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
  • G01N35/02—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
• • 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
  • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
  • G01N2035/0412—Block or rack elements with a single row of samples
  • G01N2035/0415—Block or rack elements with a single row of samples moving in two dimensions in a horizontal plane
• • 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
  • G01N2035/046—General conveyor features
  • G01N2035/0465—Loading or unloading the conveyor
• • 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
  • G01N2035/0489—Self-propelled units

Definitions

• Biological sample processing system comprising a support conveyor system for biological sample containers
• a biological sample processing system includes a conveying system configured to convey container supports for supporting containers containing biological samples, such as biological fluid samples.
• Such a conveying system comprises in known manner:
• a conveying unit configured to convey the container supports
• the conveying unit comprising in particular: o a support guide element defining a guide path, the support guide element being configured to receive a container support and for guiding said container support in translation along the guide path, o a carriage guide element defining a conveying path extending along the support guide element, o a self-propelled conveyor carriage movable along of the conveying path, the carriage guiding element being configured to guide the self-propelled conveying carriage during the displacements of the self-propelled conveying carriage along the conveying path, the self-propelled conveying carriage being configured to move in translation a support of containers in the support guide member and along the guide path when the self-propelled conveyor carriage moves along of the conveyor path, and
• each of the receiving locations being configured to receive and at least temporarily store a container carrier
• the self-propelled conveyor carriage being further configured to move a container carrier transversely to the guide path so as to move said container support into or out of a receiving location.
• Such a conveying system greatly limits tedious manipulations for an operator and ensures a high conveying capacity and a high analysis rate, in particular when a container support must be conveyed between different analysis and/or measurement devices.
• the conveyor path can be essentially "passive”, and therefore be defined by a simple carriage guide element, such as a guide rail, which greatly simplifies the system of conveying and increases the reliability of such a system, reduces its costs and allows installation that is more easily configurable, faster and easier.
• the container carrier when a container carrier is transferred by the self-propelled conveyor carriage from the guide path to a receiving location (and thus moved perpendicular to the conveying direction of the self-propelled conveyor carriage), the container carrier is likely to tilt vertically, due to the friction of the lower surface of the container support on the support guide element, which can induce a non-optimal positioning of the container support in the reception location and therefore impair the gripping of the container support by a loading mechanism associated with the receiving location.
• the present invention aims to remedy these drawbacks.
• the technical problem underlying the invention therefore consists in providing a system for processing biological samples comprising a conveying system which is of simple, economical and reliable structure, while ensuring a high conveying capacity, an optimized analysis rate and easy and fast maintainability.
• the present invention relates to a biological sample processing system, such as a biological analysis system, comprising:
• a conveying system comprising: o a plurality of container supports intended to support containers containing biological samples, such as samples of biological fluid o a conveying unit configured to convey the container supports, the conveying unit comprising a carriage guide member defining a conveying path, and a self-propelled conveying carriage movable along the conveying path, the carriage guiding member being configured to guide the self-propelled conveying carriage during movements of the self-propelled conveying carriage along the conveying path, the self-propelled conveying cart comprising a cart body and being configured to move a container carrier along a travel path as the self-propelled conveying cart moves along the conveying path, and o a plurality of receiving locations arranged along the travel path and offset laterally relative to the travel path, each of the receiving locations being configured to receive and at least temporarily store a container carrier, the self-propelled conveyor carriage being further configured to move a container carrier transverse to the travel path so moving said container carrier into or out of a receiving location,
• the self-propelled conveying carriage comprises two gripper arms spaced from one each other and movably mounted between at least one gripping position in which the gripping arms are close to each other and are configured to grip and lift a container support disposed in one of the receiving locations, and a release position in which the gripper arms are spaced apart and are configured to release the container carrier and deposit the container carrier in one of the receiving locations, the self-propelled conveyor carriage being configured to move a carrier of containers, gripped and lifted by the gripper arms, along the path of travel as the self-propelled conveyor carriage moves along the conveyor path, and in that each of the gripping arms comprises a lifting member, the lifting members being configured to be received respectively in two reception recesses provided on two transverse faces of a container support which are opposite the to each other and to lift said container carrier when the gripping arms are moved into the gripping position.
• Such a configuration of the conveyor system, and in particular of the self-propelled conveyor carriage makes it possible to move a container support away from the carriage guide element and thereby avoid any friction between the container support and the carriage guide member when moving the container carrier along the path of travel and also when moving the container carrier across the path of travel (eg when loading the container carrier into a receiving location).
• the absence of friction between a container support and the carriage guide element during movement of said container support along the travel path substantially reduces the noise generated by the conveyor system, and greatly improves comfort. of an operator.
• the absence of friction between a container support and the carriage guide element when said container support moves transversely to the path of movement ensures optimal positioning of said container support in a receiving location, and therefore optimal gripping of said container support by a loading mechanism associated with the receiving location.
• the conveying system of the biological sample processing system has increased reliability compared to the conveying systems of the prior art, while ensuring a conveying capacity and an even improved rate of analysis.
• the biological sample processing system may further exhibit one or more of the following characteristics, taken alone or in combination.
• the displacement path extends alongside the conveyor path.
• the two gripping arms are configured to grip a container support when they occupy the gripping position.
• the two gripping arms protrude from a side face of the carriage body when the two gripping arms occupy the gripping position.
• the self-propelled conveyor carriage is configured such that when a container carrier is conveyed by the self-propelled conveyor carriage along the travel path, said container carrier extends opposite a side face of the carriage body, and more particularly the side face from which the two gripping arms protrude when they occupy the gripping position.
• each of the gripping arms is pivotally mounted around a respective pivot axis which is substantially vertical.
• the gripping arms are movable in a plane of movement which is substantially horizontal.
• each of the gripping arms comprises a gripping part configured to exert a pressing force against a respective transverse face of a container support when the gripping arms are in the gripping position .
• each gripping part is located at a free end of the respective gripping arm.
• each reception recess is provided in an upper part of the respective transverse face.
• each gripping part comprises a bearing surface configured to exert a bearing force against a respective transverse face of a container support when the gripping arms are in the gripping position , each lifting member extending from the bearing surface of a respective gripping part.
• each of the lifting members comprises a lifting ramp which is inclined with respect to the vertical, the two lifting ramps being configured to lift a supporting containers when the gripping arms are moved into the gripping position.
• the conveying system comprises at least one reception zone arranged along the displacement path and comprising a first reception location and a second reception location which are offset from one another. the other along the travel path and which are each configured to receive and at least temporarily store a container carrier.
• the at least one reception zone comprises a first guide wall and a second guide wall offset relative to each other in a direction which extends transversely to the path of movement, the first and second guide walls defining a guide path extending along the path of movement and the first and second receiving locations being disposed respectively at opposite ends of the guide path, the first guide wall, which separates the displacement path and the guide path, comprising a passage opening which is located facing the second guide wall and which is intended for the passage of a container support, the self-propelled conveyor carriage being configured to move a container carrier, grasped and lifted by the gripper arms, through the passage opening and along the guide path.
• the first and second guide walls extend respectively in a first extension plane and in a second extension plane which are substantially vertical and parallel to the displacement path.
• the first and second guide walls are configured to guide a container support in translation along the guide path.
• the self-propelled conveyor carriage comprises a support element on which the gripping arms are movably mounted, the support element being mounted movably in translation relative to the carriage body in a direction of movement which is transverse to the conveying path and between at least one conveying position in which the self-propelled conveying carriage is configured to move a carrier of containers, gripped and lifted by the gripper arms, along the path of movement and a position transfer wherein the self-propelled conveyor carriage is configured to grip and lift a container carrier disposed in a receiving location or for releasing and depositing a container support in a receiving location.
• each of the gripping arms protrudes from the side face of the carriage body by a first distance
• each of the gripper arms protrudes from the side face of the carriage body by a second distance which is greater at the first distance
• the carriage guide element comprises two guide rails configured to cooperate with a lower surface of the self-propelled conveyor carriage during the movements of the self-propelled conveyor carriage along the conveyor path.
• the conveying system comprises a storage device disposed along the travel path and configured to store container supports, at least one of the receiving locations being disposed near the storage device .
• the storage device comprises a movement mechanism configured to move a container support, stored in the storage device, into the at least one receiving location located near the storage device .
• the conveying system includes a control unit configured to communicate remotely with the self-propelled conveying cart.
• the control unit can be a computer, for example of the PC type.
• control unit is configured to communicate wirelessly, for example by wifi or Bluetooth, with the self-propelled conveyor carriage.
• the two gripping arms of the self-propelled conveyor carriage are configured to occupy a first gripping position in which the two gripping arms protrude from a first side face of the carriage body and are configured to grip and lift a container support disposed on a first side of the conveyor path, and a second gripping position in which the two gripping arms protrude from a second side face of the trolley body and are configured to grip and lifting a container support disposed on a second side of the conveyor path.
• the self-propelled conveyor carriage comprises at least one drive wheel configured to roll on the carriage guide element, and at least one rotation drive mechanism configured to rotate the at least one drive wheel.
• the self-propelled conveyor trolley comprises a first pair of drive wheels which are located near a first longitudinal end of the trolley body, and a second pair of drive wheels which are located near a second longitudinal end of the carriage body.
• the self-propelled conveyor carriage could comprise only two drive wheels arranged respectively close to the first and second longitudinal ends of the carriage body.
• the self-propelled conveyor carriage is movable along the conveyor path in a first direction of movement and in a second direction of movement opposite the first direction of movement.
• the conveying path is substantially rectilinear.
• the conveying path could be formed by a plurality of rectilinear segments arranged in such a way that two successive rectilinear segments are arranged at 90° relative to each other, and the conveying unit could comprise a plurality of self-propelled conveying carriages each configured to move along a respective straight segment, the passage of a container support from one straight segment to another straight segment being carried out by a transfer rotor having a substantially vertical axis of rotation and comprising a plurality of storage housings each configured to receive a container support.
• the self-propelled conveyor carriage is configured to move a container carrier along the travel path in a direction of travel that is substantially parallel to an extending direction of the container carrier.
• the self-propelled conveyor carriage is configured to maintain the container support substantially vertical during its movements along the conveyor path.
• the two gripping arms when the two gripping arms occupy the gripping position, the two gripping arms are spaced apart from each other by a distance corresponding substantially to the length of a support of containers.
• the two gripping arms are configured to cooperate respectively with opposite side walls of a container support.
• the self-propelled conveyor carriage includes an actuator configured to move the two gripping arms between gripping and releasing positions.
• the actuation device is configured to cause each of the gripping arms to pivot around its pivot axis.
• the actuation device may for example comprise two motors which are each coupled in rotation to a respective gripping arm.
• the conveying system comprises at least one positioning marker arranged on the conveying path
• the self-propelled conveyor carriage comprises detection means arranged to detect the at least positioning marker, and control means arranged to control immobilization of the self-propelled conveyor carriage when the detection means detect the at least one positioning mark.
• the conveying system comprises, for example, at least one positioning marker arranged opposite each reception location.
• the self-propelled conveyor carriage comprises determining means configured to determine the position of the self-propelled conveyor carriage along the conveyor path according to the distance traveled by the self-propelled conveyor carriage.
• the support element and the gripping arms are configured such that, when the self-propelled conveyor carriage is placed facing the at least one reception zone and the gripping are in the gripping position, a movement of the support element from the conveying position to the transfer position causes a movement of the container support from the movement path to the at least one receiving zone.
• the support element and the gripping arms are configured such that, when the self-propelled conveyor carriage is placed facing the at least one reception zone and the gripping are in the gripping position, a movement of the support element from the transfer position to the conveying position causes a movement of the container support from the reception area to the travel path.
• the self-propelled conveyor carriage comprises a translation drive mechanism configured to move the support element in translation relative to the carriage body.
• the self-propelled conveyor cart includes a battery configured to electrically power the self-propelled conveyor cart.
• the battery is rechargeable.
• the battery can be recharged by contact or by induction.
• the conveying system comprises a recharging zone comprising an electric recharging device configured to electrically recharge the battery when the self-propelled conveyor carriage is located in the recharging zone.
• the reloading zone is for example located at one end of the conveyor path.
• the at least one analysis and/or measurement device comprises a loading module configured to load, into the at least one analysis and/or measurement device, a container support deposited by the self-propelled conveyor carriage in the first reception location of a reception area associated with the at least one analysis and/or measurement device, and an unloading module configured to move a containers, previously loaded into the at least one analysis and/or measurement device, in the second reception location of said reception zone.
• the at least one analysis and/or measurement device comprises at least one module from among a spectrophotometric reading module, a fluorescence reading module, a luminescence reading module, a coagulation measurement module and a cytometry module.
• the at least one analysis and/or measurement device comprises a support stirring device, the loading module of the at least one transfer device being configured to transfer a container support from the first receiving location to the stirring device.
• Figure 1 is a perspective view of a biological analysis system for in vitro diagnosis according to the invention.
• Figure 2 is a perspective view of a self-propelled conveyor cart belonging to the biological analysis system of Figure 1.
• Figure 3 is a bottom view of the self-propelled conveyor carriage of Figure 2.
• Figure 4 is a perspective view of the self-propelled conveyor carriage of Figure 2 in the process of gripping a support of containers belonging to the biological analysis system of Figure 1.
• Figure 5 is a partial perspective view from above of the self-propelled conveyor carriage of Figure 2 in the process of gripping a container support.
• Figure 6 is a partial perspective view, on an enlarged scale, of the self-propelled conveyor carriage of Figure 2 in the process of gripping a container support.
• Figure 7 is a truncated perspective view of the self-propelled conveyor carriage of Figure 2.
• Figure 8 is a perspective view of the self-propelled conveyor carriage of Figure 2, in which a body of the self-propelled conveyor carriage has been deposited.
• Figure 9 is a perspective view of the self-propelled conveyor cart of Figure 2, in which the upper body of the self-propelled cart conveyor has been removed.
• Figure 10 is a perspective view of the container rack of Figure 5.
• Figure 11 is a partial perspective view of the biological analysis system of Figure 1 showing the self-propelled conveyor carriage conveying a support of containers towards a reception area associated with an analysis and/or measurement device.
• Figure 12 is a partial perspective view of the biological analysis system of Figure 1 showing the self-propelled conveyor carriage opposite a passage opening belonging to a reception area associated with an analysis and/or measurement device .
• Figure 13 is a partial perspective view of the biological analysis system of Figure 1 showing the self-propelled conveyor carriage inserting a container support into a guide path belonging to a reception area associated with an analysis device and/or of measurement.
• Figure 14 is a partial perspective view of the biological analysis system of Figure 1 showing the self-propelled conveyor carriage moving a carrier of containers along a guide path and toward a respective first receiving location.
• Figure 15 is a partial perspective view of the biological analysis system of Figure 1 showing a container rack received in a first receiving location of a receiving area.
• Figure 16 is a partial perspective view of the biological analysis system of Figure 1 showing the self-propelled conveyor carriage conveying a container carrier along a path of travel.
• Figure 17 is a side view of the self-propelled conveyor carriage of Figure 2 being picked up from a container rack.
• Figure 18 is a side view of the self-propelled conveyor carriage of Figure 2 having gripped and lifted a container carrier.
• the terms “horizontal” and “vertical” are used to describe the self-propelled conveyor trolley refer to the self-propelled conveyor trolley in use when it rests by its driving wheels on a flat and horizontal surface.
• FIG. 1 represents a biological analysis system 1, and more particularly an automated biological analysis system, for in vitro diagnosis comprising a conveying system 2 which comprises a plurality of container supports 3 and a conveying unit 4 configured to conveying the container supports 3.
• the biological analysis system 1 further comprises a plurality of analysis and/or measurement devices 5 arranged along the conveying unit 4 and configured to carry out blood tests.
• Each analysis and/or measurement device 5 may for example comprise one or more modules chosen in particular from a spectrophotometric reading module, a fluorescence reading module, a luminescence reading module, a cytometry module and a coagulation measurement.
• the conveyor system 2 also includes a storage device 6, also called a loading device, arranged along the conveyor unit 4 and configured to store container supports 3.
• the conveying system 2 further comprises several receiving areas 7 which are arranged along the conveying unit 4 and which each comprise at least one receiving location 8 which is configured to receive and at least temporarily store a container support 3.
• a reception zone 7 is located close to the storage device 6, and a reception zone 7 is located close to each of the analysis and/or measurement devices 5.
• each of the reception zones 7 comprises two reception locations 8, namely a first reception location 8.1 and a second reception location 8.2 which are offset relative to each other along the conveying unit 4.
• each analysis and/or measurement device 5 comprises a loading module (not shown in the figures) configured to load , in said analysis and/or measurement device 5, a receptacle support 3 arranged in the first receiving location 8.1 of the respective receiving area 7, and an unloading module (not shown in the figures) configured to move a container support 3, previously loaded in said analysis and/or measurement device 5, in the second reception location 8.2 of the respective reception zone 7.
• the storage device 6 comprises a movement mechanism (not shown in the figures) configured to move a container support 3, stored in the storage device 6, into the second reception location 8.2 of the reception area 7 respectively.
• each reception zone 7 comprises a first guide wall 13 and a second guide wall 14 which are offset from each other and which extend substantially vertically.
• the first and second guide walls 13, 14 define a guide path extending along the conveying unit 4, and are configured to guide a container support 3 in translation along the guide path.
• the first and second reception locations 8.1, 8.2 of said reception zone 7 are arranged respectively at opposite ends of the respective guide path, and the first guide wall 13 comprises a passage opening 15 which is located in next to the respective second guide wall 14 and which is intended for the passage of a container support 3.
• each receptacle support 3 also called compartment, cassette or rack, is intended to support a plurality of containers 16 containing samples of biological fluid to be analyzed, such as samples of blood, plasma or even blood serum.
• the containers 16 are sample tubes.
• Each receptacle support 3 has a generally parallelepipedal shape, and is understood according to the direction of extension.
• Each receptacle support 3 more particularly comprises two longitudinal faces 17 opposite to each other, and two transverse faces 18 opposite to each other.
• Each receptacle support 3 comprises a base 3.1 and a receptacle receiving part 3.2.
• the receptacle receiving part 3.2 of each receptacle support 3 has a plane of symmetry extending transversely to the direction of extension of said receptacle support 3.
• a receptacle support 3 can be loaded indifferently in storage device 6.
• Each receptacle support 3 comprises a plurality of reception housings 19, preferably cylindrical, aligned along the direction of extension of said receptacle support 3.
• the reception housings 19 are advantageously open upwards in order to allow insertion and removal containers 16 into and out of the receiving housings 19.
• the lower part of each receiving housing 19 is equipped with retaining members 20, for example elastically deformable, configured to retain a container 16 in said housing reception 19.
• retaining members 20 for example elastically deformable
• Each container support 3 comprises a plurality of reading windows 21 allowing optical reading of identification codes carried by the containers 16 received on said container support 3.
• two reading windows 21 are associated with each housing of reception 19 in order to allow optical reading from each side of the container support 3.
• Each receptacle support 3 also comprises two receiving recesses 22 provided respectively on two transverse faces 18 of said receptacle support 3 and whose function will be explained below.
• each receiving recess 22 is provided in an upper part of the respective transverse face 18.
• the conveying unit 4 includes a carriage guide member 23 defining a conveying path which is straight.
• the carriage guide element 23 can for example comprise a support surface 23a, which is horizontal and flat, and two guide rails 23b fixed to the support surface 23a.
• the conveying path is parallel to the first and second guide walls 13, 14 belonging to each reception zone 7.
• the conveying path could however have a radius of curvature.
• the conveying unit 4 further comprises a self-propelled conveying carriage 24 which is movable along the conveying path.
• the self-propelled conveyor carriage 24 is configured to move a container carrier 3 along a travel path, which is parallel to the conveyor path, when the self-propelled conveyor carriage 24 moves along the conveyor path, and to moving a container support 3 transversely to the travel path so as to move said container support 3 into or out of a receiving location 8 which is offset laterally with respect to the travel path.
• the self-propelled conveyor carriage 24 is configured to maintain a substantially vertical container support 3 as it moves along the path of travel.
• the carriage guide element 23 is more particularly configured to guide the self-propelled conveyor carriage 24 during its movements along the conveyor path.
• the two guide rails 23b are configured to cooperate with two guide grooves 25 (see Figure 3) provided on a lower surface of the self-propelled conveyor carriage 24.
• the self-propelled conveyor carriage 24 comprises a carriage body 26, and driving wheels 27 rotatably mounted on the carriage body 26 and configured to roll on the support surface 23a of the carriage guide element 23.
• Each drive wheel 27 has an axis of rotation extending substantially horizontally.
• the self-propelled conveyor carriage 24 includes a pair of drive wheels which are located near a first longitudinal end of the carriage body 26, and a pair of drive wheels which are located near a second longitudinal end. of the carriage body 26.
• the self-propelled conveyor carriage 24 includes a rotational drive mechanism 28 configured to rotate the drive wheels 27.
• the rotational drive mechanism 28 comprises, for example, a drive motor rotationally coupled to the drive wheels 27.
• Each drive wheel 27 can be driven in rotation in a first direction of rotation and in a second direction of rotation opposite to the first direction of rotation. spin.
• the self-propelled conveyor carriage 24 is movable along the conveyor path in a first direction of movement and in a second direction of movement opposite the first direction of movement.
• the self-propelled conveyor carriage 24 further comprises a support element 29, for example in the form of a support frame, mounted so as to be able to move in translation relative to the carriage body 26 in a direction of movement that is horizontal and perpendicular to the conveyor path. .
• the support element 29 is guided in translation by a pair of guide rods 30.
• the self-propelled conveyor carriage 24 also comprises two gripper arms 31 spaced apart from each other in a longitudinal direction of the self-propelled conveyor carriage 24.
• the two gripper arms 31 are pivotally mounted on the support element 29 respectively around of two pivot axes which are vertical.
• the two gripping arms 31 are movable in a plane of movement which is substantially horizontal.
• the two gripping arms 31 are pivotally mounted between at least one gripping position in which the gripping arms 31 are close together (see Figures 11 to 16 and 18) and are configured to grip and lift a container support 3 disposed in one of the receiving locations 8, and a release position (see Figures 3 to 5 and 17) in which the gripping arms 31 are spaced apart from each other and are configured to release the container support 3 and deposit the container support 3 in one of the reception locations 8.
• the self-propelled conveyor carriage 24 is more particularly configured to move a container support 3, gripped and lifted by the arms of gripper 31, along the path of travel as the self-propelled conveying carriage 24 moves along the conveying path.
• Each of the gripping arms 31 comprises a gripping part 32 provided with a bearing surface 33 configured to exert a bearing force against a respective transverse face 18 of a container support 3 when the gripping arms 31 are in the grip position.
• each gripping part 32 is located at a free end of the gripping arm 31 respectively.
• the gripping parts 32 of the two gripping arms 31 protrude from a side face 26.1 of the carriage body 26 when the two gripping arms 31 occupy the gripping position.
• Each of the gripping arms 31 also includes a lifting member 34, such as a lifting projection, extending from the surface support 33 of a gripping part 32 respectively.
• Each of the lifting members 34 advantageously comprises a lifting ramp 35 which is inclined with respect to the vertical.
• the lifting members 34 are configured to be received respectively in the reception recesses 22 provided on a receptacle support 3 when the gripping arms 31 occupy the gripping position, and to cause a lifting of the said receptacle support 3, by cooperation of the lifting ramps 35 with complementary surfaces defined by the receiving recess 22, when the gripping arms 31 are moved into the gripping position.
• the support element 29 is more particularly configured to occupy a conveying position (see FIGS. 7 to 9) in which, when the gripping arms 31 occupy the gripping position, each of the gripping arms 31 protrudes from the face side 26.1 of the carriage body 26 by a first distance, and a transfer position (see Figure 13) in which, when the gripping arms 31 occupy the gripping position, each of the gripping arms 31 protrudes from the face side 26.1 of the carriage body 26 by a second distance which is greater than the first distance.
• the self-propelled conveyor carriage 24 is more particularly configured to move a container support 3, grasped and lifted by the gripping arms 31, along the path of displacement when the support element 29 occupies the conveying position, and to grasp and lifting a container support 3 disposed in a reception location 8 or to release and deposit a container support 3 in a reception location 8 when the support element 29 occupies the transfer position.
• the support element 29 and the gripping arms 31 of the self-propelled conveyor carriage 24 are configured such that, when the self-propelled conveyor carriage 24 is placed facing an opening of passage 15 belonging to a reception zone 7 and that the gripping arms 31 are in the gripping position and coupled to a container support 3, a displacement of the support element 29 from the conveying position to the transfer position causes the container support 3 to move out of the path of movement and through the passage opening 15.
• the support element 29 and the gripping arms 31 are configured in such a way that when the conveyor carriage self-propelled 24 is arranged facing a passage opening 15 and that the gripping arms 31 are in the gripping position and coupled to a container carrier 3, movement of the carrier member 29 from the transfer position to the conveying position causes the container carrier 3 to move out of the guide path and into the path of movement.
• the self-propelled conveyor carriage 24 is configured to move a container support 3, gripped and lifted by the gripping arms 31 and placed in the guide path, along the guide path when the self-propelled conveyor carriage 24 moves along the conveyor path.
• the self-propelled conveyor carriage 24 further comprises an actuator 36 configured to pivot each of the gripping arms 31 about its pivot axis, and therefore to move the two gripping arms 31 between the gripping and releasing positions.
• the actuating device 36 may comprise different types of actuators known to those skilled in the art, and for example two motors 36.1 which are each coupled in rotation to a respective gripping arm 31.
• the self-propelled conveyor carriage 24 also includes a translation drive mechanism 37 configured to translate the support element 29 relative to the carriage body 26 and between the conveying position and the transfer position.
• the translational drive mechanism 37 may comprise various types of actuators known to those skilled in the art, and may for example comprise a linear motor, such as a worm screw motor, comprising a first portion connected to the support element 29 and a second portion connected to the carriage body 26.
• the translation drive mechanism could comprise a rack provided on the support element 29, a toothed wheel provided on the carriage body 26 and configured to cooperate with the rack, and a drive motor provided on the carriage body 26 and integral in rotation with the toothed wheel.
• the self-propelled conveyor carriage 24 also includes a battery 38 configured to electrically power the self-propelled conveyor carriage 24, and more particularly the translation drive mechanism 37, the rotation drive mechanism 28 and the actuation device 36.
• the battery 38 is also configured to electrically power an electronic control unit 40 which equips the self-propelled conveyor carriage 24 and which is configured to control the operation of the self-propelled conveyor carriage 24.
• Such an electronic control unit 40 comprises more particularly a card electronics with a microprocessor.
• the battery 38 is rechargeable, and can be recharged for example by contact or by induction.
• the conveying system 2 comprises at least one recharging zone 39 comprising an electric recharging device configured to electrically recharge the battery 38 when the self-propelled conveyor carriage 24 is located in the recharging zone.
• the conveying system 2 comprises two recharging zones 39 each located at one end of the conveying path, and a charging coil is provided close to each of the longitudinal ends of the self-propelled conveyor carriage 24.
• the conveying system 2 comprises a plurality of positioning marks (not visible in the figures) arranged on the conveying path.
• the conveying system 2 comprises, for example, a positioning mark opposite each reception location 8 and each passage opening 15.
• the self-propelled conveyor carriage 24 comprises on the one hand detection means, such as an optical reader, an RFID detector or an inductive detector, configured to detect the positioning marks arranged on the conveying path during movements of the self-propelled conveyor carriage 24 along the conveying path, and on the other hand control means, such as an integrated circuit or a microprocessor, configured to control the immobilization of the carriage self-propelled conveyor 24 when the detection means detect the positioning mark associated with the reception location 8 or with the passage opening 15 that the self-propelled conveyor carriage 24 must reach.
• Each positioning mark can be formed for example by an optical barrier, a barcode, a Q.R code, an RFID tag or even a cutout in one of the guide rails 23b.
• the self-propelled conveyor carriage 24 further comprises determining means configured to determine the position of the self-propelled conveyor carriage 24 along the conveyor path as a function of the distance traveled by the self-propelled conveyor 24.
• the driving wheels 27 could be configured to drive an encoder making it possible to measure the distance traveled by the self-propelled conveyor carriage 24 and to control the movement commanded to the self-propelled conveyor carriage 24 by the electronic unit control 40 depending in particular on this distance traveled.
• the conveyor system 2 includes a control unit 41 configured to communicate remotely, for example by wifi or Bluetooth, with the self-propelled conveyor carriage 24.
• the control unit 41 can be a computer, for example of the PC type.
• the control unit 41 is also configured to communicate with the various analysis and/or measurement devices 5.
• control means belonging to the self-propelled conveyor carriage 24 are configured to receive control signals from the control unit 41, and to transmit drive signals in particular to the translation drive mechanism 37, to the rotation drive mechanism 28 and the actuator 36, in response to the received control signals.
• the conveying system 2 further comprises an additional storage device 42, also called an unloading device, arranged along the conveying unit 4 and configured to store container supports 3 unloaded from the conveying unit 4.
• an additional storage device 42 also called an unloading device
• Such a sample processing method comprises in particular the following steps consisting in: a) manually loading containers 16 into container supports 3 and manually loading the container supports 3 into the storage device 6; b) optically reading, using an identification code reading device provided in the storage device 6, identification codes carried by the various containers 3 supported by the container supports 4 loaded in the device storage 6; c) optionally, rotating one or more of the containers 16 carried by the container supports 4 so as to ensure the optical reading of their identification codes by the identification code reading device; d) automatically loading a receptacle support 3 into the second receiving location 8.2 of the receiving area 7 located close to the storage device 6; e) determining the destinations of the receptacle support 3 loaded in the second reception location 8.2 of the reception area 7 located close to the storage device 6 according to the identification codes carried by the different containers 16 supported by said container support 3 and according to the analyzes prescribed and communicated by the control unit 41 or a central computer of the laboratory;
• the biological analysis system 1 is intended to streamline sample processing flows in an analysis laboratory, in order to increase productivity and quality (reduction of labor and errors) .
• the conveying system 2 is configured to communicate with the control unit 41, which manages the workloads of the various analysis and/or measurement devices 5 (such as the tests to be carried out per sample), and transmits them to the conveyor system 2 and to the analysis and/or measurement devices 5 so that the various containers 16 are routed to the analysis and/or measurement devices 5 according to the test requests and the capacities of each analysis and/or measurement device 5.
• each analysis and/or measurement device 5 can comprise a communication and display interface, and on-board electronics (not shown in the figures).
• Each communication and display interface comprises for example a touch screen 66 connected to a PC type computer.
• the PC type computer is more particularly arranged to record analysis requests loaded manually by an operator using the touch screen or coming from the control unit 41 or from a central computer of the laboratory, for send analysis requests to the on-board electronics, to retrieve measured data, process them using specific algorithms, and make the results available to the operator or transmit them to the control unit 41.
• the biological analysis system 1 could comprise analysis and/or measurement devices 5 arranged on either side of the conveying unit 4, and the two arms of gripper 31 of the self-propelled conveyor carriage 24 could be configured to occupy a first gripping position in which the two gripper arms 31 protrude from a first side face 26.1 of the trolley body 26 and are configured to grip and lift a support of containers 3 arranged on a first side of the conveyor path, and a second gripping position in which the two gripping arms 31 protrude from a second side face 26.2 of the trolley body 26 and are configured to grip and lift a support of containers 3 arranged on a second side of the conveying path.
• the biological analysis system 1 thus comprises pre-analytical, analytical and post-analytical parts.
• the pre-analytical parts include, for example, in particular a receptacle support loading station, an identification code identification station, and a conveying unit for conveying receptacle supports in particular to one or more analysis machines and /or measurement.
• the pre-analytical parts can also comprise one or more stations among a centrifugation station, an aliquoting station and a tube uncorking station.
• the analytical parts can for example comprise one or more stations from among a biochemistry station (for example photometry), an immunochemistry station (for example immunofluorescence), a coagulation station, a hematology station and a cytometry.
• a biochemistry station for example photometry
• an immunochemistry station for example immunofluorescence
• a coagulation station for example a hematology station
• a cytometry for example a biochemistry station (for example photometry), an immunochemistry station (for example immunofluorescence), a coagulation station, a hematology station and a cytometry.
• the post-analytical parts can for example comprise a short-term storage station and/or a long-term refrigerated storage station. It goes without saying that the invention is not limited to the sole embodiment of this system for processing biological samples, described above by way of example, on the contrary it embraces all variant embodiments. .

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• Physics & Mathematics (AREA)
• Health & Medical Sciences (AREA)
• Life Sciences & Earth Sciences (AREA)
• Chemical & Material Sciences (AREA)
• Analytical Chemistry (AREA)
• Biochemistry (AREA)
• General Health & Medical Sciences (AREA)
• General Physics & Mathematics (AREA)
• Immunology (AREA)
• Pathology (AREA)
• Automatic Analysis And Handling Materials Therefor (AREA)
• Specific Conveyance Elements (AREA)
• Sampling And Sample Adjustment (AREA)

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• 2021
  • 2021-04-22 FR FR2104223A patent/FR3122174B1/fr active Active
• 2022
  • 2022-04-21 EP EP22735510.4A patent/EP4327107B1/fr active Active
  • 2022-04-21 US US18/287,759 patent/US20240183873A1/en active Pending
  • 2022-04-21 CA CA3215611A patent/CA3215611A1/fr active Pending
  • 2022-04-21 KR KR1020237039204A patent/KR20230173142A/ko active Pending
  • 2022-04-21 CN CN202280043808.0A patent/CN117546028A/zh active Pending
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