Pipetting method, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a pipetting method and device, equipment and a storage medium. The pipetting method comprises the following steps: confirming the air tightness of the pipettor; after the air tightness of the pipettor is qualified, determining a correction target value of a pipetting parameter based on a preset pipetting correction operation; and transferring the liquid to be transferred by using the pipettor according to the corrected target value of the pipetting parameter. The pipetting method provided by the embodiment of the invention achieves the effect of ensuring that the pipettor is relatively accurate in actual use.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of pipetting, and in particular, to a pipetting method, device, equipment and storage medium. Background Art

[0002] In the biochemical field, a large number of experiments need to be completed, and an automated workstation is one of the essential tools to help complete high-throughput experiments. Currently, using a pipette for automatic pipetting is already very common in automated workstations. During long-term use of the pipette, if the pipette ages or even leaks, the pipetting accuracy may be affected, thereby affecting the accuracy of the experimental results. Summary of the Invention

[0003] The embodiments of the present application provide a pipetting method, device, equipment and storage medium, which can ensure a relatively accurate effect when the pipette is actually used.

[0004] According to one aspect of the present application, a pipetting method is provided, including: confirming the airtightness of the pipette; after the airtightness of the pipette is qualified, confirming the correction target value of the pipetting parameters based on a preset pipetting correction operation; according to the correction target value of the pipetting parameters, using the pipette to pipette the liquid to be transferred.

[0005] Optionally, the confirming the airtightness of the pipette includes: placing a container filled with a seal detection liquid on a weighing device; controlling the pipette to pick up a new empty tip and aspirate a preset range of seal detection liquid from the container; controlling the tip after aspiration to hover above the container and start timing; determining the airtightness of the pipette according to the change in the reading of the weighing device within a timing threshold.

[0006] Optionally, if it is determined that the airtightness of the pipette is unqualified, remove the tip, and jump to execute the step of controlling the pipette to pick up a new empty tip and aspirate a preset range of seal detection liquid from the container. If the results of the preset number of cycles are consistently unqualified for airtightness, it is confirmed that the airtightness is unqualified.

[0007] Optionally, the determining the airtightness of the pipette according to the change in the reading of the weighing device within a timing threshold includes: reading the weighing readings of the weighing device at a preset interval period; determining whether the difference between the two consecutive weighings is greater than or equal to an airtightness threshold; if it is greater than or equal to, determining that the airtightness of the pipette is unqualified and giving an alarm.

[0008] Optionally, if the difference between two consecutive weighings is less than the airtight threshold, determining the airtightness of the pipette based on the change in the reading of the weighing device within the timing threshold further includes: determining whether the timing has reached the timing threshold; if the timing has not reached the timing threshold, then jump to execute the step of reading the weighing reading of the weighing device at a preset interval period; or, if the timing has not reached the timing threshold, then remove the tip and adjust the preset range, and jump to execute the step of controlling the pipette to pick up a new empty tip and aspirate a preset range of sealed detection liquid from the container; if the timing has reached the timing threshold, then determine that the airtightness of the pipette is qualified and execute the step of pipetting parameter correction.

[0009] Optionally, controlling the tip to hover above the container after aspiration and start timing includes: controlling the tip to hover above the container and within the vertical projection range of the container, moving at a preset speed, and starting timing.

[0010] Optionally, determining the correction target value of the pipetting parameters based on a preset pipetting correction operation includes: obtaining the target pipetting volume of the liquid to be measured, and obtaining the initial value of the pipetting parameters of the liquid to be measured; according to the target pipetting volume and the initial value of the pipetting parameters, performing at least one pipetting correction operation on the liquid to be measured using the pipette, and the pipetting correction operation includes: aspirating the target pipetting volume of the liquid to be measured through the pipette, and then discharging the aspirated liquid to be measured through the pipette, and obtaining the discharged volume of the liquid to be measured; determining the actual pipetting volume in each pipetting correction operation according to the discharged volume in each pipetting correction operation; adjusting the initial value of the pipetting parameters according to the target pipetting volume and the actual pipetting volume in the at least one pipetting correction operation to obtain the correction target value of the pipetting parameters of the liquid to be measured.

[0011] Optionally, the pipetting parameters include at least one of wetting aspiration volume, aspiration depth, aspiration speed, pre-aspiration air volume, post-aspiration air volume, discharge speed, and pipetting correction coefficient.

[0012] Optionally, the pipetting correction operation is performed multiple times, and adjusting the initial value of the pipetting parameters according to the target pipetting volume and the actual pipetting volume in the at least one pipetting correction operation to obtain the correction target value of the pipetting parameters of the liquid to be measured includes: adjusting the initial value of the pipetting parameters according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting correction operations to obtain the correction target value of the pipetting parameters of the liquid to be measured.

[0013] Optionally, adjusting the initial value of the pipetting parameter according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting calibration operations to obtain a corrected target value of the pipetting parameter for the liquid to be measured includes: calculating a pipetting volume error and / or pipetting accuracy according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting calibration operations; and adjusting the initial value of the pipetting parameter according to the pipetting volume error and / or pipetting accuracy to obtain the corrected target value of the pipetting parameter.

[0014] Optionally, adjusting the initial value of the pipetting parameter according to the pipetting volume error and / or pipetting accuracy to obtain the corrected target value of the pipetting parameter includes: when it is confirmed that the pipetting volume error meets the preset error requirement and the pipetting accuracy meets the preset pipetting accuracy requirement, determining the initial value of the pipetting parameter as the corrected target value of the pipetting parameter; when it is confirmed that the pipetting accuracy does not meet the preset pipetting accuracy requirement and / or the pipetting volume error does not meet the preset error requirement, adjusting the initial value of the pipetting parameter to obtain the corrected target value of the pipetting parameter.

[0015] According to another aspect of the present application, there is provided a pipetting device, including: an airtight detection module for confirming the airtightness of the pipette; a target parameter acquisition module for confirming a corrected target value of the pipetting parameter based on a preset pipetting calibration operation after the airtightness of the pipette is qualified; and a pipetting control module for pipetting the liquid to be transferred by using the pipette according to the corrected target value of the pipetting parameter.

[0016] According to another aspect of the present application, there is provided a pipetting device, including a memory and a processor, wherein an executable code is stored on the memory, and when the executable code is processed by the processor, the processor can execute the above-mentioned pipetting method.

[0017] According to another aspect of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, characterized in that when the program is executed by a processor, the above-mentioned pipetting method is implemented.

[0018] Before the formal use of the pipetting method in this embodiment, the airtightness of the pipette is checked, and the pipetting parameter is calibrated by simulating the pipetting operation to obtain the corrected target value of the pipetting parameter, which not only eliminates the problem of possible liquid leakage during the use of the pipette, but also ensures the accuracy of the subsequent pipetting operation by using the corrected target value of the pipetting parameter, thereby improving the accuracy of the experimental results. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0020] Figure 1 It is a flowchart of a pipetting method provided in Embodiment 1 of the present application;

[0021] Figure 2 It is a flowchart of a pipetting method provided in Embodiment 2 of the present application;

[0022] Figure 3 It is a flowchart of another pipetting method provided in Embodiment 2 of the present application;

[0023] Figure 4 It is a flowchart of a pipetting method provided in Embodiment 3 of the present application;

[0024] Figure 5 It is a flowchart of a pipetting method provided in Embodiment 4 of the present application;

[0025] Figure 6 It is a schematic diagram of a pipetting device provided in Embodiment 5 of the present invention;

[0026] Figure 7 It is a schematic diagram of a pipetting device provided in Embodiment 6 of the present invention;

[0027] Figure 8 It is a schematic diagram of a pipetting system provided in Embodiment 7 of the present application. Specific Embodiments

[0028] To enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment 1

[0031] As Figure 1 shown Figure 1 is a flowchart of a pipetting method provided in Embodiment 1 of this application. This embodiment can be applied to a pipetting device for execution. The device can be implemented in a software and / or hardware manner and is generally integrated in the pipetting system of the subsequent embodiments. The pipetting system of the embodiments of the present invention at least includes a pipetting device and a pipette. The pipetting device at least includes a host computer. The pipette is electrically connected to the pipetting device. The pipette is used to perform a pipetting operation under the control of the pipetting device. The pipetting device of this embodiment can be integrated in the host computer of the pipetting device. The host computer can be a mobile terminal, a computer or a server. The embodiments of the present invention do not limit the types of mobile terminals, computers or servers. The method includes the following steps.

[0032] Step S101, confirm the airtightness of the pipette.

[0033] In one embodiment, the airtightness of the pipette can be confirmed by timing and weighing the liquid dripping condition of the liquid suction tip. Specifically, connect the pipette to the tip, and control the tip to suck a preset sealing detection liquid for a leakage test. If it is tested and confirmed that there is no leakage, then execute step S102. If the test results show leakage for multiple times, it indicates an airtightness failure, and the maintenance personnel can be notified for repair or a new pipette can be replaced.

[0034] Step S102, after the airtightness of the pipette is qualified, confirm the correction target value of the pipetting parameters based on a preset pipetting correction operation.

[0035] In one embodiment, by implementing a simulated pipetting operation and detecting and confirming the error between the target value of the pipetting and the actual pipetting result to determine the correction parameter of the pipetting parameters. For example, it can be the average error value between the target value of multiple pipettings and the actual pipetting result. Then, the initial value of the pipetting parameters is corrected according to the correction parameter to obtain the correction target value of the pipetting parameters.

[0036] Step S103: According to the corrected target value of the pipetting parameter, use the pipette to pipette the liquid to be pipetted.

[0037] Compared with the prior art, before the formal use, the pipetting method of this embodiment regularly checks the airtightness of the pipette by timing and weighing, and corrects the pipetting parameter by simulating the pipetting operation to obtain the corrected target value of the pipetting parameter. This not only eliminates the problem of possible liquid leakage during the use of the pipette, but also ensures the accuracy of the subsequent pipetting operation by using the corrected target value of the pipetting parameter, thereby improving the accuracy of the experimental results.

[0038] Embodiment Two

[0039] As Figure 2 shown, Figure 2 is a flowchart of a pipetting method provided by Embodiment Two of this application. Referring to Figure 1-2 together, compared with Embodiment One, in this embodiment, step S101 for confirming the airtightness of the pipette may include steps S1011 - S1014.

[0040] Step S1011: Place the container filled with the seal detection liquid on the weighing device.

[0041] Optionally, the user can pre - place a preset volume of seal detection liquid in the container; then place the container filled with the seal detection liquid on the weighing device. In this embodiment, the seal detection liquid can be pure water or other colorless and transparent liquids that will not damage the pipette. Optionally, the weighing device used in one embodiment can be a high - precision electronic scale, and the accuracy error range of weighing can be 0.1mg - 0.5mg.

[0042] Step S1012: Control the pipette to pick up a new empty tip and aspirate a preset range of seal detection liquid from the container.

[0043] In this embodiment, there is no limitation on the model and capacity of the tip. Preferably, in order to measure the sealing performance more accurately, a tip with a larger maximum range of capacity can be selected. Optionally, the preset range in this embodiment can be the maximum range of the tip or the middle scale range, and this embodiment does not make specific limitations.

[0044] Step S1013: Control the tip after aspiration to hover above the container and start timing.

[0045] Optionally, the hovering coordinates can be preset according to the marked position where the container is placed to ensure that the tip of the pipette tip is exactly opposite the center of the container opening. To reduce the rapid volatilization of the sealant detection liquid during the test and affect the test results, the container in this embodiment can be a narrow-mouth container, such as a test tube or a narrow-mouth conical flask. The distance between the tip of the pipette tip hovering above the container in this embodiment cannot be too high. For example, the vertical height from the end of the pipette tip to the edge of the container opening can be 1-5 mm, which can avoid the leakage of liquid splashing and falling off the container inlet. To further reduce the weighing error and avoid the splashing of the dripping sealant detection liquid, the container diameter can be set in the range of 10-15 mm and the sealant detection liquid is loaded to the range of 1 / 3-1 / 2 of the container scale.

[0046] Alternatively, the control for the pipette tip to hover above the container and start timing after liquid aspiration includes: controlling the pipette tip after liquid aspiration to hover above the container and within the vertical projection range of the container, moving at a preset speed and starting to time. Optionally, the center coordinates of the hover can be preset according to the marked position where the container is placed to ensure that the tip of the pipette tip is exactly opposite the center of the container opening, and then controlling the pipette tip to reciprocate at a preset speed with the center as the symmetry point. The moving speed in this embodiment can be the pipetting speed during normal operation, so that the airtightness of the pipette can be detected in a simulated pipetting environment, making the result more accurate and reliable. The container in this embodiment can be a large-opening container, such as a wide-mouth flask. The vertical height from the end of the pipette tip to the edge of the container opening in this embodiment can be 3-5 mm, which can avoid collision with the container edge. To further reduce the weighing error and avoid the dripping sealant detection liquid being thrown out or splashed, the sealant detection liquid is loaded to the range of 1 / 3-1 / 2 of the container scale.

[0047] Step S1014, determine the airtightness of the pipette according to the change in the reading of the weighing device within the timing threshold.

[0048] Optionally, in one embodiment, it can be determined whether the difference between two consecutive weighings is greater than or equal to the airtightness threshold; if it is greater than or equal to, it is determined that the airtightness of the pipette is unqualified and an alarm is given. Specifically, within the timing threshold, the airtightness of the pipette can be judged according to the difference in the readings of the weighing device for two times. For example, if the weight of the smallest liquid drop of the leakage is 5-50 mg, and without considering the volatilization of the sealant detection liquid, as long as the numerical value of the change in the two readings does not exceed 5 mg, the airtightness of the pipette can be considered qualified.

[0049] Optionally, if it is determined that the airtightness of the pipette is unqualified, remove the tip and jump to execute step S1012 of controlling the pipette to pick up a new empty tip and aspirate a preset volume of the seal detection liquid from the container. If the cycle results of the preset number of times are consistently unqualified for airtightness, it is confirmed that the airtightness is unqualified. When it is detected that the airtightness of the pipette is unqualified, it may be due to the incorrect connection between the tip and the pipette. By replacing the new tip and performing the airtightness detection operation multiple times, if each detection is unqualified, it indicates that the airtightness of the pipette is poor; if at least one detection is qualified, it can be considered that the airtightness of the pipette is qualified.

[0050] Optionally, referring also to Figure 3 , in one embodiment, step S1014 further includes steps S10141 - S10145.

[0051] Step S10141, read the weighing reading of the weighing device at a preset interval period.

[0052] Step S10142, determine whether the difference between the two weighings before and after is greater than or equal to the airtightness threshold.

[0053] Specifically, if the weight of the smallest liquid droplet of the leaked liquid is 5 - 50 milligrams, without considering the volatilization of the seal detection liquid, as long as the difference between the two weighings before and after does not exceed the airtightness threshold of 5 milligrams, it can be considered that the airtightness of the pipette is qualified. Alternatively, considering that the weight of the liquid volatilized within the two interval periods is much less than 2 milligrams and the weight of the smallest liquid droplet is 5 - 50 milligrams, the range of the airtightness threshold in this embodiment can be set within 2 - 5 milligrams.

[0054] Step S10143, if it is greater than or equal to, determine that the airtightness of the pipette is unqualified and give an alarm. The alarm method in this embodiment can be through a pop - up window or voice alarm or light alarm, etc.

[0055] Optionally, after step S10143, the following steps are further included:

[0056] Step S10144, if the difference between the two weighings before and after is less than the airtightness threshold, determine whether the timing has reached the timing threshold;

[0057] If the timing has not reached the timing threshold, jump to execute step S10141 of reading the weighing reading of the weighing device at a preset interval period. Or, if the timing has not reached the timing threshold, remove the tip and adjust the preset volume, then jump to execute step S1012 of controlling the pipette to pick up a new empty tip and aspirate a preset volume of the seal detection liquid from the container; if the timing reaches the timing threshold, execute step S10145.

[0058] Step S10145: Determine that the airtightness of the pipette is qualified and execute step S102 for pipetting parameter calibration.

[0059] Optionally, in order to avoid the influence of random liquid leakage under non-system failures on the test accuracy, when initially determining that the airtightness of the pipette is unqualified, after further emptying and replacing the tip, the range can be adjusted or a tip with a different capacity can be selected, and then jump to start from step S1012 to perform the test twice or multiple times in a loop. When the results of the second or multiple tests are consistent and indicate that the difference between the two weighings before and after is greater than or equal to the airtightness threshold, it is determined that the airtightness of the pipette is unqualified and an alarm is given.

[0060] Optionally, in order to ensure the test accuracy, after determining that the airtightness of the pipette is qualified, it can further jump to step S1012 to start and perform the test twice or multiple times in a loop. When the results of the second or multiple tests are consistent and indicate that the difference between the two weighings before and after is less than the airtightness threshold, it is determined that the airtightness of the pipette is qualified.

[0061] Compared with the prior art, the pipetting method of this embodiment determines whether the airtightness of the pipette is qualified by judging the difference between the two weighings before and after multiple times within the timing threshold, and further introduces a movement mechanism during the detection process, ensuring that the detection of the airtightness of the pipette is more accurate, further ensuring the accuracy of subsequent pipetting operations, and thus improving the accuracy of experimental results.

[0062] Embodiment III

[0063] As Figure 4 shown, Figure 4 is a flowchart of a pipetting method provided by Embodiment III of the present application. Different from the foregoing embodiments, in this embodiment, step S102 determines the correction target value of the pipetting parameters based on a preset pipetting correction operation, including the following steps.

[0064] S1021: Obtain the target pipetting volume of the liquid to be tested and obtain the initial value of the pipetting parameters of the liquid to be tested.

[0065] Among them, the initial value of the pipetting parameters can be a default fixed initial value or the value corresponding to the historical pipetting parameters obtained after the previous pipetting correction, which is not limited here.

[0066] Optionally, all liquids can correspond to the same set of default initial values of pipetting parameters. Optionally, the pipetting parameters corresponding to different types of liquids can be different, or the pipetting parameters corresponding to different types of liquids are the same but the corresponding initial values of the pipetting parameters are different. When obtaining the initial value of the pipetting parameters of the liquid to be tested, first determine the type of the liquid to be tested, and then determine the corresponding pipetting parameters and the corresponding initial values of the pipetting parameters according to the type of the liquid to be tested.

[0067] Optionally, there are multiple different pipetting volume ranges corresponding to the liquid to be measured, and the initial values of the pipetting parameters corresponding to different pipetting volume ranges are different; when obtaining the initial value of the pipetting parameter of the liquid to be measured, determine the pipetting volume range it belongs to according to the target pipetting volume of the liquid to be measured, and then obtain the initial value of the pipetting parameter corresponding to the pipetting volume range it belongs to.

[0068] Optionally, the initial values of the pipetting parameters corresponding to different types of liquids are different, and the initial values of the pipetting parameters corresponding to each type of liquid in different pipetting volume ranges are different; when obtaining the initial value of the pipetting parameter of the liquid to be measured, determine the corresponding initial value of the pipetting parameter according to the type of the liquid to be measured and the pipetting volume range where the target pipetting volume is located.

[0069] Optionally, the pipetting parameters may include but are not limited to at least one of priming volume, aspiration depth, aspiration speed, pre-aspiration air volume, post-aspiration air volume, dispensing speed, pipetting correction factor, etc.

[0070] For example, the pipetting parameters include aspiration depth and / or aspiration speed. The aspiration depth means that after the pipette detects the liquid level height, with the liquid level height as the reference, the tip of the pipette head on the pipette descends to a certain depth below the liquid level for aspiration. The aspiration speed means the speed control during aspiration by the pipette. An appropriate aspiration speed is very important. If the speed is too fast, it will lead to insufficient aspiration. If the speed is too slow, it will lead to over-aspiration and also affect the efficiency, etc.

[0071] S1022. According to the target pipetting volume and the initial value of the pipetting parameter, use the pipette to perform at least one pipetting correction operation on the liquid to be measured. The pipetting correction operation includes: aspirating the liquid to be measured with the target pipetting volume through the pipette, and then discharging the aspirated liquid to be measured through the pipette to obtain the discharged volume of the liquid to be measured.

[0072] Specifically, the pipetting correction operation includes: aspirating the liquid to be measured with the target pipetting volume through the pipette, and then discharging the aspirated liquid to be measured through the pipette to obtain the discharged volume of the liquid to be measured. Optionally, the volume can be volume or weight. For example, by discharging the liquid to be measured into a container and reading the volume of the liquid in the container or by weighing the liquid in the container, the discharged volume or discharged weight is obtained.

[0073] Among them, the liquid to be measured is located in the target container, and the pipette sucks the liquid to be measured from the target container. Optionally, when the pipette discharges the liquid to be measured, it can be discharged back into the target container or into other containers outside the target container. Among them, the capacity of the liquid to be measured required in the case of discharging into other containers outside the target container is more than that in the case of discharging back into the target container. In one example, the pipette sucks the liquid to be measured with the target pipetting capacity from the target container, and records the first weight of the target container; then the pipette discharges the sucked liquid to be measured into the target container, and records the second weight of the target container; according to the first weight and the second weight, the discharge capacity (i.e., discharge weight) of the liquid to be measured is determined. For example, the target container is placed on the weighing device. After the pipette sucks the liquid to be measured with the target pipetting capacity, the weighing indication value of the current weighing device is recorded as m1. After the pipette discharges the sucked liquid to be measured into the target container, the weighing indication value of the current weighing device is recorded as m2. Then the difference m2 - m1 is the discharge weight in this pipetting calibration operation, denoted as mi.

[0074] In another example, the pipette sucks the liquid to be measured with the target pipetting capacity from the target container, and records the first liquid volume in the target container; then the pipette discharges the sucked liquid to be measured into the target container, and records the second liquid volume in the target container; according to the first liquid volume and the second liquid volume, the discharge capacity (i.e., discharge volume) of the liquid to be measured is determined. For example, a visual module and / or an optical module for collecting the liquid volume in the target container is / are set on or near the target container. After the pipette sucks the liquid to be measured with the target pipetting capacity, the liquid volume in the current target container is collected as V1. After the pipette discharges the sucked liquid to be measured into the target container, the liquid volume in the current target container is collected as V2. Then the difference V2 - V1 is the discharge volume in this pipetting operation, denoted as Vi.

[0075] S1023. Determine the actual pipetting capacity in each pipetting calibration operation according to the discharge capacity in each pipetting calibration operation;

[0076] Since there may be a little solution remaining on the pipette after pipetting, such as solution remaining in the tip, resulting in a difference between the actual pipetting capacity and the target pipetting capacity of the pipette finally, the actual pipetting capacity can be determined by obtaining the discharge capacity of the liquid to be measured.

[0077] For example, the actual pipetting volume is the actual volume of the liquid pipetted. When the liquid to be measured is aspirated from the target container and then discharged back into the target container during a pipetting calibration operation, after calculating the weight difference between the target container before and after the discharge to obtain the discharged weight mi, the actual pipetting volume for this time can be calculated as Vi = mi / ρ according to the density ρ of the liquid to be measured. Alternatively, if the actual pipetting volume is the actual pipetting weight in subsequent calculations, the discharged weight mi is directly recorded as the actual pipetting weight.

[0078] S1024. Adjust the initial value of the pipetting parameter according to the target pipetting volume and the actual pipetting volume in the at least one pipetting calibration operation to obtain the corrected target value of the pipetting parameter for the liquid to be measured.

[0079] Optionally, when only one pipetting calibration operation is performed, the initial value of the pipetting parameter can be adjusted according to the difference and / or ratio between the target pipetting volume and the actual pipetting volume.

[0080] Optionally, the pipetting calibration operation is performed multiple times. Step S1024 is to adjust the initial value of the pipetting parameter according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting calibration operations to obtain the corrected target value of the pipetting parameter for the liquid to be measured. For example, the average value can be obtained by using the actual pipetting volumes corresponding to at least some of the multiple pipetting calibration operations, and then the initial value of the pipetting parameter can be adjusted according to the difference and / or ratio between the target pipetting volume and the average value. Another example is to perform a linear fit using the target pipetting volume and the actual pipetting volumes corresponding to the above at least some of the pipetting calibration operations to adjust the initial value of the pipetting parameter. Combining multiple pipetting calibration operations can improve the accuracy of the pipetting calibration result and avoid inaccurate results caused by accidental events in a single pipetting calibration operation. In addition, the above at least some of the pipetting calibration operations can be pipetting calibration operations when the pipette has neither dripping nor residue, which can further improve the accuracy of the pipetting calibration result.

[0081] Optionally, when obtaining the target pipetting volume and the corresponding actual pipetting volume for adjusting the initial value of the pipetting parameter, the target pipetting volume can be set to at least two different volume values instead of being fixed at one volume value, and for each volume value, at least one corresponding actual pipetting volume is obtained according to the aforementioned pipetting calibration operation.

[0082] Optionally, when there are multiple different pipetting volume ranges corresponding to the liquid to be measured, at least one pipetting volume is set for each pipetting volume range, and the target pipetting volume is one of the pipetting volumes in any pipetting volume range of the liquid to be measured. In an example where different pipetting volume ranges correspond to different initial values of the pipetting parameters, determine the target pipetting volume range (i.e., the volume range where the target pipetting volume is located) and the initial value of the pipetting parameters corresponding to the target pipetting volume range from different pipetting volume ranges of the liquid to be measured. Take each pipetting volume in the target pipetting volume range as the target pipetting volume in turn and perform the pipetting calibration operation in step S1022. In step S1024, for each target pipetting volume in the target pipetting volume range and the actual pipetting volume in at least one pipetting calibration operation corresponding to each target pipetting volume, adjust the initial value of the pipetting parameters corresponding to the target pipetting volume range to obtain the corrected target value of the pipetting parameters corresponding to the target pipetting volume range.

[0083] For example, the liquid to be measured is provided with four pipetting volume ranges: 0 - 10 ul, 10 - 50 ul, 50 - 200 ul, and 200 - 1000 ul. The selectable pipetting volumes in the four pipetting volume ranges are 1 ul, 5 ul, 10 ul, 20 ul, 30 ul, 50 ul, 100 ul, 200 ul, 500 ul, 700 ul, and 1000 ul, so as to ensure that there are at least two pipetting volumes in each pipetting volume range, which can make the result of the pipetting calibration operation more accurate.

[0084] The pipetting parameters of the liquid are corrected through an automated pipetting calibration experiment. The corrected pipetting parameters can be used for subsequent pipetting operations on the liquid, enabling the pipettor to achieve a pipetting process with high pipetting accuracy for the liquid. Further, a set of pipettors can also correct the pipetting parameters of different types of liquids through an automated pipetting calibration experiment, that is, it can be applicable to liquids with different chemical properties, such as liquids with high viscosity or high volatility, etc., so that the same set of pipettors can achieve a pipetting process with high pipetting accuracy for different types of liquids in the future.

[0085] In one example, the pipetting parameters of the liquid to be measured include a pipetting correction coefficient, which is used to indicate the relationship between the actual pipetting volume and the target pipetting volume in the pipetting calibration operation. For example, the pipetting correction coefficient includes a correction ratio coefficient A and a correction constant coefficient B, which are used for the calculation of the preset function y = ax + b, where x represents the target pipetting volume, and y represents the actual pipetting volume obtained from the pipetting experiment with the target pipetting volume represented by x during the pipetting parameter calibration process. It can be understood that due to the existence of liquid loss caused by the pipetting calibration operation, y will be less than x. Let A = 1 / a and B = -a / b, so that subsequently in the actual application process, when the target pipetting volume is determined to be x, the liquid with a pipetting volume of y' needs to be pipetted during the actual pipetting process according to y' = Ax + B to obtain the liquid with a volume of x. It can be understood that due to the existence of liquid loss caused by the pipetting calibration operation, y' needs to be greater than x. Optionally, the initial value of the correction ratio coefficient A is 1, and the initial value of the correction constant coefficient B is 0.

[0086] Optionally, the pipetting calibration operation in step S1024 is once, and the pipetting correction coefficient can be adjusted according to the ratio of the target pipetting volume to the actual pipetting volume. For example, the correction constant coefficient B is defaulted to 0, and the correction ratio coefficient A is adjusted according to the ratio of the target pipetting volume to the actual pipetting volume obtained in this one pipetting calibration operation, and A is the ratio of the target pipetting volume to the actual pipetting volume.

[0087] Optionally, the pipetting calibration operation in step S1024 is multiple times. The mean value can be obtained by using the actual pipetting volumes corresponding to at least some of the multiple pipetting calibration operations, and then the pipetting correction coefficient can be adjusted by using the ratio of the target pipetting volume to the mean value. For example, the correction constant coefficient B is defaulted to 0, and the correction ratio coefficient A is the ratio of the target pipetting volume to the mean value. Or, linear fitting can be performed by using the target pipetting volume and the actual pipetting volumes corresponding to at least some of the multiple pipetting calibration operations, and the parameters A and B obtained by fitting are corrected.

[0088] Optionally, the pipetting calibration operation in step S1024 is performed multiple times, and there are multiple different pipetting volume ranges corresponding to the liquid to be measured, and at least one pipetting volume is set for each pipetting volume range. The average actual pipetting volume corresponding to each target pipetting volume can be determined according to the actual pipetting volumes in at least some of the multiple pipetting calibration operations corresponding to each target pipetting volume in the target pipetting volume range of the liquid to be measured. According to each target pipetting volume in the target pipetting volume range, the average actual pipetting volume corresponding to each target pipetting volume, and the preset functional relationship between the pipetting volume and the actual pipetting volume, fitting is performed to obtain the target value of the pipetting correction coefficient. For example, with the preset function y = ax + b, each target pipetting volume is used as the x value, and the average actual pipetting volume corresponding to each target pipetting volume is used as the y value, and the specific values of a and b can be obtained by fitting. Then, 1 / a is used as the adjustment value of the correction ratio coefficient A, and -a / b is used as the adjustment value of the correction constant coefficient B.

[0089] In one example, according to the target pipetting volume and the actual pipetting volumes in at least some of the multiple pipetting calibration operations, adjusting the initial value of the pipetting parameter to obtain the corrected target value of the pipetting parameter for the liquid to be measured may specifically include: calculating the pipetting volume error and / or pipetting accuracy according to the target pipetting volume and the actual pipetting volumes in at least some of the multiple pipetting calibration operations; adjusting the initial value of the pipetting parameter according to the pipetting volume error and / or pipetting accuracy to obtain the corrected target value of the pipetting parameter. Optionally, when it is confirmed that the pipetting volume error meets the preset error requirement and the pipetting accuracy meets the preset pipetting accuracy requirement, the initial value of the pipetting parameter is determined as the corrected target value of the pipetting parameter; when it is confirmed that the pipetting accuracy does not meet the preset pipetting accuracy requirement and / or the pipetting volume error does not meet the preset error requirement, the initial value of the pipetting parameter is adjusted to obtain the corrected target value of the pipetting parameter.

[0090] Optionally, when the pipetting accuracy does not meet the preset pipetting accuracy requirement, replace the pipette and re-perform the above pipetting calibration operation on the liquid to be measured with the new pipette. At this time, it can be indicated that the hardware structure of this pipette is not applicable to the currently planned accuracy requirement, and the pipette needs to be replaced.

[0091] For ease of understanding, the following uses a specific example for explanation. In this example, taking the target pipetting volume range as 200 - 1000 ul as an example, the pipetting volumes of 200 ul, 500 ul, 700 ul, and 1000 ul within the target pipetting volume range are sequentially used as the target pipetting volume V_target. For each V_target, multiple pipetting calibration operations are performed. Among them, the actual pipetting volumes of n (n >= 2) pipetting calibration operations are respectively Vi, and the average actual pipetting volume of these n pipetting calibration operations is calculated as Based on the above method, the average actual pipetting volumes V_avg200, V_avg500, V_avg700, and V_avg1000 corresponding to each target pipetting volume can be obtained.

[0092] The data points (x, y) formed by each target pipetting volume and its corresponding average actual pipetting volume are: (200, V_avg200), (500, V_avg500), (700, V_avg700), (1000, V_avg1000). According to these 4 data points, the specific values of the parameters a and b in y = ax + b are fitted. The target value of the correction proportionality coefficient A is set to A = 1 / a, and the target value of the correction constant coefficient B is set to B = -a / b.

[0093] Optionally, the pipetting volume error and pipetting precision of the n pipetting calibration operations for each target pipetting volume are also calculated. It can be calculated by to calculate the pipetting volume error (also known as the mean error percentage). It can be calculated by to calculate the pipetting precision CV. In this way, the pipetting volume error and pipetting precision corresponding to each target pipetting volume can be obtained. Among them, the pipetting precision meeting the preset pipetting precision requirement can be regarded as the pipetting precision CV being greater than or equal to the preset pipetting precision (such as the national standard precision). The pipetting volume error meeting the preset error requirement can be regarded as the pipetting volume error being less than or equal to the preset volume error.

[0094] Optionally, when the pipetting precision of at least a first preset number (for example, at least one) of target pipetting volumes in the target pipetting volume range does not meet the preset pipetting precision requirement and / or the pipetting volume error does not meet the preset error requirement, the target values of the correction proportionality coefficient A and the correction constant coefficient B are obtained according to the above method steps.

[0095] Optionally, when the pipetting volume errors and the pipetting precisions of at least a second preset number (for example, all) of target pipetting volumes in the target pipetting volume range respectively meet the preset error requirement and the preset pipetting precision requirement, the initial value of the correction proportionality coefficient A is used as the target value, and the initial value of the correction constant coefficient B is used as the target value, that is, there is no need to correct the initial value.

[0096] Generally speaking, it will not occur that for some pipetting volumes within the target pipetting volume range, the pipetting volume errors do not meet the preset error requirements, while for some other pipetting volumes, the pipetting volume errors meet the preset error requirements. Because starting from the principle of the pipette, within a pipetting volume range, the pipetting deviations that occur are all approximately linear deviations, and the pipetting volume errors at different pipetting volumes also increase linearly.

[0097] In addition, the error percentage between the maximum value and the minimum value can also be calculated as a reference basis for subsequent experimenters to judge whether re-calibration is required. Among them, the maximum value error percentage The minimum value error percentage

[0098] In one example, the test data corresponding to multiple target pipetting volumes (such as the actual pipetting volume, A max or A min etc.) all deviate (are all too large or too small), then it can be considered that it is caused by the pipette itself. At this time, the pipetting parameters can be not corrected, and a new round of pipetting calibration operation can be initiated again. At this time, the correction proportionality coefficient A used in the new calibration operation is 1, and the correction constant coefficient B is 0. If it is an accidental deviation (for example, the test data of the target pipetting volume below 20% shows deviation, while the test data of most target pipetting volumes are within the normal range), then it is considered that it is not caused by the pipette itself. At this time, the calibration can be not initiated again, and the initial value of the pipetting parameters can be directly used as the correction target value of the pipetting parameters, or new correction proportionality coefficient A and correction constant coefficient B can be obtained by fitting based on the above fitting method.

[0099] In one example, during one of the pipetting calibration operations in step S1022, it is also detected whether there is a dripping phenomenon and / or a residue phenomenon in the pipette; if so, the initial value of the pipetting parameters is corrected to obtain the corrected value of the pipetting parameters; according to the target pipetting volume and the corrected value of the pipetting parameters, at least one subsequent pipetting calibration operation on the liquid to be tested is performed using the pipette.

[0100] Correspondingly, in step S1024, according to the target pipetting volume and the actual pipetting volume of at least one subsequent pipetting calibration operation, the correction value of the pipetting parameter is adjusted to obtain the corrected target value of the pipetting parameter of the liquid to be measured. Optionally, according to the actual pipetting volume and the target pipetting volume in at least some of the pipetting calibration operations performed after obtaining the correction value of the pipetting parameter, the correction value of the pipetting parameter is adjusted to obtain the corrected target value of the pipetting parameter of the liquid to be measured. For example, the correction value of the pipetting parameter is adjusted by using the actual pipetting volume and the target pipetting volume obtained in multiple subsequent pipetting calibration operations without dripping or residue to obtain the corrected target value of the pipetting parameter of the liquid to be measured.

[0101] Optionally, the pipetting parameters include the pre-wetting volume and / or the post-aspiration air volume. When there is a dripping phenomenon, the correction of the initial value of the pipetting parameter includes: increasing the pre-wetting volume and / or the post-aspiration air volume according to a first preset rule. The pipette is loaded with a tip before the pipetting operation to aspirate the liquid. During the pipetting process, it is necessary to ensure that there is no dripping phenomenon, otherwise the pipetting will be inaccurate, and the dripping solution will also contaminate the entire experimental environment. After emptying the tip of the pipette, the tip needs to be kept clean without residual solution. However, considering the differences in the materials of different tips and the properties of the solution, a situation where there is a residual of 1-2 ul can be accepted. The pre-wetting volume represents the volume aspirated in an operation of pre-wetting the tip before aspirating the target pipetting volume. In this operation of pre-wetting the tip, the pipette aspirates the liquid of the pre-wetting volume and then spits it out. The post-aspiration air volume represents an operation of aspirating a certain amount of air after aspirating the target pipetting volume. This operation can prevent the solution from dripping during the transfer process and also facilitate the liquid ejection operation.

[0102] Optionally, increasing the pre-wetting volume and / or the post-aspiration air volume according to the first preset rule includes: increasing the pre-wetting volume and / or the post-aspiration air volume by a first fixed step size. After correcting the initial value of the pipetting parameter according to this method, the corrected value of the pipetting parameter is obtained. Then, the next pipetting calibration operation is performed with the corrected value of the pipetting parameter. For example, the correction of the initial value of the pipetting parameter includes: Rule 1, increasing the pre-wetting volume by a fixed scale 1 (e.g., 100 ul) to pre-wet the inner cavity of the tip with the solution vapor in advance to reach the state of saturated vapor pressure; and / or, Rule 2: increasing the post-aspiration air volume by a fixed scale 2 (e.g., 20 ul). Among them, in one correction, Rule 1 and Rule 2 can be tested separately or in combination.

[0103] Optionally, when dripping still occurs after performing the pipetting operation with the corrected value of the pipetting parameters, increase the pre-aspiration volume and / or the post-aspiration air volume again by the first fixed step to correct the pipetting parameters again, and perform the next pipetting calibration operation according to the pipetting parameters corrected again, and repeat this process until no dripping occurs. Optionally, in the above step S1024, according to the target pipetting volume and the actual pipetting volume in the pipetting calibration operation after at least one subsequent pipetting calibration operation without dripping, adjust the value of the pipetting parameters to obtain the corrected target value of the pipetting parameters for the liquid to be measured.

[0104] Optionally, the pipetting parameters include the pre-aspiration air volume and / or the liquid discharge speed. When there is the residue phenomenon, the correction of the initial value of the pipetting parameters includes: increasing the pre-aspiration air volume and / or decreasing the liquid discharge speed according to a second preset rule. The pre-aspiration air volume refers to the volume of air aspirated in the operation of aspirating a section of air before aspirating the target pipetting volume. This operation is mainly to allow the solution vapor to enter the tip, keep the air pressure in the tip stable for facilitating liquid aspiration, and at the same time facilitate the liquid discharge operation to empty the solution. The liquid discharge speed refers to the speed control during liquid discharge. A suitable liquid discharge speed is also very important. Too fast or too slow will both cause the residue phenomenon.

[0105] Optionally, increasing the pre-aspiration air volume and / or decreasing the liquid discharge speed according to the second preset rule includes: increasing the pre-aspiration air volume and / or decreasing the liquid discharge speed by a second fixed step. After correcting the initial value of the pipetting parameters according to this method, the corrected value of the pipetting parameters is obtained. Then perform the next pipetting calibration operation with the corrected value of the pipetting parameters. For example, the correction of the initial value of the pipetting parameters includes: Rule 3, increasing the pre-aspiration air volume by a fixed scale 3 (such as 20 ul), and / or, Rule 4, decreasing the liquid discharge speed by a fixed scale 4 (such as 50 ul / s). Among them, in one correction, Rule 3 and Rule 4 can be tested separately or in a superimposed manner.

[0106] Optionally, when the residue phenomenon still occurs after performing the pipetting operation with the corrected value of the pipetting parameters, increase the pre-aspiration air volume and / or decrease the liquid discharge speed again by the second fixed step to correct the pipetting parameters again, and perform the next pipetting calibration operation according to the pipetting parameters corrected again, and repeat this process until no residue phenomenon occurs. Optionally, in the above step S1024, according to the target pipetting volume and the actual pipetting volume in the pipetting calibration operation after at least one subsequent pipetting calibration operation without residue, adjust the value of the pipetting parameters to obtain the corrected target value of the pipetting parameters for the liquid to be measured.

[0107] There are various ways to detect whether there is a dripping phenomenon and / or a residue phenomenon. For example, in the pipetting operation, determine the liquid suction capacity of the pipette (e.g., obtained by calculating the weight difference of the container filled with the liquid to be measured before and after liquid suction, such as the target pipetting capacity) and the liquid discharge capacity (e.g., obtained by calculating the weight difference of the container filled with the liquid to be measured before and after liquid ejection, such as the actual pipetting capacity), and judge whether the difference between the liquid suction capacity and the liquid discharge capacity is greater than a preset value; when the difference is not greater than the preset value, it is determined that the dripping phenomenon and / or the residue phenomenon does not occur. Optionally, when the difference is greater than the preset value, it is determined that the dripping phenomenon and / or the residue phenomenon occurs.

[0108] Theoretically, the liquid suction capacity should be equal to the liquid discharge capacity, but in actual situations, the pipette will have a residue of 1 - 2 μl of solution. Therefore, the preset value can be set to a value not less than 1 μl, 1.5 μl, or 2 μl, etc.

[0109] Optionally, when the difference is greater than the preset value, an alarm can also be issued to prompt a person to visually confirm further whether the dripping phenomenon and / or the residue phenomenon occurs. Optionally, there is also a feedback option set on the interaction interface. When a person visually determines that a dripping phenomenon or a residue phenomenon has occurred, receive the human feedback through the interaction interface to further determine that a dripping phenomenon or a residue phenomenon has occurred. Or, when the difference is greater than the preset value, the detection result of a visual module (such as a camera) located nearby can also be combined to further judge whether a dripping phenomenon or a residue phenomenon occurs.

[0110] Optionally, in each pipetting calibration operation, before the pipette aspirates the liquid to be measured with the target pipetting capacity, also control the pipette to replace a new empty tip.

[0111] Optionally, after obtaining the correction target value of the pipetting parameters of the liquid to be measured, store the correction target value of the pipetting parameters of the liquid to be measured in the pipetting parameter library. Subsequently, during the actual pipetting operation, after determining the target pipetting capacity of each pipetting operation, correct the target pipetting capacity according to the pipetting parameters in the pipetting parameter library to obtain the corrected target pipetting capacity, and perform the pipetting operation according to the corrected target pipetting capacity to obtain the liquid with the target pipetting capacity before correction.

[0112] Compared with the prior art, the pipetting method of this embodiment performs high-precision calibration on the pipetting parameters before the pipetting starts to ensure the accuracy of the actual pipetting operation.

[0113] Embodiment 4

[0114] As Figure 5 shown, Figure 5It is a flowchart of a pipetting method provided in Embodiment 4 of the present application. Compared with other embodiments, this embodiment further includes steps S501 - S503 before step S101.

[0115] Step S501: Confirm whether the current time meets the time interval for automatic calibration. If it meets, execute step S502; if not, continue to wait and confirm whether the current time meets the time interval for automatic calibration.

[0116] In one embodiment, the script program of the pipetting device can set a global variable last_time to store the timestamp of the last automatic periodic calibration start of the pipettor. The initial value of this timestamp is defaulted to 0 seconds; set the global variable check_time_interval to store the set periodic calibration time interval, and the initial value can default to 0 days. When the pipetting system is powered on and initialized, start a separate thread to loop and query the value of the global variable check_time_interval. If the global variable check_time_interval is 0, no operation is performed; otherwise, execute the trigger process of the automatic periodic calibration operation of the pipettor. If the value of last_time is 0, assign the current timestamp to last_time. Wait for the time after last_time plus check_time_interval, and then trigger the automatic detection process of the pipettor. In this embodiment, the time interval can be several hours, one day, one week, or one month, and can be specifically set according to the usage frequency of the device.

[0117] Step S502: Confirm whether a pipetting task is being executed. If not, directly execute step S503; if so, wait until the pipetting task ends and then execute step S503 prompted by the automatic detection task. Preferably, the prompt can be to display a pop-up window on the display interface or issue a voice reminder through a playback device.

[0118] Step S503: Prompt for the automatic detection task.

[0119] Compared with the prior art, the pipetting method of this embodiment regularly starts the automatic calibration process by setting the time interval for automatic calibration to ensure that the error can be automatically corrected after each use for a period of time, guaranteeing the stability and reliability of the device during long-term use.

[0120] Embodiment 5

[0121] Figure 6 It is a schematic diagram of a pipetting device provided in Embodiment 5 of the present invention. As Figure 6 shown, the device 600 includes:

[0122] An airtight detection module 601, which is used to confirm the airtightness of the pipette; for example, the airtightness of the pipette is confirmed by timed weighing.

[0123] A target parameter acquisition module 602, which is used to, after the airtightness of the pipette is qualified, confirm the correction target value of the pipetting parameters based on a preset pipetting correction operation;

[0124] A pipetting control module 603, which is used to pipette the liquid to be transferred by using the pipette according to the correction target value of the pipetting parameters.

[0125] Optionally, the airtight detection module 601 further includes: a liquid inspection placement module 6011, which is used to place a container filled with a sealed detection liquid on a weighing device; a liquid inspection aspiration module 6012, which is used to control the pipette to pick up a new empty tip and aspirate a preset range of the sealed detection liquid from the container; a timing start module 6013, which is used to control the tip after aspiration to hover above the container and start timing; an airtight judgment module 6014, which is used to determine the airtightness of the pipette according to the change in the reading of the weighing device within a timing threshold.

[0126] Optionally, if it is determined that the airtightness is unqualified, the liquid inspection aspiration module 6012 is further used to control the removal of the tip, and then jump to execute the step of controlling the pipette to pick up a new empty tip and aspirate a preset range of the sealed detection liquid from the container. The airtight judgment module 6014 is used to confirm that the airtightness is unqualified if the results of a preset number of cycles are consistently unqualified.

[0127] Optionally, the airtight judgment module 6014 is further used to read the weighing reading of the weighing device at a preset interval period; judge whether the difference between the two weighings before and after is greater than or equal to an airtight threshold; if it is greater than or equal to, determine that the airtightness of the pipette is unqualified and give an alarm.

[0128] Optionally, the airtight judgment module 6014 is further used to: judge whether the timing reaches the timing threshold; if the timing does not reach the timing threshold, then jump to execute the step of reading the weighing reading of the weighing device at a preset interval period; or, if the timing does not reach the timing threshold, then empty and remove the tip and adjust the preset range, and the liquid inspection aspiration module 6012 re-controls the pipette to pick up a new empty tip and aspirate a preset range of the sealed detection liquid from the container. If the timing reaches the timing threshold, the airtight judgment module 6014 determines that the airtightness of the pipette is qualified and notifies the pipetting parameter correction module to perform pipetting parameter correction.

[0129] Optionally, it further includes a movement module for controlling the hovering tip head to move at a preset speed within the vertical projection range of the container before the airtightness judgment module 6014 reads the weighing readings of the weighing device at preset intervals.

[0130] Optionally, it further includes a correction interval module for confirming whether the current time meets the time interval for automatic correction.

[0131] Optionally, it further includes a task confirmation module for confirming whether a pipetting task is being executed; if so, wait for the pipetting task to end and then give an airtightness detection reminder.

[0132] Optionally, the target parameter acquisition module 602 further includes:

[0133] An initial parameter confirmation module 6021 for obtaining the target pipetting volume of the liquid to be measured and obtaining the initial values of the pipetting parameters of the liquid to be measured;

[0134] A pipetting operation control module 6022 for performing at least one pipetting correction operation on the liquid to be measured by using a pipette according to the target pipetting volume and the initial values of the pipetting parameters. The pipetting correction operation includes: sucking the liquid to be measured with the target pipetting volume through the pipette, and then discharging the sucked liquid to be measured through the pipette to obtain the discharged volume of the liquid to be measured;

[0135] A pipetting volume confirmation module 6023 for determining the actual pipetting volume in each pipetting correction operation according to the discharged volume in each pipetting correction operation;

[0136] A target parameter confirmation module 6024 for adjusting the initial values of the pipetting parameters according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting correction operations to obtain the corrected target values of the pipetting parameters of the liquid to be measured.

[0137] Optionally, the pipetting parameters include at least one of a pre-wetting volume, a liquid suction depth, a liquid suction speed, an air suction volume before suction, an air suction volume after suction, a liquid discharge speed, and a pipetting correction coefficient.

[0138] Optionally, the pipetting correction operation is performed multiple times, and the target parameter confirmation module 6024 is further used to adjust the initial values of the pipetting parameters according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting correction operations to obtain the corrected target values of the pipetting parameters of the liquid to be measured.

[0139] Optionally, the target parameter confirmation module 6024 is further configured to calculate a pipetting volume error and / or pipetting accuracy according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting correction operations;

[0140] Adjust an initial value of the pipetting parameter according to the pipetting volume error and / or pipetting accuracy to obtain a corrected target value of the pipetting parameter.

[0141] Optionally, when it is confirmed that the pipetting volume error meets a preset error requirement and the pipetting accuracy meets a preset pipetting accuracy requirement, the target parameter confirmation module 6024 is further configured to determine the initial value of the pipetting parameter as the corrected target value of the pipetting parameter;

[0142] When it is confirmed that the pipetting accuracy does not meet the preset pipetting accuracy requirement and / or the pipetting volume error does not meet the preset error requirement, adjust the initial value of the pipetting parameter to obtain a corrected target value of the pipetting parameter.

[0143] The above pipetting device can execute the pipetting method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in the pipetting method provided in any embodiment of the present invention. Since the above-introduced pipetting device is a device that can execute the pipetting method in the embodiments of the present invention, based on the pipetting method introduced in the embodiments of the present invention, those skilled in the art can understand the specific implementation manners and various variations of the pipetting device in this embodiment, so the specific implementation of how this pipetting device implements the pipetting method in the embodiments of the present invention will not be described in detail here. As long as the device adopted by those skilled in the art to implement the pipetting method in the embodiments of the present invention falls within the scope of protection of this application.

[0144] Embodiment Six

[0145] Figure 7 is a schematic diagram of a pipetting device provided in Embodiment Six of the present invention. As Figure 7 shown, the pipetting device 700 includes a processor 701 and a memory 702. An executable code is stored on the memory 702. When the executable code is executed by the processor 701, the processor 701 is caused to execute any one of the above pipetting methods.

[0146] Embodiment Seven

[0147] Figure 8 is a schematic diagram of a pipetting system provided in Embodiment Seven of this application. As Figure 8As shown, the pipetting system 800 includes a pipetting device 801 and a pipette 802. The pipette 802 is electrically connected to the pipetting device 801, and the pipette 802 is used to perform a pipetting operation under the control of the pipetting device 801. The pipetting device 801 may have some or all of the functions of the pipetting device 700 shown above Figure 7 described.

[0148] Optionally, the pipetting system 800 may further include a robotic arm 803 connected to the pipette 802. The robotic arm 803 is electrically connected to the pipetting device 801, and the robotic arm 803 is used to drive the pipette 802 to move under the control of the pipetting device 801. Optionally, the pipetting system 800 further includes a weighing device 804. The weighing device 804 is electrically connected to the pipetting device 801, and the weighing device 804 is used to obtain the discharge capacity of the liquid to be measured during the pipetting operation and feedback it to the pipetting device 801.

[0149] In one example, before the pipetting operation starts, the robotic arm 803 is used to move the target container containing the liquid to be measured onto the weighing device 804, and to grab the pipette 802 and move it to the target container. The pipette 802 is used to perform a pipetting operation on the liquid to be measured in the target container.

[0150] In one example, during the pipetting operation, after the pipette 802 finishes aspirating the liquid to be measured on the target container and before discharging the aspirated liquid to the target container, the robotic arm 803 is further used to drive the pipette 802 to move along a trajectory and then return above the target container for discharging the liquid, so as to more realistically simulate the pipetting action path.

[0151] In addition, the method according to the present application may also be implemented as a computer program or a computer program product. The computer program or the computer program product includes computer program code instructions for performing some or all of the steps in the above method of the present application.

[0152] The embodiments of the present application have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the practical application or the improvement of the technology in the market, or to enable other ordinary skill in the art in the technical field to understand the disclosed embodiments.

[0153] The above specific embodiments do not constitute a limitation to the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A pipetting method, characterized in that, Including: Confirm the airtightness of the pipette; After the airtightness of the pipette is qualified, confirm the correction target value of the pipetting parameters based on a preset pipetting correction operation; According to the correction target value of the pipetting parameters, use the pipette to pipette the liquid to be pipetted.

2. The pipetting method according to claim 1, wherein The step of confirming the airtightness of the pipette includes: Place a container filled with a seal detection liquid on a weighing device; Control the pipette to pick up a new empty tip and aspirate a preset volume of the seal detection liquid from the container; Control the tip after aspiration to hover above the container and start timing; Determine the airtightness of the pipette based on the change in the reading of the weighing device within a timing threshold.

3. The pipetting method according to claim 2, wherein If it is determined that the airtightness of the pipette is unqualified, remove the tip and jump to execute the step of controlling the pipette to pick up a new empty tip and aspirate a preset volume of the seal detection liquid from the container. If the results of the preset number of cycles are consistently unqualified for airtightness, it is confirmed that the airtightness is unqualified.

4. The pipetting method according to claim 2, wherein The step of determining the airtightness of the pipette based on the change in the reading of the weighing device within a timing threshold includes: Read the weighing reading of the weighing device at a preset interval period; Judge whether the difference between two consecutive weighings is greater than or equal to an airtightness threshold; If it is greater than or equal to, determine that the airtightness of the pipette is unqualified and give an alarm.

5. The pipetting method according to claim 4, wherein If the difference between two consecutive weighings is less than the airtightness threshold, the step of determining the airtightness of the pipette based on the change in the reading of the weighing device within a timing threshold further includes: Judge whether the timing reaches the timing threshold; If the timing does not reach the timing threshold, jump to execute the step of reading the weighing reading of the weighing device at a preset interval period; Or, if the timing does not reach the timing threshold, remove the tip and adjust the preset volume, and jump to execute the step of controlling the pipette to pick up a new empty tip and aspirate a preset volume of the seal detection liquid from the container; If the timing reaches the timing threshold, determine that the airtightness of the pipette is qualified and execute the step of pipetting parameter correction.

6. The pipetting method according to claim 2, wherein The step of controlling the tip after aspiration to hover above the container and start timing includes: Control the tip after aspiration to hover above the container and within the vertical projection range of the container, move at a preset speed and start timing.

7. The pipetting method according to any one of claims 1-6, characterized in that, The step of confirming the correction target value of the pipetting parameters based on a preset pipetting correction operation includes: Obtain the target pipetting volume of the liquid to be measured, and obtain the initial value of the pipetting parameters of the liquid to be measured; According to the target pipetting volume and the initial value of the pipetting parameters, use the pipette to perform at least one pipetting correction operation on the liquid to be measured. The pipetting correction operation includes: aspirating the target pipetting volume of the liquid to be measured through the pipette, and then discharging the aspirated liquid to be measured through the pipette to obtain the discharged volume of the liquid to be measured; Determine the actual pipetting volume in each pipetting correction operation according to the discharged volume in each pipetting correction operation; Adjust the initial value of the pipetting parameter according to the target pipetting volume and the actual pipetting volume in the at least one pipetting calibration operation, so as to obtain the corrected target value of the pipetting parameter of the liquid to be measured.

8. The method according to claim 7, wherein The pipetting parameter includes at least one of a wetting suction volume, a suction depth, a suction speed, a pre-suction air volume, a post-suction air volume, a liquid discharge speed, and a pipetting correction coefficient.

9. The method according to claim 7, wherein The pipetting calibration operation is performed multiple times. The adjustment of the initial value of the pipetting parameter according to the target pipetting volume and the actual pipetting volume in the at least one pipetting calibration operation to obtain the corrected target value of the pipetting parameter of the liquid to be measured includes: Adjust the initial value of the pipetting parameter according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting calibration operations, so as to obtain the corrected target value of the pipetting parameter of the liquid to be measured.

10. The method according to claim 9, wherein The adjustment of the initial value of the pipetting parameter according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting calibration operations to obtain the corrected target value of the pipetting parameter of the liquid to be measured includes: Calculate a pipetting volume error and / or a pipetting accuracy according to the target pipetting volume and the actual pipetting volume in at least some of the multiple pipetting calibration operations. Adjust the initial value of the pipetting parameter according to the pipetting volume error and / or the pipetting accuracy to obtain the corrected target value of the pipetting parameter.

11. The method according to claim 10, wherein The adjustment of the initial value of the pipetting parameter according to the pipetting volume error and / or the pipetting accuracy to obtain the corrected target value of the pipetting parameter includes: When it is confirmed that the pipetting volume error meets the preset error requirement and the pipetting accuracy meets the preset pipetting accuracy requirement, determine the initial value of the pipetting parameter as the corrected target value of the pipetting parameter. When it is confirmed that the pipetting accuracy does not meet the preset pipetting accuracy requirement and / or the pipetting volume error does not meet the preset error requirement, adjust the initial value of the pipetting parameter to obtain the corrected target value of the pipetting parameter.

12. A pipetting device, characterized in that, including: An airtightness detection module for confirming the airtightness of the pipette. A target parameter acquisition module for, after the airtightness of the pipette is qualified, confirming the corrected target value of the pipetting parameter based on a preset pipetting calibration operation. A pipetting control module for pipetting the liquid to be transferred by using the pipette according to the corrected target value of the pipetting parameter.

13. A pipetting device, characterized in that, including a memory and a processor, wherein an executable code is stored on the memory, and when the executable code is processed by the processor, the processor can execute the pipetting method according to any one of claims 1-11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the pipetting method according to any one of claims 1-11.

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