Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing a full-automatic thromboelastography instrument.
The technical scheme adopted by the invention for achieving the purpose is as follows: a fully automatic thromboelastography machine, comprising:
the action execution module comprises a sample adding needle rotating mechanism and a three-coordinate mechanical arm, wherein the sample adding needle rotating mechanism is used for realizing the rotary sample adding task of the sample adding needle, the three-coordinate mechanical arm comprises an X-axis, a Y-axis and a Z-axis moving arm, and the sample adding needle rotating mechanism is arranged on a linear guide rail sliding block which is arranged on the Z-axis moving arm and is used for realizing the movement of the space coordinates of the sample adding needle;
the reagent sample module comprises a reagent area and a sample area, wherein the reagent area is used for storing detection reagents, the sample area is used for storing detection samples, and the reagent area and the sample area are used for providing detection raw materials for a sample adding needle in the action execution module;
the detection module comprises a detection mechanism and a driving mechanism, wherein the detection mechanism is used for carrying and mixing the sample and the reagent extracted by the action execution module, detecting and outputting data, and the driving mechanism is used for providing necessary power for the detection mechanism so that the detection mechanism can detect the data of the blood sample formed by mixing the sample and the reagent;
the cleaning module comprises a waterway system for cleaning the sample adding needle on the action executing module and the detection cup of the detection module, and a liquid discharge system for collecting and discharging waste liquid;
the structure frame is used for supporting the action execution module, the reagent sample module, the detection module and the cleaning module and fixing the relative positions of the modules;
the circuit control module comprises an upper computer and an integrated control board for transmitting electric signals, and is used for coordinately controlling the operation among the modules of the thromboelastography instrument and realizing the generation, output and transmission of detection information.
Further, the structure frame comprises a base and a working panel which is covered above the detection module, the reagent area, the sample area and the cleaning module and serves as an operation platform, and the base is an integral structure formed by a bottom support panel and two side plates positioned on two sides of the support panel;
the motion executing module is arranged on the top of the structural frame or fixed on the rear side edge of the bottom supporting panel of the base through an upright post with supporting function, is higher than the working panel to form a gantry or cantilever type three-coordinate mechanical arm, the detecting module is arranged on the bottom supporting panel of the base, and the driving mechanism is positioned in the base and is arranged on the bottom supporting panel;
the reagent area and the sample area are sequentially arranged in the middle of the base bottom support panel and below the working panel, and are positioned on one side of the detection module, the cleaning module is also arranged in the middle of the base bottom support panel and is positioned on one side of the reagent sample module, the working panel is arranged above the detection module, the reagent area, the sample area and the cleaning module, and openings are arranged corresponding to the detection module, the reagent area, the sample area and the cleaning module, so that the sampling and sample adding operation can be smoothly realized.
Further, the stroke coverage operation table of the X axis, the Y axis and the Z axis is included by the action execution module, so that the extraction reagent and the sample can be completed, and the extraction reagent and the sample reach the cleaning module and the detection module;
the sample adding needle rotating mechanism comprises a motor, a rotating fixed seat, a bearing, steel balls, springs, set screws, a limiting shaft, a bearing gland and a coupler, wherein a through hole for installing the limiting shaft is formed in the middle of the rotating fixed seat, a limiting hole is formed in the radial position of the through hole for installing the limiting shaft and used for supporting and limiting the relative position of the sample adding needle rotating mechanism, bearing installation holes are formed in two ends of the through hole, the steel balls, the springs and the set screws are screwed in the limiting holes in the rotating fixed seat, the bearing and the limiting shaft are sequentially installed at the diameter end of the small end of the coupler and are installed in the rotating fixed seat, the bearing is installed in the rotating fixed seat, an outer ring of the bearing is matched with the rotating fixed seat, the inner ring is matched with the coupler, the bearing gland is installed, one end of the limiting shaft is connected with the motor through the coupler, the other end of the limiting shaft is connected with a rotating arm, the sample adding needle is mounted on the rotating arm, and a linear guide rail slider on the Z-axis moving arm is fixedly connected with the rotating fixed seat.
Further, the reagent area comprises a reagent tank, a reagent panel, a reagent tank frame, a refrigerating sheet, a radiating sheet and a fan, wherein the reagent panel is arranged on the reagent tank frame, the reagent tank is arranged below the reagent panel and fixed, the reagent tank and the reagent tank frame are relatively fixed, the refrigerating sheet and the radiating sheet are arranged at the bottom of the reagent tank, the fan is arranged at the bottom of the radiating sheet to realize circulation of cold air or heat, and the reagent panel is arranged below the working panel;
the sample area comprises a sample groove, a sample panel and a sample support, wherein the sample panel is fixed with the sample groove through the sample support, and the sample panel is positioned below the working panel and on one side of the reagent panel.
Further, the reagent tank and the sample tank are provided with a plurality of groups.
Further, detection mechanism includes suspension wire frame, suspension wire, holder, test head, magnetic encoder and detects the cup, the top of suspension wire is fixed to be hung at suspension wire frame top, and the other end passes the holder, and suspension wire middle part is pressed from both sides the line clamping device who installs in holder upper portion, and the holder is assembled fixed connection with the upper portion of test head, and magnetic encoder corresponds the bottom that sets up at suspension wire frame, is located the test head top, and the test head is located the top of detecting the cup, drive mechanism includes fixing base, gear drive unit includes the gear wheel of installing at the fixing base up end and the pinion with gear wheel meshing, and wherein the pinion is through arranging in the inside motor drive of fixing base, the fixing base is fixed on base bottom support panel, and the test head is hung with the suspension wire through the suspension wire frame of connecting in fixing base up end one side and is connected, the test cup is arranged in the test head below to remain certain clearance throughout, and fixed connection is on gear drive unit's gear wheel, realizes at the uniform velocity rotation detection that detects the cup is born in the test cup when rotating through gear drive unit detects.
Further, waterway system includes washs bucket, catheter, plunger pump, solenoid valve and washs the pond, the one end that washs the bucket in-connection and has the catheter to keep wasing the bucket to external seal, the other end of catheter is connected with three way connection, and two other interface connections of three way connection have two catheters, and these two catheters connect plunger pump and washs the pond respectively, all pass through catheter sealing on connection between plunger pump, solenoid valve and the application of sample needle.
Further, flowing back system includes pulse valve, reducing joint, rotary joint, joint fixing base, right angle joint, fluid-discharge tube, waste liquid bucket and negative pressure pump, the pulse valve is installed the detection cup bottom that sets up in the detection mechanism, its lower extreme connects gradually reducing joint, rotary joint and right angle joint, and the one end of fluid-discharge tube is connected on right angle joint, and the waste liquid bucket is connected to the other end to keep the external seal of waste liquid bucket, negative pressure pump also through fluid-discharge tube and waste liquid bucket sealing connection.
Further, liquid level sensors are arranged in the waste liquid barrel and the cleaning barrel.
The invention has the advantages of more reasonable structure and layout, capability of meeting a large number of detection requirements, multiple detection channels, simple operation, shortened detection period, improved detection efficiency, simple and easily understood operation, realization of full automation of detection, high integration level, good stability and strong anti-interference capability. And the detection cost is reduced.
Detailed Description
The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Example 1
The invention is described in further detail below with reference to the accompanying drawings:
a fully automated thromboelastography machine, as shown in figures 1 and 2, comprising:
the device comprises an action execution module 1, a reagent sample module 2, a detection module 3, a cleaning module 4, a structural frame 5 and an upper computer and an integrated control board for coordinating and controlling the operation among the modules of the thromboelastography instrument and realizing the generation and output of detection information.
A structural frame 5 for supporting the action execution module 1, the reagent sample module 2, the detection module 3 and the cleaning module 4 and fixing the relative positions of the modules; the structural frame 5 comprises a frame side plate 52, a rear back plate 53, a glass door 54, a base 51 and a working panel 56 which is positioned at the upper part of the reagent sample module, the detection module and the cleaning module and serves as an operation platform, wherein the frame side plate 52 is combined with a stand column to form a support and package for the three-dimensional mechanical arm 12 above the structural frame 5 and form a support for the working panel, the glass door is arranged on the side surface of the structural frame in a turned-up opening mode and is positioned above the working panel 56, the rear back plate is used for closing the structural frame, a screw support foot pad is arranged on the lower bottom surface of the base 51 so as to facilitate the horizontal adjustment of the base 51, and the base 51 is an integral structure formed by a bottom support panel and two side plates positioned at two sides of the support panel;
the action executing module 1 is arranged at the top of the structural frame 5 and is higher than the working panel 56 to form a gantry type three-coordinate mechanical arm 12, the upper part of the three-coordinate mechanical arm is covered with an upper top plate 55 so as to avoid the structure from leaking out, and the detecting module 3 is arranged at the left side and the right side (shown as two groups of 4 in each group and can be increased or decreased in practice) of the support panel at the bottom of the base;
as shown in fig. 3, the motion execution module 1 includes a sample injection needle rotation mechanism 11 and a three-coordinate mechanical arm 12, wherein the sample injection needle rotation mechanism 11 is used for realizing a rotation sample injection task of the sample injection needle 111, the three-coordinate mechanical arm 12 includes an X-axis 121, a Y-axis 122 and a Z-axis 123 three-axis moving arm, and the sample injection needle rotation mechanism 11 is mounted on a guide rail slide block on the Z-axis moving arm 123 of the three-coordinate mechanical arm 12 and is used for realizing a space coordinate movement of the sample injection needle 111; wherein, the action executing module 1 is positioned above the working panel 56, is arranged on the bottom supporting panel of the base 51 through a side plate and a supporting upright post, and covers the operation table 51 in the walking area of the X axis 121, the Y axis 122 and the Z axis 123, so that the action executing module can complete extracting reagent and sample, and reaches the detection cup 31 in the cleaning module 4 and the detection module 3;
the sample adding needle rotating mechanism 11 comprises a rotating motor 112, a rotating fixed seat 113, bearings, steel balls, springs, set screws 114, a limiting shaft 116, a bearing gland and a coupler, wherein a through hole for installing the limiting shaft is formed in the middle of the rotating fixed seat 113, a limiting hole is formed in the radial position of the through hole for installing the limiting shaft, the relative position of the sample adding needle rotating mechanism 11 is supported and limited, bearing installation holes are formed in the two ends of the through hole, the steel balls, the springs and the set screws are screwed in the limiting holes in the rotating fixed seat, the bearings and the limiting shaft are sequentially installed at the diameter end of the small end of the coupler and are installed in the rotating fixed seat, the bearings are installed in the rotating fixed seat, an outer ring of each bearing is matched with the rotating fixed seat, an inner ring of each bearing is matched with the coupler, and the bearing gland is installed. One end of the limiting shaft is connected with the motor through a shaft coupling, the other end of the limiting shaft is connected with the rotating arm, the sample loading needle is mounted on the rotating arm, and the linear guide rail sliding block of the Z-axis moving arm 123 is fixedly connected with the rotating fixing seat;
the two ends of the rotating arm 13 are respectively connected with the sample adding needle 111 and the limiting shaft 116, the motor transmits power to the sample adding needle 111 through the limiting shaft 116, so that the motor can rotate at a certain speed, the upper part of the sample adding needle 111 is a connecting pipe 131 for connecting the sample adding needle 111 with a catheter, the connecting pipe 131 is sealed with the sample adding needle 111, and in order to ensure the relative stability of the rotating arm 13, a rotary spring limiting structure is adopted, so that the rotating arm 13 rotates relative to the Z-axis moving arm 123 under the action of a certain external force.
Referring to fig. 1 and 2, the reagent sample module 2 includes a reagent area 21 and a sample area 22, the reagent area 21 and the sample area 22 are sequentially installed in the middle of the bottom support panel of the base 51, below the working panel 56 and on one side of the detection module 3, and the cleaning module 4 is also installed in the middle of the bottom support panel of the base 51 and on one side of the reagent sample module 2, and the working panel 56 is provided with openings corresponding to the detection module 3, the reagent area 21, the sample area 22 and the cleaning module 4, so as to smoothly implement sampling and sample adding operations. The reagent area 21 is used for storing detection reagents, and the sample area 22 is used for storing detection samples, and both the reagent area and the sample area are used for providing detection extraction raw materials for a sample adding needle in the action execution module 1; the reagent area 21 comprises a reagent tank, a reagent panel, a reagent tank frame, a refrigerating sheet, a radiating fin and a fan, wherein the reagent panel is arranged on the reagent tank frame, the reagent tank is arranged under and fixed on the reagent panel, the reagent tank and the reagent tank frame are relatively fixed, the refrigerating sheet and the radiating fin are arranged at the bottom of the reagent tank, the fan is arranged at the bottom of the radiating fin, so that circulation of cool air or heat is realized, and the reagent panel is arranged below the working panel 56;
the sample area 22 comprises a sample tank, a sample panel and a sample support, wherein the sample panel is fixed with the sample tank through the sample support, and is positioned below the working panel and at one side of the reagent panel. The reagent groove and the sample groove are respectively provided with 12 groups, so that a plurality of groups of samples can be conveniently and simultaneously carried out, and the preparation time of sample reagents is reduced.
As shown in fig. 5 and 6, the detection module 3 includes a detection mechanism and a driving mechanism 32, the detection mechanism is in a stroke range of the Z-axis moving arm 123, the detection mechanism is used for carrying and mixing the sample and the reagent extracted by the action execution module 1, and is used for detecting and outputting data, the detection mechanism can include a suspension frame 334, a suspension wire 323, a retainer 326, a test head 322, a magnetic encoder 324 and a detection cup 31, the top end of the suspension wire 323 is fixedly suspended on the top of the suspension frame, the other end of the suspension wire passes through the retainer 326, the middle part of the suspension wire is clamped by a wire clamping device 325 installed on the upper part of the retainer 326, the tail end of the suspension wire is finally clamped and straightened by the wire clamping device 325 installed on the bottom of the suspension frame, the retainer is fixedly connected with the upper part of the test head, the magnetic encoder 324 is correspondingly arranged on the bottom of the suspension frame 334 and is positioned above the test head 322, the test head 322 is positioned above the test cup 31, the driving mechanism is used for providing a rotary driving force to the detection mechanism, the detection mechanism can form a coagulation angle for the sample formed by mixing the sample and the reagent, the test head in the detection mechanism and the test mechanism passes through the retainer 326, and the coagulation angle is gradually formed, and the test head is simultaneously formed, and the magnetic encoder is rotated along with the test cup is formed, and the test angle is changed along with the test angle, and the test data is formed, and the test cup is measured, and the test data is simultaneously, and the test cup is rotated; the driving mechanism 32 comprises a fixing seat 321 and a gear driving device, the driving mechanism 32 is located inside the base 51 and is installed on a bottom supporting panel of the base 51 through the fixing seat 321, the gear driving device comprises a large gear 329 installed on the upper end face of the fixing seat 321 and a small gear 330 meshed with the large gear 329, the small gear 330 is driven by a motor 331 arranged inside the fixing seat 321, the fixing seat 321 is fixed on the bottom supporting panel of the base 51, the testing head 322 is connected with the suspension wire 323 in a hanging mode through a suspension wire frame 334, a retainer 326 and the suspension wire 323 which are connected to one side of the upper end face of the fixing seat 321, the testing cup 31 is placed below the testing head 322, a certain gap is always kept, the testing head 322 is fixedly connected to the large gear 329 in the gear driving device, uniform rotation detection of a blood sample borne in the testing cup 31 is achieved through the gear driving device, and measurement data are uploaded to an upper computer through a magnetic encoder 324 installed at the bottom of the suspension wire frame 334. The sample adding groove 33 communicated with the detection cup 31 can be further formed in one side of the detection cup 31, so that the sample adding needle 111 can directly perform sample adding work through the sample adding groove 33, and the sample adding needle is different from an opening formed in the working panel and corresponds to the opening formed in the working panel, the purpose of the opening formed in the working panel 56 is to be abducted with the sample adding groove in the detection module, under the condition that the sample adding groove 33 is not formed, the sample adding operation of the sample adding needle 111 is required to be completed through rotation of the rotating arm so as to meet detection standards, and the detection module 3 can be further provided with a plurality of groups so as to improve the capability of simultaneously detecting various samples.
The detection module 3 performs the design specification of the mechanism according to the existing detection principle, and performs the combination of the components according to the composition principle of the existing detection module.
The specific structure of the detection module comprises a fixed seat 321, a wire clamping device 325, a retainer 326, a test head 322, a damping seat 327, a permanent magnet 328, an acquisition unit, a detection cup 31, a large gear 329, a small gear 330, a motor 331, a gear seat, a high-performance bearing, a suspension wire 323, a limiting optical lotus root 333 and a heating temperature control unit; the suspension wire 323 is clamped by a suspension wire frame 334 fixed on the upper end surface of the fixing seat 321, and the following is a corresponding description of each component:
the fixing seat 321 is positioned and installed on the bottom supporting panel of the base 51, and is used for supporting other components in the whole detection module;
the wire clamping device 325 is used for clamping the suspension wire, in the invention, the suspension wire 323 passes through a chuck in the wire clamping device 325, the chuck is clamped by a nut screwing mode, the suspension wire is fixed, two sheet metal or machine parts can be used for fixing and clamping the suspension wire by screws, or a finished product can be purchased, the wire clamping device 323 is arranged on the suspension wire frame 334 and matched with the suspension wire frame 334, so that the clamping and hanging of the suspension wire 323 are realized;
the suspension wire is twisted along with the detection on the retainer provided with the test head according to the characteristics of the suspension wire, and can return to an initial state in a static state;
a holder 326, a holder, a test head, and a wire clamping device. The two ends of the upper edge of the retainer 326 are provided with the damping seats to form magnetic damping, so that the inertia effect is reduced, and the time for resetting to an initial state after the retainer and the suspension wire provided with the test head are rotated and twisted is shortened. The detection result is more stable, and the rotation is more stable.
A test head 322 assembled with the holder, mounting the custom magnet of the acquisition unit into a preformed hole of the test head;
the damping seat 327 is provided with two pairs of permanent magnets, which are fixed at the middle part of the side surface of the suspension wire frame 334 and are matched with the holder to form magnetic damping, so that the effect of inertia is reduced, and the time for resetting the holder and the suspension wire provided with the test head to an initial state after rotation and torsion changes is shortened.
The acquisition unit is composed of an acquisition circuit board with a magnetic encoder and a custom magnet. The custom magnet is installed in the preformed hole of the test head, and the acquisition circuit board with the magnetic encoder is assembled at the bottom of the fixed seat, and the distance between the magnetic encoder and the custom magnet is kept between 1.0 and 1.5 mm. The large gear 329, the gear seat, the high-performance bearing, the small gear 330 and the motor 331 constitute a gear driving device (belt transmission can also be adopted) for the detection mechanism, and are positioned and installed on the upper part of the fixed seat 321.
The gear seat, the limiting light lotus root and the anti-collision bolt are all fixed on the step surface in the middle of the fixing seat 321.
The outside at the detection cup is equipped with the heating temperature control unit, and the heating temperature control unit comprises heating membrane (heating element can be heating membrane, heating rod), heat conduction piece, temperature control element, needs to carry out the preheating to the test cup before the test, monitors the temperature variation through temperature control unit, adjusts heating unit and makes the temperature keep predetermined temperature value.
When the detection operation is carried out, the gear driving device drives the detection cup 31 to rotate left and right at a constant speed at an angle of 4.5 degrees and a speed of one circle every 10 seconds under the control command of the upper computer and the integrated control board, blood clots are gradually formed along with the start of coagulation of a detection sample, in the process, the test head 322 placed in the blood sample of the detection cup 31 is subjected to the action of shear stress formed by the blood sample and rotates left and right along with the detection cup, the magnetic encoder 324 detects the rotation angle variation of the test head 322, the suspension wire resets the retainer provided with the test head to an initial state according to the characteristics of the suspension wire, the above actions are repeated within a specified time, and finally, the rotation angle variation is transmitted to the upper computer, and after the upper computer processes data information, a thrombus elasticity graph curve can be formed.
A cleaning module 4 including a waterway system for cleaning the sample loading needle 111 on the motion execution module 1 and the detection cup 31 of the detection module 3, and a liquid discharge system for collecting and discharging the waste liquid; the waterway system comprises a cleaning barrel, a liquid guide pipe, a plunger pump, an electromagnetic valve and a cleaning pool, wherein one end of the liquid guide pipe is connected in the cleaning barrel, the cleaning barrel is kept sealed outside, the other end of the liquid guide pipe is connected with a three-way joint, the other two interfaces of the three-way joint are also connected with two liquid guide pipes, the two liquid guide pipes are respectively connected with the plunger pump and the cleaning pool, and the plunger pump, the electromagnetic valve and the sample adding needle are connected in a sealing and conducting way through the liquid guide pipe, so that the extraction action of the sample adding needle 111 is realized;
referring to fig. 7, the liquid draining system comprises a pulse valve 41, a reducer union 42, a rotary union 43, a union fixing seat 44, a right-angle union 45, a liquid draining pipe, a liquid draining barrel and a negative pressure pump, wherein the pulse valve 41 is installed at the bottom of the detecting cup 31 and is communicated with the detecting cup 31, the lower end of the pulse valve is sequentially connected with the reducer union 42, the rotary union 43 and the right-angle union 45, one end of the liquid draining pipe is connected to the right-angle union 45, the other end of the liquid draining pipe is connected with the liquid draining barrel and keeps the external sealing of the liquid draining barrel, the negative pressure pump is also connected with the liquid draining barrel in a sealing manner through the liquid draining pipe, and the union fixing seat 44 is positioned between the right-angle union 45 and the rotary union 43 and is fixed at the bottom of the fixing seat 321 in the detecting module 3, so that the relative fixing of the liquid draining system is realized. The pulse valve 41 in the liquid discharge system is in a normally closed state, and only when the blood sample in the detection cup 31 needs to be discharged and the detection cup 31 is cleaned after the test is completed, the pulse valve 41 can be opened through a control command of the upper computer and the integrated control board, and after the pulse valve 41 is opened, liquid in the detection cup 31 and the liquid in the channel are completely extracted through the suction force of the negative pressure pump. Of course, the drainage system can also be applied to the existing semi-automatic thromboelastography machine.
Liquid level sensors are arranged in the waste liquid barrel and the cleaning barrel, so that liquid level information is timely transmitted to an upper computer through the sensing of the liquid level sensors, and overflow is prevented.
The invention comprises the following operation steps:
a. when the sample adding groove 33 is not arranged in the detection cup, the sample is added to the detection cup 31 by adopting a mode of rotating the sample adding needle 111;
b. when the detection cup is provided with the sample adding groove 33, a direct sample adding mode is adopted to add samples to the detection cup 31;
c. opening the instrument, performing self-checking on the instrument, and judging whether various consumable products are sufficient or not, and whether the liquid levels in the waste liquid barrel and the cleaning barrel reach the upper line or not;
d. placing a reagent, a sample, etc. for detection in the corresponding region;
e. issuing a detection command (namely installing matched software on a computer) on the upper computer software;
f.X and Y, Z moving arms drive the sample adding needle 111 to move to a sample position to extract a blood sample;
g. moving to the position of the detection cup 31 to add the blood sample into the corresponding detection cup 31;
h. moving to a cleaning pool position to clean the sample adding needle 111;
i. moving to a reagent position to extract a reagent;
j. moving to the position of the detection cup 31 to add the reagent into the corresponding detection cup 31;
k. moving to a cleaning pool position to clean the sample adding needle 111 (when a plurality of reagents are used, repeating the operation related to the reagent adding, and cleaning the sample adding needle after each reagent extracting);
the gear driving device in the detection module 3 drives the detection cup part through a gear, and the large-angle positive and negative rotation is carried out for 5-10 seconds or 3-5 times, so that the blood sample and the reagent are stirred uniformly;
m, the gear driving device drives the detection cup part through a gear, the rotation is carried out for 10 seconds in a positive and negative direction, the degree is 4.5 degrees on a single side and 9 degrees on a double side, after detection is completed, detection data are displayed after being processed by an upper computer;
n. after the detection is completed, the XYZ motion arm drives the sample adding needle 111 to the cleaning pool position, absorbs the cleaning liquid, moves to the corresponding detection cup 31, adds the cleaning liquid into the detection cup 31, and the detection cup 31 rotates and stirs to fully play the role of the cleaning liquid;
the drain system withdraws the liquid from the test cup 31 and the channel.
Example 2
The detection module 3 described in embodiment 1 can also adopt a special spring, a bearing and a coupler to replace the suspension wire detection module, and the retainer can be reset to a static state after rotating along with the test by means of the spring reset characteristic.
The remainder is the same as in example 1.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.