WO2001056753A1 - Lecteur de code-barres monte sur un robot - Google Patents

Lecteur de code-barres monte sur un robot Download PDF

Info

Publication number
WO2001056753A1
WO2001056753A1 PCT/US2001/003414 US0103414W WO0156753A1 WO 2001056753 A1 WO2001056753 A1 WO 2001056753A1 US 0103414 W US0103414 W US 0103414W WO 0156753 A1 WO0156753 A1 WO 0156753A1
Authority
WO
WIPO (PCT)
Prior art keywords
robotic arm
barcode reader
microtitre plate
barcode
microtitre
Prior art date
Application number
PCT/US2001/003414
Other languages
English (en)
Other versions
WO2001056753A9 (fr
Inventor
Joeben Bevirt
Gabriel Noah Brinton
Original Assignee
Incyte Genomics, Inc.
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 Incyte Genomics, Inc. filed Critical Incyte Genomics, Inc.
Priority to AU2001233248A priority Critical patent/AU2001233248A1/en
Publication of WO2001056753A1 publication Critical patent/WO2001056753A1/fr
Publication of WO2001056753A9 publication Critical patent/WO2001056753A9/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • 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
    • B01L3/54—Labware with identification means
    • B01L3/545—Labware with identification means for laboratory containers
    • 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
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G01N2035/00742—Type of codes
    • G01N2035/00752—Type of codes bar codes
    • 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
    • G01N35/028—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 having reaction cells in the form of microtitration plates

Definitions

  • This invention relates to an apparatus and method for identifying objects in automated platform.
  • sample carriers are generally employed so that more than one sample may be processed at any given time.
  • microtitre plates are generally utilized in these sample analysis protocols. Microtitre plates are plastic plates containing uniformly-spaced cavities for holding various liquids.
  • microtitre plates contain eight rows of twelve micro wells for an industry-standard ninety-six microtitre plate, or sixteen rows of twenty- four microwells for an industry-standard three hundred eighty-four microtitre plate. Other sizes are also commercially available.
  • microtitre plates are stacked in one location.
  • a transfer mechanism transfers one the of the microtitre plates to a robotic arm.
  • the robotic arm transports the microtitre plate to the desired station, e.g. a pipetting station.
  • the robotic arm then takes the microtitre plate to the next station, and so on until the desired protocol has been performed on that microtitre plate.
  • each of the microtitre plates must be tracked and inventoried with precision so that the contents of each of the microtitre plates is always known and the manipulations can all be done at the right times. It has become common recently to use laser bar coding to keep track of each of the microtitre plates.
  • a barcode label is attached to each microtitre plate and the robotic automation platform will utilize a standalone barcode reader.
  • the robotic arm must grip the microtitre plate with the barcode applied, carry the plate to the proper position, and present the label to the barcode reader station. After the barcode reader has read the barcode, the robotic arm may then carry the microtitre plate to wherever the next step is scheduled to take place. This operation is inefficient in that it requires transport time for the robotic arm movements to and from the barcode reading station.
  • the method of tracking and manipulating sample carriers such as microtitre plates or other items to perform various protocols continues to be slower and more expensive than would be desired.
  • the present invention is directed to overcoming, or at least reducing the effects of, one or more of the problems set forth above.
  • a robotic arm mounted object identification system is provided.
  • a barcode reader directly a robotic arm to reduce the time in an automated process.
  • the integrated barcode reader includes a robotic arm with the barcode reader mounted thereto to read barcode graphics applied to an object as the robotic arm moves from one location to another.
  • the robotic arm comprises a body attached to an automated apparatus and a laser barcode reader attached to the robotic arm.
  • the robotic arm may be adapted to manipulate a microtitre plate or other sample carrier.
  • the robotic arm may include a plurality of end effector grippers to grip the sample carriers.
  • the end effector grippers offset the sample carrier a predetermined distance from the robotic arm such that a surface of the microtitre plate faces the laser barcode reader.
  • a robotic arm including a body having first and second ends is described.
  • the first end is attached to an automated apparatus and the second end is attached to a microtitre plate holder with a laser barcode reader mounted to the body.
  • an automated apparatus for manipulating microtitre plates includes a robotic arm mounted to the automated apparatus, a laser barcode reader mounted to the robotic arm, and a microtitre plate holder attached to the robotic arm.
  • a microtitre plate surface with a barcode label affixed thereto is exposed to the laser mounted barcode reader.
  • the microtitre plate holder may be adapted to grip two opposing surfaces of the microtitre plate with a plurality of generally L-shaped end effector grippers.
  • the microtitre plate holder is arranged such that there is a clear line-of-sight between the laser barcode reader and the microtitre plate holder.
  • the clear line-of-sight may be created by positioning the laser barcode reader at a predetermined angle and offsetting the microtitre plate a predetermined distance from the robotic arm with the microtitre plate holder.
  • an automated apparatus for manipulating sample carriers only includes mounting a laser barcode reader to a robotic arm.
  • the sample carriers may be microtitre plates and the robotic arm may include a body with first and second ends, the first end being attached to the automated apparatus; a microtitre plate holder connected to the second end; and a support mount attached to the body for mounting the laser barcode reader to the robotic arm.
  • the microtitre holder may include a pair of end effector grippers offset from the body by a predetermined clearance dimension, and the laser barcode reader may be mounted to the robotic arm such that a clear line-of-site exists between the laser barcode reader and the microtitre plates.
  • a method of tracking and/or inventorying sample carriers may include the steps of applying a barcode label to the sample carrier and reading the barcode label with a robotic arm-mounted laser barcode reader.
  • the sample carriers in this aspect of the invention may be microtitre plates and the robotic arm may include a body with first and second ends, the first end being attached to an automated apparatus; a sample carrier holder connected to the second end; and a support mount attached to the body for mounting the laser barcode reader to the robotic arm.
  • the method may also include receiving data from the laser barcode reader by a computer for monitoring, tracking, and/or other purposes.
  • an alternative reading device such as a radio frequency detector reads a radio frequency tag on the object in place of the laser barcode reader and barcode label BRIEF DESCRIPTION OF THE DRAWINGS
  • Figure 1 is a perspective view of one embodiment of a robot mounted barcode reader in accordance with the present.
  • Figure 2 is a second perspective view of the embodiment shown in Figure 1.
  • Figure 3 is a side cross-sectional view of the embodiment shown in Figure 1.
  • Figure 4 is a perspective view of a microtitre plate.
  • Figure 5 is a third perspective view of the embodiment shown in Figure 1.
  • Figure 6 is a perspective view of the embodiment shown in Figure 1 integrated with a processing system.
  • the invention relates to an apparatus and a method to increase the throughput of manipulating microtitre plates when performing various protocols.
  • the invention increases throughput by eliminating the step of presenting each sample carrier to a separate barcode reading machine between manipulation processes.
  • FIG 1 shows one embodiment of a robotic arm in accordance with the present invention.
  • Robotic arm includes a body, a first end, and a second end.
  • First end is adapted to attach to a standard commercially available robot such as the one shown in Figure 6.
  • Robotics to use with arm ay be purchased from Equipe Technologies or other robotics sources. It is within the skilled artisan's ordinary ability with the benefit of this disclosure to adapt robotic arm to any commercially available robotics provider.
  • Second end f robotic arm is attached to a microtitre plate holder, for example a set of end-effector grippers. End effector grippers may be configured in the generally L-shape shown in the figures and are commercially available as shown in the figures.
  • End effector grippers are designed to open and close as programmed by the robotic apparatus to carry and release a sample carrier such as microtitre plate. End effector grippers may include rubber pads to facilitate surface contact against sides and of microtitre plate.
  • Figure 2 a perspective view opposite the view shown in Figure 1 is shown.
  • Figure 2 shows that a laser barcode reader is mounted underneath robotic arm in a recess. Barcode reader is small enough to easily fit within recess. In one embodiment the dimensions of barcode reader measure no more then three inches by four inches by two inches. Small laser barcode readers that can readily be disposed in recess of robotic arm are commercially available from Microscan or other barcode reader manufacturers. Microscan model MS-310, for example, may be mounted to robotic arm within recess.
  • object identification systems may be used including, but not limited to, CCD barcode readers, 2-D barcode readers, and magstripe readers.
  • the invention is thus not limited to the laser barcode reader disclosed, any identification system known to those of skill in the art with the benefit of this disclosure may be used.
  • the associated tags and graphics to be detected and/or read will be incorporated with the object to be identified. It is within the ordinary skill of one in the art with the benefit of this disclosure to find and purchase such systems and tags.
  • Laser barcode reader is mounted to robotic arm by support bracket.
  • Support bracket is shown in cross-section in Figure 3 and is arranged to mount laser barcode reader at an angle creating a clear line of site between the laser barcode reader and a side of microtitre plate.
  • a laser line projection is shown in Figures 1-3 illustrating the clear line of sight that is necessary between the laser barcode reader and surface of microtitre plate.
  • barcode reader may not be mounted in a position with a constantly clear line of site to microtitre plate.
  • robotic arm may be manipulated to a position other that the position at which it will pick up microtitre plate to create a clear line of site to read the barcode.
  • barcode reading lasers will only register barcodes when directed at a barcode label from specific distances and ranges of angles. It is within the ordinary skill of one in the art with the benefit of this disclosure to determine the distance and angle requirements of a barcode reader and mount barcode reader on robotic arm in compliance with the barcode reader's limitations. For example, according to one embodiment as shown in the figures, the distance and angle between barcode reader and a barcode label (shown in Figure 5) are ensured to be within the readable limits of the barcode reader by adjusting three components. First, barcode label is positioned properly at point of microtitre plate (shown in Figure 4).
  • End effector grippers hold microtitre plate by closing on opposing edges.
  • Barcode label must be applied to plate surface facing barcode reader.
  • the second component is the microtitre plate position relative to robotic arm.
  • End effector grippers hold microtitre plate by edges distance below robotic arm to provide an unobstructed path from the reader to the label.
  • the L-shape configuration of end effector grippers provides the clearance necessary between a robotic arm and barcode label applied to surface.
  • the position of microtitre plate in end effector grippers and the mounting position of barcode reader on robotic arm determines the line-of-sight distance and reading angles required for registering the barcode.
  • barcode readers other than laser barcode reader may be used.
  • barcodes and other detectable labels and tags may include other than applied label, including, but not limited to, ink jet applied directly to the object, thermal transfer printing directly on the object, bar codes molded into the object, and RF tags attached to or molded into the object.
  • Robotic arm may have a radio frequency (RF) terminal mounted thereto for identifying information about the object being manipulated. RF tags would thus be attached and/or embedded into microtitre plate or other objects to be detected and identified by the RF terminal.
  • Other object identification systems known in that art may also be used in an automated apparatus for objects such as sample carriers.
  • FIG. 6 a automated apparatus incorporating robotic arm is shown for performing various sample analysis protocols.
  • Five stackers are shown, although any number of stackers required for a particular protocol can be used, as may a conveyor in place of the stackers. Further, in many instances, it is desirable to have this entire work area enclosed. All microtitre plates are labeled with a barcode label and computer cataloged and/or inventoried prior to use. After stacker or the conveyor (not shown) prepares a microtitre plate for presentation, end effector grippers on robotic arm will be directed to that stacker or conveyor and lift the microtitre plate from stacker table.
  • bar code reader (not visible in Figure 6) immediately reads barcode label (also not shown in Figure 6) and relays the information contained in the bar code to a computer for tracking and cataloging/inventory purposes.
  • Robotic arm is attached to robot and can carry the microtitre plate to a pipetting station to dispense small amounts of liquid.
  • Robot arm can also carry the microtitre plate to hotel.
  • Hotel may be a heating station. For instance, in some sample analyses, it is required to combine reagents in a controlled environment at a particular temperature which is above ambient temperature. In these instances, hotel acts as an oven in which this reaction may occur.
  • Each of these operations can be done with automatic tracking as barcode reader is mounted directly on robotic arm and reads barcode label anytime a microtitre plate is moved by the robot arm.
  • Hotel may possess light detectors. In this way, if clear microtitre plates are utilized, light may shine one side of the microtitre plate in the hotel. Detectors may reside on the hotel positioned on the other side of the microtitre plate and these detectors determine, for example, the color of the sample in each cavity of the microtitre plates.
  • Robot arm may carry the microtitre plate to the various resting stations, in fact any number of procedures could be performed in this fashion.
  • a barcode reading station which would typically be placed on table to track the microtitre plates as the procedures are performed, is no longer necessary.
  • Significant time savings is achieved as there is no need to pause between procedures to present the microtitre plate to a barcode reading station.
  • the robotic arm mounted barcode reader will have recorded all the tracking information throughout the processing steps without ever slowing down to present each microtitre plate to a barcode reading station.
  • Robotic arm mounted barcode reader may also be used in any other automated procedure in which reading bar codes and/or identifying and tracking objects is necessary, the invention is not limited to the particular use described above for manipulating sample carriers.

Abstract

L'invention porte sur un lecteur de code-barres à laser monté sur le bras d'un robot, pouvant être utilisé dans le domaine de l'analyse d'échantillons afin d'accroître le rythme d'interfacage de plaques de microlitres avec un système automatique et conçu pour lire une étiquette fixée à un support d'échantillon immédiatement après la préhension et la manipulation du support par le bras, ce qui élimine l'étape de présentation du support à un lecteur de code-barres séparé pour assurer la poursuite ou le répertoriage propres dudit support. Le lecteur de code-barres monté sur le bras d'un robot peut être utilisé dans d'autres appareils nécessitant une poursuite et un répertoriage.
PCT/US2001/003414 2000-02-01 2001-02-01 Lecteur de code-barres monte sur un robot WO2001056753A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2001233248A AU2001233248A1 (en) 2000-02-01 2001-02-01 Robot mounted barcode reader

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US49610000A 2000-02-01 2000-02-01
US09/496,100 2000-02-01

Publications (2)

Publication Number Publication Date
WO2001056753A1 true WO2001056753A1 (fr) 2001-08-09
WO2001056753A9 WO2001056753A9 (fr) 2002-10-31

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Country Status (3)

Country Link
US (1) US20020150450A1 (fr)
AU (1) AU2001233248A1 (fr)
WO (1) WO2001056753A1 (fr)

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WO2002084270A1 (fr) * 2001-04-04 2002-10-24 Large Scale Proteomics Corporation Appareil et procede automatise de manipulation de gel d'electrophorese
US7688207B2 (en) 2006-07-28 2010-03-30 Abbott Laboratories Inc. System for tracking vessels in automated laboratory analyzers by radio frequency identification
CN111924144A (zh) * 2020-08-12 2020-11-13 黄铃 一种基于包装作业的机械臂

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EP2458387A3 (fr) * 2010-11-30 2013-09-18 Kabushiki Kaisha Yaskawa Denki Système de traitement de spécimens
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CN111924144A (zh) * 2020-08-12 2020-11-13 黄铃 一种基于包装作业的机械臂

Also Published As

Publication number Publication date
AU2001233248A1 (en) 2001-08-14
WO2001056753A9 (fr) 2002-10-31
US20020150450A1 (en) 2002-10-17

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