Distribution point for medical sample tubes

Abstract

A transfer station for medical sample tubes (1) has a transfer area (3) bounded by two longitudinal sides (7, 8) extending in a horizontal longitudinal direction (x) and two transverse sides (9, 10) extending in a horizontal transverse direction (y) orthogonal to the longitudinal direction (x). The transfer station has a conveyor structure (5) for the sample tubes (1) guided along the first transverse side (9). The transfer station has a first handling system arranged above the transfer area (3), by means of which sample tubes (1) deposited in the transfer area (3) can be removed from the transfer area (3) and transferred to the conveyor structure (5), and conversely, sample tubes (1) conveyed by the conveyor structure (5) can be picked up and deposited in the transfer area (3). The first handling system has a first gripper (11) for gripping and releasing a respective sample tube (1).The first gripper (11) can be positioned longitudinally (x) by means of a first linear axis (12) of the first handling system, transversely (y) by means of a second linear axis (13) of the first handling system, and vertically (z) by means of a third linear axis (14) of the first handling system. The first handling system also has a first rotary axis (15) by means of which the first gripper (11) can be rotated about a rotary axis (16) at a distance (a) from a vertical axis of rotation (16) on a boom (17) of the rotary axis (15).

Description

The present invention is based on a transfer site for medical test tubes,wherein the folding space has a folding area which is bounded by a first and a second longitudinal side each extending in a horizontal longitudinal direction and by a first and a second transverse side each extending in a horizontal transverse direction orthogonal to the longitudinal direction,wherein the transfer station has a conveying structure for the test tubes guided along the first transverse side,wherein the transfer station has a first handling system arranged above the transfer area, by means of which test tubes deposited in the transfer area can be removed from the transfer area and transferred to the conveying structure and, conversely, test tubes conveyed by the conveying structure can be picked up and deposited in the transfer area,wherein the first handling system has a first gripper for gripping and releasing a respective sample tube,wherein the first handling system has a first, a second and a third linear axis,wherein the first gripper can be positioned by means of the first linear axis in the longitudinal direction, by means of the second linear axis in the transverse direction and by means of the third linear axis in a vertical height direction.Such transfer locations are generally known. Inter alia, such transfer sites are offered and sold by Siemens Healthcare GmbH under the name Intellica.Chemical analyses of medical samples (for example blood samples or urine samples) are often carried out in medical laboratories. The medical samples are located in small sample tubes (diameter usually approximately 1 cm to 2 cm, length usually between 7 cm and 15 cm). The associated analytical instruments often operate fully automatically. This also applies to the feeding and removal of the sample tubes. The sample tubes are supplied and transported away by means of a conveying structure. The conveying structure can have, for example, conveyor belts or rail-bound systems or rail-like magnetic systems, on which corresponding transport carriages are conveyed.The loading and unloading of the conveying structures takes place in a transfer station of the aforementioned type. The transfer area of the transfer station is often manually loaded. For this purpose, so-called racks are placed in the handling area by an operator. Likewise, the racks are subsequently removed again manually from the handling region. The racks generally each have a multiplicity of receptacles for test tubes, for example 5 x 10-50 or 10 x 10=100 or 5 x 20=100 receptacles. The sample tubes are individually removed from the respective rack by means of the first handling system and transferred to the conveying structure. Likewise, the test tubes are later again individually picked up by the conveying structure by means of the first handling system and deposited in the respective rack (more precisely: in the corresponding pick-up of the rack). In most cases, a cooled region is also present in the turnover region, in which reference samples are contained in corresponding sample tubes.In the transfer station of the prior art, the first handling system is designed as an xyz manipulator. A cross member travels on two rails in the longitudinal direction. A travel element is arranged on the cross member, which is moveable along the cross member in the transverse direction. On the displacement element, the first gripper is arranged, which is displaceable in the height direction. The sample tubes are gripped by the first gripper, lifted, moved in the horizontal plane and then released again and thereby deposited.The prior art envelope location serves its purpose. However, it is still capable of improvement.The object of the present invention is to provide an improved envelope space. In particular, the first handling system should be more comfortable to use.The object is achieved by a transfer station having the features of claim 1. Advantageous embodiments of the transfer station according to the invention are the subject matter of the dependent claims 2 to 12.According to the invention, a transfer station of the type mentioned at the beginning is configured in that the first handling system additionally has a first rotational axis, by means of which the first gripper is rotatable on a cantilever of the rotational axis about the rotational axis at a distance from a vertical rotational axis.Due to the first rotational axis and the rotation of the first gripper about the vertical rotational axis caused thereby, at least the travel range in the longitudinal direction can furthermore be reduced compared to a transfer location of the prior art. This is because it is sufficient if the first gripper is arranged above the conveying structure in the rotational position in which it is oriented as far as possible in the direction of the conveying structure, as seen from the vertical axis of rotation.Preferably, the first rotational axis is arranged on a displacement element which can be positioned by means of the first and the second linear axis, and furthermore the third linear axis and via the third linear axis the first gripper are arranged on the end of the boom which is spaced apart from the rotational axis. This configuration is mechanically particularly efficient, robust, stable and reliable.Preferably, the first handling system has a second rotational axis, by means of which the first gripper is rotatable in itself. As a result, the first gripper can always be oriented in such a way that a reliable removal of a sample tube from the handling area and a corresponding placement of a sample tube in the handling area is possible even if the receptacles for the sample tubes are arranged close to one another in the handling area.In the simplest case, the correct orientation of the first gripper can be achieved by the control of the first and the second rotational axis being coordinated with one another in such a way that the first gripper is always oriented identically, as seen in the horizontal plane. The rotation of the first gripper within it can take place here simultaneously with the rotation of the first gripper about the vertical axis of rotation. However, it can also be effected with a slight time offset provided it is ensured that the first gripper is oriented accordingly at the time of the removal or setting down of a respective test tube.In simple embodiments, the transfer station always operates in such a way that sample tubes deposited in the transfer area are removed from the transfer area and transferred to the conveying structure and, conversely, sample tubes are picked up by the conveying structure and deposited in the transfer area. However, it is alternatively possible for the transfer station to have a transport system which is guided along the first longitudinal side and by means of which test tubes can be transported. Such a transport system is offered, for example, by Siemens Healthcare GmbH under the name Aptio Automation.If such a transport system is present, the test tubes transported by means of the transport system should often be transferred directly to the conveying structure and, conversely, test tubes picked up by the conveying structure should be brought back to the transport system. In the prior art, for this purpose an independent second handling system is installed above the transport system and the conveying structure, which takes over the transfer of the test tubes from the transport system to the conveying structure and back, by means of which test tubes can thus be picked up by the transport system and transferred directly to the conveying structure and, conversely, test tubes can be picked up by the conveying structure and deposited directly on the transport system.Such a configuration is also possible in the present case. In this case, the envelope location has the second handling system. This embodiment can be particularly useful when such transports are to be carried out continuously and repeatedly.If the second handling system is present, the configuration is preferably such,the second handling system has a second gripper for gripping and releasing a respective sample tube,the second handling system has a fourth and a fifth linear axis,the second gripper can be positioned by means of the fourth linear axis in a horizontal direction and by means of the fifth linear axis in the height direction, andthe horizontal direction forms an angle with the longitudinal direction that is different from 0°.This keeps the number of linear axes required as small as possible.The said angle which the horizontal direction forms with the longitudinal direction can be determined as required. In the extreme case, it can be 90° or close to 90°. However, it is often advantageous if the angle is between 20° and 45°, in particular between 30° and 35°.Alternatively or additionally to providing a second handling system, the transport of the test tubes from the transport system to the conveying structure and back, however, can also be realized by the first handling system. For this purpose, it is merely necessary for the test tubes to be picked up by the transport system and transferred to the transport system by means of the first gripper. This can be readily ensured by corresponding matching of the displacement range of the second linear axis and the distance of the first gripper from the vertical axis of rotation.With a suitable coordination of the travel range in the horizontal plane and the distance of the first gripper from the vertical axis of rotation, it is even possible that by means of the first gripper the sample tubes picked up by the transport system can be transferred to the transport structure and conversely the sample tubes picked up by the transport structure can be transferred to the transport system without controlling the first and the second linear axes. In this case, the first and the second linear axes need only be activated once in advance for positioning in the longitudinal direction and the transverse direction. Only the first rotational axis and the third linear axis then have to be actuated.Alternatively or additionally to the transport system guided along the first longitudinal side, it is possible for the transfer station to have an analysis station on the second longitudinal side, by means of which analysis station a sample located in a respective sample tube can be analyzed. Such an analysis station is known in the art as a "direct load".If such an analysis station is present, the test tubes located in the handling area must also be able to be fed to the analysis station and, conversely, also be removed from the analysis station again and deposited in the handling area. In the prior art, a self-contained handling system is installed for this purpose, which takes over the transfer of the sample tubes from the handling area to the analysis station and back.Within the scope of the present invention, this function can also be realized by the first handling system. For this purpose, it is merely necessary for the sample tubes to be transferred to the analysis station by means of the first gripper and to be able to be picked up by the analysis station. This can be readily ensured by corresponding matching of the displacement range of the second linear axis and the distance of the first gripper from the vertical axis of rotation.Preferably, a camera is arranged on the first handling system in the vicinity of the first gripper, so that a sample tube gripped by the first gripper can be detected by means of the camera.The camera can be used in various ways. In the simplest case, a check for the presence of a sample tube, i.e. for the proper functioning of the first handling system, is carried out simply automatically or by an operator. However, it is also possible to record inscriptions or other markings applied to the sample tube, for example, and evaluate them automatically or by an operator.The above-described characteristics, features and advantages of this invention and the manner in which they are achieved will become clearer and more clearly comprehensible in conjunction with the following description of the exemplary embodiments, which are explained in more detail in conjunction with the drawings. In this case, the following are shown in schematic representation: FIG. 1 is a top view of a transfer station, FIG. 2 shows a perspective illustration of a first handling system, FIG. 3 shows a top view of a first handling system, FIG. 4 shows a cantilever arm and a first gripper viewed from below, FIGS. 5 and 6 show the boom and the first gripper of FIG. 4 in rotational positions that are varied in comparison to FIG. 4, FIG. 7 shows a perspective illustration of a second handling system, FIG. 8 is a top view of a further transfer location; and FIG. 9 shows a detail of the first handling system.According to FIG. 1, a transfer station serves for the temporary storage and the further transport of medical test tubes 1. the test tubes 1 are for this purpose inserted by an operator into intermediate containers 2, in each of which a plurality of test tubes 1 can be placed. The intermediate containers 2 are deposited by the operator in a cover area 3. In this state, i.e. when the sample tubes 1 are deposited in the handling area 3, the sample tubes 1 can be removed from the handling area 3 (more precisely: from a respective receptacle for a sample tube 1) by means of a first handling system and transferred in a transfer area 4 to a conveying structure 5 for the sample tubes 1. At a later point in time, the sample tubes 1 can be transported back into the transfer region 4 by means of the conveying structure 5. From there, the test tubes 1 can be picked up again by means of the first handling system and deposited in the handling area 3 (more precisely: in the associated receptacle of the corresponding intermediate container 2).The first handling system is arranged above the envelope region 3 according to FIGS. 1 and 2. The first handling system will be explained in detail later. The transport by means of the conveying structure 5 as such is not the subject matter of the present invention and will therefore not be explained in more detail.As a rule, a plurality of intermediate containers 2 are deposited in the transfer area 3. Furthermore, the intermediate containers 2 generally each contain many receptacles and thus also many sample tubes 1.In the cover area 3, a special area 6 is also present. The special region 6 is generally cooled. Also, test tubes 1 are contained therein. Of these test tubes 1, only some are provided with their reference numerals in FIG. 1.The turned-over region 3 is bounded by a first and a second longitudinal side 7, 8 and by a first and a second transverse side 9, 10. The two longitudinal sides 7, 8 each extend in a horizontal longitudinal direction x, the transverse sides 9, 10 in a horizontal transverse direction y orthogonal to the longitudinal direction x. Thus, the turned-over region 3 is formed rectangular in plan view, as shown in FIG. 1. Both the longitudinal sides 7, 8 and the transverse sides 9, 10 generally have dimensions in the two-digit centimeter range. Typical values are from 60 cm to 100 cm for the longitudinal sides 7, 8 and 40 cm to 90 cm for the transverse sides 9, 10.The conveying structure 5 is guided along the first transverse side 9. It can be designed, for example, in the manner of a magnetic levitation train. However, other configurations are also possible.As can be seen particularly clearly from FIG. 2, the first handling system has a first gripper 11. The first gripper 11 serves for gripping and releasing a respective sample tube 1.The first gripper 11 must be positionable. For this purpose, the first handling system has a first, a second and a third linear axis 12, 13 and 14. The term "linear axis"-this also applies to linear axes which will be introduced later-means in the present case the corresponding drive which can be moved in a position-controlled manner. As a result, the first gripper 11 can be moved in the longitudinal direction x by means of the first linear axis 12. As a result, the first gripper 11 can be moved in the transverse direction y by means of the second linear axis 13. As a result, the first gripper 11 can be positioned in a vertical height direction z by means of the third linear axis 14.Furthermore, the first handling system has a first rotational axis 15. The term "rotational axis" means-analogously to the term "linear axis"-in the present case the corresponding drive which can be moved in a position-controlled manner. This also applies to later introduced rotational axes. By means of the first rotational axis 15, the first gripper 11 can be rotated about an axis of rotation 16 (see FIG. 3 ). The axis of rotation 16 extends vertically, i.e. in the height direction z. Furthermore, the first gripper 11-see again FIG. 3-is arranged on a cantilever 17 of the first rotational axis 15 at a distance a from the axis of rotation 16. When rotating about the axis of rotation 16, the first gripper 11 thus moves on a circle 18 about the axis of rotation 16.In the simplest case, which is also illustrated in FIGS. 1 to 3, the first handling system has two longitudinal rails 19. The two longitudinal rails 19 extend in the longitudinal direction x and are spaced apart from one another in the transverse direction y. The two longitudinal rails 19 are stationary with respect to the transfer location.A cross member 20 is movable along the two longitudinal rails 19 in the longitudinal direction x. The cross member 20 is moved by means of the first linear axis 12. The displacement of the displacement element 21 takes place by means of the second linear axis 13. The third linear axis 14 is arranged on the first rotational axis 15. Finally, via the third linear axis 14, the first gripper 11 is arranged at the end of the boom 17 spaced apart from the axis of rotation 16.Preferably, the first handling system also has a second rotational axis 22 according to the illustration in FIG. 2. By means of the second rotational axis 22, the first gripper 11 is rotatable in itself, i.e. about a further rotational axis 23. The control of the first and the second rotational axis 15, 22 can be coordinated with one another in accordance with the representations in FIGS. 4 to 6 in such a way that the first gripper 11 is always oriented identically, as seen in the horizontal plane.In some embodiments, the transfer station additionally has a transport system 24, as shown in FIG. 1. The transport system 24 is guided along the first longitudinal side 7. (further) test tubes 1 can be transported by means of the transport system 24. In such cases, it may be expedient to pick up these further test tubes 1 from the transport system 24 and to transfer them directly from there to the conveying structure 5.It is possible that a second handling system 25 is provided for this purpose. The second handling system 25, analogously to the first handling system, is arranged above the transport system 24 and the conveying structure 5. By means of the second handling system 25, sample tubes 1 located on the transport system 24 can be picked up by the transport system 24 in this case and transferred directly to the conveying structure 5. Likewise, sample tubes 1 located on the conveying structure 5 can also be picked up by the conveying structure 5 and deposited directly on the transport system 24.The second handling system 25 should be constructed as simply as possible. Preferably, the second handling system 25 therefore has, according to the illustration in FIG. 7, on the one hand a second gripper 26 and a fourth and a fifth linear axis 27, 28. The second gripper 26, like the first gripper 11, serves for gripping and releasing a respective sample tube 1. By means of the fourth linear axis 27, the second gripper 26 can be positioned in a horizontal direction 29. By means of the fifth linear axis 28, the second gripper 26 can be positioned in the height direction zThe horizontal direction 29 forms an angle α with the longitudinal direction x. The angle α is clearly different from 0°. The angle α is usually between 20° and 45°, in particular between 30° and 35°.In other cases--see FIG. 8--although the transport system 24 is present, the second handling system 25 is not present, it is also possible in this case to pick up the further test tubes 1 from the transport system 24 and to transfer them directly from there to the conveying structure 5. In this case, the transport takes place by means of the first gripper 11. For example, the displacement element 21 (more precisely: the axis of rotation 16) can be displaced by means of the first and the second linear axes 12, 13 to the position marked with 30 in FIG. 8. If the displacement element 21 is located at the position 30, the first gripper 11 covers both the conveying structure 5 and the transport system 24 during rotation about the axis of rotation 16. Only a correspondingly coordinated control of the third linear axis 14 and the first rotational axis 15 is required. The first and the second linear axes 12, 13, on the other hand, do not have to be actuated-with the exception of the first positioning of the displacement element 21 at the position 30. In the same way, transport of the sample tubes 1 in the reverse direction is also possible.In some embodiments, the transfer station additionally has an analysis station 31 in accordance with the illustration in FIG. 8. In the embodiment according to FIG. 8, the analysis station 31 is present in addition to the transport system 24. The analysis station 31 could, however, also be present as an alternative to the transport system 24. The analysis station 31 is arranged on the second longitudinal side 8. By means of the analysis station 31, sample tubes 1 or their contents, i.e. the actual sample, can be analyzed directly (i.e. without previous transport by means of the conveying structure 5). In such cases, it must be possible for the test tubes 1, starting from the envelope region 3, to be transferred directly by the first gripper 11 to the analysis station 31 and to be picked up again from there and brought into the envelope region 3.As a rule, this can be realized without problems. In particular, FIG. 8 shows, on the one hand, an inner travel range 32 and, on the other hand, a complete travel range 33. the inner travel range 32 is that travel range within which the travel element 21 is movable. The inner travel range 32 corresponds to the travel range that is also realized in the prior art, i.e., when the first rotational axis 15 is not present. Due to the first rotational axis 15, however, the first gripper 11 can be positioned not only at any desired locations within the inner travel range 32, but additionally also in the remaining part of the complete travel range 33.According to FIG. 9, a camera 34 is furthermore arranged on the first handling system in the vicinity of the first gripper 11. A sample tube 1 gripped by the first gripper 11 can be detected by means of the camera 34.In summary, the present invention thus relates to the following facts:A transfer station for medical test tubes 1 has a transfer region 3 which is bounded by two longitudinal sides 7, 8 each extending in a horizontal longitudinal direction x and two transverse sides 9, 10 each extending in a horizontal transverse direction y orthogonal to the longitudinal direction x. The transfer station has a conveying structure 5 for the test tubes 1 which is guided along the first transverse side 9. The transfer station has a first handling system arranged above the transfer area 3, by means of which test tubes 1 deposited in the transfer area 3 can be removed from the transfer area 3 and transferred to the conveying structure 5 and, conversely, test tubes 1 conveyed by the conveying structure 5 can be picked up and deposited in the transfer area 3. The first handling system has a first gripper 11 for gripping and releasing a respective sample tube 1. The first gripper 11 can be positioned in the longitudinal direction x by means of a first linear axis 12 of the first handling system, in the transverse direction y by means of a second linear axis 13 of the first handling system and in a vertical height direction z by means of a third linear axis 14 of the first handling system. The first handling system additionally has a first rotational axis 15, by means of which the first gripper 11 can be rotated on a cantilever 17 of the rotational axis 15 about the rotational axis 16 at a distance a from a vertical rotational axis 16.The present invention has many advantages. The first handling system is thus robust and simple. Simple extensions also make it possible to connect the conveying structure 5 to the transport system 24 and / or to connect the analysis station 31. The first handling system can also be retrofitted in an existing transfer station.Although the invention has been illustrated and described in more detail by the preferred exemplary embodiment, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by the person skilled in the art without departing from the scope of protection of the invention.Regardless of the grammatical sex of a certain term, individuals with male, female or other sex identity are included.

Claims

Transfer station for medical test tubes (1), - wherein the transfer station has a transfer area (3) which is bounded by a first and a second longitudinal side (7, 8) which extends in each case in a horizontal longitudinal direction (x) and by a first and a second transverse side (9, 10) which extends in each case in a horizontal transverse direction (y) which is orthogonal to the longitudinal direction (x), - wherein the transfer station has a conveying structure (5) for the test tubes (1) which is guided along the first transverse side (9), - wherein the transfer station has a first handling system which is arranged above the transfer area (3) and by means of which test tubes (1) deposited in the transfer area (3) can be removed from the transfer area (3) and transferred to the conveying structure (5) and, conversely, test tubes (1) conveyed by the conveying structure (5) can be accommodated and deposited in the transfer area (3), - wherein the first handling system has a first gripper (11) for gripping and releasing a respective sample tube (1), - wherein the first handling system has a first, a second and a third linear axis (12, 13, 14), - wherein the first gripper (11) can be positioned by means of the first linear axis (12) in the longitudinal direction (x), by means of the second linear axis (13) in the transverse direction (y) and by means of the third linear axis (14) in a vertical height direction (z), characterized in that the first handling system additionally has a first rotational axis (15), by means of which the first gripper (11) can be rotated on a cantilever (17) of the rotational axis (15) about the rotational axis (16) at a distance (a) from a vertical rotational axis (16).Transfer station according to claim 1, characterised in that the first rotational axis (15) is arranged on a displacement element (21) which can be positioned by means of the first and the second linear axis (12, 13), and that the third linear axis (14) and, via the third linear axis (14), the first gripper (11) are arranged on the end of the boom (17) spaced apart from the rotational axis (16).Transfer station according to claim 1 or 2, characterised in that the first handling system has a second rotational axis (22), by means of which the first gripper (11) is rotatable in itself.Transfer station according to claim 3, characterised in that the control of the first and the second rotational axis (15, 22) are coordinated with one another in such a way that the first gripper (11) is always oriented identically, as seen in the horizontal plane.Transfer station according to one of the above claims, characterised in that the transfer station has a transport system (24), which is guided along the first longitudinal side (7) and by means of which test tubes (1) can be transported.Transfer station according to claim 5, characterised in that the transfer station has a second handling system (25) arranged above the transport system (24) and the conveying structure (5), by means of which handling system test tubes (1) can be picked up by the transport system (24) and transferred directly to the conveying structure (5) and, conversely, test tubes (1) can be picked up by the conveying structure (5) and deposited directly on the transport system (24).Transfer station according to Claim 6, characterized - in that the second handling system (25) has a second gripper (26) for gripping and releasing a respective sample tube (1), - in that the second handling system (25) has a fourth and a fifth linear axis (27, 28), - in that the second gripper (26) can be positioned in a horizontal direction (29) by means of the fourth linear axis (27) and in the vertical direction (z) by means of the fifth linear axis (28), and - in that the horizontal direction (29) forms an angle (α) different from 0° with the longitudinal direction (x).Transfer station according to claim 7, characterised in that the angle (α) is between 20° and 45°, in particular between 30° and 35°.Transfer station according to one of Claims 5 to 8, characterized in that the sample tubes (1) can be picked up by the transport system (24) and transferred to the transport system (24) by means of the first gripper (11).Transfer station according to claim 9, characterised in that the test tubes (1) accommodated by the transport system (24) can be transferred to the transport structure (5) by means of the first gripper (11) and conversely the test tubes (1) accommodated by the transport structure (5) can be transferred to the transport system (24) without controlling the first and the second linear axis (12, 13).Transfer station according to any one of the preceding claims, characterised in that - the transfer station has an analysis station (31) on the second longitudinal side (8), by means of which analysis station a sample located in a respective sample tube (1) can be analysed, and - the sample tubes (1) can be transferred to the analysis station (31) and picked up by the analysis station (31) by means of the first gripper (11).Transfer station according to one of the above claims, characterised in that a camera (34) is arranged on the first handling system in the vicinity of the first gripper (11), so that a sample tube (1) gripped by the first gripper (11) can be detected by means of the camera (34).

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