EP3025158A2 - Verfahren zum handhaben eines probenröhrchens und vorrichtung zum handhaben - Google Patents

Verfahren zum handhaben eines probenröhrchens und vorrichtung zum handhaben

Info

Publication number
EP3025158A2
EP3025158A2 EP14746991.0A EP14746991A EP3025158A2 EP 3025158 A2 EP3025158 A2 EP 3025158A2 EP 14746991 A EP14746991 A EP 14746991A EP 3025158 A2 EP3025158 A2 EP 3025158A2
Authority
EP
European Patent Office
Prior art keywords
sample tube
handling
probenrohrchens
camera
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14746991.0A
Other languages
German (de)
English (en)
French (fr)
Inventor
Christoph Pedain
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
F Hoffmann La Roche AG
Roche Diagnostics GmbH
Original Assignee
F Hoffmann La Roche AG
Roche Diagnostics GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by F Hoffmann La Roche AG, Roche Diagnostics GmbH filed Critical F Hoffmann La Roche AG
Publication of EP3025158A2 publication Critical patent/EP3025158A2/de
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01N35/00584—Control arrangements for automatic analysers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0491—Position sensing, encoding; closed-loop control
    • G01N2035/0493—Locating samples; identifying different tube sizes

Definitions

  • the invention relates to a method for handling a sample tube by means of a Grain f adopted.
  • the invention further relates to an apparatus for handling a sample tube.
  • Generic methods and devices are often used to change sample tubes filled with samples in situ. This may be necessary, for example, when sample tubes filled with analyte are to be placed in an analyzer or when reformatting is required, which typically involves transferring the sample tubes from one fixture such as a carrier to another fixture of another type.
  • the invention relates to a method for handling a sample tube by means of a gripping device, comprising the steps of: determining (determining, detecting) a position, and / or an extent and / or spatial information of the sample tube and / or its holder in space, and
  • the position of the sample tube is first determined before starting to handle the sample tube. This allows unforeseen and / or unplanned changes in the position to be taken into account in comparison with a possibly predetermined or stored reference position.
  • the gripping device can grip precisely at a position at which a sample tube was detected. Delays or damage are effectively avoided in this way.
  • the gripping device is preferably controlled, and even more preferably automatically controlled electronically. This allows for easy implementation and programming as well as the provision of numerous functionalities, some of which are described below.
  • the position can be a coordinate in a one-dimensional, two-dimensional or three-dimensional coordinate system.
  • the number of dimensions to be considered is given by the technical conditions. If, for example, the gripping device can only be moved one-dimensionally, it suffices to specify a coordinate in a one-dimensional coordinate system. If the gripping device can be moved in two dimensions, for example by means of an XY positioner, two coordinates are required in a two-dimensional coordinate system. If the gripping device can be moved in three dimensions, for example by means of a robot arm, three coordinates in a three-dimensional coordinate system are generally required.
  • the gripping device may be a conventional design, for example in the form of a pair of pliers.
  • the gripping device is preferably designed such that they can grip the respective sample tube and change it in place.
  • the gripping device can also be designed completely differently, depending on how the respective sample tubes can be handled.
  • the gripping device may comprise a magnet or a negative pressure acted upon opening for sucking sample tubes.
  • the sample tube forms a liquid container that can be accommodated in a puck.
  • a puck is a disk which typically has a holder for a sample tube. This holder may for example be designed in the form of a depression, which is preferably formed centrally in the puck. In this recess then a sample tube can be inserted.
  • a puck can advantageously have a permanent magnet, which enables a method of pucking on a pad designed for this purpose by the application of magnetic fields.
  • the sample tubes are typically conventional sample tubes for the collection of liquids used in the medical or chemical field. They preferably have a closable opening.
  • the liquid container is preferably filled with liquid to be analyzed. These may be, for example, body fluid such as blood or urine. The method is thus preferably applicable for medical purposes. In the field of medical technology, analyzes often occur which are to be carried out successively for a large number of samples. In this case, the method according to the invention can significantly reduce the total processing time and avoid possible errors and delays.
  • the sample tube is changed in place and for this purpose preferably (also) raised.
  • This allows the movement of the sample tube to another location.
  • the sample tube can be removed from a rack.
  • it can then be stored again in another holding device or in the same holding device.
  • the process is preferably used for reformatting.
  • it is preferably used for displacing sample tubes which are mounted on a holding device of a first type and which are to be transferred to a holding device of a second type.
  • a group of sample tubes which are arranged on or in a specific holding device, which has been filled, for example, in a doctor's office, to be "reformatted" on another holding device, which is suitable for insertion into an analyzer.
  • a center point or an extension of the sample tube is determined with respect to one, two or three dimensions.
  • the recognition of a center is particularly advantageous in sample tubes which have a certain symmetry at least in one, two or three dimensions.
  • a center point in the form of a dot on an axis of symmetry of the sample tube, which is arranged at an upper end of the sample tube can be detected.
  • an external extent can also be recognized, which may be advantageous in particular if it is to be expected that sample tubes of different dimensions will be used.
  • the determined extent of the sample tube can be taken into account when gripping by the gripping device, which avoids damage, for example due to excessive force application with a thicker than assumed sample tube.
  • the number of dimensions to be considered depends, as already described above, on the respective circumstances.
  • an orientation of the sample tube for example, an orientation indicating axis
  • the gripping device can take into consideration deviating from the standard alignments. This can occur, for example, when sample tubes are stored obliquely in a holding device. In this case, the gripping device, for example, grab the sample tube also wrong and pull out accordingly. Even so, damage can be avoided.
  • the step of handling the sample tube is further preferably carried out as a function of the orientation of the sample tube.
  • the step of detecting the position of the sample tube is preferably performed using a stereo camera or a 3D camera. Not only can such cameras capture a common two-dimensional image, but they can also achieve spatial resolution. For this purpose, they are typically designed such that the images of two two-dimensional cameras are evaluated in parallel. Stereo cameras and 3D cameras are known in the art, so reference should be made in this regard to the relevant literature.
  • the step of recognizing the position is further carried out using a further camera, which is preferably a 2D camera and more preferably is mounted on the Grain f adopted.
  • This further camera can also be called a gripper camera.
  • the accuracy of gripping can be improved, in particular, in a position in which the gripping device is located immediately adjacent to a sample tube to be accommodated, this sample tube can be picked up again with improved accuracy from a short distance.
  • the gripping process can be further optimized. An erroneous gripping or damaging the sample tube will be even less likely.
  • the method further comprises a step of recognizing a free position in a holder or storage area for sample tubes, which is preferably carried out by the same means with which the step of determining the position is also performed. More preferably, a sample tube is subsequently deposited by the gripping device at the free position.
  • the step of detecting a free position may also be performed by (mechanical) scanning.
  • an image database is used, preferably for determining target coordinates.
  • typical images of sample tubes can be stored, so that a corresponding evaluation can be reliably and easily detected, whether such a sample tube is in a position in which it can be arranged, for example, due to the formation of a holding device used.
  • the image database may store images of states during a handling operation to store, for example, original layouts, etc.
  • the target coordinates can be used directly to control the gripper.
  • these may be coordinates, as described above.
  • the method further comprises a step of detecting a damage of the sample tube, which is preferably performed by the same means with which the step of determining the position is also performed, and further preferably, the step of handling the sample tube is performed in response thereto will determine if damage has been detected.
  • the existing means for detecting the position such as corresponding cameras, also be used to detect any damage to the sample tube in a timely manner. If a sample tube is damaged, for example, it may be provided that the gripping and lifting of such a sample tube is dispensed with. If, for example, a sample tube is damaged only at an upper edge, it can be prevented in this way that, by gripping by means of the gripping device, destruction of the sample tube is initiated, which would be associated with the loss of a liquid to be analyzed therein.
  • the method further comprises a step of depositing a sample tube at a position from which a sample tube has previously been lifted.
  • the gripping device used can thus expose itself to a position by moving a sample tube previously located at the corresponding position to another position. This can be used, for example, to force a particular arrangement or sorting of sample tubes in a holding device.
  • the invention further relates to a device for handling sample tubes, comprising - a gripping device,
  • an image capture device and - A control device for controlling the gripping device in response to signals generated by the image capture device.
  • the device according to the invention achieves the advantages already described with reference to the method according to the invention.
  • the variants of the individual components already described with reference to the method can be applied correspondingly to the device according to the invention.
  • the control device is preferably an electronic control device.
  • a processor preferably has processor means and memory means, wherein instructions are stored in the memory means, in the execution of which a method according to the invention is carried out by the processor means.
  • processor means preferably has processor means and memory means, wherein instructions are stored in the memory means, in the execution of which a method according to the invention is carried out by the processor means.
  • all variants of the method according to the invention described above can be applied accordingly. The advantages described in this connection are thus achieved by means of the device for handling sample tubes.
  • the image capture device preferably has a stereo camera or a 3D camera, which is preferably arranged spatially immutable. Further preferably, the image capture device further comprises a 2D camera, which is arranged on the gripping device and is moved with this.
  • the gripping device is preferably movable by means of an X-Y positioner. This allows easy travel in two dimensions, which is a suitable design for most typical applications in which samples are to be taken out of and returned to appropriate fixtures for analysis.
  • spatial information of a tube arrangement should be determined by means of a camera.
  • a controller of a gripper then accesses in dependence on the spatial information.
  • a 3D space measurement can be performed by means of a stereo camera.
  • the gripper also takes into account the orientation of tubes, the orientation of a tube does not have to correspond exactly to a given orientation. Rather, a tube may also go awry in a holding device For example, a rack stuck, as this is detected by a camera and compensated accordingly by the gripper.
  • an apparatus and method of a gripping mechanism for gripping a puck or sample tube which when gripped creates a 3D image of the room, the sample tube or the position and orientation of the sample tube from geometric data such as tube center and / or. or tube axis, is detected, which is then targeted and accessed based on these data.
  • another camera is attached to the gripper, specifically for fine alignment or compensation of inaccuracies.
  • This camera is used to two-dimensionally find a correct starting point on the tube using the three-dimensional image.
  • the position of the tube can be determined via the movements of a gripper finger, but also the bearing axis is used, so that the bearing axis of the tube can be measured and recognized, whereby in turn it can be recognized how the tube is best grasped or how much the position of the gripper needs to be changed to properly grasp the tube.
  • images are used to determine positions and target coordinates and to determine a settling point.
  • any damage to tubes are detected and derived from error messages or different handling. Damage to a sample carrier can also be detected, leading to a different handling of the tube or the entire tube carrier or individual positions of the sample carrier.
  • the holding device may be a magnet, which may be used, for example, for holding magnetic pucks.
  • the holding device may, for example, also be a vacuum pump which generates a holding effect by generating a negative pressure.
  • the single FIGURE shows an embodiment of a device for handling sample tubes, with which a method for handling sample tubes can be performed.
  • the sole figure shows a device for handling sample tubes. This has a 3D camera arrangement 1 with which three-dimensional images can be recorded.
  • the 3D camera arrangement 1 can be arranged stationarily at a predetermined position. Alternatively, it may be arranged to be mobile.
  • the device further comprises a gripping device in the form of a gripper 3 for gripping sample tubes 5, wherein the sample tubes 5 are mounted in a holding device in the form of a tube holder or tube carrier 6.
  • a further camera in the form of a gripper camera 2 is provided, which is a two-dimensional camera.
  • the tube carrier 6 rests on a support surface 7, on which a number of position sensors 8, for example in the form of optical sensors or magnetic sensors, are further arranged. By means of these position sensors 8, a position of the tube carrier 6 can be determined.
  • the tube carrier 6 is fixed by means of a holding device 9 on the support surface 7. These are magnets in the present case.
  • the gripper 3 is attached to an XY positioner 4, by means of which it can be moved in two dimensions. In order to grasp what is needed for lifting and depositing, it can also be moved in the vertical direction.
  • positions of the sample tube 5 can be detected and the gripper 3 can be controlled accordingly.
  • a particular sample tube 5, which was visually recognized in this way can be controlled, gripped and lifted.
  • it can be introduced into an analysis device (not shown).
  • an electronic control device which receives images from the 3D camera assembly 1 and the gripper camera 2 and depending on the gripper controls 3.
  • the positioning of the gripper 3 over a respective sample tube 5 and the corresponding gripping can be further improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
  • Manipulator (AREA)
  • Sampling And Sample Adjustment (AREA)
EP14746991.0A 2013-07-26 2014-07-25 Verfahren zum handhaben eines probenröhrchens und vorrichtung zum handhaben Withdrawn EP3025158A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013214694.9A DE102013214694B4 (de) 2013-07-26 2013-07-26 Verfahren zum Handhaben eines Gegenstands und Vorrichtung zum Handhaben von Gegenständen
PCT/EP2014/066070 WO2015011274A2 (de) 2013-07-26 2014-07-25 Verfahren zum handhaben eines probenröhrchens und vorrichtung zum handhaben

Publications (1)

Publication Number Publication Date
EP3025158A2 true EP3025158A2 (de) 2016-06-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP14746991.0A Withdrawn EP3025158A2 (de) 2013-07-26 2014-07-25 Verfahren zum handhaben eines probenröhrchens und vorrichtung zum handhaben

Country Status (6)

Country Link
US (2) US10509047B2 (zh)
EP (1) EP3025158A2 (zh)
JP (2) JP2016530507A (zh)
CN (1) CN105393122A (zh)
DE (1) DE102013214694B4 (zh)
WO (1) WO2015011274A2 (zh)

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US10509047B2 (en) 2019-12-17
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DE102013214694A1 (de) 2015-01-29
CN105393122A (zh) 2016-03-09
WO2015011274A2 (de) 2015-01-29
WO2015011274A3 (de) 2015-06-11
DE102013214694B4 (de) 2015-02-12
US20160124006A1 (en) 2016-05-05
US20200081021A1 (en) 2020-03-12

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