer of the sample tube (T).