DE19956178A1 - Documenting process for handling of materials, useful during pipetting, comprises determining positions of carriers and vessels on working surface and storing the positions using data processing system - Google Patents

Abstract

A documenting process for the handling of materials comprising: (a) determining the positions of one or more sample carriers and receiving vessels on a working surface; (b) storing the data using a data processing system; (c) determining each result via a detector; (d) determining the position of the tool; and (e) storing the positions of the tool using the data processing system, is new. A documenting process for the handling of materials comprising: (a) determining the positions of one or more sample carriers and receiving vessels on a working surface (1) in a fixed coordinate system; (b) storing the data using a data processing system (7); (c) automatically determining each result via a detector provided in the tool (2); (d) automatically determining the position of the tool on entering a result using a measuring device; and (e) storing the positions of the tool in a sequence over a time period of entering using the data processing system, is new. Independent claims are also included for the following: (1) ensuring the quality for the handling of materials; and (2) an arrangement for ensuring the quality and/or documenting materials comprising: (a) a tool for receiving or releasing materials consisting of a detector for determining each result; (b) a measuring device for determining the position of the tool over the working surface; and (c) a data processing device.

Description

The present invention relates to method ren and an arrangement for documentation and / or Quality assurance in the manual handling of fabrics, especially in liquid handling.

The main field of application of the invention relates to documentation and quality assurance at manuel len pipetting, as is the case in a large number of laboratories is carried out. Examples are biological and biotechnological, chemical, pharmaceutical, me medical or analytical laboratories, the latter in the field of environmental analysis and food analysis.

Especially in biotechnological or pharmaceutical Quality assurance is of great importance to laboratories measured. On the one hand, quality assurance counts ensuring the correct pipetting steps, especially with regard to the type and amount of each step onto a sample carrier fe, and on the other hand the possibility of later re tracking of process parameters and the individual pro steps. This is especially a faultless one Documentation essential.

Use of automatic pipetting machines for liquid Handling is only economical with high throughput sensible. The Ar Read steps from the program of the machine and thus be documented. The programming the  This pipetting machine is largely Windows based, but still requires intensive Training of the staff to operate the machine. This leads to a high expenditure of time and money which only with a correspondingly high throughput of samples makes economic sense. The devices are complex, so that an elaborate learning and training of the Be servant is necessary. When changing the laboratory protocol also have to go through extensive programming leads, so the flexibility of this pipet vending machine is only low.

Because of the cost and the low flexibility of the pipetting machines are therefore very many liquid Handling processes carried out manually. An automatic documented these liquid handling processes currently not possible. Manual liquid handling follows with conventional hand pipettes. The high Purity, avoidance requirements of carry-over of samples and correct implementation The individual steps require a strict procedure work discipline and concentration of staff. Since the individual handling steps simple, monotonous and are time-consuming, there is a high risk of errors, the poor quality, especially in the case of repeat projects can lead to eating. The documentation of the individual Pi petting steps must be done manually. The samples too Tracking is a problem with manual liquid handling dig. So in many cases it is necessary to have small ones Plastic tubes, such as Eppendorf tubes, to label manually. This is time consuming and can due to the small size of these plastic tubes indistinct or incomplete, so that a  new source of error arises. Because of the complexity and variability in biochemical processes is considered the liquid handling nonetheless highly qualified personnel needed that the time consuming manual processes performs. This in turn leads to high personnel costs most.

Based on this state of the art Invention based on the object, a method and a Arrangement for documentation and / or quality assurance to provide in the manual handling of substances, which enables simple and error-free documentation or the risk of faulty handling Reduce steps.

The object is achieved with the method according to claim 1 and 2 and the arrangement according to claim 12 solved. Before partial configurations of the procedure and the arrangement are subject of the subclaims.

The method according to the invention is common the same idea, the position of the for handling of the tools used over the work surface automatically with the help of a measuring device grasp and either through a data processing system save or in real time by comparison with egg a given target course of the individual handling Monitor steps. For this is before the execution the handling steps, the acquisition and storage the positions of those on the work surface Chen sample carrier for the delivery of the substances and recording Containers required to hold the substances. The inventive method and the inventive  The arrangement refers to handling procedures, where fabrics are in one place on a work surface picked up with an appropriate tool and on another part of the work surface with the tool be returned again. Admission or delivery a substance corresponds to a handling Step. The whole process consists of a multitude such handling steps. A preferred application The area of application relates to liquid handling in Form of pipetting, in which the pipette is used as Tool reagents from appropriate receptacles nissen and placed on specimen slides be. The method according to the invention or the proper arrangement is also for handling and the transport of other substances, for example in Powder form, suitable.

For an application in which only one verbes Documentation of the individual handling steps the method according to the invention should follow Next, grasping the positions of those on the job flat sample holder and receptacle se in a fixed coordinate system, the fixed is coupled to the work surface. This data will stored by a data processing system. The he a standardized Ar working surface, for example with a coordinate system ster, be relieved. There is a possibility here that an operator has the appropriate coordinates reads and with the information about the read to the sample positions or receptacles in their positions into the data processing system. Of course, an automated one  Detection of the individual objects on the work surface, for example via an image processing system or by sensors attached to the work surface, success The use of a stan is particularly advantageous standardized work surface, the structure of which is already in the Data processing system is stored so that le diglich the further information about the to the ent objects arranged in speaking positions from the operator ner must be entered. For example by detecting an object, e.g. B. one Microplate, provided barcodes are made, the information to the data processing system is averaged. The barcode contains all of them in Ver binding with the object for the corresponding application relevant information.

After this acquisition and storage of the configu manual handling Start the process with the appropriate tool. At the A detector is provided in the tool itself, which automatically records and outputs each record nis of a substance. Because the admission or delivery of substances with the tool usually through a An element must be actuated on the tool, can detect these events by detecting the actuation of the corresponding element in a simple manner become. The recorded events are each the Da processing system transmitted. Still done an automatic during the individual handling steps cal detection of the position of the tool over the ar working area. This can, but does not have to be continuous Lich done. A detection of the position of the tool every time a recording or output occurs event is out for the purposes of documentation  reaching. The recording is done automatically via a provided on or on the work surface Measuring device. Examples of such measuring equipment are described below. Of course It happens when the position of the plant is recorded in particular to the position of the recording or Output opening.

In this way, the entire handling process, from a multitude of individual handling steps exists, recorded without the user - with the exception the first time the configuration of the ar working area - must develop additional activities. The items recorded during the handling process of the tool in which a recording or output event was detected, either in the Order of their occurrence and / or with an indication about the time of occurrence by the data processing processing system saved. This way everyone can time by reading out the stored data Handling process to be checked. Is this done Control with every handling process, so it becomes the quality of the (handling) results increased, because Easy to handle handling processes are easier to recognize.

In an application that already during the Execution of the handling process the security or The use of the inventive method, the following steps in front. In this case too, the positions are first the sample holder on the work surface and Receptacles in one with the work surface firmly coupled fixed coordinate system detected and stored by a data processing system. This  is done in the same way as in the previous Darge posed use case.

An additional step comes with this application addition that the target positions for the recording and delivery of the substances in accordance with the Handling task in the given order in that Data processing system can be saved. This The target course to be saved indicates at least by what positions where substances are included substances and in what order Admission and delivery steps must be carried out sen. This information can be saved at for example by the operator.

However, manual is preferred first Handling process by the user using the previously in connection with the improved documentation described process steps leads, so that the positions as well as the order be are already on the data processing system. This simplifies the storage of these positions and Rei order considerably. Even in the present application In this case, every recording is automatically and delivery event via a provided in the tool a detector. Furthermore, the position of the tool ges over the work surface by a corresponding Measuring device automatically recorded in real time. This Data is sent to the data processing system forwarded to the position of the Ver tool with the stored target position resembles that depending on the already captured Admission and dispensing events in the order of next must be achieved. When reaching the as the next target position to be approached causes the Da  dispensing or interrupting of a signal. Here, the data processing system stem either causes a signal to be sent when the target position is reached or for as long this has not been reached. This signal can, for example as an optical and / or acoustic signal donors are given. The operator must do this no additional records during the handling process develop activities. The security or quality of the However, the pipetting process is significantly increased because of the Operator only when the corresponding signal is present will carry out the admission or delivery process. Poss errors during the handling process this drastically reduces, if not entirely closed.

The position of the tool must be recorded not continuous, rather one is sufficient Capture at short intervals that work speed of the operator are adjusted.

On the one hand, the methods presented enable automatic documentation of the individual handling Steps without the risk of manual documentation on occurring errors. The risk of Errors in the execution of the individual handling Steps minimized. By emitting a signal at Reaching the pre-set for the next handling step The target position is the time for the entire Handling process significantly reduced and at the same time increases security. This also reduces knockout most per sample used in the handling process.

A component of the present procedure or the arrangement for their implementation is universal  les, inexpensive and flexible tool tracking System. This enables the tool to be tracked (Tool) and the documentation of the performed hand Ling steps. It is a partial one automated and therefore inexpensive device. The System is flexible because there is no complex programming operation is required. The procedure or the order tion increases productivity and reduces costs by saving time in documentation and samples Labelling. Furthermore, the automatic Documentation tracking samples when changing the Allows arrangement on the work surface. The single samples can be printed quickly and easily be labeled xibel.

In a preferred embodiment, in addition to the positions as well as the admission and submission event the intake and dispensing quantity with each opening occurrence of a recording or output event via ei Detector provided on the tool and the Data processing system transmitted and saved there chert. This enables additional control of the quantities of substance handled in each case.

In a further embodiment, in particular re the use of a pipette as a tool for liquid Handling concerns, every pipet change will also tip detected by a detector on the pipette and saved. The storage takes place here type that can be determined from the stored data between which of the multitude of pipettes steps, i.e. the admission and delivery events, a pipette change has taken place. Such one  Pipette changes can also be made when saving of the target course of the individual steps be so that at the corresponding (temporal) Po sition within the handling process by the Da signal processing system may require the operator to change the pipette tip prompts.

Another application of the document process programming consists of programming a robot for the implementation of the handling process. So can the handling process first by an operator ma be carried out nuel, the documentation ge done automatically according to the invention. The one at this documented processes for the first time manually ge, especially the positions for admission and delivery of substances, their order as well as the absorption and Delivery quantities, including where appropriate, wide steps, such as changing a Pi pettenspitze, will be suitable in a program for the Control of a robot for automatic movement of the tool implemented.

The arrangement according to the invention continues least from the tool, the measuring device for recording solution of the position of the tool over a work surface che and a data processing device together. The tool has at least one detector that every intake and delivery event of the substance detected. Furthermore, the detector and the measurement device with the data processing device of be connected in such a way that the collected data can be communicated. This can be done by cable or through  wireless communication. The measuring device preferably consists of at least two ge separated components. One component is on the tool attached itself and emits a corresponding signal, that from the measuring device on the work surface is arranged, is received. The measuring device can befe, for example, by two on the tool constant ultrasonic transmitters are formed, whose signals from a recipient who is stationary relative to the work surface received and evaluated. When using egg A pipette as a tool becomes two separate Ultra sound transmitter needed to also the spatial position to determine the pipette (coordinate and angular position) can. This is necessary in order to get the data from this To be able to calculate the position of the opening of the pipette. A sensor directly at this opening is due to a frequent changing of the pipette tip is not practical.

In a further embodiment, instead of Ultrasonic transmitter light-emitting diodes on the pipette hen whose light signal from one on the work surface arranged receiver recorded and for calculation the spatial position of the pipette is used.

Such detection systems are for example from the Medicine known for tracking endoscopes.

Another embodiment of the measuring device uses an electromagnetic sensor like the one in Area of virtual reality is already used. The Sensor consists of a unit with three integrated Coils attached to the tool. On the ar on the working surface there is a coil module at definier ter position. This coil module generates an electroma  genetic field, whereby through interactions with the Sensor on the tool calculates the position of the tool can be net.

All three systems presented thus allow Detection of the spatial position of the tool. Through the fig working area on the data processing system and the detected spatial position of the tool can be done by hand ling process can be documented automatically.

The invention is based on an off example in connection with the drawings explained again. Here show:

Figure 1 is a pipette with attached electromagnetic cal sensor over the work surface.

Fig. 2 is a view of a digital pipette and the control panel of this pipette; and

Fig. 3 shows an example of an inventive pipette animal control system in an overall view.

In the present exemplary embodiment, the method and the arrangement according to the invention are explained in more detail using a manual pipetting process. The pipetting control system is based on a work surface 1 , which is divided into an area for receiving reagents (template area) and an area for receiving empty sample carriers (receiving area), into which the reagents are distributed or mixed. As a sample carrier, for example, microtiter plates, ep pendorf tubes or glass tubes come into question. The different sample carriers are stored on a PC in a library.

Before the handling process begins, the configuration of the work area is created on the PC. This can be done using drag and drop, for example. The individual positions can be specified in more detail by specifying the reagents. To detect the position of the pipette in space (coordinate and angle), a pipette 2 is used, which is equipped with an electromagnetic sensor 3 .

Commercial pipettes have two lever mechanisms. One of the mechanisms is for the actuation of the pipette piston for receiving and dispensing liquids, the other is intended for ejecting the pipette tip. By equipping these lever mechanisms with buttons 4, it is possible to record whether a liquid has been taken up or dispensed, and whether a tip change is being carried out. Since the piston for receiving and dispensing liquids is actuated differently, the intake can be differentiated from the dispensing by a corresponding sensor system. The setting of the pipette volume can be recorded, for example, using a potentiometer.

However, digital pipettes, as shown in FIG. 2, are preferably used. These digital pipettes make it easier to record the pipetting volume and the sample delivery or recording, since they already generate appropriate control signals. Two different buttons 4 a, 4 b are already provided for sample taking and sample dispensing, as can be seen, for example, from FIG. 2. The left part of this figure shows the overall view of a digital pipette, the right part the control panel with the buttons located at the upper end.

Fig. 1 shows a test setup with a pipette 2 , which is equipped with an electromagnetic sensor 3 . This pipette also has a button 4 which detects a recording or delivery event. Furthermore, the work surface 1 can be seen with correspondingly provided sample carriers 5 .

If a routine is processed for the first time, so the pipetting operations, that is, the position the absorption of liquids, the position of the exhaust be, the pipetting volume, a tip change etc. by the PC recorded and filed. When repeating the This is routinely called up by the PC. By comparison the target position, i.e. the values from the PC, and the Actual position, that is the current position over the measurement direction of the position of the pipette, and one at for example, acoustic warning in the event of a possible fault high quality assurance is guaranteed continuous

In a further stage of the invention The process can be derived from the handling instruction and the recorded pipetting pattern a pipetting program generated, which on a pipetting robot can be transferred.

Deriving the program for executing the Pi Petting tasks on a laboratory robot can be done automatically through a task-oriented programming process consequences. For this, biotechnological manufacturing regulations in parameterized standard work tasks disassembled. These parameterized standard work tasks  are made serial or parallel by suitable conditions lel linked together so that a priority graph standing out of parameterized standard work tasks as nodes and transition conditions as edges of the gra fen arises. Through this description of the work gift can optimize the sequence of work steps through knowledge of count theory Examples of parameterized standard work on in the present case, for example, liquid speed transfer or sample transfer. Examples of About Current conditions are, for example, change of tops or washing. Implementation of the parameterized Stan Tard work tasks on Be executable for the robot erroneous sequences occur by breaking down the parame standardized standard tasks into the elements Driving task and technological task.

The driving task consists of the geometric loading coordination of starting and destination points and the path planning the movement. There must be collision-free movements sult.

The technological task includes the Start or end point of work to be carried out at for example liquid handling, gripping, etc.

An executable robot program is provided by the Assignment of the resulting command sequences to the resources known to the system taking into account the configuration of the work platform. The right resulting command sequences are divided into specific ones Individual instructions for the assigned resource implemented.

Examples of such resources are exemplary assign the working platform, the washing station, robots  arms, grippers, sample holders or the like. The confi guration describes the geometric arrangement of a individual resources in the system. In addition, abilities of resources among each other. The Ab interdependency of the various resources usually only has to be done when rebuilding or changing the Workstation can be entered, for example at Add a robotic arm or peripheral tes.

The user needs to program the robot only the following process steps to lead.

When rebuilding the system, the basic configuration tion of the system, that is, the Ab interdependence of resources, etc.

When changing the work cell layout, this must be done new layout will be announced to the system that is especially the location of the liquid containers ter, the position of the sample holder or from general resources not known to the system.

When changing the biotechnological manufacturing the only requirement is the pipetting task in bio technological terms, for example submission, Aliquoting, eluting, etc. can be specified.

Fig. 3 shows again schematically an example of the arrangement of the invention with the pipette 2 to the working platform 1, an operator 6, and a workstation terminal as a data processing system 7. In this case too, the pipette 2 contains the sensors 3 for position control.

Claims (20)

1. Procedure for documenting manual handling of substances, in particular liquid handling, using a tool ( 2 ) for picking up or dispensing the substances, with the following steps:

• - Detection of the positions of one or more sample carriers and receptacles located on a work surface ( 1 ) in a stationary coordinate system and storage of the recorded data by a data processing system ( 7 );
• - Automatic detection of each recording and output event from substances via a detector provided in the tool ( 2 );
• - Automatic detection of the position of the tool ( 2 ) on the work surface ( 1 ) with each occurrence of a recording or output event by a measuring device;
• - Saving the positions of the tool ( 2 ), in which a recording or output event was recorded, in the order of occurrence and / or with an indication of the time of occurrence by the data processing system ( 7 ).

2. Procedure for quality assurance in the manual handling of substances, in particular in liquid handling, with a tool ( 2 ) for picking up or dispensing the substances, with the following steps:

• - Detection of the positions of one or more sample carriers and receptacles located on a work surface ( 1 ) in a stationary coordinate system and storage of the recorded data by a data processing system ( 7 );
• - Saving the target positions for the absorption and delivery of substances in a sequence specified by the respective handling task (target sequence) or with information about this sequence;
• - Automatic detection of each recording and output event of substances via a detector provided in the tool ( 2 );
• - Automatic detection of the position of the tool ( 2 ) on the work surface ( 1 ) by a measuring device in real time;
• - Comparing the respectively detected position of the tool ( 2 ) with the stored target position, which, depending on the already recorded recording and output events in the order it must be next, by the data processing system ( 7 ); and
• - Issuing or interrupting a signal by the data processing system ( 7 ) when this target position is sufficient.

3. The method according to claim 2, characterized, that the signal via an optical and / or acousti is signaled. 4. The method according to claim 2 or 3, characterized, that storing the target positions for recording and dispensing substances in the hand ling task given order with the procedure according to claim 1.   5. The method according to any one of claims 2 to 4, characterized in that in addition to the desired positions each change to be carried out with the tool ( 2 ) releasably connected tip, through which the absorption and output of the substances takes place, with respect to time to the sequence the target positions are stored, and that a requisite change by comparing the already recorded recording and output events with the stored order from the data processing system ( 7 ) is determined and is indicated by an optical or acoustic signal. 6. The method according to claim 5, characterized in that the storage of the change to be carried out is carried out with a method according to claim 1, in addition to each change of the detachably connected to the tool ( 2 ) detected tip via a detector and with a temporal reference to the recorded recording or output events and / or with an indication of the time of the change by the data processing system ( 7 ) is stored. 7. The method according to any one of claims 2 to 6, characterized in that the event detected each time a recording or output event position of the tool ( 2 ) above the work surface ( 1 ) in the order of occurrence and / or with an indication of the time of occurrence is saved by the data processing system ( 7 ). 8. The method according to claim 1 or 7, characterized, that continue the intake and release of substances every time a recording or output occurs event recorded and stored via a detector become. 9. The method according to claim 1, 7 or 8, characterized in that each change of a / with the tool ( 2 ) detachably connected tip, through which the absorption and output of the substances takes place, it detects and with a time reference to the recorded recording or output events and / or with an indication of the time of the change by the data processing system ( 7 ) is stored. 10. The method according to any one of claims 1 to 9, characterized in that the detection of the position of the tool ( 2 ) on the work surface ( 1 ) is carried out at intervals of less than 1 s. 11. The method according to any one of claims 1 to 10, characterized in that the detection of the position of the tool ( 2 ) by means of ultrasound, optically or electromagnetically it follows. 12. Application of the method according to claim 1 to the pro programming of a robot for the implementation of the  Handling. 13. Arrangement for quality assurance and / or documentation in the manual handling of substances, in particular in the case of liquid handling, which is at least different

• - A tool ( 2 ) for picking up or dispensing substances, which has a detector for the detection of each pick-up and each output event,
• - A measuring device for detecting the position of the tool ( 2 ) over a work surface ( 1 ), the measuring device consisting of at least one component ( 3 ) attached to the tool ( 2 ) and a component provided separately from the tool, and
• - A data processing device ( 7 ) puts together, wherein the detector and the measuring device for transmitting the recorded recording events, output events and positions are connected to the data processing device ( 7 ).

14. Arrangement according to claim 13, characterized in that the detector is a button ( 4 ) on the tool ( 2 ) through which the absorption or release of substances is triggered. 15. Arrangement according to claim 13 or 14, characterized in that the measuring device comprises two ultrasound transmitters attached to the tool ( 2 ) and a receiver which is stationary relative to the working surface ( 1 ). 16. The arrangement according to claim 13 or 14, characterized in that the measuring device comprises two light sources attached to the tool ( 2 ) and a receiver which is stationary relative to the working surface ( 1 ). 17. Arrangement according to claim 13 or 14, characterized, that the measuring device is an electromagnetic sensor is. 18. Arrangement according to one of claims 13 to 17, characterized in that the tool ( 2 ) is a pipette, in particular a digital pipette. 19. The arrangement according to claim 18, characterized in that the pipette has a mechanism for changing a pipette tip, the mechanism being designed as a detector for changing the pipette tip and being connected to the data processing device ( 7 ). 20. Arrangement according to one of claims 13 to 19, characterized in that an optical or acoustic signal transmitter connected to the data processing device ( 7 ) is also provided.