WO2023105544A1 - Appareil d'archivage d'échantillons biologiques - Google Patents

Appareil d'archivage d'échantillons biologiques Download PDF

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Publication number
WO2023105544A1
WO2023105544A1 PCT/IT2022/050318 IT2022050318W WO2023105544A1 WO 2023105544 A1 WO2023105544 A1 WO 2023105544A1 IT 2022050318 W IT2022050318 W IT 2022050318W WO 2023105544 A1 WO2023105544 A1 WO 2023105544A1
Authority
WO
WIPO (PCT)
Prior art keywords
archiving
biocassettes
vials
robotic arm
slides
Prior art date
Application number
PCT/IT2022/050318
Other languages
English (en)
Inventor
Lorenzo Campanini
Original Assignee
Logibiotech S.R.L.
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 Logibiotech S.R.L. filed Critical Logibiotech S.R.L.
Publication of WO2023105544A1 publication Critical patent/WO2023105544A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0483—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with head identification means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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
    • 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
    • G01N2035/00792—Type of components bearing the codes, other than sample carriers
    • G01N2035/00811—Type of components bearing the codes, other than sample carriers consumable or exchangeable components other than sample carriers, e.g. detectors, flow cells

Definitions

  • the invention relates to the technical field of equipment for archiving biological samples.
  • the invention concerns an apparatus for the automated archiving of biological samples contained within slides, biocassettes or vials.
  • the biocassettes or the vials into the corresponding loaders of the storage cabinets is carried out prevalently manually, and hence with long execution times; recording of the position occupied by the slides, biocassettes or vials in the corresponding loaders of the storage cabinets in paper or electronic databases, essential to ensure their traceability, also takes place prevalently manually and hence with long execution times and also a high likelihood of recording errors.
  • the object of the invention is to overcome the foregoing negative aspects.
  • the object of the invention is achieved with an apparatus for archiving biological samples according to the principal independent claim 1 .
  • FIG. 1 -2 show, in an axonometric side and top view, the structural form of an apparatus for archiving biological samples, according to the invention
  • Figs. 3-4-5-6-7-8-9-10 show, in an axonometric side view, construction and functional details of said apparatus and, in particular, Fig. 5 shows a detail thereof without protective casing;
  • FIG. 11 schematically show different workflows managed by said apparatus.
  • an apparatus for archiving biological samples comprises:
  • a bed 1 for resting on a work surface and for supporting all the components of the apparatus;
  • an anthropomorphic robotic arm 2 provided with a gripper 3 for manipulating slides, biocassettes or vials containing biological samples;
  • a tray 8 for rejected biocassettes and vials arranged on the bed 1 , between the second edge of the bed 1 and the base of the robotic arm 2, behind the second code reader 7;
  • control unit 16 arranged on one of the sides of the bed 1 , adapted to manage a program for archiving biological samples.
  • the robotic arm 2 coacts with the magazine 4 to select and automatically engage a picking tool 5, specific for the slides, biocassettes or vials to be archived, on the manipulator gripper 3, so as to:
  • the robotic arm 2 is of SCARA (Selective Compliance Assembly Robot Arm) type, i.e., capable of moving parallel to a horizontal supporting surface and of rising perpendicularly to said surface, together with a manipulator device associated therewith.
  • SCARA Selective Compliance Assembly Robot Arm
  • the robotic arm 2 thus comprises articulation points P1 , P2, P3, P4, the first of which is adapted to allow two-way translation of said robotic arm 2 and of the manipulator gripper 3 along a vertical axis, while the remaining are adapted to allow two-way rotation of said robotic arm 2 and of the manipulator gripper 3 on the same number of vertical axes, parallel to said horizontal supporting surface.
  • said two-way translation along said vertical axis is of around 210 mm, while the total length of the arc of said two-way rotation on said vertical axes is of around 400 mm.
  • the robotic arm 2 further comprises means (not illustrated) for arresting said rotation on said vertical axes, in case of collisions with obstacles arranged on the trajectory of movement of the robotic arm 2 and/or of the manipulator gripper 3, of contact or proximity sensor type or similar.
  • the control board 15 of the apparatus comprises start and stop push buttons 32 for the archiving procedures and for resetting any error conditions.
  • the control unit 16 of the apparatus comprises selection means 33 for slides, biocassettes and/or vials to be archived, of touch screen display type or similar.
  • the manipulator gripper 3 of the robotic arm 2 comprises:
  • the manipulator gripper of the robotic arm 2 has a range adjustable from 0 mm to 20 mm and a load lifting capacity of around 3 kg.
  • the picking tools 5 associable with the manipulator gripper 3 of the robotic arm 2 comprise:
  • - identification plates 25’, 25 which allow unique identification of the picking tools 5, of barcode or QR code type, arranged respectively on one of the sides of the first parallelepiped structures 21 and on the top of the second parallelepiped structures 22;
  • the collection cartridges 10 and the slide archiving containers 12 comprise housing cells 29, arranged vertically and parallel to one another according to a longitudinal main line of extension.
  • the biocassette and/or vial archiving containers 14 comprise housing cells 30, arranged vertically and parallel to one another according to an array of lines and columns.
  • the archiving containers 12, 14 for slides and biocassettes and/or vials comprise identification plates 31 , of barcode or QR code type, which allow their unique identification and describe the arrangement of the respective cells 29, 30 therein.
  • the apparatus carries out two distinct workflows, of which one specific for archiving slides and one specific for archiving biocassettes and/or vials.
  • these are inserted manually by an operator O into the collection cartridges 10, without following any order of position, and once said cartridges 10 have been filled they are inserted into corresponding compartments 9 present on the bed 1 of the apparatus.
  • the operator O sets the apparatus for priority archiving of slides, by means of the touchscreen 33 of the control unit 16, and starts the archiving operations, by means of the control board 15.
  • the robotic arm 2 Upon start-up of the archiving operations, the robotic arm 2 carries out the following in sequence:
  • the operator O extracts it from the corresponding compartment 9 of the bed 1 of the apparatus and transports it to a storage cabinet A to deposit it therein.
  • collection of the slides by means of the appendages 24 of the tool 5 associated with the manipulator gripper 3 of the robotic arm 2 can take place also from trays V, in which the slides are positioned parallel to one another, according to an array of lines and columns.
  • an operator O manually inserts them into an archiving container 14, without following any order of position, and once said container 14 has been filled it is inserted into a corresponding compartment 13 present on the bed 1 of the apparatus.
  • the operator O sets the apparatus for priority archiving of biocassettes and/or vials, by means of the touchscreen 33 of the control unit 16, and starts the archiving operations, by means of the control board 15.
  • the robotic arm 2 Upon start-up of the archiving operations, the robotic arm 2 carries out the following in sequence:
  • the operator O extracts the archiving container 14 from the corresponding compartment 13 of the bed 1 of the apparatus and transports it to a storage cabinet A to deposit it therein.
  • the robotic arm 2 autonomously detects in the magazine 4 the tool 5 provided with the appendages 24 suitable for gripping slides, biocassettes or vials, scanning the identification plates 25” thereof by means of the code reader 6 present on the manipulator gripper 3.
  • the robotic arm 2 carries out the following in sequence:
  • the robotic arm 2 carries out the following in sequence:
  • an apparatus for archiving biological samples according to the invention can comprise:
  • biocassette or vial archiving containers each of which adapted to respectively house 100 biocassettes of standard type, or 46 biocassettes of mega type, or 24 biocassettes of super-mega type, or 24 vials.
  • an apparatus for archiving biological samples makes it possible to manage the archiving of slides, biocassettes or vials simultaneously, so as to:

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • 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)
  • Manipulator (AREA)
  • Sampling And Sample Adjustment (AREA)

Abstract

Appareil d'archivage d'échantillons biologiques comprenant : - une base (1) permettant de placer et de contenir les composants ; - un bras robotique anthropomorphique (2), comprenant un dispositif de préhension manipulateur (3) de lames, biocassettes ou flacons ; - un magasin (4) pour dispositifs de préhension (5), pouvant être associé de manière sélective au dispositif de préhension manipulateur (3) ; - un premier lecteur de code d'identification (6), disposé sur le dispositif de préhension manipulateur (3) du bras robotique (2) ; - un second lecteur de code d'identification (7) disposé sur la base (1) ; - une pluralité de compartiments (9) permettant de loger des cartouches de collecte de lames (10) ; au moins un compartiment (11) permettant de loger des récipients d'archivage de lames (12) ; au moins un compartiment (13) permettant de loger des récipients d'archivage de biocassettes et/ou de flacons (14) ; - un tableau de commande (15) ; - une unité de commande (16) conçue pour gérer un programme d'archivage d'échantillons biologiques, le bras (2) coopérant avec le magasin (4) pour sélectionner et assembler automatiquement un outil de prélèvement (5), spécifique aux lames, aux biocassettes ou aux flacons, sur le dispositif de préhension manipulateur (3), de manière à pouvoir gérer l'archivage de tous les types d'échantillons biologiques.
PCT/IT2022/050318 2021-12-10 2022-12-07 Appareil d'archivage d'échantillons biologiques WO2023105544A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102021000031010 2021-12-10
IT102021000031010A IT202100031010A1 (it) 2021-12-10 2021-12-10 Apparecchio per l'archiviazione di campioni biologici

Publications (1)

Publication Number Publication Date
WO2023105544A1 true WO2023105544A1 (fr) 2023-06-15

Family

ID=80461683

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2022/050318 WO2023105544A1 (fr) 2021-12-10 2022-12-07 Appareil d'archivage d'échantillons biologiques

Country Status (2)

Country Link
IT (1) IT202100031010A1 (fr)
WO (1) WO2023105544A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030188698A1 (en) * 2002-04-09 2003-10-09 Donaldson Jeffrey D. Robotic apparatus and methods for maintaining stocks of small organisms
EP2457550A1 (fr) * 2005-05-16 2012-05-30 Intelligent Hospital Systems Ltd. Système de mélange automatisé de produits pharmaceutiques (APAS)
WO2017116997A2 (fr) * 2015-12-31 2017-07-06 Counsyl, Inc. Système robotique pour le tri de tubes de prélèvement

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030188698A1 (en) * 2002-04-09 2003-10-09 Donaldson Jeffrey D. Robotic apparatus and methods for maintaining stocks of small organisms
EP2457550A1 (fr) * 2005-05-16 2012-05-30 Intelligent Hospital Systems Ltd. Système de mélange automatisé de produits pharmaceutiques (APAS)
WO2017116997A2 (fr) * 2015-12-31 2017-07-06 Counsyl, Inc. Système robotique pour le tri de tubes de prélèvement

Also Published As

Publication number Publication date
IT202100031010A1 (it) 2023-06-10

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