CN104081180B - 用于冷冻等分器的机器人末端执行器以及从生物样本中取出冷冻等分试样的方法 - Google Patents

用于冷冻等分器的机器人末端执行器以及从生物样本中取出冷冻等分试样的方法 Download PDF

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Publication number
CN104081180B
CN104081180B CN201380006859.7A CN201380006859A CN104081180B CN 104081180 B CN104081180 B CN 104081180B CN 201380006859 A CN201380006859 A CN 201380006859A CN 104081180 B CN104081180 B CN 104081180B
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CN
China
Prior art keywords
sample
frozen
frozen sample
end effector
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201380006859.7A
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English (en)
Chinese (zh)
Other versions
CN104081180A (zh
Inventor
M·布鲁威尔勒
S·索克汉瓦尔
C·康斯坦丁尼奥
M·罗森
T·巴斯克
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CRYOXTRACT INSTR LLC
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CRYOXTRACT INSTR LLC
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Publication of CN104081180A publication Critical patent/CN104081180A/zh
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Expired - Fee Related legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
    • G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
    • G01N1/42—Low-temperature sample treatment, e.g. cryofixation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
    • G01N2035/1025—Fluid level sensing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool

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  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
CN201380006859.7A 2012-01-26 2013-01-28 用于冷冻等分器的机器人末端执行器以及从生物样本中取出冷冻等分试样的方法 Expired - Fee Related CN104081180B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US13/359,301 2012-01-26
US13/359,301 US9134202B2 (en) 2012-01-26 2012-01-26 Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples
PCT/US2013/023453 WO2013113001A1 (en) 2012-01-26 2013-01-28 Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples

Publications (2)

Publication Number Publication Date
CN104081180A CN104081180A (zh) 2014-10-01
CN104081180B true CN104081180B (zh) 2016-06-29

Family

ID=48869109

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380006859.7A Expired - Fee Related CN104081180B (zh) 2012-01-26 2013-01-28 用于冷冻等分器的机器人末端执行器以及从生物样本中取出冷冻等分试样的方法

Country Status (8)

Country Link
US (2) US9134202B2 (enExample)
EP (1) EP2807465A4 (enExample)
JP (1) JP2015510117A (enExample)
CN (1) CN104081180B (enExample)
AU (1) AU2013211839B2 (enExample)
BR (1) BR112014018057A8 (enExample)
CA (1) CA2862894A1 (enExample)
WO (1) WO2013113001A1 (enExample)

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US9815063B2 (en) * 2014-10-22 2017-11-14 Siemens Medical Solutions Usa, Inc. Radionuclide assay station
KR101655586B1 (ko) * 2014-11-28 2016-09-07 현대자동차주식회사 검사 그리퍼 및 이를 이용한 검사 방법
US10159971B2 (en) * 2015-05-03 2018-12-25 Clear Labs Inc. Apparatus and method for economic, fast and easy sampling of food and environmental samples
TWD176690S (zh) * 2015-09-24 2016-06-21 上銀科技股份有限公司 器械座之部分
IT201600079771A1 (it) * 2016-07-29 2018-01-29 I M A Industria Macch Automatiche S P A In Sigla Ima S P A Gruppo di pesatura
US11116352B2 (en) * 2016-09-13 2021-09-14 Kerry Luxembourg S.à.r.l. Beverage preparation system
CN107843453B (zh) * 2017-12-21 2024-01-23 上海泽泉科技股份有限公司 可调速手持低温样本分装仪
JP7084135B2 (ja) * 2017-12-26 2022-06-14 川崎重工業株式会社 エンドエフェクタ、ロボット、及びロボットシステム
CN110731333B (zh) * 2018-07-18 2021-11-19 Ｓｃｌ生物科技有限公司 细胞分注暨储存装置及其方法
JP6859992B2 (ja) * 2018-09-28 2021-04-14 セイコーエプソン株式会社 制御方法、ロボット及びロボットシステム
CN110053057B (zh) * 2019-04-28 2023-08-18 深圳市万臣科技有限公司 移液组件
US12168302B2 (en) 2019-12-16 2024-12-17 Tohoku University Grasping device, control method, and program
JP7650887B2 (ja) * 2019-12-30 2025-03-25 オーリス ヘルス インコーポレイテッド ロボット医療用システム
CN115788339B (zh) * 2023-02-03 2023-04-25 北京中联勘工程技术有限责任公司 一种岩土工程勘察破碎岩石取芯装置
CN116197926B (zh) * 2023-02-28 2025-07-18 北京理工大学 基于声镊的无接触核酸采集机器人
CN119618784A (zh) * 2023-09-14 2025-03-14 中国石油天然气集团有限公司 轴压式制作岩心的装置和轴压式制作室内岩心的方法

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Also Published As

Publication number Publication date
JP2015510117A (ja) 2015-04-02
EP2807465A1 (en) 2014-12-03
EP2807465A4 (en) 2015-12-30
AU2013211839B2 (en) 2016-10-27
CA2862894A1 (en) 2013-08-01
BR112014018057A8 (pt) 2017-07-11
US9528916B2 (en) 2016-12-27
US9134202B2 (en) 2015-09-15
US20130192391A1 (en) 2013-08-01
AU2013211839A1 (en) 2014-06-26
WO2013113001A1 (en) 2013-08-01
CN104081180A (zh) 2014-10-01
US20160041071A1 (en) 2016-02-11
BR112014018057A2 (enExample) 2017-06-20

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Termination date: 20180128