CN116148027B - Sample preparation instrument - Google Patents
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- CN116148027B CN116148027B CN202310409687.3A CN202310409687A CN116148027B CN 116148027 B CN116148027 B CN 116148027B CN 202310409687 A CN202310409687 A CN 202310409687A CN 116148027 B CN116148027 B CN 116148027B
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- 238000002360 preparation method Methods 0.000 title claims abstract description 42
- 239000003153 chemical reaction reagent Substances 0.000 claims abstract description 138
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000006243 chemical reaction Methods 0.000 claims abstract description 84
- 238000012360 testing method Methods 0.000 claims abstract description 68
- 238000005070 sampling Methods 0.000 claims abstract description 43
- 238000002156 mixing Methods 0.000 claims abstract description 42
- 238000012546 transfer Methods 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 239000007788 liquid Substances 0.000 claims abstract description 26
- 238000011049 filling Methods 0.000 claims abstract description 23
- 238000002347 injection Methods 0.000 claims abstract description 20
- 239000007924 injection Substances 0.000 claims abstract description 20
- 239000000243 solution Substances 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 238000003756 stirring Methods 0.000 claims description 20
- 238000007599 discharging Methods 0.000 claims description 17
- 238000005057 refrigeration Methods 0.000 claims description 16
- 238000003825 pressing Methods 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 claims description 6
- 239000002699 waste material Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 19
- 230000008569 process Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 238000005464 sample preparation method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000012864 cross contamination Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000010626 work up procedure Methods 0.000 description 1
Classifications
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- 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
- G01N1/38—Diluting, dispersing or mixing samples
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F31/00—Mixers with shaking, oscillating, or vibrating mechanisms
- B01F31/20—Mixing the contents of independent containers, e.g. test tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/71—Feed mechanisms
- B01F35/712—Feed mechanisms for feeding fluids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/71—Feed mechanisms
- B01F35/717—Feed mechanisms characterised by the means for feeding the components to the mixer
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F2101/00—Mixing characterised by the nature of the mixed materials or by the application field
- B01F2101/23—Mixing of laboratory samples e.g. in preparation of analysing or testing properties of materials
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention relates to the technical field of sample pretreatment, in particular to a sample preparation instrument. Comprising the following steps: the device comprises an automatic sample injection module, a transfer module, a reagent position module, a reaction cup module and a vortex mixing module; the automatic sample injection module can push the test tube rack to realize horizontal movement of the test tube rack, cap wearing detection, bar code scanning, shaking and mixing and sample puncture are carried out on samples, and finally the test tube rack is pushed to a discharge bin; the transfer module is provided with a sampling needle for puncture sampling and pipetting of the sample test tube, a reagent needle for pipetting of reagents, a gripper capable of gripping objects and transferring, and a filling needle capable of filling solution; the reagent position module is used for refrigerating and preserving the reagent; the reaction cup module is used for placing a reaction cup; the eccentric mechanism of the vortex mixing module is used for uniformly mixing the liquid in the reaction cup in a vortex manner through eccentric motion. The sample preparation instrument provided by the invention can be used for completing preparation of various samples, and realizing the full-automatic sample pretreatment process.
Description
Technical Field
The invention relates to the technical field of sample pretreatment, in particular to a sample preparation instrument.
Background
The sample preparation instrument is an instrument for carrying out pretreatment before on-machine testing on the sample, and can enable the sample to be detected and analyzed on a measuring instrument through the pretreatment on the sample. Usually, the sample needs to be manually processed, and the sample is subjected to complex processing procedures such as manual sample adding, reagent adding, shaking, mixing and the like. Along with the rapid increase of the detection requirement, the sample pretreatment requirement is greatly increased, if the manual sample preparation is continued, a large amount of labor cost is occupied, the error rate is increased, the consistency of sample treatment cannot be ensured, and certain potential safety hazards are also caused for operators. There is therefore a need for a fully automated sample preparation instrument that can pre-process samples to replace manual handling and prevent biological contamination, completing a variety of sample preparations.
Disclosure of Invention
The invention aims to provide a sample preparation instrument for relieving the problems that manual sample preparation in the prior art occupies a large amount of labor cost, the error rate is increased, the consistency of sample processing cannot be ensured, and certain potential safety hazard is caused to operators.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a sample preparation meter comprising: the device comprises an automatic sample injection module, a transfer module, a reagent position module, a reaction cup module and a vortex mixing module;
the automatic sample injection module comprises a feeding mechanism, a stirring mechanism, a rocker mechanism and a sample discharging mechanism, wherein the feeding mechanism is used for pushing the test tube rack to reach the appointed position of the feeding bin, the stirring mechanism is provided with a stirring piece, the stirring piece stretches into a groove of the test tube rack to realize horizontal movement of the test tube rack, the rocker mechanism is used for taking out, shaking up and putting in a sample test tube in the test tube rack, and the sample discharging mechanism is used for pushing the test tube rack to the sample discharging bin after detection is completed;
the transfer module comprises an X-axis assembly, a Y-axis assembly and a Z-axis assembly which move along the X, Y, Z direction, wherein the Z-axis assembly comprises a Z1 axis, a Z2 axis and a Z3 axis which are mutually independent, the Z1 axis is provided with a sampling needle for puncturing, sampling and pipetting a sample test tube, the Z2 axis is provided with a reagent needle for pipetting a reagent, the Z3 axis is provided with a gripper capable of grabbing an article, and the Z-axis assembly is also fixedly provided with a filling needle capable of filling a solution;
the reagent position module comprises a reagent tray and a refrigerating chamber, wherein the reagent tray and the refrigerating chamber are positioned through a guide structure, and the reagent position module is used for refrigerating and preserving the reagent;
the reaction cup module comprises a reaction cup holder, wherein the reaction cup holder is used for placing a reaction cup;
the vortex mixing module comprises an eccentric mechanism, and the eccentric mechanism is used for vortex mixing of liquid in the reaction cup through eccentric motion.
Still further, the method comprises the steps of,
the automatic sample injection module further comprises a sensing device, a code scanning device and an optocoupler device which are connected through signals, the sensing device comprises a photoelectric sensor, the photoelectric sensor is used for detecting whether a sample test tube is provided with a cap or not, the code scanning device comprises a code scanning device, the code scanning device is used for scanning and uploading information of each sample test tube to be detected, the optocoupler device comprises a counting optocoupler, and the counting optocoupler is used for judging and counting the position of the horizontal movement of the test tube rack.
Still further, the method comprises the steps of,
the automatic sampling module further comprises a sampling device, the sampling device is connected with the rocker arm mechanism, the sampling device comprises a pressing sheet, and the pressing sheet is used for limiting the position of the sample test tube during sampling.
Still further, the method comprises the steps of,
the Z-axis assembly comprises a Z-axis fixing part, the filling needle is arranged at the bottom of the Z-axis fixing part, and the Z1 axis, the Z2 axis and the Z3 axis are all connected with the Z-axis fixing part.
Still further, the method comprises the steps of,
the Z-axis fixing part is provided with a screw rod stepping motor, and the Z1 axis is driven by the screw rod stepping motor to reciprocate along the Z direction.
Still further, the method comprises the steps of,
the Z-axis fixing part is provided with a first synchronous belt and a first stepping motor, the first stepping motor drives the first synchronous belt to move along the Z direction, the Z2 axis and the Z3 axis are respectively arranged on two opposite sides of the first synchronous belt through a first fixing block and a second fixing block, and the Z2 axis and the Z3 axis reciprocate in a dislocation mode along the Z direction.
Still further, the method comprises the steps of,
the guide structure comprises a guide column arranged on the inner wall of the refrigerating chamber and a guide groove arranged on the side wall of the reagent tray, and the guide column stretches into the guide groove.
Still further, the method comprises the steps of,
the reaction cup module is provided with the reference column, the reaction cup holder is provided with the constant head tank, the reference column with the constant head tank cooperation is in order to prevent the direction of placing of reaction cup holder is wrong, the inside proximity switch that is provided with of reaction cup holder is used for detecting whether the reaction cup is put in place.
Still further, the method comprises the steps of,
the vortex mixing module further comprises a stepping motor and an optocoupler detection assembly, an output shaft of the stepping motor is connected with the eccentric mechanism, the stepping motor rotates to drive the eccentric mechanism to eccentrically rotate, the eccentric mechanism is provided with a containing cavity for containing the reaction cup, the optocoupler detection assembly is arranged on the eccentric mechanism, and the optocoupler detection assembly is connected with the stepping motor through signals.
Still further, the method comprises the steps of,
the device also comprises a cleaning pool module, wherein the cleaning pool module is used for cleaning the sampling needle, the reagent needle and the discharged waste liquid.
The embodiment of the invention has at least the following beneficial effects:
since the present invention provides a sample preparation instrument, comprising: the device comprises an automatic sample injection module, a transfer module, a reagent position module, a reaction cup module and a vortex mixing module; the automatic sampler module comprises a feeding mechanism, a stirring mechanism, a rocker mechanism and a sample discharging mechanism, wherein the feeding mechanism is used for pushing the test tube rack to reach the designated position of the feeding bin, the stirring mechanism is provided with a stirring piece, the stirring piece stretches into a groove of the test tube rack to realize horizontal movement of the test tube rack, the rocker mechanism is used for taking out, shaking up and putting in a sample test tube in the test tube rack, and the sample discharging mechanism is used for pushing the test tube rack to the sample discharging bin after detection is completed; the transfer module comprises an X-axis assembly, a Y-axis assembly and a Z-axis assembly which move along the X, Y, Z direction, wherein the Z-axis assembly comprises a Z1 axis, a Z2 axis and a Z3 axis which are mutually independent, the Z1 axis is provided with a sampling needle for puncturing, sampling and pipetting a sample test tube, the Z2 axis is provided with a reagent needle for pipetting a reagent, the Z3 axis is provided with a gripper capable of grabbing an article, and the Z-axis assembly is also fixedly provided with a filling needle capable of filling a solution; the reagent position module comprises a reagent tray and a refrigerating chamber, wherein the reagent tray and the refrigerating chamber are positioned through a guide structure, and the reagent position module is used for refrigerating and preserving the reagent; the reaction cup module comprises a reaction cup holder, wherein the reaction cup holder is used for placing a reaction cup; the vortex mixing module comprises an eccentric mechanism, and the eccentric mechanism is used for vortex mixing of liquid in the reaction cup through eccentric motion.
The automatic sample injection module can realize the automatic sample injection function of a sample, can realize the automatic sample transfer, the detection of whether a sample test tube is provided with a cap or not, the sample bar code scanning and the automatic sample shaking in the sample injection process, and supports the puncture blood taking function of the sample. The transfer module has X, Y, Z, Z2 and Z3 five axial movements, through the setting of reagent needle, sample needle, filling needle and tongs, realizes respectively that the liquid level response to the reagent is with the liquid transfer, to sample test tube's puncture sample and liquid transfer, add solution and to the snatch detection and the transfer of reaction cup. The reagent position module can realize the refrigeration preservation to reagent, and the guide structure makes reagent tray can be placed into in the refrigeration cavity fast and accurately. The reaction cup module can be used for placing the reaction cup, and the vortex mixing module is used for realizing vortex mixing of liquid in the reaction cup through eccentric motion of the eccentric mechanism.
When sample preparation is carried out, the feeding mechanism pushes the test tube rack to reach the appointed position of the feeding bin, the stirring mechanism realizes the horizontal movement of the test tube rack through the stirring piece, the rocker arm mechanism takes out and shakes evenly sample test tubes in the test tube rack, the sampling needle of the transfer module punctures and samples the sample test tubes through the movement of X, Y, Z three directions and moves the sample test tubes to the reaction cup, the rocker arm mechanism puts the sample test tubes into the test tube rack again, and the sample discharging mechanism pushes the test tube rack after completing sampling to the discharge bin. The reagent needle of the transfer module moves to the reagent tray through the movement of X, Y, Z in three directions to suck the reagent and transfer the reagent to the reaction cup, the filling needle of the transfer module fills the solution into the reaction cup, then the gripper of the transfer module grabs the reaction cup and places the reaction cup in the reaction cup holder through the movement of X, Y, Z in three directions, after a period of time, the reaction cup is transferred to the eccentric mechanism of the vortex mixing module, and the eccentric mechanism is used for vortex mixing of liquid in the reaction cup through the eccentric movement, so that the full-automatic preparation of a sample is completed.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the description of the embodiments or the related art will be briefly described, and it is apparent that the drawings in the description below are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a schematic diagram of a sample preparation apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an auto-sampling module according to an embodiment of the present invention;
FIG. 3 is a top view of an auto-sampling module according to an embodiment of the present invention;
FIG. 4 is an overall schematic diagram of a transfer module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a transfer module according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a transfer module according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a reagent level module according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a refrigeration chamber in a reagent level module according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a reagent tray in a reagent cartridge according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a cuvette module according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a vortex mixing module according to an embodiment of the present invention.
Icon:
100-an automatic sample injection module; 110-a feed mechanism; 111-a feeding bin; 112-detecting a micro switch in place; 120-a toggle mechanism; 130-a rocker arm mechanism; 140-a sample discharging mechanism; 141-discharging the material bin; 142-full-position micro switch; 150-code scanner; 160-counting optocouplers; 170-tabletting; 180-test tube rack; 190-a photosensor; 200-a transfer module; a 210-X axis assembly; 211-a second stepper motor; 212-a second synchronous belt; 220-Y axis assembly; 221-a third stepper motor; 222-a third synchronous belt; 230-Z axis assembly; 231-Z1 axis; 2311-a screw rod stepping motor; a 232-Z2 axis; 233-Z3 axis; 240-sampling needle; 250-reagent needle; 260-grippers; 270-a filling needle; 280-a first synchronization belt; 281-a first stepper motor; 290-a first fixed block; 291-second fixed block; 300-reagent position module; 310-reagent trays; 311-guide grooves; 320-a refrigeration chamber; 321-guide posts; 400-reaction cup module; 410-reaction cup holder; 411-positioning slots; 420-positioning columns; 500-vortex mixing module; 510-an eccentric mechanism; 520-stepper motor; 530 an optocoupler detection assembly; 600-a cleaning tank module.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.
Example 1
The existing sample pretreatment needs manual treatment, and the complex treatment processes of manual sample adding, reagent adding, shaking, mixing and the like are performed. Manual sample preparation occupies a large amount of labor cost, the error rate is increased, the consistency of sample processing cannot be ensured, and certain potential safety hazards are also caused to operators. There is therefore a need for a fully automated sample preparation instrument that can pre-process samples to replace manual handling and prevent biological contamination, completing a variety of sample preparations.
In view of this, an embodiment of the present invention provides a sample preparation apparatus, please refer to fig. 1, including: the device comprises an automatic sample injection module 100, a transfer module 200, a reagent level module 300, a reaction cup module 400 and a vortex mixing module 500; the automatic sample injection module 100 comprises a feeding mechanism 110, a stirring mechanism 120, a rocker mechanism 130 and a sample discharging mechanism 140, wherein the feeding mechanism 110 is used for pushing a test tube rack 180 to reach a designated position of a feeding bin 111, the stirring mechanism 120 is provided with a stirring piece, the stirring piece stretches into a groove of the test tube rack 180 to realize horizontal movement of the test tube rack 180, the rocker mechanism 130 is used for taking out, shaking up and putting in sample test tubes in the test tube rack 180, and the sample discharging mechanism 140 is used for pushing the test tube rack 180 to a sample discharging bin 141 after detection is completed; the transfer module 200 comprises an X-axis assembly 210, a Y-axis assembly 220 and a Z-axis assembly 230 which move along the direction X, Y, Z, wherein the Z-axis assembly 230 comprises a Z1 axis 231, a Z2 axis 232 and a Z3 axis 233 which are independent of each other, the Z1 axis 231 is provided with a sampling needle 240 for puncture sampling and pipetting of a sample tube, the Z2 axis 232 is provided with a reagent needle 250 for pipetting of reagents, the Z3 axis 233 is provided with a gripper 260 capable of gripping objects, and the Z-axis assembly 230 is also fixedly provided with a filling needle 270 capable of filling solutions; the reagent level module 300 comprises a reagent tray 310 and a refrigerating chamber 320, wherein the reagent tray 310 and the refrigerating chamber 320 are positioned by a guiding structure, and the reagent level module 300 is used for refrigerating and preserving the reagent; the reaction cup module 400 includes a reaction cup holder 410, the reaction cup holder 410 for placing a reaction cup; the vortex mixing module 500 includes an eccentric mechanism 510, and the eccentric mechanism 510 is moved eccentrically to vortex-mix the liquid in the cuvette.
The automatic sample injection module 100 can realize the automatic sample injection function of a sample, can realize the automatic sample transfer, the detection of whether a sample test tube is provided with a cap, the sample bar code scanning and the automatic sample shaking in the sample injection process, and supports the puncture blood taking function of the sample. The transfer module 200 has five axial movements X, Y, Z, Z2 and Z3, and by the arrangement of the reagent needle 250, the sampling needle 240, the filling needle 270 and the gripper 260, liquid level sensing and pipetting of reagents, puncture sampling and pipetting of sample tubes, addition of solutions and grabbing detection and transfer of reaction cups are respectively realized. The reagent level module 300 can realize the refrigeration preservation of the reagent, and the guiding structure enables the reagent tray 310 to be quickly and accurately placed in the refrigeration chamber 320. The cuvette module 400 can realize the placement of the cuvette, and the vortex mixing module 500 realizes the vortex mixing of the liquid in the cuvette through the eccentric motion of the eccentric mechanism 510.
When sample preparation is carried out, the feeding mechanism 110 pushes the test tube rack 180 to reach the designated position of the feeding bin 111, the stirring mechanism 120 realizes the horizontal movement of the test tube rack 180 through the stirring piece, the rocker mechanism 130 takes out and shakes the sample test tubes in the test tube rack 180 uniformly, the sampling needle 240 of the transfer module 200 punctures and samples the sample test tubes through the movement of X, Y, Z in three directions and transfers the sample test tubes to the reaction cup, the rocker mechanism 130 puts the sample test tubes into the test tube rack 180, and the sampling mechanism 140 pushes the test tube rack 180 after the sampling is completed to the discharge bin 141. The reagent needle 250 of the transfer module 200 moves to the reagent tray 310 through the movement of X, Y, Z in three directions to suck and transfer the reagent to the reaction cup, the filling needle 270 of the transfer module 200 fills the solution into the reaction cup, then the gripper 260 of the transfer module 200 grabs the reaction cup and places the reaction cup into the reaction cup holder 410 through the movement of X, Y, Z in three directions, after a period of time, the reaction cup is transferred to the eccentric mechanism 510 of the vortex mixing module 500, and the eccentric mechanism 510 vortex-mixes the liquid in the reaction cup through the eccentric movement, so that the full-automatic preparation of the sample is completed.
The rocker mechanism 130 can perform three actions, namely, vertical lifting, horizontal reciprocating and sample tube shaking. The vertical direction provides power through the hybrid rotary stepper motor, the screw rod is driven, the linear guide rail guides, and the photoelectric switch performs zero correction. The horizontal direction uses synchronous belt transmission, a stepping motor drives, a linear guide rail guides, and a photoelectric switch confirms zero position. Sample test tube shakes evenly and uses gear motor drive, and photoelectric switch carries out zero position confirmation. The theoretical positioning precision of the rocker arm mechanism 130 can reach the micron level, and meets the use requirement.
In an alternative manner of this embodiment, the automatic sample injection module 100 further includes a sensing device connected by a signal, a code scanning device and an optocoupler device, where the sensing device includes a photoelectric sensor 190, the photoelectric sensor 190 is used to detect whether a sample tube is capped, the code scanning device includes a code scanner 150, the code scanner 150 is used to scan and upload information of each sample tube to be detected, the optocoupler device includes a counting optocoupler 160, and the counting optocoupler 160 is used to judge and count the position of the horizontal movement of the test tube rack 180.
Referring to fig. 2 and 3, after the feeding mechanism 110 pushes the test tube rack 180 to reach the designated position of the feeding bin 111, the test tube rack 180 contacts the in-place detection micro switch 112, and the in-place detection micro switch 112 receives a signal and then the feeding mechanism 110 resets. The photoelectric sensor 190 can detect whether the sample tube is capped, the code scanner 150 can scan and upload information of each sample tube to be detected, and the counting optocoupler 160 can judge and count the horizontal movement position of the test tube rack 180.
Further, the autosampler 100 further comprises a sampling device connected to the rocker mechanism 130, the sampling device comprising a pressing piece 170, the pressing piece 170 being used to limit the position of the sample tube during sampling.
The sampling device is arranged at a sampling position, and the sample tube is limited by the pressing sheet 170 to stay in place after a sample is collected through the arrangement of the pressing sheet 170. When detecting that all the sample tubes on the sample tube rack 180 have been sampled, the motor of the sample discharging mechanism 140 rotates by a corresponding angle to push the sample tube rack 180 to rotate to the designated position of the discharge bin 141, and after the discharge bin 141 is full, the full-position micro switch 142 receives a signal and uploads a prompt.
The autosampler 100 implements an autosampler function, with one-touch autosampler and sample management functions.
The structure of the transfer module 200 is described in detail as follows:
referring to fig. 4, the x-axis assembly 210, the Y-axis assembly 220, and the Z-axis assembly 230 cooperate to effect movement in three dimensions within the space of the transfer module 200. The Z-axis assembly 230 comprises a Z1 axis 231, a Z2 axis 232 and a Z3 axis 233, a sampling needle 240 is arranged at the bottom of the Z1 axis 231, a reagent needle 250 is arranged at the bottom of the Z2 axis 232, a gripper 260 is arranged on the Z3 axis 233, the Z1 axis 231, the Z2 axis 232 and the Z3 axis 233 all reciprocate along the Z direction, and a filling needle 270 is also fixedly arranged on the Z-axis assembly 230. The sampling needle 240 has the functions of puncture sampling and pipetting, the reagent needle 250 has the functions of liquid level detection, collision prevention and reagent pipetting, the gripper 260 has the functions of taking and placing objects and empty detection, and the filling needle 270 has the function of filling solution, so that one transfer module 200 can complete the functions of four groups of moving mechanisms in the vertical direction, the structure is simple, multiple transfer functions are realized in a limited space, and the utilization efficiency of the space is improved. In addition, the sampling needle 240, the reagent needle 250 and the gripper 260 all have maximum strokes in the operation process, do not interfere with each other in the operation, save the dislocation operation time among the structures and improve the utilization rate of the working time.
In an alternative to this embodiment, the Z-axis assembly 230 includes a Z-axis fixed portion to the bottom of which the filling needle 270 is mounted, and the Z1 axis 231, the Z2 axis 232, and the Z3 axis 233 are all connected to the Z-axis fixed portion.
Referring to fig. 5, since the filling needle 270 is mounted to the bottom of the Z-axis fixing portion, the filling needle 270 cannot move up and down in the Z-direction. The Z1 axis 231, the Z2 axis 232, and the Z3 axis 233 are all mounted on the Z axis fixing portion, and all can be moved up and down in the Z direction.
Further, the Z-axis fixing portion is mounted with a screw stepping motor 2311, and the Z1 axis 231 is driven to reciprocate in the Z direction by the screw stepping motor 2311.
The Z1 shaft 231 is driven by a screw rod stepping motor 2311, the sampling needle 240 is mounted on a Z1 shaft needle frame, the sampling needle 240 moves up and down synchronously along the Z direction along with the Z1 shaft 231, and the two ends of the Z1 shaft 231 can be subjected to optical coupling detection.
Further, the first synchronous belt 280 and the first stepper motor 281 are mounted on the Z-axis fixing portion, the first stepper motor 281 drives the first synchronous belt 280 to move along the Z-direction, the Z2 axis 232 and the Z3 axis 233 are mounted on two opposite sides of the first synchronous belt 280 through the first fixing block 290 and the second fixing block 291 respectively, and the Z2 axis 232 and the Z3 axis 233 reciprocate in a dislocation manner along the Z-direction.
Referring to fig. 6, the Z2 axis 232 and the Z3 axis 233 together drive the first synchronous belt 280 to move by the first stepping motor 281, and the Z2 axis 232 and the Z3 axis 233 are fixed on opposite sides of the first synchronous belt 280 by the first fixing block 290 and the second fixing block 291 respectively, so that the Z2 axis 232 and the Z3 axis 233 do staggered reciprocating motion in the Z direction and work up and down in a staggered manner. Namely, when the Z2 axis 232 ascends along the Z direction, the Z3 axis 233 descends synchronously along the Z direction, and the ascending and descending heights are equal; when the Z2 axis 232 descends in the Z direction, the Z3 axis 233 ascends in the Z direction simultaneously, and the ascending and descending heights are equal. The reagent needle 250 is mounted on the Z2 axis needle frame, the reagent needle 250 moves up and down synchronously along the Z2 axis 232, and a spring shaft is further connected between the reagent needle 250 and the first fixed block 290, so that the anti-collision function of the reagent needle 250 can be realized. The gripper 260 is provided with fingers which synchronously move up and down along the Z3 axis 233 along the Z direction, and can grasp articles such as reaction cups and the like for transferring.
In an alternative form of this embodiment, the X-axis assembly 210 includes an X1 axis and an X2 axis that are disposed at intervals, and a Y-axis assembly 220 is connected between the X1 axis and the X2 axis. The X1 axis includes a second stepping motor 211 and a second synchronous belt 212, the second stepping motor 211 drives the second synchronous belt 212 to move along the X direction, one end of the Y axis assembly 220 is connected to the second synchronous belt 212, and the other end of the Y axis assembly 220 is connected to the guide rail of the X2 axis through a slider structure. The X-axis assembly 210 adopts a gantry structure, so that the overall structural stability is enhanced, and the overall structure is concise.
In an alternative manner of the present embodiment, the Y-axis assembly 220 includes a third stepping motor 221 and a third timing belt 222, and the third stepping motor 221 drives the third timing belt 222 to move in the Y direction. Two ends of the Y-axis assembly 220 are fixed on the cross beam of the X-axis assembly 210, and the third synchronous belt 222 is driven to move by the third stepping motor 221, so that the movement of the Y-axis assembly 220 along the Y direction is realized.
The transfer module 200 integrates multiple functions, so that a large number of pipette tips are omitted, no pipetting consumable materials are used, multiple functions are realized in a limited space, and the utilization efficiency of the space is improved. Meanwhile, the burden of a control structure is reduced, one arm is multifunctional, cross contamination is avoided, each function has the largest travel, the functions cannot interfere with each other in operation, the dislocation operation time is saved, and the working time utilization rate is improved.
The structure of the reagent level module 300 is described in detail as follows:
referring to fig. 7, the reagent tray 310 and the refrigerating chamber 320 are connected and positioned by a guiding structure, a guiding post 321 is provided on an inner wall of the refrigerating chamber 320, a guiding slot 311 is provided on a side wall of the reagent tray 310, and when the reagent tray 310 is placed in the refrigerating chamber 320, the guiding post 321 on the inner wall of the refrigerating chamber 320 is matched with the guiding slot 311 on the side wall of the reagent tray 310, so that the reagent tray 310 is accurately placed. The reagent tray 310 facilitates storage of the reagent tubes after use and is easy to handle. When the reagent tray 310 is used for taking and placing the reagent tubes, the reagent tray 310 can be quickly and accurately placed in place when being placed into the refrigerating chamber 320, so that the reagent can be conveniently taken out and managed. The reagent level module 300 also has a heat dissipation structure, which can rapidly dissipate heat.
Referring to fig. 8, the guide post 321 is disposed on an inner wall of one side of the refrigeration chamber 320, and is disposed along a height direction of the refrigeration chamber 320, and protrudes toward an inner direction of the refrigeration chamber 320. The guide post 321 is matched with the guide groove 311 in an embedded manner, so that the reagent tray 310 can be accurately placed.
Further, referring to fig. 9, the reagent tray 310 includes a first reagent tray, a second reagent tray and a chassis from top to bottom, the guide slot 311 is disposed on the second reagent tray and the chassis, and the first reagent tray and the second reagent tray are correspondingly provided with a plurality of reagent tube holes with different sizes.
The first reagent dish corresponds and is provided with a plurality of not different reagent tube holes of size with the second reagent dish, can be convenient for the reagent pipe of multiple different specifications insert and place, and reagent tube hole on first reagent dish and the second reagent dish can play limiting displacement to the placing of reagent pipe. The guide groove 311 is disposed on the second reagent tray and the chassis, and can cooperate with the guide post 321 to perform a guiding and positioning function when the reagent tray 310 is placed in the refrigerating chamber 320 from top to bottom.
Further, the guide groove 311 includes a first guide groove and a second guide groove, the first guide groove is disposed on a side wall of the second reagent disk, the second guide groove is disposed on a side wall of the chassis, the first guide groove is disposed toward an inner protrusion of the second reagent disk, and the second guide groove is disposed toward an inner protrusion of the chassis. The first guide way and the second guide way all set up on the lateral wall of reagent tray 310 one side, and the inside protrusion of first guide way orientation second reagent dish sets up, and the inside protrusion of second guide way orientation chassis sets up to first guide way and second guide way can realize the embedding cooperation with guide post 321, make reagent tray 310 can accurately place in place fast when placing into refrigeration cavity 320, prevent that the direction from placing the mistake.
The reagent position module 300 can provide a refrigeration constant temperature environment, reagents are stored in a set refrigeration temperature range, refrigeration work can be realized no matter the sample preparation instrument is started or stopped, the reagent position module 300 can be independently controlled through the physical switch button after the sample preparation instrument is stopped, and the reagents can be refrigerated without taking out. The reagent position module 300 is independently provided with a removable reagent tray 310, and the reagent tray 310 is placed in the refrigerating chamber 320 to have positioning and error-proofing functions, so that the reagent position module can be conveniently taken and placed, and can also be prevented from being misplaced. The reagent level module 300 also has the function of draining condensed water, i.e. water that condenses on cooling of the air in the cooling chamber 320.
The structure of the cuvette module 400 is further described as follows:
referring to fig. 10, the reaction cup module 400 is provided with a positioning post 420, the reaction cup holder 410 is provided with a positioning slot 411, and the positioning post 420 cooperates with the positioning slot 411 to prevent the wrong placement direction of the reaction cup holder 410. The inside of the reaction cup holder 410 is provided with a proximity switch, which can detect whether the reaction cup is put in place.
The sample preparation instrument is provided with two reaction cup modules 400, the two reaction cup modules 400 can be used alternately, the circulating sample preparation flow is ensured, and the sample preparation process can be uninterrupted. The cuvette module 400 has a positioning function, and can prevent misplacement of the cuvette holder 410, and the cuvette module 400 also has a in-place detection function, and can detect whether or not the cuvette holder 410 is placed.
The structure of the vortex mixing module 500 is further described as follows:
referring to fig. 11, the vortex mixing module 500 further includes a stepper motor 520 and an optocoupler detection assembly 530, an output shaft of the stepper motor 520 is connected to the eccentric mechanism 510, the stepper motor 520 rotates to drive the eccentric mechanism 510 to eccentrically rotate, the eccentric mechanism 510 has a receiving cavity for placing a reaction cup, the optocoupler detection assembly 530 is disposed on the eccentric mechanism 510, and the optocoupler detection assembly 530 is in signal connection with the stepper motor 520.
The stepper motor 520 drives the eccentric mechanism 510 to eccentrically rotate through rotation, and the eccentric rotation of the eccentric mechanism 510 causes the reaction cup to eccentrically rotate, so that liquid level vortex is generated. The optocoupler detection assembly 530 is in signal connection with the stepper motor 520, so that the rotating angle and position of the stepper motor 520 can be accurately controlled, the position of the reaction cup can be accurately controlled, the position of stopping after mixing can be controlled, the optocoupler detection assembly can be accurately stopped at a set position, and grabbing and pipetting are facilitated. The optocoupler detection assembly 530 can control the height of the vortex of the liquid level by controlling the rotating speed of the stepping motor 520, so that stable vortex uniform liquid level is generated, and the liquid level height is controllable. In addition, the vortex mixing module 500 is driven by the stepping motor 520, so that the service life is long, and the problem that the conventional vortex mixing instrument is short in driving life and easy to damage due to the use of a direct current motor can be effectively solved.
The vortex mixing module 500 can perform vortex mixing on liquid in the reaction cup, the vortex mixing amplitude is controllable and stable, and the stopping position of the reaction cup can be accurately controlled.
In an alternative to this embodiment, the sample preparation instrument further comprises a wash tank module 600, the wash tank module 600 being used to wash the sampling needle 240 and the reagent needle 250 and to drain waste.
In addition, the sample preparation instrument further comprises a rack module, wherein the rack module is a platform for integrally supporting and installing the sample preparation instrument and bears structural supports of other modules. The frame module adopts an integral sheet metal structure frame, not only can be used as a structural support, but also can be used as an external panel, and the structural installation is simplified.
It should also be noted that the sample preparation instrument further comprises a control module that is capable of providing control and/or operation of all components to automate the sample pretreatment process.
The application provides a full-automatic sample preparation appearance that possesses autosampler, sample automatic code of sweeping, sample area cap detection, sample automatic mixing, puncture sample, reagent refrigeration deposit, sample transfer, reagent transfer, vortex mixing, wash pond, reaction cup deposit etc. function. Each functional module can be used in combination, and various sample preparation can be completed through combination, so that the applicability of the instrument function is expanded. Meanwhile, the full-automatic sample pretreatment process is realized, the sample preparation is completed in a pipeline mode, the preparation efficiency is greatly improved, the consistency of sample preparation results is ensured, the test error is reduced, the manual treatment is replaced, the biochemical hazard of the sample to the human body is avoided, and the biological safety is improved.
Finally, it should be noted that: the first embodiment is only for illustrating the technical scheme of the present invention, and is not limited thereto; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the first embodiment can be modified or some or all of the technical features can be replaced equivalently; such modifications and substitutions do not depart from the essence of the corresponding technical solution from the scope of the technical solution of the embodiment of the present invention.
Claims (1)
1. A sample preparation instrument, comprising: the device comprises an automatic sample injection module, a transfer module, a reagent position module, a reaction cup module and a vortex mixing module;
the automatic sample injection module comprises a feeding mechanism, a stirring mechanism, a rocker mechanism and a sample discharging mechanism, wherein the feeding mechanism is used for pushing the test tube rack to reach the appointed position of the feeding bin, the stirring mechanism is provided with a stirring piece, the stirring piece stretches into a groove of the test tube rack to realize horizontal movement of the test tube rack, the rocker mechanism is used for taking out, shaking up and putting in a sample test tube in the test tube rack, and the sample discharging mechanism is used for pushing the test tube rack to the sample discharging bin after detection is completed;
the transfer module comprises an X-axis assembly, a Y-axis assembly and a Z-axis assembly which move along the X, Y, Z direction, wherein the Z-axis assembly comprises a Z1 axis, a Z2 axis and a Z3 axis which are mutually independent, the Z1 axis is provided with a sampling needle for puncturing, sampling and pipetting a sample test tube, the Z2 axis is provided with a reagent needle for pipetting a reagent, the Z3 axis is provided with a gripper capable of grabbing an article, and the Z-axis assembly is also fixedly provided with a filling needle capable of filling a solution;
the reagent position module comprises a reagent tray and a refrigerating chamber, wherein the reagent tray and the refrigerating chamber are positioned through a guide structure, and the reagent position module is used for refrigerating and preserving the reagent;
the guide structure comprises a guide column arranged on the inner wall of the refrigeration chamber and a guide groove arranged on the side wall of the reagent tray, and the guide column extends into the guide groove;
the reagent tray comprises a first reagent disk, a second reagent disk and a chassis from top to bottom, the guide groove is arranged on the second reagent disk and the chassis, and the guide groove is matched with the guide post when the reagent tray is placed into the refrigerating chamber from top to bottom; the first reagent disk and the second reagent disk are correspondingly provided with a plurality of reagent pipe holes with different sizes, so that the reagent pipes with different specifications can be conveniently inserted and placed; the guide groove comprises a first guide groove and a second guide groove, the first guide groove is arranged on the side wall of the second reagent disk, the second guide groove is arranged on the side wall of the chassis, the first guide groove protrudes towards the inside of the second reagent disk, and the second guide groove protrudes towards the inside of the chassis; the first guide groove, the second guide groove and the guide column are in embedded fit, so that the reagent tray can be quickly and accurately placed in place when being placed into the refrigeration cavity, and the direction placement error is prevented;
the vortex mixing module comprises an eccentric mechanism, and the eccentric mechanism is used for uniformly vortex mixing the liquid in the reaction cup through eccentric motion;
the automatic sample injection module further comprises a sensing device, a code scanning device and an optocoupler device which are connected through signals, the sensing device comprises a photoelectric sensor, the photoelectric sensor is used for detecting whether a sample test tube is capped or not, the code scanning device comprises a code scanning device, the code scanning device is used for scanning and uploading information of each sample test tube to be detected, the optocoupler device comprises a counting optocoupler, and the counting optocoupler is used for judging and counting the horizontal moving position of the test tube rack;
the automatic sample injection module further comprises a sampling device, the sampling device is connected with the rocker arm mechanism, the sampling device comprises a pressing sheet, and the pressing sheet is used for limiting the position of a sample test tube during sampling;
the Z-axis assembly comprises a Z-axis fixing part, the filling needle is arranged at the bottom of the Z-axis fixing part, and the Z1 axis, the Z2 axis and the Z3 axis are all connected with the Z-axis fixing part;
the Z-axis fixing part is provided with a screw rod stepping motor, and the Z1 axis is driven by the screw rod stepping motor to reciprocate along the Z direction;
the Z-axis fixing part is provided with a first synchronous belt and a first stepping motor, the first stepping motor drives the first synchronous belt to move along the Z direction, the Z2 axis and the Z3 axis are respectively arranged on two opposite sides of the first synchronous belt through a first fixing block and a second fixing block, and the Z2 axis and the Z3 axis do reciprocating dislocation movement along the Z direction;
the reagent needle is carried on the Z2-axis needle frame, and synchronously moves up and down along the Z direction along with the Z2 axis, and a spring shaft is also connected between the reagent needle and the first fixed block, so that the anti-collision function of the reagent needle can be realized; the gripper is provided with fingers which synchronously move up and down along the Z direction along with the Z3 axis, so that the gripper can grasp the reaction cup and then transfer;
the X-axis assembly comprises an X1 axis and an X2 axis which are arranged at intervals, a Y-axis assembly X1 axis comprises a second stepping motor and a second synchronous belt which are connected between the X1 axis and the X2 axis, one end of the Y-axis assembly is connected with the second synchronous belt, the other end of the Y-axis assembly is connected with a guide rail of the X2 axis through a sliding block structure, and the X-axis assembly adopts a gantry structure, so that the overall structural stability is enhanced, and the overall structure is concise;
the Y-axis assembly comprises a third stepping motor and a third synchronous belt, the third stepping motor drives the third synchronous belt to move along the Y direction, two ends of the Y-axis assembly are fixed on a cross beam of the X-axis assembly, and the third stepping motor drives the third synchronous belt to move, so that the movement of the Y-axis assembly along the Y direction is realized;
the reaction cup module comprises a reaction cup holder, wherein the reaction cup holder is used for placing a reaction cup, the reaction cup holder is provided with a positioning groove, the reaction cup module is provided with a positioning column, the positioning column is matched with the positioning groove to prevent wrong placement direction of the reaction cup holder, and a proximity switch is arranged in the reaction cup holder and used for detecting whether the reaction cup is placed in place or not; the sample preparation instrument is provided with two reaction cup modules which are used alternately, so that the circulating sample preparation flow is ensured, and the sample preparation process can be uninterrupted;
the vortex mixing module further comprises a stepping motor and an optocoupler detection assembly, an output shaft of the stepping motor is connected with the eccentric mechanism, the stepping motor rotates to drive the eccentric mechanism to eccentrically rotate, the eccentric mechanism is provided with a containing cavity for containing a reaction cup, the optocoupler detection assembly is arranged on the eccentric mechanism, and the optocoupler detection assembly is in signal connection with the stepping motor; the stepping motor drives the eccentric mechanism to eccentrically rotate through rotation, and the eccentric rotation of the eccentric mechanism enables the reaction cup to eccentrically rotate so as to generate liquid level vortex; the optical coupler detection assembly is in signal connection with the stepping motor, so that the rotating angle and the rotating position of the stepping motor can be accurately controlled, the position of the reaction cup can be accurately controlled, and the position at which the reaction cup stops after mixing is finished can be controlled, so that the reaction cup can be accurately stopped at a set position, and is convenient to grasp and move; the optocoupler detection assembly controls the rotating speed of the stepping motor, so that the height of the liquid level vortex can be controlled, stable vortex uniform liquid level is generated, and the liquid level height is controllable; the vortex mixing module can carry out vortex mixing on the liquid in the reaction cup, the vortex mixing amplitude is controllable and stable, and the stopping position of the reaction cup can be accurately controlled;
the sample preparation instrument further comprises a cleaning pool module for cleaning the sampling needle and the reagent needle and discharging waste liquid;
the sample preparation instrument also comprises a frame module, wherein the frame module is a platform for integrally supporting and installing the sample preparation instrument and bears the structural support of other modules; the frame module adopts an integral sheet metal structure frame and can be used as a structural support and an external panel.
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| CN116359523A (en) * | 2023-05-30 | 2023-06-30 | 深圳市第二人民医院(深圳市转化医学研究院) | Medical automatic sample split charging instrument and system |
| CN117804872B (en) * | 2024-02-28 | 2024-05-28 | 广州智达实验室科技有限公司 | Electronic microscope sample preparation system and control method |
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