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WO2000002030A1 - Appareil de positionnement de sonde d'echantillonnage de laboratoire - Google Patents

Appareil de positionnement de sonde d'echantillonnage de laboratoire Download PDF

Info

Publication number
WO2000002030A1
WO2000002030A1 PCT/AU1999/000521 AU9900521W WO0002030A1 WO 2000002030 A1 WO2000002030 A1 WO 2000002030A1 AU 9900521 W AU9900521 W AU 9900521W WO 0002030 A1 WO0002030 A1 WO 0002030A1
Authority
WO
WIPO (PCT)
Prior art keywords
probe
arm
joint
mount
column
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/AU1999/000521
Other languages
English (en)
Inventor
Mark Dockrill
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leica Biosystems Melbourne Pty Ltd
Original Assignee
Vision Instruments Ltd
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 Vision Instruments Ltd filed Critical Vision Instruments Ltd
Priority to AU45912/99A priority Critical patent/AU4591299A/en
Publication of WO2000002030A1 publication Critical patent/WO2000002030A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
    • G01N35/1083—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane with one horizontal degree of freedom
    • 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
    • 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
    • G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
    • G01N35/1081—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane
    • G01N35/1083—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices characterised by the means for relatively moving the transfer device and the containers in an horizontal plane with one horizontal degree of freedom
    • G01N2035/1086—Cylindrical, e.g. variable angle

Definitions

  • This invention relates to sampling probes in automated clinical laboratory testing instruments and more particularly to a mechanism for accurate positioning of a sample probe in such an instrument.
  • Samples will be typically presented in test tubes or cups that may vary in size from approximately 2 to 15 mm in target diameter.
  • the access holes in the reagent containers may be 10 to 20 mm in diameter.
  • Such instruments are normally intended for very rapid sample test throughput and may achieve from 200 to 2000 tests performed in an hour. To achieve this, the sample probes are moved at very high speeds by robotic mechanisms that must achieve rapid and accurate positioning in both horizontal and vertical directions.
  • the requirements for such a positioning mechanism would include:
  • the invention provides a probe mounting and positioning mechanism in automated clinical laboratory testing instruments, said mechanism including a probe supporting arm, a probe mounted on one end of said arm for limited longitudinal movement relative to said arm and a sensor for detecting occurrence of said longitudinal movement.
  • Another form of the invention provides a probe mounting and positioning mechanism in automated clinical laboratory testing instruments, said mechanism including a probe supporting arm extending substantially horizontally from the top of a support column, said arm being connected to said column by a dislocating joint whereby collision forces on the arm, or on a probe extending from said arm, cause dislocation of the joint and said joint including means to facilitate ready relocation and consequent alignment of the joint.
  • FIG. 1 is a perspective view of a probe mounting and positioning mechanism according to the invention
  • FIG. 2 is a view similar to FIG. 1 but from the opposite side
  • FIG 3 is a perspective view on an enlarged scale of part of a probe mounting and positioning mechanism according to a second embodiment of the invention and,
  • FIG 4 is a perspective view from the opposite side of part of the mechanism shown in FIG 3.
  • the mounting and positioning mechanism 10 consists essentially of a support column 11, a probe supporting arm 12 and a probe 13.
  • the support column 11 is mounted vertically within a frame 14 which is separately mounted for rotation on a main machine frame (not shown) whereby actuation of stepper motor 15 causes the frame 14, and hence the support column 11 to pivot about longitudinal rotation axis 16.
  • Vertical movement of the support column 11 within the frame 14 is controlled by further stepper motor 17 via belt drive 18.
  • the probe supporting arm 12 is mounted at one end of the arm onto the top of the support column 11 by a dislocating joint which is displaced if a collision force occurs on the arm 12.
  • the two parts that is, the supporting arm 12 and support column 11 each have a flat surface where the two parts mate and although it is not clearly evident in Figures 1 and 2 the flat surface of the supporting arm 12 has three hemispherical protrusions two of which are located in corresponding recesses in the flat surface at the top of column 11.
  • the third protrusion is the head of an adjustable screw which bears on the flat surface at the top of the column 11.
  • the shape and location of the recesses (not shown) is such that the supporting arm 12 is positively and accurately located relative to the column 11 and a retaining spring 19 holds the two parts together. Should a collision force occur on the arm 12 or the probe 13, the hemispherical protrusions are cammed out of the recesses and the joint dislocates thereby avoiding any damage to the mechanism.
  • the probe 13 is mounted at the other end of the arm 12 in a manner allowing a small vertical movement of the probe 13 relative to the supporting arm 12.
  • the mounting arrangement of the probe 13 comprises a probe mount 20 which is connected to the arm 12 via parallel leaf springs 21.
  • the leaf springs 21 are connected to post 22 which is mounted on a lower flange 23 of the arm 12.
  • the springs 21 are spaced apart and essentially form a parallelogram mount that maintains the vertical alignment of the probe while allowing several millimetres of vertical movement to absorb any shock during a collision.
  • the probe mount 20 is able to move vertically up and down a short distance on the springs 21 whilst maintaining vertical alignment.
  • the springs 21 work against each other to produce a net downward force on the probe 13. This force is well controlled and almost constant over the distance of travel of the probe mount and allows a simple and quick assembly without spring adjustments to achieve a working force within a specified range, typically 40-60 grams.
  • the upper leaf spring 21 extends beyond the probe mount 20 and has a downwardly extending tab at its end.
  • the tab breaks the beam of a first optical sensor 27 which detects when there is any vertical movement of the probe 13. In this way a collision between the probe 13 and an unexpected obstacle, such as the bottom of an empty test tube, is detected. In this manner downward movement of the probe may be halted to protect the probe.
  • the opposite end of the upper leaf spring is extended to 5 provide a collision sensor flag 24 for a second optical sensor 25 that is positioned so that any movement of the arm 12 from its mount, that is, any dislocation of the joint, will be detected due to the upwardly turned end of the upper leaf spring either moving into or out of alignment with a beam of the second sensor 25.
  • This movement of the collision sensor flag 24 occurs due to its mounting on post 26 which, through an
  • FIGS 3 and 4 show a further embodiment of the invention which in principle of operation is the same as the embodiment shown in Figures 1 and 2.
  • the larger scale of the drawings enables this second embodiment to be seen more clearly and those parts which are the same or similar to parts in the first embodiment have the
  • the probe mount 20 is arranged at the distal end of the leaf springs and the tab for breaking the beam of first optical sensor 27 is an upstanding tab 28 located on the lower leaf spring 21 between its fixed mounting point (bolt 29) and its distal end 30.
  • a printed circuit board 31 with circuit components is
  • the first optical sensor 27 is mounted on the underside of the circuit board 31.
  • a post 32 is fixed to the top of support column 11 and bears on the underside of a cantilevered extension portion 33 of upper leaf spring 21.
  • a plate 37 on the top of column 11 has an elongate hole 38 and a further hole (not evident in the drawings) which is a circular hole.
  • the circular hole is in line with the longitudinal axis of the hole 38.
  • a protrusion 39 on a plate 40 forming part of the arm 12 is accommodated in the hole 38 when the joint is properly located and the protrusion 39 is prevented from transverse movement (relative to the longitudinal axis of the hole) in the hole.
  • a similar protrusion (not evident in the drawings) is located in the circular hole and thus between the two protrusions and two holes the arm 12 and column 11 are positively located relative to each other.
  • the purpose of the elongate hole 38 is to allow for manufacturing tolerances.
  • a further similar protrusion (also not shown) on the underside of plate 40 is the head of a screw and bears on the top surface of plate 37. This further protrusion is adjustable to allow levelling of the arm 12 relative to the column 11. In other words the arm 12 is effectively supported at three points (the three protrusions) on the plate 37.
  • Spring 19 holds the joint together except when collision forces overcome the force of the spring.
  • the mounting and positioning mechanism of the present invention addresses a number of the shortcomings described above in relation to existing mechanisms.
  • the present invention incorporates a number of design features which provide advantages over the prior art.
  • the feature of vertical "crashed detection” provides sensing through movement of the probe itself and its immediate mounting support, rather than relying on transmission of the motion through the probe arm support and other massive interconnections to a sensing device.
  • the unique mounting arrangement maintains extremely stringent positioning accuracy while dramatically reducing the impact load during a crash.
  • the probe body would be mounted rigidly to a supporting arm and structure, all of which must move in the case of a collision, the present invention employs two parallel leaf springs to support the probe independently of the main arm structure.
  • the probe mount is supported against lateral movement to prevent distortion of the springs in case of a sideways collision.
  • the present invention incorporates reduced fabrication complexity, a set up free assembly approach, reducing assembly time and costs and reduced costs of materials.
  • the mechanism of the present invention is extremely robust against degradation of performance through wear, dirt etc and provides improved lifespan for the probe due to decreased crash severity.
  • the unique dislocating joint which has been incorporated into the probe support arm, connecting the arm to its mounting column, provides 6 degrees of freedom for protection of the mechanism against damage through collisions with the probe and its supporting arm while moving in any direction.
  • the new mechanism can collide with an obstruction during any motion, or be struck from any direction, without permanent physical damage or misalignment requiring service intervention. Therefore, the joint mechanism also provides protection from collision in any direction, automatic sensing of collision thus enable error reporting and simple assembly procedure.
  • the mechanism is resettable to a tolerance of ⁇ 0.1 mm in ten seconds without the use of tools and again involves extremely low cost materials which do not suffer from wear.
  • the design may be manufactured completely from sheet metal fabrication and requires no casting or precision finishing, which is common on similar prior art mechanisms.

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)
  • Automatic Analysis And Handling Materials Therefor (AREA)

Abstract

Un mécanisme de montage et de positionnement de sonde d'instruments automatique d'essai de laboratoire clinique, comprend un bras de support (12) de sonde qui est monté, à proximité d'une de ses extrémités, au sommet d'une colonne de support (11), et qui, au niveau de l'autre extrémité, supporte une sonde (13). La colonne (11) est mobile vers le haut et vers la bas dans un cadre (14) qui est lui-même monté pivotant, le bras de la sonde et donc la sonde pouvant être ainsi positionnés de sorte que des échantillons biomédicaux puissent être prélevés et distribués La sonde (13) est montée sur le bras (12), par l'intermédiaire d'une monture (20) de sonde de sorte que son mouvement axial soit limité par rapport au bras, au moyen de ressorts à lames parallèles. Le bras (12) est monté sur la colonne (11) au moyen d'un joint de dislocation maintenu par un ressort (19). Le mouvement de la sonde par rapport au bras ou la dislocation du joint pendant les collisions de la sonde ou du bras, est détecté par des capteurs optiques respectifs.
PCT/AU1999/000521 1998-06-30 1999-06-29 Appareil de positionnement de sonde d'echantillonnage de laboratoire Ceased WO2000002030A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU45912/99A AU4591299A (en) 1998-06-30 1999-06-29 Laboratory sampling probe positioning apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPP4417A AUPP441798A0 (en) 1998-06-30 1998-06-30 Laboratory sampling probe positioning apparatus
AUPP4417 1998-06-30

Publications (1)

Publication Number Publication Date
WO2000002030A1 true WO2000002030A1 (fr) 2000-01-13

Family

ID=3808659

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU1999/000521 Ceased WO2000002030A1 (fr) 1998-06-30 1999-06-29 Appareil de positionnement de sonde d'echantillonnage de laboratoire

Country Status (2)

Country Link
AU (1) AUPP441798A0 (fr)
WO (1) WO2000002030A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0994356A3 (fr) * 1998-10-16 2002-05-22 Dade Behring Marburg GmbH Aiguille de pipettage pivotante interchangeable
EP1291659A2 (fr) 2001-09-06 2003-03-12 Sysmex Corporation Appareil d'analyse automatique et ses composants
DE102004027661B4 (de) * 2004-06-07 2007-01-04 Aviso Gmbh Mechatronic Systems Antriebsanordnung für ein Robotsystem
US7400983B2 (en) 2002-12-20 2008-07-15 Dako Denmark A/S Information notification sample processing system and methods of biological slide processing
WO2009003277A1 (fr) * 2007-06-29 2009-01-08 Ppi Systems Inc. Système et procédé de sonde de pièces de fabrication
CN101865929B (zh) * 2001-09-06 2011-12-21 希森美康株式会社 自动试样分析器及其部件
CN103926417A (zh) * 2014-04-22 2014-07-16 深圳市库贝尔生物科技有限公司 一种同时实现样本针取样、加样和搅拌的方法
CN103941031A (zh) * 2014-04-22 2014-07-23 深圳市库贝尔生物科技有限公司 一体式样本针加样与搅拌系统
CN104034908A (zh) * 2014-04-22 2014-09-10 深圳市库贝尔生物科技有限公司 一种新型全自动生化分析仪
CN108956189A (zh) * 2018-07-23 2018-12-07 苏州信诺泰克医疗科技有限公司 移动定位台、具有所述移动定位台的试剂针移动定位台及其走位方法
CN118746860A (zh) * 2024-07-25 2024-10-08 东营新瑞石油科技有限责任公司 一种用于探测的稳定性信号探臂

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113811776B (zh) * 2019-05-17 2024-05-14 株式会社日立高新技术 自动分析装置
CN113146675B (zh) * 2021-02-25 2022-07-29 北京空间飞行器总体设计部 一种月球表面采样机械臂关节

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US4580941A (en) * 1982-03-05 1986-04-08 Fanuc, Ltd. Industrial robot hand-holding device
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US5204598A (en) * 1990-03-29 1993-04-20 Fanuc Ltd. Method and apparatus for stopping an industrial robot
US5240679A (en) * 1990-10-02 1993-08-31 Hoffmann-La Roche Inc. Automatic apparatus for inserting pipetting insert into stopper of a sample vessel

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US4580941A (en) * 1982-03-05 1986-04-08 Fanuc, Ltd. Industrial robot hand-holding device
DD252512A3 (de) * 1985-10-21 1987-12-23 Elektroprojekt Anlagenbau Veb Adapter mit kollisionsschutz und nul-lage-reproduktion fuer arbeitsautomaten
US4915574A (en) * 1988-09-29 1990-04-10 Hughes Aircraft Company Obstacle detector
DD276647A1 (de) * 1988-11-02 1990-03-07 Verkehrswesen Forsch Inst Ueberlastsicherungsvorrichtung fuer schweissmanipulator, insbesondere roboter
US5204598A (en) * 1990-03-29 1993-04-20 Fanuc Ltd. Method and apparatus for stopping an industrial robot
US5240679A (en) * 1990-10-02 1993-08-31 Hoffmann-La Roche Inc. Automatic apparatus for inserting pipetting insert into stopper of a sample vessel

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PATENT ABSTRACTS OF JAPAN; & JP 10246690 A (SHIMADZU CORP) 14 September 1998. *

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0994356A3 (fr) * 1998-10-16 2002-05-22 Dade Behring Marburg GmbH Aiguille de pipettage pivotante interchangeable
CN101865929B (zh) * 2001-09-06 2011-12-21 希森美康株式会社 自动试样分析器及其部件
EP1291659A2 (fr) 2001-09-06 2003-03-12 Sysmex Corporation Appareil d'analyse automatique et ses composants
EP1291659A3 (fr) * 2001-09-06 2008-05-21 Sysmex Corporation Appareil d'analyse automatique et ses composants
US8529836B2 (en) 2002-12-20 2013-09-10 Dako Denmark A/S Apparatus for automated processing biological samples
US8673642B2 (en) 2002-12-20 2014-03-18 Dako Denmark A/S Enhanced scheduling sample processing system and methods of biological slide processing
US7648678B2 (en) 2002-12-20 2010-01-19 Dako Denmark A/S Method and system for pretreatment of tissue slides
US7758809B2 (en) 2002-12-20 2010-07-20 Dako Cytomation Denmark A/S Method and system for pretreatment of tissue slides
US7937228B2 (en) 2002-12-20 2011-05-03 Dako Denmark A/S Information notification sample processing system and methods of biological slide processing
US7960178B2 (en) 2002-12-20 2011-06-14 Dako Denmark A/S Enhanced scheduling sample processing system and methods of biological slide processing
US7400983B2 (en) 2002-12-20 2008-07-15 Dako Denmark A/S Information notification sample processing system and methods of biological slide processing
US8216512B2 (en) 2002-12-20 2012-07-10 Dako Denmark A/S Apparatus for automated processing biological samples
US8257968B2 (en) 2002-12-20 2012-09-04 Dako Denmark A/S Method and apparatus for automatic staining of tissue samples
US8298815B2 (en) 2002-12-20 2012-10-30 Dako Denmark A/S Systems and methods of sample processing and temperature control
US8386195B2 (en) 2002-12-20 2013-02-26 Dako Denmark A/S Information notification sample processing system and methods of biological slide processing
US8394635B2 (en) 2002-12-20 2013-03-12 Dako Denmark A/S Enhanced scheduling sample processing system and methods of biological slide processing
US10156580B2 (en) 2002-12-20 2018-12-18 Dako Denmark A/S Information notification sample processing system and methods of biological slide processing
US8663978B2 (en) 2002-12-20 2014-03-04 Dako Denmark A/S Method and apparatus for automatic staining of tissue samples
US9778273B2 (en) 2002-12-20 2017-10-03 Dako Denmark A/S Isolated communication sample processing system and methods of biological slide processing
US9599630B2 (en) 2002-12-20 2017-03-21 Dako Denmark A/S Method and apparatus for automatic staining of tissue samples
US9229016B2 (en) 2002-12-20 2016-01-05 Dako Denmark A/S Information notification sample processing system and methods of biological slide processing
US8788217B2 (en) 2002-12-20 2014-07-22 Dako Denmark A/S Information notification sample processing system and methods of biological slide processing
US8784735B2 (en) 2002-12-20 2014-07-22 Dako Denmark A/S Apparatus for automated processing biological samples
US8969086B2 (en) 2002-12-20 2015-03-03 Dako Denmark A/S Enhanced scheduling sample processing system and methods of biological slide processing
DE102004027661B4 (de) * 2004-06-07 2007-01-04 Aviso Gmbh Mechatronic Systems Antriebsanordnung für ein Robotsystem
WO2009003277A1 (fr) * 2007-06-29 2009-01-08 Ppi Systems Inc. Système et procédé de sonde de pièces de fabrication
US8674714B2 (en) 2007-06-29 2014-03-18 PPI Systems, Inc. System and method for probing work pieces
CN104034908A (zh) * 2014-04-22 2014-09-10 深圳市库贝尔生物科技有限公司 一种新型全自动生化分析仪
CN103941031A (zh) * 2014-04-22 2014-07-23 深圳市库贝尔生物科技有限公司 一体式样本针加样与搅拌系统
CN103926417A (zh) * 2014-04-22 2014-07-16 深圳市库贝尔生物科技有限公司 一种同时实现样本针取样、加样和搅拌的方法
CN108956189A (zh) * 2018-07-23 2018-12-07 苏州信诺泰克医疗科技有限公司 移动定位台、具有所述移动定位台的试剂针移动定位台及其走位方法
CN108956189B (zh) * 2018-07-23 2024-03-01 苏州信诺泰克医疗科技有限公司 移动定位台、具有所述移动定位台的试剂针移动定位台及其走位方法
CN118746860A (zh) * 2024-07-25 2024-10-08 东营新瑞石油科技有限责任公司 一种用于探测的稳定性信号探臂

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