Robot system

Abstract

A robot system (100) includes: a table robot (20) including a robot arm that performs an operation on an object on a table; and a controller (30) that controls the operation of the table robot (20), the robot arm including: a multi-joint arm; and a hand which is located at the tip of the arm and has a plurality of fingers having joints, the hand being configured such that a first set of fingers and a second set of fingers face each other and grip an object therebetween, the first set of fingers including a first finger, the second set of fingers including a second finger and a third finger, and the third set of fingers including a second finger and a third finger. The controller (30) causes the table robot (20) to execute at least two of the following processes: causing the hand to hold the aspirator and suck the liquid, causing the hand to hold the electric pipette and suck and discharge the liquid, causing the hand to hold the electric micropipette and suck and discharge the liquid, and causing the hand to hold the spoon and take the powder and transfer the powder.

Description

Technical Field

[0001] The present invention relates to robotic systems. Background Art

[0002] In order to automate experiments for processing biological samples such as cells, various attempts have been made to allow robots to use the same types of tools as those used by researchers.

[0003] For example, a technique for causing a robot to use an electric pipette (Patent Document 1) and a technique for causing a robot to use various containers (Patent Document 2) have been proposed.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Publication No. 6735475

[0007] Patent Document 2: Japanese Patent Gazette No. 5776772 Summary of the invention

[0008] Problems to be solved by the invention

[0009] As described in Patent Document 1 Figure 2 As shown, the robot hand described in Patent Document 1 is composed of two rod-shaped fingers called claws, and the two claws are used to hold the object of Patent Document 1. Figure 3 The robot described in Patent Document 1 is described as also using the pipette device for the pipette with scale shown in FIG. 18 of Patent Document 1.

[0010] However, it is obviously impossible to hold the pipette device for a graduated pipette and press the suction button and the discharge button by hand using the pipette device disclosed in Patent Document 1, so the so-called use of the pipette device for a graduated pipette is just a statement of wish.

[0011] In addition, the hand of the robot described in Patent Document 2 is composed of two plate-shaped fingers called clamp heads. In order to adapt to the specific shapes of various containers to be used, the clamp heads are provided with a plurality of recessed pins (gripping parts 73) protruding vertically from the plate surface. In this way, when the operation object cannot be used with fingers of a simple shape, the shape of the fingers is specialized according to the operation object.

[0012] However, in the case of specializing the hand according to the object of operation, the hand needs to be replaced every time the object of operation changes. For example, the hand described in Patent Document 2 that is specialized for gripping a specific container is clearly not suitable for gripping a pipette device. If a robot performs an experiment on a biological sample such as a cell in the same process as a researcher, it is required to use a variety of tools in sequence on a single workbench to perform a series of operations. However, replacing the hand in the middle will hinder the automation of the experiment.

[0013] The present disclosure has been made in view of the above points, and an object thereof is to increase the variety of operations that can be performed with a single hand in a robot system that is used in the field of experiments on biological samples such as cells and performs a series of operations on a workbench that requires the use of a variety of tools.

[0014] Means for Solving the Problem

[0015] To achieve the above object, the robot system of the present disclosure includes a workbench robot and a controller that controls the operation of the workbench robot. The workbench robot includes a robotic arm that performs operations on an object on the workbench. In the robot system, the robotic arm includes a hand and a multi-joint arm. The hand is located at the end of the arm and has a plurality of fingers with joints. The hand is configured such that a first group of fingers and a second group of fingers face each other and grip an object therebetween. The first group of fingers includes a first finger, and the second group of fingers includes a second finger and a third finger. The controller causes the workbench robot to execute at least two of the following processes: causing the hand to grip a suction device and suck liquid; causing the hand to grip an electric pipette and suck and discharge liquid; causing the hand to grip an electric micropipette and suck and discharge liquid; and causing the hand to grip a spatula and scoop and transfer powder.

[0016] Advantageous Effects of the Invention

[0017] According to the robot system of the present disclosure, in a robot system that is used in the field of experiments on biological samples such as cells and performs a series of operations on a workbench that requires the use of a variety of tools, it is possible to increase the variety of operations that can be performed with a single hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic top view showing an example of an experimental environment in which the robot system of the present embodiment operates.

[0019] Figure 2 is a block diagram showing a schematic configuration of the robot system of the present embodiment.

[0020] Figure 3 is an external perspective view of the moving robotic arm.

[0021] Figure 4 It is a three-dimensional external view of a workbench robot.

[0022] Figure 5 It is a block diagram showing the hardware structure of a general controller.

[0023] Figure 6 It is a flowchart showing the process of control processing.

[0024] Figure 7 It is a flowchart showing the process of subculture processing.

[0025] Figure 8 It is a diagram for explaining the removal of the culture medium in the first container.

[0026] Figure 9 It is a diagram for explaining the addition of cell dispersion enzyme solution into the first container.

[0027] Figure 10 It is a diagram for explaining the transfer of the mixture in the first container to the centrifuge container.

[0028] Figure 11 It is a diagram for explaining the placement of a part of the cells in the centrifuge container onto the specimen holder.

[0029] Figure 12 It is a diagram for explaining the inoculation of cells into the second container.

[0030] Figure 13 It is a diagram for explaining the dispensing operation.

[0031] Figure 14 It is a diagram for explaining the dispensing operation.

[0032] Figure 15 It is a diagram for explaining another example of the holding method of a medicine spoon.

[0033] Figure 16A It is a diagram for explaining another example of the structure of a controller.

[0034] Figure 16B It is a diagram for explaining another example of the structure of a controller.

[0035] Figure 17A It is a diagram for explaining another example of the structure of a controller.

[0036] Figure 17B It is a diagram for explaining another example of the structure of a controller. Detailed implementation mode

[0037] Hereinafter, an example of an embodiment of the present disclosure will be described with reference to the drawings. In addition, in each drawing, the same or equivalent components and parts are denoted by the same reference numerals. In addition, the dimensions and ratios of the drawings are exaggerated for ease of explanation and are sometimes different from the actual ratios.

[0038] As a typical example of the experimental environment used by researchers, an environment can be cited in which most of the workbenches for performing passage operations are provided, and a cell observation device, a cell measurement device, a centrifuge, etc. are provided in a place far from the workbench. When a researcher performs a passage operation, the researcher performs the passage operation on the workbench. On the other hand, during the passage operation, the researcher walks and moves while holding a sample container between the workbench and the cell observation device, the cell measurement device, or the centrifuge as needed, and uses these devices.

[0039] The robot system of the present embodiment operates in the same environment as the typical example of the experimental environment used by the above-mentioned researchers. Figure 1 It is a schematic top view showing an example of the experimental environment in which the robot system of the present embodiment operates. In Figure 1 In the example, in addition to the above-mentioned cell observation device, cell measurement device, centrifuge, and workbench, the experimental environment also includes experimental equipment such as a medicine rack, an incubator, a refrigerator, a consumable rack, a charging station, a sink, and a chair. In addition, Figure 1 The microscope in

[0040] As shown in Figure 2 The robot system 100 of the present embodiment includes a mobile manipulator 10, a workbench robot 20, and a general controller 30. In addition, in Figure 2 In the example, an example is shown in which there are two mobile manipulators 10 and two workbench robots 20, but it is not limited thereto. The mobile manipulator 10 and the workbench robot 20 can each be one, or three or more.

[0041] The mobile manipulator 10 includes a local controller 21, a moving mechanism for moving on the ground, and a gripping mechanism for gripping an object. Figure 3 An external perspective view of the mobile manipulator 10 is shown. As shown in Figure 3 The mobile manipulator 10 includes a trolley 12 and a robot arm 13.

[0042] The trolley 12 is an example of the moving mechanism and has two drive wheels 12A that are driven under the control of the local controller 11. And the trolley 12 is in Figure 3The bottom surface of the front near the middle has casters with freely variable directions. Since the two drive wheels 12A are driven independently of each other, the trolley 12 can move freely on the ground like a researcher. The drive mechanism is not limited to two independently driven wheels and can be any mechanism capable of moving on the ground, preferably a mechanism with few restrictions on the movement mode including rotation. The robotic arm 13 is an example of a gripping mechanism and is mounted on the trolley 12. The robotic arm 13 has an arm 13A and a hand 13B mounted at the end of the arm 13A. The arm 13A can be a vertically articulated arm having a structure for displacing the position and posture of the hand 13B in three-dimensional space, for example, with six degrees of freedom. The hand 13B is, for example, a two-finger robotic hand capable of gripping a container or the like. In addition, in Figure 3 the example in which the mobile robotic arm 10 has one robotic arm 13 is shown, but it can also be configured as a dual-arm having two robotic arms 13.

[0043] The mobile robotic arm 10 has a vision sensor (not shown) at a portion of the arm 13A near the hand 13B. The vision sensor is a sensor for identifying objects around the mobile robotic arm 10 and gripping objects such as containers gripped by the hand 13B. The vision sensor is configured to include a camera and an image processing device, and the image processing device performs image processing on the image captured by the camera, thereby identifying surrounding objects and gripping objects. Thus, the mobile robotic arm 10 can move autonomously. In addition, the sensor for identifying surrounding objects and gripping objects is not limited to a vision sensor, and a lidar or the like capable of measuring the three-dimensional positions of each point around can also be used. In addition, the sensor for identifying surrounding objects can also be mounted on the trolley 12.

[0044] The local controller 11 controls the operation of each motor of the mobile robotic arm 10 so as to be able to implement the instructions of the overall controller 30. Specifically, the local controller 11 controls the operation of the mobile robotic arm 10 based on the recognition result output from the vision sensor 14, the instructions from the overall controller 30, etc. More specifically, the local controller 11 controls the operation of the mobile robotic arm 10 to grip a gripping object such as a container with the hand 13B and convey the gripped gripping object to a specified position such as a workbench.

[0045] The workbench robot 20 is fixed relative to the workbench and includes a local controller 21 and a gripping mechanism for gripping an object on the workbench. The gripping objects of the workbench robot 20 include, in addition to containers, an aspirator for sucking cells or the like in the container and discharging cells or the like into the container, an electric pipette, an electric micropipette, etc. Figure 4 The external perspective view of the workbench robot 20 is shown. As Figure 4 shown, the workbench robot 20 includes two robotic arms 22 and a vision sensor 23.

[0046] The robotic arm 22 is an example of a gripping mechanism, and includes an arm 22A and a hand 22B mounted at the end of the arm 22A. The arm 22A can be a vertically articulated arm having a structure for displacing the position and posture of the hand 22B in a three-dimensional space, for example, with six degrees of freedom. The hand 22B is a three-finger robotic hand capable of gripping a container or the like, and each finger has joints, for example.

[0047] Figure 4 The lower part shows a schematic view of the hand 22B enlarged. In this schematic view, the illustration of the joints of each finger of the hand 22B is omitted, and the shape and arrangement of each finger are simplified for illustration. The hand 22B includes a first group of fingers including the first finger 22B1, a second group of fingers including the second finger 22B2 and the third finger 22B3, and a hand body 22B0 connected to the bases of the first finger 22B1, the second finger 22B2, and the third finger 22B3, respectively. In the hand 22B, the first group and the second group are configured to be able to oppose each other and grip an object therebetween. Corresponding to human fingers, the first finger 22B1 functions as a thumb, the second finger 22B2 functions as an index finger, and the third finger 22B3 functions as a middle finger. In addition, the hand 22B can also be a robotic hand with four or more fingers. That is, the first group can also include fingers other than the first finger 22B1, and the second group can also include fingers other than the second finger 22B2 and the third finger 22B3. In addition, each finger of the hand 22B preferably has two joints in the middle. Thereby, stable gripping like surrounding the outer shape of an object can be performed, and fine operations such as pressing the button of an experimental instrument also become easy.

[0048] Hereinafter, when the hands 22B of the two robotic arms 22 are described by distinguishing between the left hand and the right hand, the left hand is denoted as the hand 22BL, and the right hand is denoted as the hand 22BR. Similarly, for the fingers of the hand 22B, the finger labels of the left hand 22BL are denoted as the first finger 22B1L, the second finger 22B2L, and the third finger 22B3L, and the finger labels of the right hand 22BR are denoted as the first finger 22B1R, the second finger 22B2R, and the third finger 22B3R. Similarly, for the hand body 22B0, it is denoted as the left hand body 22B0L and the right hand body 22B0R.

[0049] The vision sensor 23 is mounted on a pan / tilt stage and is a sensor for recognizing a gripping object such as a container arranged on a workbench.

[0050] The local controller 21 controls the operations of the motors of the workbench robot 20 to enable the implementation of the instructions of the overall controller 30. Specifically, the local controller 21 controls the operations of the workbench robot 20 based on the recognition results output from the vision sensor 23, the instructions from the overall controller 30, etc. More specifically, the local controller 21 controls the operations of the workbench robot 20 so that the two robotic arms 22 perform the cell passage process in a coordinated manner. For example, the local controller 21 controls the operations of the workbench robot 20 to perform processes such as gripping a container with the hand 22B of one robotic arm 22, gripping a pipette with the hand 22B of the other robotic arm 22, and aspirating the liquid in the container.

[0051] In addition, in Figure 4 an example is shown in which the workbench robot 20 is directly fixed to the workbench, but it is sufficient that the relative positional relationship between the workbench robot 20 and the workbench is fixed. For example, it may also be fixed to the floor, wall, ceiling, etc.

[0052] The overall controller 30 cooperates with the local controller 11 of the mobile robotic arm 10 and the local controller 21 of the workbench robot 20 to control the operations of the mobile robotic arm 10 and the workbench robot 20 respectively. Specifically, the overall controller 30 causes the mobile robotic arm 10 and the workbench robot 20 to perform the cell passage process, which includes the transportation and setting of the container containing the cells between the workbench and other experimental equipment.

[0053] The gripping operation of the mobile robotic arm 10 and the operation of the experimental equipment are achieved by the local controller 11 causing the mobile robotic arm 10 to execute the pre-taught action plan based on the recognition results output from the vision sensor. The same applies to the gripping operation of the workbench robot 20 and the operation of the experimental equipment.

[0054] In addition, the movement of the mobile robotic arm 10 is achieved by the local controller 11 causing the mobile robotic arm 10 to move to the position of the experimental equipment indicated by the overall controller 30 based on the layout map of the experimental environment pre-held. In addition, the local controller 11 causes the mobile robotic arm 10 to move in a manner that avoids obstacles and moves to the target position based on the recognition results output from the vision sensor 14.

[0055] Figure 5 is a block diagram showing the hardware structure of the overall controller 30. As Figure 5 shown, the overall controller 30 has a CPU (Central Processing Unit) 31, a memory 32, a storage device 33, an input device 34, an output device 35, a storage medium reading device 36, and a communication I / F (Interface) 37. Each structure is connected via a bus 38 so as to be able to communicate with each other.

[0056] A program for performing the control processing described later is stored in the storage device 33. The CPU 31 is a central processing unit that executes various programs and controls each component. That is, the CPU 31 reads the program from the storage device 33 and executes the program using the memory 32 as a work area. The CPU 31 controls the above-mentioned components and performs various arithmetic processes according to the program stored in the storage device 33.

[0057] The memory 32 is composed of RAM (Random Access Memory) and temporarily stores programs and data as a work area. The storage device 33 is composed of ROM (Read Only Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), etc., and stores various programs including the operating system and various data.

[0058] The input device 34 is, for example, a device for performing various inputs such as a keyboard and a mouse. The output device 35 is, for example, a device for outputting various information such as a display and a printer. As the output device 35, a touch panel display can also be used to function as the input device 34.

[0059] The storage medium reading device 36 reads data stored in various storage media such as CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM, Blu-ray Disc, and USB (Universal Serial Bus) memory, and writes data to the storage medium. The communication I / F 37 is an interface for communicating with other devices and uses standards such as Ethernet (registered trademark), FDDI, and Wi-Fi (registered trademark). In addition, other devices include the local controller 11 of the mobile robot arm 10, the local controller 21 of the workbench robot 20, a cell observation device, a cell measurement device, a centrifuge, etc. In this embodiment, it is assumed that these other devices also have a communication function.

[0060] In addition, the hardware structures of the local controller 11 of the mobile robot arm 10 and the local controller 21 of the workbench robot 20 are substantially the same as the hardware structure of the overall controller 30, so the description thereof is omitted.

[0061] Next, the operation of the robot system 100 of this embodiment will be described.

[0062] Figure 6 It is a flowchart showing the flow of the control process executed by the CPU 31 of the overall controller 30. Hereinafter, an example of adherent culture will be described.

[0063] In step S10, as a preparatory process for subculture, the overall controller 30 causes the mobile robotic arm 10 to take out the first container containing the cells in culture from the first incubator and convey it to the workbench. The first container is, for example, a square flask or the like.

[0064] Specifically, the overall controller 30 instructs the local controller 11 of the mobile robotic arm 10 for the preparatory process. Through the control of the local controller 11 that has received the instruction for the preparatory process, the mobile robotic arm 10 moves to the position of the first incubator, opens the door of the first incubator, and holds the first container with the hand 13B. Then, the mobile robotic arm 10 moves to the workbench while holding the first container and arranges the first container on the workbench.

[0065] Next, in step S20, the overall controller 30 causes the mobile robotic arm 10 and the workbench robot 20 to perform the subculture process. Here, refer to Figure 7 An explanation of the subculture process will be given.

[0066] In step S21, the overall controller 30 instructs the local controller 21 of the workbench robot 20 to remove the culture medium from the first container. For example, as Figure 8 shown, the local controller 21 that has received the instruction controls the workbench robot 20 so that the first container is held by the hand 22BL and the aspirator is held by the hand 22BR, and the aspirator is operated to suck and remove the culture medium in the first container. More specifically, the local controller 21 controls the workbench robot 20 so that the first finger 22B1L of the hand 22BL is opposed to the second finger 22B2L and the third finger 22B3L and holds the first container therebetween.

[0067] In addition, the local controller 21 controls the workbench robot 20 so that the first finger 22B1R (the first group) of the hand 22BR is opposed to the second finger 22B2R and the third finger 22B3R (the second group) and holds the aspirator therebetween. At this time, the local controller 21 holds the vicinity of the end of the aspirator between the first group and the second group in such a manner that both the second finger 22B2R and the third finger 22B3R are in contact with the aspirator. Thereby, compared with the case of holding with only two fingers, the aspirator can be stably held. In the case of holding with only two fingers, when an external force is applied to the end or the root side of the aspirator, the aspirator is likely to slide and rotate with the held part as a fulcrum. As described above, in the present embodiment, by holding with three fingers, it is easy to maintain the holding posture of the aspirator even when an external force is applied to the aspirator.

[0068] In addition, the local controller 21 may further cause the hand main body 22B0 to also come into contact with the aspirator to hold the aspirator. Thereby, the holding posture of the aspirator is more stable.

[0069] In addition, the aspirator may have a structure of a flexible tube up to the end, or may have a structure in which a rigid tube portion such as a graduated pipette is provided at the end of the flexible tube. In the case where the rigid tube portion is provided, the entire rigid tube portion corresponds to "near the end of the aspirator".

[0070] In the following steps, the gripping methods of the respective fingers of the hand 22B for various containers are substantially the same as the gripping method in this step, and thus the description thereof is omitted.

[0071] Next, in step S22, the overall controller 30 instructs the local controller 21 of the workbench robot 20 to add a cell dispersing enzyme solution to the first container. The cell dispersing enzyme solution is an example of a cell dispersing reagent, and is, for example, trypsin. For example, as Figure 9 shown, the received local controller 21 controls the workbench robot 20 such that the electric pipette is gripped by the hand 22BR, and the electric pipette is operated to add the cell dispersing enzyme solution into the first container.

[0072] In addition, the electric pipette includes a gripping portion and a mounting portion for a graduated pipette. The gripping portion includes a suction button and a discharge button. The suction button is a button that, when pressed, indicates the execution of a suction operation for sucking a liquid into the graduated pipette, and the discharge button is a button that, when pressed, indicates the execution of a discharge operation for discharging a liquid from the graduated pipette. Therefore, as an operation of the above-described electric pipette, the local controller 21 causes the first finger 22B1R and the hand body 22B0R to clamp and grip the gripping portion of the electric pipette. In addition, a portion other than the vicinity of the ends of the second finger 22B2R and the third finger 22B3R may be used to grip the gripping portion of the electric pipette. Then, the local controller 21 causes any one of the second finger 22B2R and the third finger 22B3R (the third finger 22B3R in the Figure 9 example) to press the discharge button. Thereby, it is possible to operate an electric pipette that cannot be used with a two-finger hand.

[0073] Next, in step S23, the overall controller 30 instructs the local controller 11 of the moving robotic arm 10 to transport the first container to the cell observation device. The received local controller 11 controls the moving robotic arm 10 such that the first container after adding the cell dispersing enzyme solution on the workbench is transported, for example, by computer control, to a cell observation device such as an optical microscope that obtains a magnified image of the object to be observed and performs image analysis, and is arranged at a predetermined position of the cell observation device. As the cell observation device, a device having a long object distance that can observe cells through the transparent wall surface of the first container is used.

[0074] Next, in step S24, the overall controller 30 determines whether the subculture process can be continued based on the observation results of the cell observation device. For example, the overall controller 30 obtains an image or image analysis result of the cells in the first container from the cell observation device as the observation result, and determines that the subculture process can be continued when the cells are sufficiently detached from the container wall and become in a suspended state. In addition, the observation of the degree of detachment of the cells by the cell observation device can be automatically performed using image processing in the cell observation device or the overall controller 30, or can be performed with human intervention. When the subculture process can be continued, it transfers to step S25, and when the subculture process cannot be continued, it transfers to step S33. Alternatively, instead of transferring to step S33, it can wait for a few minutes and then try again based on the observation of the cell observation device. This is because it is sometimes expected that the detachment of the cells from the container wall progresses over time.

[0075] In step S25, the overall controller 30 instructs the local controller 11 of the moving robotic arm 10 to transport the first container to the workbench. The received local controller 11 controls the moving robotic arm 10 to take out and hold the first container from the cell observation device, transport it to the workbench, and place it on the workbench. When it can be presumed that there is no need to confirm through the cell observation device and the cells have been sufficiently detached from the container wall, the above-described steps S23 to S25 can also be omitted. For example, in the case of having a track record of successfully culturing the same type of cells under the same conditions and the detachment of the cells from the container wall being successful under the same conditions.

[0076] Next, in step S26, the overall controller 30 instructs the local controller 21 of the workbench robot 20 to add an additive that is at least one of an enzyme reaction terminating solution and a new culture medium to the first container. For example, as Figure 9 shown, the received local controller 21 controls the workbench robot 20 so that the hand 22BL holds the first container, the hand 22BR holds the electric pipette, and adds the additive into the first container. Hereinafter, the first container containing the mixture of the cells and the additive or the third container to which the content of the first container has been transferred is referred to as a centrifugation container.

[0077] In addition, when transferring the mixture of the cells and the additive to the third container, the overall controller 30 instructs the local controller 21 of the workbench robot 20 to that effect. For example, as Figure 10 shown in the upper figure above, the received local controller 21 controls the workbench robot 20 to operate the electric pipette to aspirate the mixture from the first container. Specifically, the local controller 21 causes the first finger 22B1R and the hand body 22B0R to grip and hold the gripping portion of the electric pipette. Then, the local controller 21 causes either the second finger 22B2R or the third finger 22B3R (inFigure 10 In the example of the upper figure above, the second finger (22B2R) presses the aspiration button. Thus, an electric pipette that cannot be used with a two-finger hand can be operated.

[0078] Then, as Figure 10 shown in the lower figure below, the local controller 21 controls the workbench robot 20 to replace the hand 22BL with, for example, a centrifuge tube such as a conical tube. And the local controller 21 controls the workbench robot 20 to operate the electric pipette and transfer the aspirated mixture to the centrifuge tube. The operation of the electric pipette here is the same as that in Figure 9 the example.

[0079] In addition, when the first container is directly used as the centrifuge tube, the first container is not a square flask, but a conical tube is used from the beginning.

[0080] Next, in step S27, the overall controller 30 instructs the local controller 11 of the moving robotic arm 10 to transport the centrifuge tube to the centrifuge. The received local controller 11 controls the moving robotic arm 10 to transport the centrifuge tube on the workbench to the centrifuge and set it at a specified position (such as the rotating part) of the centrifuge. At this time, if required by the specifications of the centrifuge, the local controller 11 controls the moving robotic arm 10 to take out the part where the centrifuge tube should be set from the centrifuge, set the centrifuge tube on the part, and then return the part to the centrifuge. In addition, the local controller 11 can also control the moving robotic arm 10 to press the start button of the centrifuge to start the operation of the centrifuge. Alternatively, the operation to start the centrifuge can also be performed by the overall controller 30 sending a control signal to the centrifuge.

[0081] Next, in step S28, the overall controller 30 instructs the local controller 11 of the moving robotic arm 10 to transport the centrifuge tube to the workbench. The received local controller 11 controls the moving robotic arm 10 to retrieve and hold the centrifuge tube from the centrifuge, transport it to the workbench, and place it on the workbench.

[0082] Next, in step S29, the overall controller 30 instructs the local controller 21 of the workbench robot 20 to extract a part of the cells from the centrifuge tube and place them on the specimen holder. The specimen holder uses a specimen holder that conforms to the specifications of the cell measurement device. For example, when the cell measurement device is an optical microscope, the specimen holder is a glass slide. The glass slide may also have a depression for placing the specimen. Depending on the specifications of the cell measurement device, sometimes certain containers are also used as the specimen holder.

[0083] The received local controller 21, for example, asFigure 11 As shown in the upper figure above, the stage robot 20 is controlled to operate the electric micropipette to aspirate a part of the cells from the centrifugation container. At this time, the local controller 21 holds the electric micropipette between the first group (the first finger 22B1R) and the second group (the second finger 22B2R and the third finger 22B3R) in such a manner that both the second finger 22B2R and the third finger 22B3R are in contact with the electric micropipette. Thereby, compared with the case of holding with only two fingers, the electric micropipette can be stably held. In the case of holding with only two fingers, when an external force is applied to the tip or the root side (such as a cable) of the electric micropipette, the electric micropipette is likely to slide and rotate with the held part as a fulcrum. As described above, in the present embodiment, by holding with three fingers, it is easy to maintain the holding posture of the electric micropipette even when an external force is applied to the electric micropipette.

[0084] In addition, the local controller 21 may also make the hand body 22B0 contact the electric micropipette to hold the electric micropipette. Thereby, the holding posture of the electric micropipette is more stable.

[0085] As Figure 11 As shown in the lower figure below, the local controller 21 controls the stage robot 20 to operate the electric micropipette to discharge the aspirated cells into the recess of a specimen holder such as a cell counting plate.

[0086] In addition, the electric micropipette is a device capable of aspirating and discharging a small amount of cells. The control of the opening and closing of the aspiration and discharge of the electric micropipette may also be set to wired electronic control via a USB cable or the like, without using the hand 22B of the stage robot 20 to perform the opening and closing operations. The overall controller 30 may also cause the stage robot 20 to perform a process of staining the cells to be measured before cell measurement.

[0087] Next, in step S30, the overall controller 30 instructs the local controller 11 of the moving robotic arm 10 to convey the specimen holder to a cell measurement device for measuring the number or concentration of cells. The received local controller 11 controls the moving robotic arm 10 to convey the specimen holder on the stage, for example, to a cell measurement device such as an optical microscope for obtaining a magnified image of the object to be observed and performing image analysis through computer control, and set it in the setting portion of the cell measurement device. In addition, the "setting portion" here refers to a setting position where, if the specimen holder is set here, cell measurement by the cell measurement device can be performed later. The specimen holder set in the setting portion may also be moved to the measurement location by the function of the cell measurement device, and it is not necessary to be able to perform measurement in the state of being set in the setting portion.

[0088] Next, in step S31, the overall controller 30 determines whether the subculture process can continue based on the measurement results of the cell measurement device. For example, the overall controller 30 obtains the number or concentration of cells in the sample holder as the measurement result from the cell measurement device, and determines that the subculture process can continue when the number or concentration of cells is equal to or greater than a pre-determined threshold. In addition, the measurement of the number or concentration of cells by the cell measurement device can be automatically performed using image processing or can be performed with human intervention. When the subculture process can continue, it transfers to step S32, and when the subculture process cannot continue, it transfers to step S33.

[0089] In step S32, the overall controller 30 controls the local controller 21 of the workbench robot 20 to instruct the inoculation of cells into one or more second containers. Additionally, the second container can be the same as the first container. There are cases where the second container has a single holding container with an increased size and cases where the number of containers is increased. For a container provided with multiple wells (depressions), each well is regarded as a second container.

[0090] The received local controller 21 controls the workbench robot 20. For example, as Figure 12 shown in the upper figure above, it operates an electric micropipette to aspirate the amount of cells (including the culture medium) to be inoculated into the second container from the centrifugation container. Then, as Figure 12 shown in the lower figure below, the local controller 21 controls the workbench robot 20 to operate the electric micropipette to discharge the aspirated cells into a second container such as a square flask. The local controller 21 repeats this control according to the number of second containers. Additionally, if necessary, a pipettor can be used to supplement the culture medium to the second container. Then, the subculture process ends, and it returns to Figure 6 , and proceeds to the post-processing in step S40.

[0091] In step S33, the overall controller 30 outputs the situation where the subculture process cannot continue from the output device 35, and ends the subculture process and the control process. At this time, information indicating the reason for the inability to continue can also be included in the output. Thus, it is easy for the person receiving the output or the superior system to grasp the status of the subculture process and respond appropriately. Additionally, the next first container in the first incubator can be made the object of the subculture process, and the control process can continue. In this case, after step S33, it suffices to return to step S10 of the control process.

[0092] Next, in step S40, as the post-processing of the subculture process, the overall controller 30 causes the mobile robotic arm 10 to store the second container containing the cells after the subculture process in the second incubator. The second incubator can be the same as the first incubator.

[0093] Specifically, the overall controller 30 instructs the local controller 11 of the mobile robotic arm 10 to perform post-processing. Through the control of the local controller 11 that has received the instruction for post-processing, the mobile robotic arm 10 grips the second container on the workbench, moves to the position of the second incubator, opens the door of the second incubator, and stores the second container inside the second incubator. Then, the control process ends.

[0094] As described above, the local controller 21 causes the workbench robot 20 to perform the following processes: causing the hand 22B to grip the aspirator and aspirate the liquid; causing the hand 22B to grip the electric pipette and aspirate and discharge the liquid; and causing the hand 22B to grip the electric micropipette and aspirate and discharge the liquid. Thereby, a series of operations required for cell passage processing on the workbench can be performed using one hand 22B.

[0095] In addition, the workbench robot 20 can also be used for the dispensing operation of drugs in powder form (drugs before solubilization), that is, the transfer operation of drugs from the original container to the transfer target container. The dispensing operation of drugs is sometimes performed as a preparatory operation for passage processing or other processing. In the case of performing the dispensing operation of powder, the overall controller 30 causes the local controller 21 of the workbench robot 20 to perform the following process: causing the hand 22B to grip the spatula and scoop up the powder for transfer. Specifically, as Figure 13 shown, the local controller 21 grips the handle of the spatula between the first group (the first finger 22B1R) and the second group (the second finger 22B2R and the third finger 22B3R) in such a way that both the second finger 22B2R and the third finger 22B3R are in contact with the handle of the spatula. Thereby, compared with the case of gripping with only two fingers, the spatula can be stably gripped. In the case of gripping with only two fingers, when an external force is applied to the tip (scooping part) of the spatula, the spatula easily slides and rotates with the gripped part as the fulcrum. As described above, in the present embodiment, by gripping with three fingers, it is easy to maintain the gripping posture of the spatula even when an external force is applied to the spatula.

[0096] As Figure 13 shown, the local controller 21 causes the workbench robot 20 to place the spatula into the original container containing the drug (powder) and scoop up the drug with the spatula. Then, as Figure 14 shown, the local controller 21 causes the scooped-up drug to be poured into a transfer target container such as a conical tube that is erected and fixed to a bracket or the like on the workbench robot 20. Thereby, the automation of the operations on the workbench including the dispensing operation can be further promoted.

[0097] In addition, in Figure 13 and Figure 14 it shows an example of gripping the spatula by grasping it from above with the hand 22B, but it can also be as Figure 15As shown, it is held in a state such as when a person holds a pen. Moreover, when the transfer target container is not fixed to a support or the like, the transfer target container can also be picked up from the original container by the hand 22BL. In addition, the medicine spoon can also be held in such a way that the hand body 22B0 also contacts the handle of the medicine spoon. In addition, when the handle of the medicine spoon is plate-shaped, the flat part (front and back) of the handle can be held, or the side part of the handle can be held. In addition, for a lightweight object to be held such as a medicine spoon, it can also be held with two fingers, the first finger 22B1 and the second finger 22B2, or the first finger 22B1 and the third finger 22B3.

[0098] The controller 21 can cause the workbench robot 20 to perform at least two of the following processes: causing the hand 22B to hold a suction device and suck liquid; causing the hand 22B to hold an electric pipette and suck and discharge liquid; causing the hand 22B to hold an electric micropipette and suck and discharge liquid; and causing the hand 22B to hold a medicine spoon and scoop up powder for transfer. In this way, compared with the case of preparing hands suitable for each form of the operation object and replacing the hands accordingly when the operation object to be processed changes, in a robot system that performs a series of operations on a workbench that requires the use of multiple tools and is used in the experimental field of processing biological specimens such as cells, the types of operations that can be performed with one hand can be increased.

[0099] Hereinafter, taking the cell passage process as an example, the robot system of the present embodiment will be further described. The robot system of the present embodiment includes a mobile robotic arm that includes a mechanism for moving on the ground and a mechanism for holding an object. In addition, the robot system includes a workbench robot that is fixed to the workbench and includes a mechanism for holding an object on the workbench. And, the robot system includes a controller that controls the actions of the mobile robotic arm and the workbench robot respectively. Moreover, the controller causes the workbench robot and the mobile robotic arm to perform the cell passage process, and the cell passage process includes the transfer and setting of a container containing cells between the workbench and other experimental equipment. Thereby, it is possible to operate in an environment close to the experimental environment used by researchers and automate the cell passage process.

[0100] Specifically, in the robot system of the present embodiment, the mobile robotic arm not only transports the cell container between the incubator and the workbench, but also intervenes in the middle of the passage process on the workbench. Thereby, it is possible to automate the passage process in an environment close to the experimental environment used by researchers.

[0101] For example, the workbench robot can perform tabletop operations in the same manner as a researcher. On the other hand, the mobile robotic arm undertakes the part of walking to the positions of the microscope and centrifuge while holding a container when the researcher is responsible for subculture processing. Thus, there is no need to create a robot-specific environment that gathers the required devices and instruments within the reach of the workbench robot's hand. It is only necessary to set the tabletop of the workbench as the robot-specific environment. In addition, the workbench itself can also be shared with the researcher. Moreover, the workbench robot is a small robot of the size of the workbench top surface, but it is not a dedicated device for specific operations. Instead, it can perform various operations with one unit. Therefore, there is also less need to equip the laboratory with a dedicated device set or a huge multi-functional device.

[0102] In addition, in the above-described embodiment, the case of adherent culture has been described. However, the robot system of the present embodiment can also be applied to the case of suspension culture. In this case, the overall controller 30 causes the workbench robot 20 to extract a part of the cells from the first container and place them on the specimen holder. Then, the overall controller 30 causes the mobile robotic arm 10 to transport the specimen holder on which the cells are placed to a cell measurement device that measures the cell number or cell concentration, and sets the specimen holder in the setting part of the cell measurement device. And when the measurement result of the cell measurement device is such that subculture processing can be continued, the overall controller 30 causes the workbench robot to inoculate cells into one or more second containers.

[0103] In addition, in the above-described embodiment, as Figure 2 shown, as an example of the controller of the present disclosure, the case of using an overall controller 30 independent of the mobile robotic arm 10 and the workbench robot 20 has been described, but it is not limited thereto. For example, as Figure 16A shown, an arbitrary workbench robot 20 can be equipped with the overall controller 30, or as Figure 16B shown, an arbitrary mobile robotic arm 10 can be equipped with the overall controller 30.

[0104] In addition, as Figure 17A and Figure 17B shown, the controller of the present disclosure can also be constituted by a plurality of distributed controllers 40. In this case, communication is performed between the distributed controllers, and control is performed such that the mobile robotic arm 10 and the workbench robot 20 each operate in cooperation with each other. For example, when the mobile robotic arm 10 transports a container to the workbench, the distributed controller 40 of the mobile robotic arm 10 notifies the distributed controller 40 of the workbench robot 20 of the completion of the transportation. Then, through the received distributed controller 40, the workbench robot 20 can start processing the transported container.

[0105] In addition, local controllers 11 and 21 may not be provided separately for the mobile robotic arm 10 and the workbench robot 20, and the overall controller 30 or the distributed controller 40 may control the operations of the respective motors of the mobile robotic arm 10 and the workbench robot 20.

[0106] In addition, in addition to the above processing, the mobile robotic arm 10 of the above embodiment may also perform processing of transporting a container containing a drug used in the subculture process of cells from a refrigerator or a drug rack to the workbench. In addition, the mobile robotic arm 10 may also perform processing of storing a container containing the remaining drug in a refrigerator or a drug rack. Further, the mobile robotic arm 10 may also perform processing of transporting tools such as pipettes and empty containers used in the subculture process of cells from a consumable rack to the workbench. In addition, after the timing for charging arrives, the mobile robotic arm 10 may move to a charging station to charge the device.

[0107] In addition, in the above embodiment, the overall controller 30 may also confirm the operating conditions of the mobile robotic arm 10 and the workbench robot 20 respectively, and cause the idle mobile robotic arm 10 and workbench robot 20 to execute the above processing. In addition, for the mobile robotic arm 10, it is also possible to obtain position information in the experimental environment, and select the mobile robotic arm 10 that can move to a specified position most efficiently among the idle mobile robotic arms 10 to execute the above processing.

[0108] Regarding the workbench robot 20, even if the cells being processed on the workbench are taken out to, for example, a centrifuge, the instruments on the workbench can continue to be used after the centrifugation process, and the same workbench robot 20 is responsible for a series of processes. However, in order to centrifuge a plurality of containers prepared on one workbench together and quickly perform the subsequent suction (suction removal of the supernatant), multiple workbench robots 20 may be used in parallel for suction. In this way, multiple workbench robots 20 can also be used in the subculture process of cells cultured in one container.

[0109] In addition, in the above embodiment, an optical microscope is cited as an example of the cell observation device, but it is not limited thereto. It may also be an observation device using a laser scanning method, etc., as long as it is a device capable of observing the state of cells according to the purpose, and the observation method and principle are not limited. Similarly, the cell measurement device may also be a measurement device using a laser scanning method, etc., as long as it is a device capable of measuring the number of cells, etc., according to the purpose, and the measurement method and principle are not limited. It is not necessary for the device itself to be able to complete the measurement. For example, it includes the case where the cell measurement device is a microscope and a person counts the number of cells visually. The cell observation device and the cell measurement device may be the same device that serves both functions, or different devices.

[0110] In addition, typically, the cell observation device observes the cells loaded in the first container through the wall surface of the first container, and the observed cells also become the objects to be cultured later. On the other hand, typically, the cell measurement device measures the cells extracted in a small amount, and the measured cells are discarded.

[0111] In addition, in the above-described embodiment, the case where the mobile robot arm 10 transports the container between the workbench on which the workbench robot 20 is fixed and the cell observation device, the cell measurement device, etc. has been described, but it is not limited thereto. For example, there is a case where a cell observation device, a cell measurement device, etc. are provided on the workbench on which the workbench robot 20 is fixed or within the reach of the hand 22B of the workbench robot 20 adjacent to the workbench. In this case, the workbench robot 20 can also arrange and recover the container to the cell observation device, the cell measurement device, etc.

[0112] In addition, the robot system processing in which the CPU reads and executes software (program) in the above-described embodiment can also be executed by various processors other than the CPU. As the processor in this case, for example, a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit structure can be changed after manufacturing, and a dedicated circuit such as an ASIC (Application Specific Integrated Circuit) having a circuit structure specifically designed to execute a specific process are exemplified. In addition, the robot system processing can be executed by one of these various processors, or can be executed by a combination of two or more processors of the same type or different types (for example, a plurality of FPGAs, a combination of a CPU and an FPGA, etc.). More specifically, the hardware structure of these various processors is a circuit combining circuit elements such as semiconductor elements.

[0113] In addition, in the above-described embodiment, the method in which the robot system program is pre-stored (installed) in the storage device has been described, but it is not limited thereto. The program can also be provided in a manner stored in a storage medium such as a CD-ROM, a DVD-ROM, a Blu-ray disc, a USB memory, etc. In addition, the program can also be in a manner downloaded from an external device via a network.

[0114] Reference Numeral Explanation

[0115] 100 Robot System

[0116] 10 Mobile Robot Arm

[0117] 11 Local Controller

[0118] 12 trolleys

[0119] 12A drive wheel

[0120] 13 robot arm

[0121] 13A arm

[0122] 13B hand

[0123] 20 workbench robot

[0124] 21 local controller

[0125] 22 robot arm

[0126] 22A arm

[0127] 22B, 22BL, 22BR hands

[0128] 22B0, 22B0L, 22B0R hand bodies

[0129] 22B1, 22B1L, 22B1R first fingers

[0130] 22B2, 22B2L, 22B2R second fingers

[0131] 22B3, 22B3L, 22B3R third fingers

[0132] 23 vision sensor

[0133] 30 overall controller

[0134] 31 CPU

[0135] 32 memory

[0136] 33 storage device

[0137] 34 input device

[0138] 35 output device

[0139] 36 storage medium reading device

[0140] 37 communication I / F

[0141] 38 bus

[0142] 40 distributed controller.

Claims

1. A robot system, which includes a workbench robot and a controller for controlling the actions of the workbench robot. The workbench robot is equipped with a robotic arm for operating on an object on the workbench. In the robot system, the robotic arm includes a hand and a multi-jointed arm. The hand is located at the end of the arm and has multiple fingers with joints. The hand is configured such that a first group of fingers and a second group of fingers face each other and hold an object therebetween. The first group of fingers includes a first finger, and the second group of fingers includes a second finger and a third finger. The controller causes the workbench robot to perform at least two of the following processes: Cause the hand to hold a suction device and suck liquid; Cause the hand to hold an electric pipette and suck and discharge liquid; Cause the hand to hold an electric micropipette and suck and discharge liquid; and Cause the hand to hold a spatula and scoop and transfer powder.

2. The robot system according to claim 1, wherein, the controller at least causes the workbench robot to perform the following processes: Cause the hand to hold a suction device and suck liquid; Cause the hand to hold an electric pipette and suck and discharge liquid; and Cause the hand to hold an electric micropipette and suck and discharge liquid.

3. The robot system according to claim 1 or 2, wherein, when the controller causes the workbench robot to perform the process of causing the hand to hold a suction device and suck liquid, the controller holds the vicinity of the end of the suction device between the first group and the second group in such a manner that both the second finger and the third finger contact the suction device.

4. The robot system according to claim 1 or 2, wherein, the hand includes a hand body connected to the bases of the first finger, the second finger, and the third finger respectively, the electric pipette includes a gripping portion and a mounting portion for a graduated pipette. In the gripping portion, there are: a suction button, which indicates the execution of a suction action for sucking liquid into the graduated pipette when pressed; and a discharge button, which indicates the execution of a discharge action for discharging liquid from the graduated pipette when pressed. When the controller causes the workbench robot to perform the process of causing the hand to hold an electric pipette and suck and discharge liquid, the controller causes the first finger and the hand body to clamp the gripping portion of the electric pipette for gripping. When performing the process of sucking liquid, the controller causes one of the second finger and the third finger to press the suction button. When performing the process of discharging liquid, the controller causes the other of the second finger and the third finger to press the discharge button.

5. The robot system according to claim 1 or 2, wherein, when the controller causes the workbench robot to perform the process of causing the hand to hold an electric micropipette and suck and discharge liquid, the controller holds the electric micropipette between the first group and the second group in such a manner that both the second finger and the third finger contact the electric micropipette.

6. The robot system according to claim 1, wherein, When the controller causes the workbench robot to perform a process of having the hand hold the medicine spoon and scoop and transfer powder, the controller holds the handle of the medicine spoon between the first group and the second group in such a manner that both the second finger and the third finger are in contact with the handle of the medicine spoon.

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