WO2001038883A1

WO2001038883A1 - Chip selector, and method of storing and delivering chip tube

Info

Publication number: WO2001038883A1
Application number: PCT/JP2000/008292
Authority: WO
Inventors: Toshimasa Suenaga; Hisanobu Mito; Kojiro Takahashi; Michifumi Tanga; Hiroshi Okamura; Ken-Ichi Takagi
Original assignee: Nihon Parkerizing Hiroshima Co., Ltd.; Toyo Kohan Co., Ltd.
Priority date: 1999-11-25
Filing date: 2000-11-24
Publication date: 2001-05-31
Also published as: AU1550701A

Abstract

A chip selector serves to save time in reinspection and save storage space by automated storage, delivery and management of chips. The chip selector comprises a stage (13) for holding a tube palette (16) that randomly accommodates a number of chip tubes (15) containing chips (34); an alignment stage (14) arranged next to the stage (13) for holding a tube cassette (17) that contains chip tubes (15) in line; and a chip carrier robot (18) that takes chip tubes (15) out of the tube palette (16), stores chip tubes (15) aligned in the tube cassette (17) based on the chip IDs of the chip tubes l5, takes a predetermined chip tube (15) out of the tube cassette (17) based on chip storage information, and send them onto the stage (13).

Description

Description Chip selector device, method for storing and removing chip tube

The present invention relates to a chip selector device used for storage, retrieval, management and the like of a DNA library-immobilized substrate or a library-chip (hereinafter referred to as "chips"), and a method of storing and removing a chip tube. Background art

Conventionally, storage, removal, management, etc. of the above-mentioned chips are indispensable for doctors etc. to re-examine the patient's tissue, etc., but these tasks are exclusively performed manually by doctors themselves. Is the current situation. In other words, doctors use tweezers or the like to take out a tip tube containing the required specific chip from many tube cassettes each containing a chip enclosing the patient's DNA, etc., and use it for reexamination. . After the re-examination is completed, the tip tube is stored in a tube cassette again using tweezers, etc., and stored and managed again.

However, the preservation, retrieval, management, etc. of the chips by the doctors mentioned above still had the following problems to be solved.

In other words, doctors manually store, retrieve, and manage these chips, but since the contents of the chips are directly related to the life of the patient, they need to be handled with care. It takes time and care. In addition, even if information identifying the tip tube is written on the surface with the naked eye, the doctor may mistakenly remove a tip tube that is different from the tip tube that stores the chip that is originally required for the task with the naked eye. There is also a possibility of issuing.

The present invention can solve the above-mentioned problems, and can store and remove chips and tubes. It is an object of the present invention to provide a chip selector device that can easily, quickly and accurately perform the processing. Disclosure of the invention

In order to achieve the above object, a chip selector device according to the present invention comprises: an input stage capable of placing a tube pallet for randomly storing a large number of chip tubes each containing a chip on an upper surface; An alignment stage that can be placed on the top surface of a tube cassette that can store the chip tubes in an aligned state, and a tip tube that is taken out of the tube pallet and the chip ID information that the tip tube has The chip tube is stored in an aligned state in the tube cassette based on the chip ID information, and a predetermined chip tube is removed from the tube cassette based on the chip storage information and discharged to the loading stage. And a robot for transferring chips.

Here, the reading of the ID information can be preferably performed using a CCD camera.

With this configuration, the chip transfer robot is operated, an arbitrary chip tube is taken out of the tube pallet placed on the loading stage, and the chip ID information is transferred to the chip transfer robot. The chip ID information is read out using chip ID information reading means (for example, a CCD camera or the like) attached to the tip of the arm of the chip, and the chip transfer robot is operated based on the chip ID information, and the chip tube is read. Can be stored and organized in a predetermined location (address) of the tube cassette (storage and management). Conversely, the chip ID information relating to the chip to be removed is input to the computer that controls the chip transfer robot, and the chip transfer robot is operated to remove the chip tube containing the chip from the tube cassette. It can be discharged and discharged on the loading stage (removal). BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a plan view of a chip selector device according to an embodiment of the present invention. FIG. 2 is a front view of the chip selector device according to one embodiment of the present invention. Figure 3 is a plan view of the tube cassette. Figure 4 is a vertical side view of the tube cassette. Figure 5 is a cross-sectional side view of the tube cassette. FIG. 6 is a front view of the tip tube with the lid opened. FIG. 7 is a front view of the tip tube in a closed state. FIG. 8 is a plan view of the tip tube in the open state. FIG. 9 is a flowchart showing a method of storing a chip tube by the chip selector device according to one embodiment of the present invention. FIG. 10 is a flowchart showing a method for discharging the chip 10 tubes by the chip selector device according to one embodiment of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the present invention will be specifically described with reference to an embodiment shown in the accompanying drawings. First, a configuration of a chip selector device A according to an embodiment of the present invention will be described with reference to FIGS.

As shown in the figure, the top of the box-shaped equipment body 12 with a built-in robot controller and control unit is spaced apart in the left-right direction (X direction).

3 and an alignment stage 14 are formed. On the loading stage 13, there is placed a chip 2D web palette 16 for randomly storing a large number of tip tubes 15 (see FIGS. 3 to 8) described later. On the other hand, a tube cassette 17 that can store the chip tubes 15 in an aligned state is placed on the alignment stage 14 disposed adjacent to the charging stage 13.

A horizontally long guide table 1 extending in the left-right direction is provided above the upper surface of the apparatus body 12.

7a is provided. The horizontally long guide table 17a has a tip transfer port bot capable of moving the tip tube 15 in the X, Y, and Ζ directions in FIGS. 1 and 2. Eighteen are mounted. In the present embodiment, the tip transfer robot 18 has an X-direction moving table 19 attached to the guide table 17a so as to be movable in the X direction, and an X-direction moving table 19 so as to be movable in the Y direction. Attached to the lower end of the attached Y-direction moving arm 20, the Z-direction moving arm 21 attached to the Y-direction moving arm 20 so as to be movable in the Z direction, and the Z-direction moving arm 21. And a dalipper 22 capable of detachably holding the tip tube 15.

At the lower end of the Z-direction moving arm 21 of the chip transfer robot 18, a CCD camera 23, which is an example of chip ID information reading means for reading chip ID information held by the gripped chip tube 15, is provided. Installed.

° Above the main body 12, a tube cassette placed on the alignment stage 14

Among the many tube mounting holes 24 provided in 17 (see Fig. 4), a CCD camera 2 is an example of a void detecting means for detecting whether or not a predetermined tube mounting hole 24 is empty. 5 is installed.

As shown in FIGS. 1 and 2, on one side (left side) of the device main body 12, a cassette storage device 26 capable of stacking tube cassettes 17 in multiple layers in the vertical direction is provided. . As shown in the figure, the cassette storage device 26 is configured by attaching a cassette mounting table 28 to the elevating device 27 so as to be able to move up and down, and the tube cassette 17 is stored in a first-in first-out manner. Can be.

As shown in FIGS. 1 and 2, on the other side (right side) of the apparatus main body 12, an auxiliary table 29 is installed on a tube cassette 17, and on the auxiliary table 29, a personal computer ( Hereinafter, it is referred to as “PC.” 30) is mounted. The bus 30 is connected to the above-mentioned robot controller and control unit. By operating the keyboard of the PC, the drive command signal of the chip transfer robot 18 and the chip ID information are transferred to the robot controller 30. And output to the control unit.

Next, the configuration of the tube cassette 17 will be described with reference to FIGS. You. As shown in the figure, on the top surface of the horizontally long substrate 31 of the tube cassette 17, there are provided a number of tube mounting holes 24 that can be identified by a plurality of columns and a plurality of rows. A chip tube 15 is detachably attached to the chip. In the present embodiment, these tube mounting holes 24 are shown as being divided into four groups and divided into 5 ". Such a tube cassette 17 has cassette ID information for each group. Is attached and is displayed on the surface of the tube cassette 17. In addition, the tube cassette 17 has chip ID information on the tip tube 15 housed in the tube mounting hole 24 in each group ( Chip No, name, gender, date of birth, date of collection, collection history, findings, analysis information, initial storage date, discharge date I. date, storage date, image information No, other information No) is also displayed, including address information for all tube mounting holes 24 identified by column and row symbols.

6 to 8 show the configuration of the tip tube 15. As shown in the figure, the tip tube 15 is formed of a flat vertically long cylinder, and has a tip insertion opening 32 at the upper end thereof.

IS- Also, a lid 33 for opening and closing the chip insertion opening 32 is rotatably attached to the upper end of the chip tube 15. The tip tube 15 is made of a transparent material such as polystyrene, and the tip 34 inserted therein can be recognized from the outside. Further, chip ID information for specifying the chip 34 is also displayed on the outer surface of the chip tube 15. This chip ID information includes, for example, cassette No, 0 chip No, name, gender, date of birth, collection date, collection history, findings, analysis information, initial storage date, discharge date, It contains the storage date, image information No, and other information No.

In the present embodiment, the tube ID information and the cassette ID information attached to the tip tube 15 and the respective tube cassettes 17 are also stored in the storage device of the control device 151, and However, this information can be updated sequentially. Next, a method of storing and removing the chip tube 15 by the chip selector one device A having the above configuration will be described.

First, a method of storing the tip tube 15 will be described with reference to a flowchart shown in FIG.

5 (1) The operator places the tube pallet 16 on the loading stage 13, and places the tube cassette 17 on the alignment stage 14.

(2) Operate the keyboard of the personal computer 30 to output a robot drive signal to the control unit, and move the chip transfer robot 18 to a position where the cassette ID information of the tube cassette 17 can be read ( Step S 100).

(0 (3) If the cassette ID information can be read by driving the CCD camera 25 (step S101; step S102), the cassette ID information is compared with the cassette ID information stored in the control unit (step S 103).

(4) If both cassette ID information are the same (step S104), the chip transfer robot 18 moves to move any chip stored in the tube palette 16.

In the vicinity of the / 5 "tube 15, another CCD camera 23 is operated to read the chip ID information (step S105).

(5) If the chip ID information can be read (Step S106), the chip ID is compared with the vacancy information of the tube cassette 17 previously stored in the control unit (Step S107), and the tube cassette 17 is read. If the specified address is empty (step S 10

20 8) Then, the tip tube 15 in the tube palette 16 is gripped and transferred to the tube cassette 17 and stored in the predetermined tube mounting hole 24 (step S109).

Next, a method of removing (discharging) the chip tube 15 will be described with reference to a flowchart shown in FIG.

(1) The operator places the tube cassette 17 on the alignment stage 14.

(2) Operate the keyboard of the personal computer 30 to discharge the tip tube. Input the chip ID information of 15 and send it to the control unit, output the robot drive signal, and move the chip transfer robot 18 to a position where the cassette ID information of the tube cassette 17 can be read (step S 200).

(3) When the cassette ID information can be read by driving the CCD camera 25 (step S201, step S202), the ID is compared with the cassette ID information stored in the control unit (step S203).

(4) If both cassette ID information are the same (step S204), the tube cassette 17 is compared with the full / vacant information of the tube cassette 17 previously stored in the control unit (step S205), and the tube cassette is set. If the predetermined address in 17 is full (step S206), the tip transfer robot 18 is driven to grip the tip tube 15 on the tube cassette 17 (step S207).

(5) The tip transfer robot 18 is driven again to transfer the tip tube 15 onto the tube palette 16 and take out (discharge) the tip tube 15 onto the tube palette 16 (step S208). Industrial applicability

As described above, according to the present invention, by automating the storage, removal, management, and the like of chips, it is possible to speed up retests and save storage space, and to improve DNA library and the like. Can improve safety when handling

Claims

The scope of the claims

1. A loading stage on which a tube pallet for randomly storing a large number of tip tubes each containing a chip can be placed on the upper surface.

An alignment stage on which a tube cassette capable of accommodating the chip tubes in an aligned state can be placed, and the chip tubes are taken out of the tube pallet, and chip ID information of the chip tubes is stored. Read, based on the chip ID information. The chip tubes are stored in an aligned state in the tube cassette, and a predetermined chip tube is stored in the tube cassette based on the chip storage information.

10—A chip selector device comprising: a chip transfer robot for taking out from the bulky set and discharging to the input stage.

2. The chip selector device according to claim 1, wherein the reading of the ID information is performed by a CCD camera.

i s-

3. placing the tube pallet on the loading stage and placing the tube cassette on the alignment stage;

A step of operating a personal computer to output a robot drive signal to the control unit and moving the tip transfer port bot to a position where the cassette ID information of the tube cassette can be read 20;

When the cassette ID information can be read by the empty space detecting means, a step of collating with the cassette ID information stored in the control unit;

If both cassette ID information are the same, the chip transfer robot moves and approaches any chip tube stored in the tube pallet, and the chip ID information is read by the chip ID information reading 5 "reading means. The process of reading information,

If the chip ID information can be read, the tube force stored in the control unit in advance Check the set vacancy information and if the specified address in the tube cassette is empty, grasp the tip tube in the tube palette and transfer it to the tube cassette, and place it in the specified tube mounting hole. A method for storing a tip tube, comprising the steps of storing.

4. placing the tube cassette on the alignment stage;

Operate a personal computer to input the chip ID information of the tip tube to be ejected, send it to the control unit, output the robot drive signal, and read the tip transfer robot's cassette ID information from the tube cassette. Move to a possible position

10 steps,

When the cassette ID information can be read by the empty space detection means, a step of collating with the cassette ID information stored in the control unit;

If the ID information of both cassettes is the same, it is compared with the empty information of the tube cassette stored in advance in the control unit, and when the specified address in the tube cassette is full.

The IB includes a step of driving the tip transfer robot to hold the tip tube on the tube cassette,

Driving the tip transfer robot again to transfer the tip tube onto the tube pallet, and discharging the tip tube onto the tube pallet.