A kind of nuclide liquid transfer robot and nuclide liquid transfer preparation method

Abstract

The present invention discloses a radionuclide liquid transfer robot and a radionuclide liquid transfer preparation method, belonging to the technical field of radionuclide collection and analysis liquid transfer application. It comprises a shell, wherein the lower part of the shell is provided with a dilution bottle, a sampling cylinder, an activity analysis mechanism, a pure water cylinder, a waste cylinder, a sampling pipette box and a liquid dispensing port; a liquid transfer mechanism electrically connected to a PLC control system is provided inside the shell, and the liquid transfer mechanism comprises a horizontal moving mechanism, a vertical moving mechanism and a pipette. The liquid preparation method comprises activity analysis and liquid preparation. The present invention uses a specific control system and utilizes the system to prepare liquid, through activity analysis and liquid preparation and volume determination, and uses a radionuclide liquid transfer robot to control the process, so that the liquid preparation accuracy is higher, faster, and the energy consumption and equipment loss are lower.

Description

Technical Field

[0001] The invention relates to the technical field of radionuclide collection and analysis liquid transfer application, and in particular to a radionuclide liquid transfer robot and a radionuclide liquid transfer preparation method. Background Art

[0002] With the development of radioactive medicine, the use of radionuclide drugs such as iodine-131 solution, F18 solution, and technetium-99 has become more widespread. The drug dispenser completes the entire process of taking, dispensing, and dispensing drugs, which not only allows operators to avoid nuclear exposure, but also significantly improves work efficiency.

[0003] The existing medicine dispenser mainly performs medicine dispensing, but cannot perform analytical medicine dispensing, that is, cannot achieve accurate radionuclide dispensing, which affects the treatment effect. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a radionuclide liquid transfer robot which integrates analysis and detection, liquid separation and liquid collection.

[0005] The invention also provides a method for transferring and preparing a nuclide liquid by using the nuclide liquid transfer robot.

[0006] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0007] A radionuclide liquid transfer robot comprises a shell, wherein a dilution bottle, a sampling cylinder with an opening at the upper end, an activity analysis mechanism, a pure water cylinder with an opening at the upper end, a waste cylinder with an opening at the upper end, a sampling tip box for installing and replacing tips, and a liquid dispensing port are arranged inside the shell;

[0008] A liquid transfer mechanism electrically connected to the PLC control system is provided inside the shell, and the liquid transfer mechanism is arranged above the sampling cylinder, the activity analysis mechanism, the pure water cylinder, the waste cylinder, the sampling tip box and the liquid dispensing port; the liquid transfer mechanism includes a horizontal moving mechanism and a vertical moving mechanism, and the horizontal moving mechanism includes a transverse moving mechanism and a longitudinal moving mechanism, and the vertical moving mechanism is connected to a liquid transfer device; the vertical moving mechanism is connected to the transverse moving mechanism; both ends of the transverse moving mechanism are connected to the longitudinal moving mechanism, and the transverse moving mechanism moves longitudinally under the drive of the longitudinal moving mechanism;

[0009] The pipette runs horizontally or vertically on the sampling cylinder, activity analysis mechanism, pure water cylinder, waste cylinder, sampling tip box and liquid dispensing port; a radiation shielding shell is arranged outside the sampling cylinder and the waste cylinder; and a container is arranged at the liquid dispensing port.

[0010] Furthermore, the vertical moving mechanism includes a vertical bracket, on which a vertical slider, a vertical stepping motor, a vertical screw, a vertical positioning rod and a fixed frame are provided, and the vertical screw is vertically parallel to the vertical positioning rod; one end of the fixed frame is sleeved on the vertical positioning rod, and the other end of the fixed frame is connected to the vertical slider, the vertical slider is sleeved on the vertical screw, and the end of the vertical screw is connected to the vertical stepping motor; the pipette is fixedly connected to the fixed frame;

[0011] The lateral movement mechanism includes a lateral stepping motor, a lateral support rod and a crawler belt, wherein the crawler belt is sleeved on the lateral support rod in the lateral direction; the rotating shaft of the lateral stepping motor is connected with a gear connected with the crawler belt teeth, and the gear drives the crawler belt to run along the lateral support rod; the vertical bracket is sleeved on the lateral support rod and the crawler belt, and the vertical bracket is provided with a transmission tooth engaged with the crawler belt teeth, and the transmission of the crawler belt drives the vertical bracket to run horizontally on the lateral support rod; support seats are provided at both ends of the lateral support rod;

[0012] The longitudinal moving mechanism comprises a longitudinal stepping motor, a longitudinal screw, a longitudinal positioning rod and a longitudinal slider, wherein the longitudinal screw and the longitudinal positioning rod are arranged in parallel, and the transverse moving mechanism is arranged between the longitudinal screw and the longitudinal positioning rod; the longitudinal stepping motor is transmission-connected with the longitudinal screw; the longitudinal slider is sleeved on the longitudinal screw; the support seat at one end of the transverse support rod is sleeved on the longitudinal positioning rod, and the support seat at the other end of the transverse support rod is connected to the longitudinal slider;

[0013] The vertical stepping motor, the horizontal stepping motor and the longitudinal stepping motor are all electrically connected to the PLC control system.

[0014] Furthermore, the activity analysis mechanism is electrically connected to a PLC control system and collects analysis results.

[0015] Furthermore, the pipette is a single-channel or multi-channel pipette with a pipette tip.

[0016] A method for a nuclide liquid transfer robot comprises utilizing the nuclide liquid transfer robot to perform nuclide activity analysis and prepare liquid.

[0017] A method for preparing a nuclide by pipetting comprises the following steps:

[0018] (1) Activity analysis:

[0019] s1. Move the pipette to the bottom of the sampling cylinder to absorb the quantitative solution;

[0020] s2. Move the pipette to the activity analysis mechanism and lower it so that the pipette tip in the pipette enters the activity analysis mechanism, and stay there to perform activity analysis and data collection;

[0021] s3. Move the pipette upward to the sampling tube and remove the quantitative solution in the pipette;

[0022] s4. Move the pipette to the waste tube, remove the tip on the pipette, complete the quantitative analysis process, and obtain the activity of the liquid in the sampling tube;

[0023] (2) Liquid preparation

[0024] s5. Move the pipette to the bottom of the sampling tip box and install the tip;

[0025] s6. Move the pipette to the sampling cylinder, calculate the volume according to the activity obtained by activity analysis, and draw up the liquid;

[0026] s7. Move the pipette to the bottom of the liquid dispensing port and put the liquid into the container;

[0027] s8. Move the pipette to the pure water cylinder to absorb the clean water, then move it to the liquid dispensing port and put the water into the container;

[0028] s9. Move the pipette to the waste bucket and remove the tip;

[0029] s10. Reset the pipette to the bottom of the sampling tip box and the process ends.

[0030] Furthermore, the time spent in the activity analysis mechanism in step s2 is 10-60 seconds.

[0031] Preferably, the residence time in the activity analysis mechanism in step s2 is 20 seconds.

[0032] Furthermore, the number of times of absorbing purified water in step s8 is one or more times, which is determined according to the properties of the solution. Multiple times of absorbing water facilitates the complete transfer of the nuclide liquid in the suction head into the container, thereby ensuring the concentration of the liquid in the container.

[0033] The present invention provides a radionuclide liquid transfer robot and a radionuclide liquid transfer preparation method, which have the beneficial effects of:

[0034] (1) The radionuclide liquid transfer robot of the present invention controls the movement of the liquid transfer device up and down, left and right, and forward and backward through a PLC control system, and moves in different sequences between the sampling cylinder, the activity analysis mechanism, the pure water cylinder, the waste cylinder, and the liquid dispensing port, so as to achieve the purpose of liquid preparation, analysis, liquid separation, and liquid collection, thereby improving the activity accuracy of the radionuclide liquid, reducing the error of liquid preparation, and improving the therapeutic effect. By transferring 1-5 ml of radionuclide liquid (common in the industry), the error is ≤0.3%, and the liquid error is ≤30 μl;

[0035] (2) Liquid preparation method: Through the pipetting activity analysis and the preparation of the quantitative solution, the staff is prevented from contacting the nuclides and avoiding the radiation exposure of the nuclides;

[0036] (3) The radionuclides are prepared by the radionuclides pipetting robot, which greatly reduces the radioactive waste caused by repeated manual operations and protects the environment;

[0037] (4) Rapid and accurate preparation by radionuclide pipetting robots can significantly reduce the amount of radioactive particles entering the atmosphere and protect our home planet. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 It is a schematic diagram of the structure of the present invention;

[0040] Figure 2 It is a schematic diagram of the vertical moving mechanism;

[0041] Figure 3 It is a schematic diagram of the connection between the vertical moving mechanism and the horizontal moving mechanism;

[0042] Figure 4 This is a schematic diagram of the plane connection between the vertical moving mechanism and the horizontal moving mechanism.

[0043] Figure 5 is a schematic diagram of the connection between the longitudinal moving mechanism and the transverse support rod;

[0044] Figure 6 It is a schematic diagram of the process of the present invention;

[0045] 1 housing, 2 dilution bottle, 3 sampling tube, 4 activity meter, 5 pure water tube, 6 waste tube, 7 liquid outlet, 8 horizontal moving mechanism, 9 vertical moving mechanism, 10 pipette, 11 container, 12 sampling tip box, 13 vertical moving mechanism;

[0046] 501 water inlet pipe;

[0047] 801 lateral stepping motor, 802 lateral support rod, 803 crawler track, 804 gear, 805 transmission gear, 806 support seat, 807 limit block;

[0048] 901 longitudinal stepping motor, 902 longitudinal screw rod, 903 longitudinal positioning rod, 904 longitudinal sliding block;

[0049] 1301 vertical bracket, 1302 vertical slider, 1303 vertical stepping motor, 1304 vertical screw rod, 1305 vertical positioning rod, 1306 fixing bracket. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0051] Example 1

[0052] A radionuclide liquid transfer robot, such as Figure 1-5 As shown, it comprises a housing 1, wherein a dilution bottle 2, a sampling cylinder 3 with an opening at the upper end, an activity analysis mechanism, a pure water cylinder 5 with an opening at the upper end, a waste cylinder 6 with an opening at the upper end, a sampling tip box 12 for installing and replacing the tip, and a liquid dispensing port 7 are arranged inside the housing 1;

[0053] The housing 1 is provided with a liquid transfer mechanism electrically connected to the PLC control system, and the liquid transfer mechanism is arranged above the sampling cylinder 3, the activity analysis mechanism, the pure water cylinder 5, the waste cylinder 6, the sampling tip box 12 and the liquid dispensing port 7; the liquid transfer mechanism includes a horizontal moving mechanism and a vertical moving mechanism 13, the horizontal moving mechanism includes a transverse moving mechanism 8 and a longitudinal moving mechanism 9, and the vertical moving mechanism 13 is connected to a pipette 10; the vertical moving mechanism 13 is connected to the transverse moving mechanism 8; both ends of the transverse moving mechanism 8 are connected to the longitudinal moving mechanism 9, and are driven by the longitudinal moving mechanism 9 to move longitudinally;

[0054] The pipette 10 runs horizontally or vertically on the sampling cylinder 3, activity analysis mechanism, pure water cylinder 5, waste cylinder 6, sampling tip box 12 and liquid outlet 7; a radiation shielding shell is provided outside the sampling cylinder 3 and waste cylinder 6; and a container 11 is provided at the liquid outlet 7.

[0055] In this embodiment, the vertical moving mechanism 13 includes a vertical bracket 1301, on which a vertical slider 1302, a vertical stepping motor 1303, a vertical screw 1304, a vertical positioning rod 1305 and a fixed frame 1306 are provided, and the vertical screw 1304 is vertically parallel to the vertical positioning rod 1305; one end of the fixed frame 1306 is sleeved on the vertical positioning rod 1305, and the other end of the fixed frame 1306 is connected to the vertical slider 1302, the vertical slider 1302 is sleeved on the vertical screw 1304, and the end of the vertical screw 1304 is connected to the vertical stepping motor 1303; the pipette 10 is fixedly connected to the fixed frame 1306. The vertical stepper motor 1303 is started to rotate under the control of the PLC control system, driving the vertical screw 1304 to rotate. Since the thread of the vertical slider 1302 is engaged with the thread on the vertical screw 1304, the vertical slider 1302 drives the pipette 10 to move up and down on the vertical screw 1304 during the rotation of the vertical screw 1304, thereby achieving the movement of the pipette 10 in the vertical direction (i.e., up and down movement).

[0056] In this embodiment, the transverse movement mechanism 8 includes a transverse stepping motor 801, a transverse support rod 802 and a crawler 803, wherein the crawler 803 is sleeved on the transverse support rod 802 in the transverse direction; the rotating shaft of the transverse stepping motor 801 is connected with a gear 804 which is engaged with the crawler 803, and the gear 804 drives the crawler 803 to run along the transverse support rod 802; the vertical bracket 1301 is sleeved on the transverse support rod 802 and the crawler 803, and the vertical bracket 1301 is provided with a transmission tooth 805 which is engaged with the crawler 803, and the transmission of the crawler 803 drives the vertical bracket 1301 to run transversely on the transverse support rod 802; support seats 806 are provided at both ends of the transverse support rod 802; the transverse stepping motor 801 is started to rotate under the control of the PLC control system, and the transverse stepping motor 801 drives the gear 804 to rotate so that the crawler 803 runs on the transverse support rod 802. Since the vertical support 1301 is provided with transmission teeth 805 meshing with the track 803, the track 803 will drive the vertical moving mechanism 13 to move horizontally during its operation, that is, to achieve the horizontal movement of the pipette 10; when it reaches the end, that is, the limit block 807, it stops running.

[0057] The longitudinal moving mechanism 9 comprises a longitudinal stepping motor 901, a longitudinal screw 902, a longitudinal positioning rod 903 and a longitudinal slider 904. The longitudinal screw 902 and the longitudinal positioning rod 903 are arranged in parallel, and the transverse moving mechanism 8 is arranged between the longitudinal screw 902 and the longitudinal positioning rod 903. The longitudinal stepping motor 901 is in transmission connection with the longitudinal screw 902. The longitudinal slider 904 is sleeved on the longitudinal screw 902. The support seat 806 at one end of the transverse support rod 802 is sleeved on the longitudinal positioning rod 903, and the support seat 806 at the other end of the transverse support rod 802 is connected to the longitudinal slider 904. The longitudinal stepping motor 901 is started to rotate under the control of the PLC control system, driving the longitudinal screw 902 to rotate. Since the thread of the longitudinal slider 904 is meshed with the thread of the longitudinal screw 902, the longitudinal slider 904 drives the transverse moving mechanism 8 to move horizontally and longitudinally on the longitudinal screw 902 during the rotation of the longitudinal screw 902.

[0058] Through the combined operation of the lateral moving mechanism 8, the longitudinal moving mechanism 9 and the vertical moving mechanism 13, the pipette 10 can move in all directions, left and right, front and back, up and down.

[0059] In this embodiment, the pipette 10 is preferably a pipette gun, which is a single-channel or multi-channel pipette gun, and the single-channel or multi-channel pipette gun can be selected according to the actual situation. The pipette gun is a prior art, and the pipette gun is a kind of pipette 10, which is commonly used for the transfer of a small amount or a trace amount of liquid in a laboratory. The specifications are different, and different specifications of the pipette guns are equipped with different sizes of gun heads. The shapes produced by different manufacturers are also slightly different, but the working principle and operation method are basically the same. The pipette gun is a precision instrument, and it must be used and stored with caution to prevent damage and avoid affecting its range.

[0060] In this embodiment, the activity analysis mechanism is an activity meter 4 electrically connected to the PLC control system. That is, the radioactivity meter is a heat flow type calorimeter, which consists of three parts: a constant temperature body, an absorber, and a thermopile. The radioactivity meter is an intelligent precision measuring instrument dedicated to nuclear medicine. It adopts an advanced PLC control system, which is high-speed and accurate. It is easy to operate, can detect and analyze multiple nuclides, and can store their half-lives in the instrument. As long as the CAL number of the nuclide is entered, up to 200 optional nuclides can be directly accessed.

[0061] In this embodiment, a water inlet pipe 501 is provided above the pure water cylinder 5. The pure water is introduced into the pure water cylinder 5 from the water inlet pipe 501 by a pump, so as to facilitate the cleaning and volume setting of the pipette gun.

[0062] In this embodiment, the dilution bottle 2, the sampling cylinder 3, the pure water cylinder 5, the waste cylinder 66 and the liquid dispensing port 7 are screwed to the housing 11. The purpose of screwing is to facilitate the separation of the dilution bottle 2, the sampling cylinder 3, the pure water cylinder 5, the waste cylinder 66 and the liquid dispensing port 7 from the housing 1 and regular cleaning.

[0063] In the present invention, the PLC control system is a new generation of industrial control device formed by introducing microelectronic technology, computer technology, automatic control technology and communication technology on the basis of the traditional sequential controller, and the purpose is to replace the sequential control functions such as relays, execution logic, timing, counting, etc., and establish a flexible remote control system. It has the characteristics of strong versatility, convenient use, wide adaptability, high reliability, strong anti-interference ability, simple programming, etc. It has the functions of receiving, sending, storing signals and controlling driving. The model of the PLC control system in the present invention can be DVP16ES2.

[0064] Example 2

[0065] A radionuclide pipetting preparation, such as Figure 6 As shown, the following steps are included:

[0066] (1) Activity analysis:

[0067] s1. Move the pipette to the bottom of the sampling cylinder to absorb the quantitative solution;

[0068] s2. Move the pipette to the activity meter and lower it through the vertical moving mechanism so that the tip in the pipette enters the activity meter and stays there for activity analysis;

[0069] s3. Move the pipette upward to the sampling cylinder through the vertical moving mechanism, and transfer the quantitative solution in the pipette to the sampling cylinder;

[0070] s4. Move the pipette to the waste cylinder through the lateral moving mechanism, remove the pipette tip from the pipette, complete the quantitative analysis process, and obtain the activity of the liquid in the sampling cylinder;

[0071] (2) Liquid preparation

[0072] s5. Move the pipette to the bottom of the sampling tip box through the vertical moving mechanism and install the tip;

[0073] s6. Move the pipette to the sampling cylinder through the lateral moving mechanism, calculate the volume according to the activity obtained by the activity analysis, and draw the liquid;

[0074] s7. Move the pipette to the bottom of the liquid dispensing port through the horizontal moving mechanism and the vertical moving mechanism, and put the liquid into the container;

[0075] s8. Move the pipette to the pure water cylinder to absorb clean water, then move it to the liquid dispensing port and put the water into the container. The purpose of absorbing clean water is to make the radioactive nuclides contained in the pipette tip enter the container as much as possible, ensure the content of radioactive nuclides in the container, improve the accuracy of liquid preparation, and reduce the background residue of the tip. The number of times of absorbing clean water can be one or more times according to the actual situation. ;

[0076] s9. Move the pipette to the waste bucket and remove the tip;

[0077] s10. Reset the pipette to the bottom of the sampling tip box and the process ends.

[0078] Example 3

[0079] A radionuclide pipetting preparation, such as Figure 2 As shown, the following steps are included:

[0080] (1) Activity analysis:

[0081] s1. Move the pipette to the bottom of the sampling cylinder through the horizontal moving mechanism and the vertical moving mechanism to absorb the quantitative solution; the inner diameter of the sampling cylinder is 2 cm, and the pipette is required to move down 10 cm to the sampling cylinder to take liquid, and the quantitative volume absorbed is 1 ml as the analytical reagent;

[0082] s2. Move the pipette to the activity meter and lower it through the vertical moving mechanism so that the tip in the pipette enters the activity meter and stays there for activity analysis; the activity meter is provided with an analysis port with an inner diameter of 2 cm. The pipette is required to be able to descend 20 cm into the activity meter and stay there for 20 seconds for activity analysis;

[0083] s3. Move the pipette upward to the sampling cylinder through the vertical moving mechanism, and transfer the quantitative solution in the pipette to the sampling cylinder;

[0084] s4. Move the pipette to the waste tube through the lateral moving mechanism, remove the pipette tip, complete the quantitative analysis process, and obtain the activity of the liquid in the sampling tube; the inner diameter of the waste tube is 2 cm, and the pipette is required to move down 5 cm to remove the pipette tip.

[0085] (2) Liquid preparation

[0086] s5. Move the pipette to the bottom of the sampling tip box through the vertical moving mechanism and install the tip;

[0087] s6. Move the pipette to the sampling cylinder through the lateral moving mechanism, calculate the volume according to the activity obtained by the activity analysis, and aspirate the liquid; the system requires that when the liquid is greater than 5ml, it can automatically aspirate and release the liquid. ;

[0088] s7. Move the pipette to the bottom of the liquid dispensing port through the lateral moving mechanism and put the liquid into the container; the pipette is required to be able to dispensing liquid 20 cm downward;

[0089] s8. Move the pipette to the pure water cylinder to absorb 10 ml of pure water, then move it to the dispensing port, the inner diameter of which is 10 cm; put the water into the container. The purpose of absorbing the pure water is to allow the radioactive nuclides contained in the pipette to enter the container as much as possible, to ensure the content of the radioactive nuclides in the container, and to improve the accuracy of the solution. The number of times of absorbing the pure water can be one or more times according to the actual situation.

[0090] s9. Move the pipette to the waste bucket and remove the tip;

[0091] s10. Reset the pipette to the bottom of the sampling tip box and the process ends.

[0092] The technical solutions provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only applicable to help understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, according to the embodiments of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for preparing a radionuclide by pipetting, characterized in that: Including the use of a radionuclide liquid transfer robot for radionuclide activity analysis and liquid preparation; The radionuclide liquid transfer robot comprises a shell, inside of which are arranged a dilution bottle, a sampling cylinder with an opening at the upper end, an activity analysis mechanism, a pure water cylinder with an opening at the upper end, a waste cylinder with an opening at the upper end, a sampling tip box for installing and replacing the tip, and a liquid dispensing port; A liquid transfer mechanism electrically connected to the PLC control system is provided inside the shell, and the liquid transfer mechanism is arranged above the sampling cylinder, the activity analysis mechanism, the pure water cylinder, the waste cylinder, the sampling tip box and the liquid dispensing port; the liquid transfer mechanism includes a horizontal moving mechanism and a vertical moving mechanism, and the horizontal moving mechanism includes a transverse moving mechanism and a longitudinal moving mechanism, and the vertical moving mechanism is connected to a liquid transfer device; the vertical moving mechanism is connected to the transverse moving mechanism; both ends of the transverse moving mechanism are connected to the longitudinal moving mechanism, and the transverse moving mechanism moves longitudinally under the drive of the longitudinal moving mechanism; The pipette runs horizontally or vertically in the sampling tube, activity analysis mechanism, pure water tube, waste tube, sampling tip box and liquid dispensing port; radiation shielding shells are arranged outside the sampling tube and waste tube; a container is arranged at the liquid dispensing port; The vertical moving mechanism comprises a vertical bracket, on which a vertical slider, a vertical stepping motor, a vertical screw, a vertical positioning rod and a fixing bracket are arranged, wherein the vertical screw is vertically parallel to the vertical positioning rod; one end of the fixing bracket is sleeved on the vertical positioning rod, and the other end of the fixing bracket is connected to the vertical slider, the vertical slider is sleeved on the vertical screw, and the end of the vertical screw is connected to the vertical stepping motor; the pipette is fixedly connected to the fixing bracket; The lateral movement mechanism includes a lateral stepping motor, a lateral support rod and a crawler belt, wherein the crawler belt is sleeved on the lateral support rod in the lateral direction; the rotating shaft of the lateral stepping motor is connected with a gear connected with the crawler belt teeth, and the gear drives the crawler belt to run along the lateral support rod; the vertical bracket is sleeved on the lateral support rod and the crawler belt, and the vertical bracket is provided with a transmission tooth engaged with the crawler belt teeth, and the transmission of the crawler belt drives the vertical bracket to run horizontally on the lateral support rod; support seats are provided at both ends of the lateral support rod; The longitudinal moving mechanism comprises a longitudinal stepping motor, a longitudinal screw, a longitudinal positioning rod and a longitudinal slider, wherein the longitudinal screw and the longitudinal positioning rod are arranged in parallel, and the transverse moving mechanism is arranged between the longitudinal screw and the longitudinal positioning rod; the longitudinal stepping motor is transmission-connected with the longitudinal screw; the longitudinal slider is sleeved on the longitudinal screw; the support seat at one end of the transverse support rod is sleeved on the longitudinal positioning rod, and the support seat at the other end of the transverse support rod is connected to the longitudinal slider; The vertical stepping motor, the horizontal stepping motor and the longitudinal stepping motor are all electrically connected to the PLC control system; The radionuclide activity analysis and solution preparation specifically include the following steps: (1) Activity analysis: s1. Move the pipette to the bottom of the sampling cylinder to absorb the quantitative solution; s2. Move the pipette to the activity analysis mechanism and lower it so that the pipette tip in the pipette enters the activity analysis mechanism, and stay there to perform activity analysis and data collection; s3. Move the pipette upward to the sampling tube and remove the quantitative solution in the pipette; s4. Move the pipette to the waste tube, remove the tip on the pipette, complete the quantitative analysis process, and obtain the activity of the liquid in the sampling tube; (2) Liquid preparation s5. Move the pipette to the bottom of the sampling tip box and install the tip; s6. Move the pipette to the sampling cylinder, calculate the volume according to the activity obtained by activity analysis, and draw up the liquid; s7. Move the pipette to the bottom of the liquid dispensing port and put the liquid into the container; s8. Move the pipette to the pure water cylinder to absorb the clean water, then move it to the liquid dispensing port and put the water into the container; s9. Move the pipette to the waste bucket and remove the tip; s10. Reset the pipette to the bottom of the sampling tip box and the process ends.

2. The method for preparing a nuclide by pipetting according to claim 1, characterized in that: The activity analysis mechanism is electrically connected to the PLC control system and collects analysis results.

3. The method for preparing a nuclide by pipetting according to claim 1, characterized in that: The pipette is a single-channel or multi-channel pipette with a suction tip.

4. The method for preparing a nuclide by pipetting according to claim 1, characterized in that: The time spent in the activity analysis mechanism in step s2 is 10-60 seconds.

5. The method for preparing a nuclide by pipetting according to claim 1, characterized in that: The number of times of absorbing pure water in step s8 is one or more times.

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