Robotic arm

• US 9,446,418 B2
• Filed: 11/07/2012
• Issued: 09/20/2016
• Est. Priority Date: 11/07/2011
• Status: Active Grant

• Current Assignee: Beckman Coulter Incorporated (Danaher Corporation)
• Original Assignee: Beckman Coulter Incorporated (Danaher Corporation)
• Inventors: Johns, Charles W., Quint, Joseph F., Chen, Chi S.
• Primary Examiner(s): Luo, Kate
• Application Number:
  US13/671,440
• Publication Number:
  US 20130128035A1
• Time in Patent Office: 1,413 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B01D 21/262 by using a centrifuge
• CPC Class Codes: B01L 3/5021 Test tubes specially adapted for centrifugation purposes centrifuges B04B5/04
• CPC Class Codes: B04B 11/04 Periodical feeding or discharging; Control arrangements therefor
• CPC Class Codes: B04B 13/00 Control arrangements specially designed for centrifuges; Programme control of centrifuges control arrangements for feed, charge, or discharge B04B11/00
• CPC Class Codes: B04B 15/00 Other accessories for centrifuges
• CPC Class Codes: B04B 2009/143 by weight compensation with liquids
• CPC Class Codes: B04B 2011/046 Loading, unloading, manipulating sample containers
• CPC Class Codes: B04B 2013/006 Interface detection or monitoring of separated components
• CPC Class Codes: B04B 7/02 Casings; Lids shock absorbers, vibration dampers F16F
• CPC Class Codes: B04B 7/08 Rotary bowls centrifugal casting machines B22D
• CPC Class Codes: B04B 9/14 Balancing rotary bowls balancing per se G01M; Schrappers
• CPC Class Codes: B04B 9/146 Unbalance detection devices
• CPC Class Codes: B25J 11/00 Manipulators not otherwise provided for
• CPC Class Codes: B25J 15/0047 for internally gripping hollow or recessed objects
• CPC Class Codes: B65D 51/24 combined or co-operating with auxiliary devices for non-closing purposes
• CPC Class Codes: B65G 47/28 during transit by a single conveyor
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01B 11/08 for measuring diameters
• CPC Class Codes: G01B 11/10 of objects while moving
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01F 23/00 : Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
• CPC Class Codes: G01F 23/20 : by measurement of weight, e.g. to determine the level of stored liquefied gas
• CPC Class Codes: G01F 23/292 : Light , e.g. infrared or ultraviolet
• CPC Class Codes: G01F 23/2921 : for discrete levels
• CPC Class Codes: G01L 19/08 : Means for indicating or recording, e.g. for remote indication
• CPC Class Codes: G01M 1/14 : Determining imbalance G01M1/30 takes precedence
• CPC Class Codes: G01N 2035/00495 : Centrifuges
• CPC Class Codes: G01N 2035/0405 : manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers
• CPC Class Codes: G01N 2035/0462 : Buffers [FIFO] or stacks [LIFO] for holding carriers between operations
• CPC Class Codes: G01N 2035/0491 : Position sensing, encoding; closed-loop control
• CPC Class Codes: G01N 2035/1025 : Fluid level sensing
• CPC Class Codes: G01N 2035/1032 : Dilution or aliquotting
• CPC Class Codes: G01N 21/27 : using photo-electric detection G01N21/31 takes precedence; circuits for computing concentration logarithmic circuits G06G7/24; photometric circuits in general G01J
• CPC Class Codes: G01N 35/00584 : Control arrangements for automatic analysers
• CPC Class Codes: G01N 35/00732 : Identification of carriers, materials or components in automatic analysers
• CPC Class Codes: G01N 35/0095 : introducing urgent samples with priority, e.g. Short Turn Around Time Samples [STATS]
• CPC Class Codes: G01N 35/0099 : comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/04 : Details of the conveyor system G01N35/021 - G01N35/028 take precedence
• CPC Class Codes: G01N 35/10 : Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices G01N35/0099 takes precedence
• CPC Class Codes: G01N 35/1009 : Characterised by arrangements for controlling the aspiration or dispense of liquids
• CPC Class Codes: Y10T 29/49826 : Assembling or joining

Abstract

An analytical laboratory system and method for processing samples is disclosed. A sample container is transported from an input area to a distribution area by a gripper comprising a means for inspecting a tube. An image is captured of the sample container. The image is analyzed to determine a sample container identification. A liquid level of the sample in the sample container is determined. A scheduling system determines a priority for processing the sample container based on the sample container identification. The sample container is transported from the distribution area to a subsequent processing module by the gripper.

Claims

1. A method of transporting a sample container for analysis by a laboratory automation system, comprising:

transporting a sample container containing a sample from an input area to a distribution area by a gripper comprising a means for inspecting a tube;

obtaining data during the transporting of the sample container, wherein the obtaining the data comprises,

capturing an image of the sample container, analyzing the image to determine at least one physical characteristic of the sample container, and determining a sample container identification of the sample container based on the at least one physical characteristic,

determining a liquid level of the sample in the sample container, and

calculating a weight of the sample container using the sample container identification and the liquid level;

requesting a sample schedule associated with the sample in the tube, wherein the sample schedule is requested from a scheduling system based on the data obtained during the transporting;

determining by the scheduling system a time when the tube containing the sample should be processed; and

transporting the tube from the distribution area to a subsequent processing module in the laboratory automation system at the time determined by the scheduling system.

2. An assembly comprising:

a robotic arm having a gripper unit configured to grip a sample container, wherein the robotic arm is configured to move in three dimensions;

an image acquisition device physically coupled to the robotic arm and configured to acquire an image of the sample container, wherein the image acquisition device comprises a camera and a liquid level optical detection device comprising an optical emitter and an optical detector, wherein the liquid level detection device comprises

a first source of radiation configured to apply a first radiation having a first characteristic wavelength to a beam combiner, which is configured to direct the first radiation towards a location on the sample container,

a second source of radiation configured to apply a second radiation having a second characteristic wavelength to the beam combiner at a slightly shifted position as the first radiation, wherein the beam combiner is configured to direct the second emitted radiation parallel to the beam path of the first radiation towards a slightly different location on the sample container,

a detector capable of detecting a first transmitted radiation, which comprises the first radiation transmitted through the sample container, and the second transmitted radiation, which comprises the second radiation transmitted through the sample container,

a comparison structure for storing and/or manipulating both the intensity of first transmitted radiation and the intensity of the second transmitted radiation; and

an image analysis device in communication with the image acquisition device, wherein the image analysis device is configured to analyze the image of the sample container to determine identifying information associated with the sample container and to determine a liquid level of a sample in the sample container via a transmission measurement, wherein the sample container is positioned between the optical emitter and the optical detector when the liquid level of the sample in the sample container is determined by the image analysis device.

3. The assembly of claim 2, wherein the transmission measurement is performed by the liquid level detection device.

4. The assembly of claim 2, wherein the optical emitter is configured to use multiple light sources having wavelengths capable of passing through labels but being absorbed by sample media comprised in the sample container.

5. The assembly of claim 2, wherein the liquid level detection device comprises laser diodes with different defined wavelengths, wherein the beams of the laser diodes are focused on sections of the sample container in order to allow for transmission measurements of different defined wavelengths.

6. The assembly of claim 2, wherein the liquid level detection device comprises light emitting diodes (LEDs) and the LEDs are selected such that various sample media comprised in the sample container block none, some or all of the light emitting from the LEDs, in order to make it possible via an analysis algorithm to determine and measure sample layer heights of a sample comprised in the sample container.

7. The assembly of claim 2, wherein the liquid level detection device comprises light sources emitting infrared light beams.

8. The assembly of claim 2, wherein the assembly comprises a tube presence detection unit capable of detecting the presence of a sample container in a rack.

9. The assembly of claim 2, wherein the image analysis device is further configured to calculate a weight of the sample container, while the sample container is being transported by the gripper unit.

10. An assembly comprising:

a robotic arm having a gripper unit configured to grip a sample container, wherein the robotic arm is configured to move in three dimensions;

an image acquisition device physically coupled to the robotic arm and configured to acquire an image of the sample container, wherein the image acquisition device comprises a camera and a liquid level optical detection device comprising an optical emitter and an optical detector, wherein the image acquisition device is a first image acquisition device, and wherein the assembly comprises a second image acquisition device configured to capture a second image of a plurality of sample containers, wherein the second image is analyzed to determine a second sample container in the plurality of sample containers to grip with the gripper unit, and wherein the assembly further comprises a third image acquisition device configured to capture the image of the sample container or a sample container rack under the third image acquisition device; and

an image analysis device in communication with the image acquisition device, wherein the image analysis device is configured to analyze the image of the sample container to determine identifying information associated with the sample container and to determine a liquid level of a sample in the sample container via a transmission measurement, wherein the sample container is positioned between the optical emitter and the optical detector when the liquid level of the sample in the sample container is determined by the image analysis device.