JP6082018B2 - サンプルを処理するためのシステムおよび方法 - Google Patents
サンプルを処理するためのシステムおよび方法 Download PDFInfo
- Publication number
- JP6082018B2 JP6082018B2 JP2014540220A JP2014540220A JP6082018B2 JP 6082018 B2 JP6082018 B2 JP 6082018B2 JP 2014540220 A JP2014540220 A JP 2014540220A JP 2014540220 A JP2014540220 A JP 2014540220A JP 6082018 B2 JP6082018 B2 JP 6082018B2
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- Japan
- Prior art keywords
- sample
- tube
- centrifuge
- unit
- gripper
- 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.)
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D21/00—Separation of suspended solid particles from liquids by sedimentation
- B01D21/26—Separation of sediment aided by centrifugal force or centripetal force
- B01D21/262—Separation of sediment aided by centrifugal force or centripetal force by using a centrifuge
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B11/00—Feeding, charging, or discharging bowls
- B04B11/04—Periodical feeding or discharging; Control arrangements therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B13/00—Control arrangements specially designed for centrifuges; Program control of centrifuges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B15/00—Other accessories for centrifuges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B7/00—Elements of centrifuges
- B04B7/02—Casings; Lids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B7/00—Elements of centrifuges
- B04B7/08—Rotary bowls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B9/00—Drives specially designed for centrifuges; Arrangement or disposition of transmission gearing; Suspending or balancing rotary bowls
- B04B9/14—Balancing rotary bowls ; Schrappers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B9/00—Drives specially designed for centrifuges; Arrangement or disposition of transmission gearing; Suspending or balancing rotary bowls
- B04B9/14—Balancing rotary bowls ; Schrappers
- B04B9/146—Imbalance detection devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D51/00—Closures not otherwise provided for
- B65D51/24—Closures not otherwise provided for combined or co-operating with auxiliary devices for non-closing purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
- B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
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- 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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- 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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- 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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
- G01B11/10—Measuring arrangements characterised by the use of optical techniques for measuring diameters of objects while moving
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- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
- G01L19/08—Means for indicating or recording, e.g. for remote indication
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining imbalance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/27—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection ; circuits for computing concentration
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- G—PHYSICS
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G01N35/00584—Control arrangements for automatic analysers
- G01N35/00722—Communications; Identification
- G01N35/00732—Identification of carriers, materials or components in automatic analysers
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- G—PHYSICS
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/50—Containers for the purpose of retaining a material to be analysed, e.g. test tubes
- B01L3/502—Containers for the purpose of retaining a material to be analysed, e.g. test tubes with fluid transport, e.g. in multi-compartment structures
- B01L3/5021—Test tubes specially adapted for centrifugation purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B9/00—Drives specially designed for centrifuges; Arrangement or disposition of transmission gearing; Suspending or balancing rotary bowls
- B04B9/14—Balancing rotary bowls ; Schrappers
- B04B2009/143—Balancing rotary bowls ; Schrappers by weight compensation with liquids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
- B04B—CENTRIFUGES
- B04B11/00—Feeding, charging, or discharging bowls
- B04B11/04—Periodical feeding or discharging; Control arrangements therefor
- B04B2011/046—Loading, unloading, manipulating sample containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
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- G—PHYSICS
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- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- 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
- G01N2035/00465—Separating and mixing arrangements
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- G—PHYSICS
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- 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
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- G01N2035/0403—Sample carriers with closing or sealing means
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- G—PHYSICS
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- 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
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- G01—MEASURING; TESTING
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- 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
- G01N2035/0489—Self-propelled units
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- G—PHYSICS
- G01—MEASURING; TESTING
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- 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
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- G01N2035/0491—Position sensing, encoding; closed-loop control
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- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N2035/1025—Fluid level sensing
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N2035/1027—General features of the devices
- G01N2035/1032—Dilution or aliquotting
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49826—Assembling or joining
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Fluid Mechanics (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Centrifugal Separators (AREA)
- Sampling And Sample Adjustment (AREA)
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201161556667P | 2011-11-07 | 2011-11-07 | |
| US61/556,667 | 2011-11-07 | ||
| US201261616994P | 2012-03-28 | 2012-03-28 | |
| US61/616,994 | 2012-03-28 | ||
| US201261680066P | 2012-08-06 | 2012-08-06 | |
| US61/680,066 | 2012-08-06 | ||
| PCT/US2012/063931 WO2013070756A2 (en) | 2011-11-07 | 2012-11-07 | System and method for processing samples |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2014534447A JP2014534447A (ja) | 2014-12-18 |
| JP2014534447A5 JP2014534447A5 (https=) | 2015-12-24 |
| JP6082018B2 true JP6082018B2 (ja) | 2017-02-15 |
Family
ID=70282604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2014540220A Active JP6082018B2 (ja) | 2011-11-07 | 2012-11-07 | サンプルを処理するためのシステムおよび方法 |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US9910054B2 (https=) |
| EP (1) | EP2776848B1 (https=) |
| JP (1) | JP6082018B2 (https=) |
| KR (1) | KR20140092378A (https=) |
| CN (1) | CN104053997B (https=) |
| BR (1) | BR112014010955A2 (https=) |
| ES (1) | ES2778054T3 (https=) |
| WO (1) | WO2013070756A2 (https=) |
Families Citing this family (134)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8872627B2 (en) * | 2010-02-12 | 2014-10-28 | Biotillion, Llc | Tracking biological and other samples using RFID tags |
| JP6104810B2 (ja) * | 2010-11-23 | 2017-03-29 | アンドリュー・アライアンス・ソシエテ・アノニムAndrew Alliance S.A. | ピペットのプログラミング可能な操作のための装置及び方法 |
| DE102011108754A1 (de) * | 2011-07-28 | 2013-01-31 | Khs Gmbh | Inspektionseinheit |
| EP2856150B1 (en) * | 2012-05-24 | 2022-04-20 | Siemens Healthcare Diagnostics Inc. | Authomatic analyser comprising self-propelled intelligent carriers |
| WO2014018734A1 (en) * | 2012-07-26 | 2014-01-30 | Siemens Healthcare Diagnostics Inc. | Relative routing priority for test requests |
| US10668622B2 (en) * | 2012-10-11 | 2020-06-02 | Siemens Healthcare Diagnostics Inc. | Automation maintenance carrier |
| BR112015010349A2 (pt) * | 2012-11-07 | 2017-07-11 | Beckman Coulter Inc | sistema de processamento de amostras automatizado |
| CA2903012C (en) * | 2013-03-08 | 2021-09-28 | Siemens Healthcare Diagnostics Inc. | Surface markings for an optically guided device |
| CA2903013C (en) | 2013-03-08 | 2021-05-11 | Siemens Healthcare Diagnostics Inc. | Tube characterization station |
| USD978375S1 (en) | 2013-03-13 | 2023-02-14 | Abbott Laboratories | Reagent container |
| US10145857B2 (en) * | 2013-03-14 | 2018-12-04 | Siemens Healthcare Diagnostics Inc. | Tube tray vision system |
| WO2014144627A1 (en) | 2013-03-15 | 2014-09-18 | Abbott Laboratories | Automated diagnostic analyzers having rear accessible track systems and related methods |
| US9611105B1 (en) * | 2013-03-15 | 2017-04-04 | Pevco Systems International Inc. | Pneumatic tube delivery system having transport characteristics responsive to payload item-acquired |
| US20140311239A1 (en) * | 2013-04-19 | 2014-10-23 | Igor Marjanovic | Hydration Monitor |
| CN105579854B (zh) * | 2013-11-01 | 2017-12-22 | 株式会社日立高新技术 | 检体移载装置以及检体处理系统 |
| US9630775B2 (en) | 2014-03-28 | 2017-04-25 | Brooks Automation, Inc. | Sample selector |
| EP3140754A1 (en) * | 2014-05-06 | 2017-03-15 | Beckman Coulter, Inc. | Method and system for forming site network |
| WO2016061471A1 (en) * | 2014-10-17 | 2016-04-21 | Hitachi High Technologies America, Inc. | Interactive laboratory robotic system |
| CN104535777A (zh) * | 2014-12-29 | 2015-04-22 | 赵敏 | 一种全自动医学检测系统 |
| US10319092B2 (en) | 2015-02-18 | 2019-06-11 | Siemens Healthcare Diagnostics Inc. | Locality-based detection of tray slot types and tube types in a vision system |
| CN104773425B (zh) * | 2015-03-24 | 2017-03-22 | 苏州优点优唯医疗科技有限公司 | 一种智能冷链储物库 |
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- 2012-11-07 JP JP2014540220A patent/JP6082018B2/ja active Active
- 2012-11-07 CN CN201280066154.XA patent/CN104053997B/zh active Active
- 2012-11-07 ES ES12795933T patent/ES2778054T3/es active Active
- 2012-11-07 EP EP12795933.6A patent/EP2776848B1/en active Active
- 2012-11-07 WO PCT/US2012/063931 patent/WO2013070756A2/en not_active Ceased
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|---|---|
| ES2778054T3 (es) | 2020-08-07 |
| US20140305227A1 (en) | 2014-10-16 |
| US9910054B2 (en) | 2018-03-06 |
| CN104053997A (zh) | 2014-09-17 |
| BR112014010955A2 (pt) | 2017-06-06 |
| JP2014534447A (ja) | 2014-12-18 |
| KR20140092378A (ko) | 2014-07-23 |
| WO2013070756A3 (en) | 2013-11-21 |
| EP2776848A2 (en) | 2014-09-17 |
| EP2776848B1 (en) | 2019-12-25 |
| CN104053997B (zh) | 2016-12-21 |
| WO2013070756A2 (en) | 2013-05-16 |
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