Full-automatic sample processing system

Abstract

The utility model discloses a full-automatic sample treatment system, and belongs to the technical field of flow cytometry. The full-automatic sample treatment system comprises a machine table, a sample loading and uniform mixing module, an oscillation module, a liquid suction mechanical arm, a transfer mechanical arm and a centrifugal machine. According to the full-automatic sample treatment system, the sample loading and uniform mixing module is arranged in the full-automatic sample treatment system, so that the uniform mixing efficiency of the blood collection tubes can be improved, the transfer mechanical arm is provided with the pipetting needle, and the pipetting needle sucks the uniformly shaken samples in the blood collection tubes and transfers the samples into the flow type tubes of the flow type tube block, so that batch transfer of the samples in the blood collection tubes can be realized; and the flow type pipe base is not provided with a temperature control device, but is integrated with the oscillation module, and the transfer mechanical arm can integrally transfer the flow type pipe block to the flow type pipe base or into the centrifugal machine, so that full-process automatic treatment is really realized, and the working efficiency is integrally improved.

Description

Technical Field

[0001] This application relates to the field of flow cytometry analysis technology, specifically to a fully automated sample processing system. Background Technology

[0002] Current flow cytometry sample processing systems require unscrewing the cap of the shaken blood collection tube before adding reagents and transferring it to a separate shaking device. Finally, the shaken sample is transferred to a centrifuge for centrifugation. The lack of a shaking device and centrifuge in the current system necessitates the separate installation of these devices, requiring a transfer device or manual operation to transfer the processed sample to the shaking and centrifuge. This results in low processing efficiency and prevents full automation. Utility Model Content

[0003] This application provides a fully automated sample processing system that solves the technical problem that current flow cytometry sample processing systems require unscrewing the cap of the shaken blood collection tube first, lack a shaking device and centrifugation equipment, and require a transfer device or manual operation to transfer the processed sample to the shaking device and centrifugation equipment, resulting in low processing efficiency and the inability to achieve full automation.

[0004] This application provides a fully automated sample processing system, which includes a machine base, a sample loading and mixing module, a flow cytometer base, a liquid aspiration robotic arm, a transfer robotic arm, and a centrifuge. The sample loading and mixing module, the flow cytometer base, the liquid aspiration robotic arm, and the transfer robotic arm are movably mounted on the machine base. The centrifuge is located on the lower surface of the machine base. The movement trajectories of the liquid aspiration robotic arm and the transfer robotic arm cover the working areas of the sample loading and mixing module, the flow cytometer base, and the centrifuge. The sample loading and mixing module fixes and mixes the blood collection tube. The flow cytometer base is equipped with a shaking module and a fixing groove on its top surface. The centrifuge has at least one groove. The fixing groove and the groove are used to place the flow cytometer block. The transfer robotic arm is equipped with a pipette, which aspirates the mixed sample from the blood collection tube and transfers it to the flow cytometer tube of the flow cytometer block. The transfer robotic arm is equipped with a gripper, which transfers the flow cytometer block to the fixing groove or the groove.

[0005] Furthermore, the oscillation module includes a drive motor, a deflector wheel, a sliding bracket, and an oscillation tray. The shaft of the drive motor is connected to the deflector wheel, the deflector wheel is connected to the oscillation tray, the bottom surface of the oscillation tray is connected to the sliding bracket, and the top surface of the oscillation tray is provided with the fixing groove.

[0006] Furthermore, the oscillation module also includes an outer side plate, and the sliding bracket includes two first sliding rods, two first sliding components, two second sliding rods, and two second sliding components. The two first sliding rods are connected to the inner side plate along a first direction, the first sliding components are slidably disposed on the first sliding rods, the two second sliding rods are connected to the top ends of the two first sliding components along a second direction, and the first sliding components are connected to the bottom surface of the oscillation tray.

[0007] Furthermore, the flow meter block has a hook groove on its side, and the gripper is inserted into the hook groove to grasp the flow meter block.

[0008] Furthermore, the centrifuge includes a rotary motor, an outer casing, and a rotating tray. The rotary motor is fixed to the bottom of the outer casing, and the middle of the rotating tray is connected to the rotating shaft of the rotary motor. The rotating tray is rotatably disposed within the outer casing and has evenly arranged grooves. The outer casing is fixed to the lower surface of the machine platform, and the machine platform has a placement opening corresponding to the grooves. The transfer robotic arm has grippers that grip the flow meter block and place it in the groove through the placement opening.

[0009] Furthermore, the transfer robotic arm is also equipped with a barcode scanning device.

[0010] Furthermore, the fully automated sample processing system also includes an antibody bottle rack, a reagent block placement structure, and a needle washing module located on the upper surface of the machine.

[0011] Furthermore, the fully automated sample processing system also includes a transverse support, a visual aspiration pump, and a ceramic pump. The transverse support is mounted on the machine base, and the aspiration robotic arm and the transfer robotic arm are movably mounted on the transverse support. The visual aspiration pump is connected to the transfer robotic arm, and the ceramic pump is connected to the aspiration robotic arm.

[0012] Furthermore, the transfer robotic arm is equipped with a pipette, and the visualized aspiration pump includes a negative pressure pump and a transparent liquid level tube, with the negative pressure pump connected to the pipette through the transparent liquid level tube.

[0013] Furthermore, the sample loading and mixing module includes a box, a rotating sample rack, and a flipping mixing device. Blood collection tubes are fixed on the rotating sample rack. The flipping mixing device is located inside the box and includes a flipping drive mechanism and a flipping support. The flipping drive mechanism is connected to the flipping support and controls the flipping support to flip. The rotating sample rack is engaged with the flipping support. The box has multiple through holes corresponding to the flipping support. The pipette passes through the through holes to aspirate the shaken sample from the blood collection tube.

[0014] The fully automated sample processing system provided in this application improves the mixing efficiency of blood collection tubes by incorporating a sample loading and mixing module. Furthermore, the transfer robotic arm equipped with a pipette allows for batch transfer of samples from the blood collection tubes by aspirating the well-mixed sample into the flow cytometry tubes of the flow cytometry tube block, thus enhancing sample transfer efficiency. Moreover, the flow cytometry tube base does not have a temperature control device but integrates a oscillation module, enabling the transfer robotic arm to transfer the entire flow cytometry tube block to the base or centrifuge, truly achieving fully automated processing and significantly improving overall inoculation efficiency. Attached Figure Description

[0015] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0016] Figure 1 A front view of the fully automated sample processing system provided in the embodiments of this application;

[0017] Figure 2 This is a top view of the fully automated sample processing system provided in the embodiments of this application.

[0018] Figure 3 A schematic diagram of the rear view structure of the fully automated sample processing system provided in the embodiments of this application;

[0019] Figure 4 This is a schematic diagram of the structure of the oscillation module with a flow meter block provided in the embodiment of this application;

[0020] Figure 5 A cross-sectional view of the oscillation module provided in an embodiment of this application;

[0021] Figure 6 This is a partial structural schematic diagram of the oscillation module provided in an embodiment of this application;

[0022] Figure 7 This is a schematic diagram of the structure of the liquid suction robotic arm provided in the embodiments of this application;

[0023] Figure 8 This is a first-view structural schematic diagram of the transfer robotic arm provided in an embodiment of this application;

[0024] Figure 9 This is a second-view structural schematic diagram of the transfer robotic arm provided in an embodiment of this application;

[0025] Figure 10 This is a schematic diagram of the structure of a centrifuge provided in an embodiment of this application;

[0026] Figure 11This is a schematic diagram of the structure of a suction pump provided in an embodiment of this application;

[0027] Figure 12 This is a schematic diagram of the sample loading and mixing module provided in the embodiments of this application;

[0028] Figure 13 This is a schematic diagram of the internal structure of the sample loading and mixing module provided in the embodiments of this application.

[0029] The markings in the diagram are as follows:

[0030] Machine base 1, placement opening 101, cover plate 102, sample loading and mixing module 2, box 21, through hole 211, turnover sample rack 22, slot 221, tilting mixing device 23, tilting drive mechanism 231, tilting bracket 232, flow cytometer base 3, vibration module 30, drive motor 31, deflector wheel 32, sliding bracket 33, first sliding rod 331, first sliding assembly 332, second sliding rod 333, second sliding assembly 334, vibration tray 34 341, fixed groove, 35, flow tube block, 351, outer side plate, 36, aspiration robot arm, 41, aspiration needle, 5, transfer robot arm, gripper, 51, barcode scanning device, 52, pipette, 53, centrifuge, 6, rotary motor, 61, outer shell, 62, rotating tray, 63, groove, 631, antibody bottle rack, 8, reagent block placement structure, 9, needle washing module, 10, transverse support, 11, visual aspiration pump, 111, negative pressure pump, 112, transparent liquid level tube, 12, ceramic pump. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown in the figure, this application provides a fully automated sample processing system, which includes a machine base 1, a sample loading and mixing module 2, a flow cytometer base 3, a liquid aspiration robotic arm 4, a transfer robotic arm 5, and a centrifuge 6. The sample loading and mixing module 2 and the flow cytometer base 3 are disposed on the upper surface of the machine base 1, and the centrifuge 6 is disposed on the lower surface of the machine base 1. The liquid aspiration robotic arm 4 and the transfer robotic arm 5 are movably mounted on the machine base 1, and the movement trajectories of the liquid aspiration robotic arm 4 and the transfer robotic arm 5 cover the working areas of the sample loading and mixing module 2, the flow cytometer base 3, and the centrifuge 6. In the centrifuge, the sample mixing module 2 fixes and shakes the blood collection tubes, the flow cytometry tube base 3 is provided with a shaking module 30, the top surface of the flow cytometry tube base 3 is provided with a fixing groove 341, the centrifuge 6 is provided with at least one groove 631, the fixing groove 341 and the groove 631 are used to place the flow cytometry tube block 35, the liquid aspiration robotic arm 4 is provided with a liquid aspiration needle 41, the liquid aspiration needle 41 aspirates the supernatant in the flow cytometry tube of the flow cytometry tube block 35 after centrifugation, and the transfer robotic arm 5 is provided with a gripper 51, the gripper 51 transfers the flow cytometry tube block 35 to the fixing groove 341 or the groove 631.

[0035] This application improves the mixing efficiency of blood collection tubes by setting up a sample loading and mixing module 2 in a fully automated sample processing system. Furthermore, the transfer robotic arm 5 is equipped with a pipette, which can aspirate the shaken sample from the blood collection tube and transfer it to the flow cytometry tube of the flow cytometry tube block 35, enabling batch transfer of samples from the blood collection tubes and improving sample transfer efficiency. Moreover, the flow cytometry tube base 3 does not have a temperature control device but integrates a oscillation module. The transfer robotic arm 5 can transfer the flow cytometry tube block 35 as a whole to the flow cytometry tube base 3 or into the centrifuge 6, truly realizing fully automated processing and improving overall inoculation efficiency.

[0036] like Figure 4, Figure 5 , Figure 6 As shown, the oscillation module 30 includes a drive motor 31, a deflector wheel 32, a sliding bracket 33, and an oscillation tray 34. The shaft of the drive motor 31 is connected to the deflector wheel 32, the deflector wheel 32 is connected to the oscillation tray 34, the bottom surface of the oscillation tray 34 is connected to the sliding bracket 33, and the top surface of the oscillation tray 34 is provided with the fixing groove 341.

[0037] Preferably, the sample mixing module 2 simultaneously mixes multiple blood collection tubes, and the number of aspiration needles 41 is the same as the number of holes in a row of the flow cytometry tube block 35. This allows for the batch aspiration of the supernatant from the flow cytometry tube block 35 after centrifugation, improving the efficiency of discarding the supernatant.

[0038] like Figure 4 , Figure 5 , Figure 6 As shown, the oscillation module 30 also includes an outer side plate 36, and the sliding bracket 33 includes two first sliding rods 331, two first sliding components 332, two second sliding rods 333, and two second sliding components 334. The two first sliding rods 331 are connected to the inner side plate 36 along a first direction. The first sliding components 332 are slidably disposed on the first sliding rods 331. The two second sliding rods 333 are connected to the top of the two first sliding components 332 along a second direction. The first sliding components 332 are connected to the bottom surface of the oscillation tray 34.

[0039] The drive motor 31 drives the oscillating tray 34 to sway in the horizontal plane through the deflection wheel 32. The sliding bracket 33 can keep the oscillating tray 34 in the horizontal plane when it sways, ensuring a stable oscillation process.

[0040] like Figure 4 , Figure 8 As shown, the flow cytometry tube block 35 has a hook groove 351 on its side, and the gripper 51 is inserted into the hook groove 351 to grasp the flow cytometry tube block 35. The transfer robotic arm 5 can grasp and transfer the entire flow cytometry tube block 35 into the centrifuge 6 by inserting the gripper 51 into the hook groove 351, thereby improving the sample transfer efficiency and sample centrifugation efficiency.

[0041] like Figure 2 , Figure 4 , Figure 10As shown, the centrifuge 6 includes a rotary motor 61, a housing 62, and a rotating tray 63. The rotary motor 61 is fixed to the bottom of the housing 62. The middle part of the rotating tray 63 is connected to the rotating shaft of the rotary motor 61. The rotating tray 63 is rotatably disposed inside the housing 62. The rotating tray 63 has evenly arranged grooves 631. The housing 62 is fixed to the lower surface of the machine base 1. The machine base 1 has a placement opening 101, which corresponds to the grooves 631. The transfer robotic arm 5 has a gripper 51, which grips the flow tube block 35 and places it in the groove 631 through the placement opening 101.

[0042] like Figure 2 As shown, preferably, the machine platform 1 is also provided with a cover plate 102 at the placement opening 101 position, and the cover plate 102 is used to block the placement opening 101 when the centrifuge 6 is working.

[0043] like Figure 10 As shown, the rotating pallet 63 is linear, and each end of the rotating pallet 63 is provided with a groove 631. This arrangement can balance the weight on the rotating pallet 63 and prevent the rotating pallet 63 from vibrating during centrifugal processing.

[0044] like Figure 8 , Figure 9 As shown, the transfer robotic arm 5 is also equipped with a barcode scanning device 52. The barcode scanning device 52 is movable and can scan the QR code on the antibody bottle.

[0045] like Figure 1 , Figure 2 , Figure 3 As shown, the fully automated sample processing system also includes an antibody bottle rack 7, a reagent block placement structure 8, and a needle washing module 9 located on the upper surface of the machine base 1.

[0046] Understandably, the lower surface of the reagent block placement structure 8 is provided with a flow guide groove, which is sealed by a heating plate to form the cooling pipeline. This cooling pipeline cools the reagent block placement structure 8, while the heating plate heats it, achieving temperature regulation suitable for reagent block placement. The needle washing module 9 cleans the aspiration needle 41, ensuring that the liquids drawn do not mix.

[0047] like Figure 1 , Figure 2 , Figure 3As shown, the fully automated sample processing system also includes a transverse support 10, a visual aspiration pump 11, and a ceramic pump 12. The transverse support 10 is mounted on the machine base 1. The aspiration robotic arm 4 and the transfer robotic arm 5 are movably mounted on the transverse support 10. The visual aspiration pump 11 is connected to the transfer robotic arm 5, and the ceramic pump 12 is connected to the aspiration robotic arm 4. Preferably, the visual aspiration pump 11 and the ceramic pump 12 are mounted on the transverse support 10, and the number of aspiration needles 41 is the same as the number of holes in a row of the flow cytometry tube block 35, so that the supernatant in the flow cytometry tube block 35 after centrifugation can be aspirated in batches.

[0048] like Figure 8 As shown, the transfer robotic arm 5 is equipped with a pipette 53. Figure 11 As shown, the visualization pump 11 includes a negative pressure pump 111 and a transparent liquid level tube 112. The negative pressure pump 111 is connected to the pipette 53 through the transparent liquid level tube 112. The liquid level being drawn can be visualized through the transparent liquid level tube 112, allowing for an understanding of the amount of sample or reagent being drawn.

[0049] like Figure 12 , Figure 13 As shown, the sample loading and mixing module 2 includes a housing 21, a rotating sample rack 22, and a flipping mixing device 23. Blood collection tubes are fixed on the rotating sample rack 22. The flipping mixing device 23 is located inside the housing 21. The flipping mixing device 23 includes a flipping drive mechanism 231 and a flipping support 232. The flipping drive mechanism 231 is connected to the flipping support 232 and controls the flipping support 232 to flip. The rotating sample rack 22 is snapped onto the flipping support 232. The housing 21 has multiple through holes 211 corresponding to the flipping support 232. The pipette 53 passes through the through holes 211 to aspirate the shaken sample from the blood collection tube.

[0050] It is understood that the turnover sample holder 22 is provided with a row of slots 221 for fixing blood collection tubes, and the number of pipettes 53 and through holes 211 is determined according to the number of slots 221 on the turnover sample holder 22.

[0051] The fully automated sample processing system provided in this application improves the mixing efficiency of blood collection tubes by setting a sample loading and mixing module. Furthermore, the liquid aspiration robotic arm equipped with a liquid aspiration needle can aspirate the shaken sample from the blood collection tube and transfer it to the blood collection tube of the flow cytometry tube block, enabling batch transfer of samples and improving sample transfer efficiency. Moreover, the flow cytometry tube base does not have a temperature control device but integrates a oscillation module. The transfer robotic arm can transfer the entire flow cytometry tube block to the flow cytometry tube base or centrifuge, truly achieving fully automated processing and improving overall inoculation efficiency.

[0052] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0053] The above provides a detailed description of a fully automated sample processing system provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A fully automated sample processing system, characterized in that, The fully automated sample processing system includes a machine base, a sample loading and mixing module, a flow cytometer base, a liquid aspiration robotic arm, a transfer robotic arm, and a centrifuge. The sample loading and mixing module and the flow cytometer base are located on the upper surface of the machine base, and the centrifuge is located on the lower surface of the machine base. The liquid aspiration robotic arm and the transfer robotic arm are movably mounted on the machine base, and their movement trajectories cover the working areas of the sample loading and mixing module, the flow cytometer base, and the centrifuge. The sample loading and mixing module fixes and mixes the blood collection tubes. The flow cytometer base is equipped with an oscillation module, and the top surface of the flow cytometer base has a fixing groove. The centrifuge has at least one groove, and the fixing groove and the groove are used to place the flow cytometer block. The liquid aspiration robotic arm is equipped with a liquid aspiration needle, which aspirates the supernatant from the flow cytometer block after centrifugation. The transfer robotic arm is equipped with grippers, which transfer the flow cytometer block to the fixing groove or the groove.

2. The fully automated sample processing system as described in claim 1, characterized in that, The oscillation module includes a drive motor, a deflector wheel, a sliding bracket, an oscillation tray, and a flow tube block. The shaft of the drive motor is connected to the deflector wheel, the deflector wheel is connected to the oscillation tray, the bottom surface of the oscillation tray is connected to the sliding bracket, and the top surface of the oscillation tray is provided with the fixing groove.

3. The fully automated sample processing system as described in claim 2, characterized in that, The oscillation module further includes an outer side plate, and the sliding bracket includes two first sliding rods, two first sliding components, two second sliding rods, and two second sliding components. The two first sliding rods are connected to the inner side plate along a first direction, and the first sliding components are slidably disposed on the first sliding rods. The two second sliding rods are connected to the top ends of the two first sliding components along a second direction, and the first sliding components are connected to the bottom surface of the oscillation tray.

4. The fully automated sample processing system as described in claim 1, characterized in that, The flow meter block is provided with a hook groove on its side, and the gripper is inserted into the hook groove to grab the flow meter block.

5. The fully automated sample processing system as described in claim 1, characterized in that, The centrifuge includes a rotary motor, an outer casing, and a rotating tray. The rotary motor is fixed to the bottom of the outer casing. The middle part of the rotating tray is connected to the rotating shaft of the rotary motor. The rotating tray is rotatably disposed within the outer casing. The rotating tray has evenly arranged grooves. The outer casing is fixed to the lower surface of the machine platform. The machine platform has a placement opening, which corresponds to the grooves. The transfer robotic arm has grippers that grip the flow meter block and place it in the groove through the placement opening.

6. The fully automated sample processing system as described in claim 1, characterized in that, The transfer robotic arm is also equipped with a barcode scanning device.

7. The fully automated sample processing system as described in claim 1, characterized in that, The fully automated sample processing system also includes an antibody bottle rack, a reagent block placement structure, and a needle washing module located on the upper surface of the machine.

8. The fully automated sample processing system as described in claim 7, characterized in that, The fully automated sample processing system also includes a transverse support, a visual aspiration pump, and a ceramic pump. The transverse support is mounted on the machine base. The aspiration robotic arm and the transfer robotic arm are movably mounted on the transverse support. The visual aspiration pump is connected to the transfer robotic arm, and the ceramic pump is connected to the aspiration robotic arm.

9. The fully automated sample processing system as described in claim 8, characterized in that, The transfer robotic arm is equipped with a pipette, and the visual aspiration pump includes a negative pressure pump and a transparent liquid level tube. The negative pressure pump is connected to the pipette through the transparent liquid level tube.

10. The fully automated sample processing system as described in claim 9, characterized in that, The sample loading and mixing module includes a box, a rotating sample rack, and a flipping mixing device. Blood collection tubes are fixed on the rotating sample rack. The flipping mixing device is located inside the box and includes a flipping drive mechanism and a flipping support. The flipping drive mechanism is connected to the flipping support and controls the flipping support to flip. The rotating sample rack is mounted on the flipping support. The box has multiple through holes corresponding to the flipping support. The pipette passes through the through holes to aspirate the shaken sample from the blood collection tube.

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