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.
• 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.
• 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 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,
• 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 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.
• 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 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.
• 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)

Priority Applications (5)

Applications Claiming Priority (2)

Related Child Applications (1)

Publications (2)

Family

ID=51263385

Family Applications (1)

Country Status (6)

Cited By (2)

Families Citing this family (21)

Family Cites Families (37)

• 2013
  • 2013-07-26 DE DE102013214694.9A patent/DE102013214694B4/de not_active Expired - Fee Related
• 2014
  • 2014-07-25 CN CN201480042223.2A patent/CN105393122A/zh active Pending
  • 2014-07-25 JP JP2016528551A patent/JP2016530507A/ja active Pending
  • 2014-07-25 WO PCT/EP2014/066070 patent/WO2015011274A2/de not_active Ceased
  • 2014-07-25 EP EP14746991.0A patent/EP3025158A2/de not_active Withdrawn
• 2016
  • 2016-01-08 US US14/990,854 patent/US10509047B2/en not_active Expired - Fee Related
• 2019
  • 2019-03-26 JP JP2019058681A patent/JP2019117207A/ja active Pending
  • 2019-11-12 US US16/680,737 patent/US20200081021A1/en not_active Abandoned

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