Biological sample processing system with a system for transporting a holder for a biological sample container - Patents.com

Abstract

The transport system comprises a transport unit (4) having a carriage guide element (23) defining a transport track and a self-propelled transport carriage (24) movable along the transport track and configured to move a container holder (3) along the movement path, and a plurality of receiving positions (8) arranged along the movement path. The self-propelled transport carriage (24) has two gripping arms (31) mounted on the self-propelled transport carriage (24) such that the gripping arms (31) are movable between a gripping position configured to grip and lift a container holder (3) arranged in one of the receiving positions (8) and a release position configured to release the container holder (3) and place the container holder (3) in one of the receiving positions (8).

Description

[Technical field]

[0001] The present invention relates to a biological sample processing system having a transport system configured to transport a vessel holder for supporting a vessel containing a biological sample, such as a biological liquid sample. [Background technology]

[0002] Such a transport system, in a known manner, a plurality of vessel holders for supporting vessels containing biological samples to be analyzed; a transport unit configured to transport the vessel holder, a holder guide element defining a guide track, the holder guide element configured to receive a container holder and guide a translational movement of the container holder along the guide track; a carriage guide element defining a conveying track extending along the support guide element; a self-propelled transporting vehicle movable along a transport track, the vehicle guide element being configured to guide the self-propelled transporting vehicle during movement of the self-propelled transporting vehicle along the transport track, and configured to translate a container holder along the guide track within the holder guide element when the self-propelled transporting vehicle moves along the transport track; A conveying unit having a plurality of receiving positions arranged along the guide track, each configured to receive and at least temporarily store a container holder, and the self-propelled transport vehicle further configured to move the container holder laterally relative to the guide track to move the container holder to or from one of the receiving positions; has.

[0003] Such a transport system significantly limits cumbersome operator manipulations and ensures high transport capacities and high analysis speeds, especially when the vessel holders have to be transported between different analysis and / or measuring devices.

[0004] Furthermore, if a self-propelled transport vehicle breaks down, it only needs to be replaced with another self-propelled transport vehicle, so the downtime of the transport system is short, and therefore the time during which the bioanalytical system equipped with this transport system cannot be used in the analysis room is significantly limited. It is also possible to equip the transport unit with two self-propelled transport vehicles, so that one self-propelled transport vehicle can ensure the same functionality (service) when the other self-propelled transport vehicle is reloaded or maintained. Furthermore, the presence of two self-propelled transport vehicles ensures an increase in the transport speed.

[0005] Furthermore, because the transport vehicle is self-propelled, the transport track can be essentially "passive" and therefore determined by simple carriage guide elements such as guide rails, thereby significantly simplifying the transport system, improving the reliability of the system by reducing costs, and making it more easily configurable and quicker and easier to install. Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the container holder is driven in translation by the self-propelled transport vehicle, friction of the container holder on the holder guide element generates noise, which may cause discomfort to the operator, and furthermore, this friction increases the power consumption of the self-propelled transport vehicle, which in turn affects the battery autonomy of the self-propelled transport vehicle.

[0007] Furthermore, when the container holder is moved by the self-propelled transport vehicle from the guide track to the receiving position (i.e. moving perpendicular to the transport direction of the self-propelled transport vehicle), the container holder may tilt vertically due to friction of the underside of the container holder on the holder guide element, which may result in non-optimal positioning of the container holder in the receiving position and thus may affect the gripping of the container holder by the loading mechanism used for the receiving position.

[0008] The present invention aims to eliminate such problems.

[0009] Therefore, the technical problem underlying the present invention is to provide a biological sample processing system equipped with a transport system having a simple, economical and reliable structure while ensuring high transport capacity, optimized analysis speed, and simple and rapid maintainability. [Means for solving the problem]

[0010] To this end, the present invention relates to a biological sample processing system, such as a bioanalytical system, comprising: a plurality of vessel holders for holding vessels containing biological samples, such as liquid biological samples; a transport unit configured to transport a container holder, the transport unit having a carriage guide element forming a transport track and a self-propelled transport cart movable along the transport track, the carriage guide element being configured to guide the self-propelled transport cart during displacement of the self-propelled transport cart along the transport track, the self-propelled transport cart having a carriage body and configured to move the container holder along a movement path when the self-propelled transport cart moves along the transport track; a plurality of receiving positions disposed along the path of travel and offset laterally with respect to the path of travel, each of the receiving positions configured to receive and at least temporarily store a container holder, and further configured for the self-propelled transport vehicle to move the container holder laterally with respect to the path of travel to move the container holder to or from the receiving position; A conveying system having at least one analytical device and / or measuring device arranged along the transport unit and configured to perform blood tests; The self-propelled transport vehicle has two gripping arms arranged at a distance from each other, and is mounted so as to be movable at least between a gripping position in which the gripping arms approach each other and are configured to grip and lift a container holder placed at one of the receiving positions, and a release position in which the gripping arms move away from each other and are configured to release the container holder and place it at one of the receiving positions, and the self-propelled transport vehicle is configured to move the container holder gripped and lifted by the gripping arms along a movement path when the self-propelled transport vehicle moves along a conveying track, and each gripping arm includes a lifting member, which is configured to be received in two receiving recesses provided on two opposing lateral surfaces of the container holder, respectively, when the gripping arms move to the gripping position, and to lift the container holder.

[0011] Such a configuration of the conveying system, in particular the self-propelled conveying cart, makes it possible to move the container holder at a distance from the cart guide elements, thus avoiding friction between the container holder and the cart guide elements during displacement of the container holder along the movement path and also during displacement of the container holder transversely to the movement path (e.g., when loading the container holder into a receiving position).

[0012] As a result, the battery life of the self-propelled carrier is improved and the battery charging cycles are spaced farther apart, thus significantly reducing the downtime of the self-propelled carrier.

[0013] Furthermore, due to the absence of friction between the container holder and the carriage guide elements during the displacement of said container holder along the movement path, the noise generated by the conveying system is significantly reduced and the comfort of the operator is significantly improved.

[0014] Moreover, during displacement of the container holder transversely to the movement path (especially when loading the container holder into the receiving position), the absence of friction between the container holder and the cart guide element ensures optimal positioning of the container holder in the receiving position, thereby ensuring optimal gripping of the container holder by the loading mechanism used for the receiving position.

[0015] Therefore, the transport system of the biological sample processing system according to the present invention has improved reliability compared to the transport systems of the prior art, and further ensures improved transport capacity and analysis speed.

[0016] The biological sample processing system may have one or more of the following features, either individually or in combination:

[0017] According to one embodiment of the invention, the movement path extends parallel to the conveying track.

[0018] According to one embodiment of the invention, the two gripping arms are configured to clamp the container holder therebetween when in the gripping position.

[0019] According to one embodiment of the present invention, the two gripping arms protrude from the sides of the dolly body when the two gripping arms are in the gripping position.

[0020] According to one embodiment of the present invention, the self-propelled transport vehicle is configured so that when the container holder is transported along a movement path by the self-propelled transport vehicle, the container holder extends to a side of the cart body, more specifically, to the side opposite to the side that protrudes when the two gripping arms are in the gripping position.

[0021] According to one embodiment of the invention, each gripping arm is pivotally mounted about a respective pivot axis that is substantially vertical.

[0022] According to one embodiment of the invention, the gripping arm is movable in a substantially horizontal plane of movement.

[0023] According to one embodiment of the invention, each gripping arm has a gripping portion configured to exert a supporting force against a respective lateral surface of the container holder when the gripping arm is in the gripping position.

[0024] According to one embodiment of the invention, each gripper is located at a free end of a respective gripper arm.

[0025] According to one embodiment of the invention, each receiving recess is provided in an upper portion of a respective lateral face.

[0026] According to one embodiment of the present invention, each gripping portion has a support surface configured to exert a supporting force against a respective lateral surface of the container holder when the gripping arm is in the gripping position, and each lifting member extends from the support surface of the respective gripping portion.

[0027] According to one embodiment of the present invention, each lifting member has a lifting inclined surface inclined relative to the vertical direction, and the two lifting inclined surfaces are configured to lift the container holder when the gripping arm moves to the gripping position.

[0028] According to an embodiment of the present invention, the device has at least one receiving area arranged along the movement path, the receiving area including a first receiving position and a second receiving position offset from each other along the movement path, and the first receiving position and the second receiving position are each configured to receive and at least temporarily store a container holder.

[0029] According to one embodiment of the present invention, at least one receiving position has a first guide wall and a second guide wall offset from each other in a direction extending across the moving path, the first and second guide walls define a guide track extending along the moving path, the first and second receiving positions are respectively located at opposite ends of the guide track, the first guide wall separating the moving path and the guide track is located opposite the second guide wall and has a passage opening through which the container holder passes, and the self-propelled transport vehicle is configured to move the container holder grasped and lifted by the gripping arm through the passage opening along the guide track.

[0030] According to one embodiment of the invention, the first and second guide walls extend respectively in first and second extension planes which are substantially vertical and parallel to the path of movement.

[0031] According to one embodiment of the invention, the first and second guide walls are configured to guide the vessel holder translating along the guide track.

[0032] According to one embodiment of the present invention, a self-propelled transport vehicle has a support element to which the gripping arm is movably attached, and the support element is attached so as to be movable in translation in a movement direction crossing the transport track, at least between a transport position, which is a position where the self-propelled transport vehicle is configured to move a container holder gripped by the gripping arm and lifted along a transport path, and a movement position, which is a position where the self-propelled transport vehicle is configured to grip and lift the container holder arranged at the receiving position or to release and place the container holder at the receiving position.

[0033] According to one embodiment of the present invention, when the support element is in the transport position and the gripping arms are in the gripping position, each of the gripping arms protrudes from the side of the carriage body a first distance, and when the support element is in the moving position and the gripping arms are in the gripping position, each of the gripping arms protrudes from the side of the carriage body a second distance greater than the first distance.

[0034] According to one embodiment of the invention, the carriage guide element comprises two guide rails configured to cooperate with the underside of the self-propelled carriage during displacement of the self-propelled carriage along the conveying track.

[0035] According to one embodiment of the present invention, the transport system has a storage device arranged along the movement path and configured to store the container holders, and at least one of the receiving positions is arranged adjacent to the storage device.

[0036] According to one embodiment of the present invention, the storage device has an actuation mechanism configured to move the container holders stored in the storage device in at least one receiving position located proximate to the storage device.

[0037] According to an embodiment of the present invention, the transport system comprises a control unit adapted to remotely communicate with the self-propelled transport vehicle, the control unit being a computer, for example a PC type computer.

[0038] According to one embodiment of the present invention, the control unit is adapted for wireless communication with the self-propelled transport vehicle, for example via wireless LAN or Bluetooth.

[0039] According to one embodiment of the present invention, the two gripping arms of the self-propelled transport vehicle are configured to occupy a first gripping position in which the two gripping arms protrude from a first side of the transport vehicle body and are configured to grip and lift a container holder arranged on a first side of the transport track, and a second gripping position in which the two gripping arms protrude from a second side of the transport vehicle body and are configured to grip and lift a container holder arranged on the second side of the transport track.

[0040] According to one embodiment of the present invention, a self-propelled transport vehicle has at least one drive wheel configured to roll on a vehicle guide element and at least one rotational drive mechanism configured to rotationally drive the at least one drive wheel.

[0041] According to one embodiment of the present invention, the self-propelled transport vehicle has a first pair of drive wheels arranged adjacent to a first longitudinal end of the vehicle body and a second pair of drive wheels arranged adjacent to a second longitudinal end of the vehicle body. According to a modified example of the present invention, the self-propelled transport vehicle may have only two drive wheels arranged adjacent to the first and second longitudinal ends of the vehicle body, respectively.

[0042] According to one embodiment of the present invention, the self-propelled transport vehicle is movable along the transport track in a first movement direction and a second movement direction opposite to the first movement direction.

[0043] According to an embodiment of the invention, the transport track is substantially linear. Nevertheless, according to a variant of the invention, the transport track can be formed by a number of linear sections arranged such that two successive linear sections are at an angle of 90° to each other, and the transport unit can have a number of self-propelled transport carriages, each configured to move along a respective one of the linear sections, the passage of the container holders from one linear section to another being effected by a moving rotor having a substantially vertical axis of rotation and having a number of storage compartments, each configured to receive a container holder.

[0044] According to one embodiment of the present invention, the self-propelled transport vehicle is configured to move the container holder along a movement path with a movement direction substantially parallel to a direction in which the container holder extends.

[0045] According to one embodiment of the present invention, the self-propelled transport vehicle is configured to maintain the container holder substantially vertical during displacement of the container holder along the transport track.

[0046] According to one embodiment of the invention, when the two gripping arms are in the gripping position, the two gripping arms are separated by a distance that substantially corresponds to the length of the vessel holder.

[0047] According to one embodiment of the invention, the two gripping arms are configured to cooperate with opposite side walls of the vessel holder, respectively.

[0048] According to one embodiment of the present invention, the self-propelled transport vehicle has an actuator configured to move the two gripping arms between a gripping position and a release position.

[0049] According to one embodiment of the invention, the actuator is configured to pivot each of the gripping arms about its pivot axis. For example, the actuator can be configured to have two motors, each rotatably coupled to a respective one of the gripping arms.

[0050] According to one embodiment of the present invention, the transport system has at least one positioning marking arranged on the transport track, and the self-propelled transport vehicle has a detection means configured to detect the at least one positioning marking and a control means arranged to stop the operation of the self-propelled transport vehicle when the detection means detects the at least one positioning marking. For example, the transport system has at least one positioning marking arranged opposite each receiving position.

[0051] According to one embodiment of the present invention, the self-propelled transport vehicle comprises a determination means configured to determine the position of the self-propelled transport vehicle depending on the distance travelled by the self-propelled transport vehicle along the transport track.

[0052] According to one embodiment of the present invention, the support element and the gripping arm are configured such that when the self-propelled transport vehicle is positioned opposite at least one receiving area and the gripping arm is in the gripping position, the support element is displaced from the transport position to the movement position, thereby displacing the container holder from the movement path to the at least one receiving area.

[0053] According to one embodiment of the present invention, the support element and the gripping arm are configured such that when the self-propelled transport vehicle is positioned opposite at least one receiving area and the gripping arm is in the gripping position, the support element is displaced from the moving position to the transporting position, thereby displacing the container holder from the receiving area to the moving path.

[0054] According to one embodiment of the present invention, the self-propelled transport vehicle has a translation drive mechanism configured to translate the support element relative to the vehicle body.

[0055] According to an embodiment of the invention, the self-propelled transport vehicle comprises a battery configured to power the self-propelled transport vehicle. Advantageously, the battery is rechargeable. For example, the battery can be charged by contact or induction.

[0056] According to an embodiment of the present invention, the transport system includes a charging area including an electric charging device configured to electrically charge a battery when the self-propelled transport vehicle is located in the charging area, for example, the charging area is located at an end of the transport track.

[0057] According to one embodiment of the present invention, at least one analytical device and / or measuring device has a loading module configured to load, in the at least one analytical device and / or measuring device, a container holder placed on a self-propelled transport cart at a first receiving position of a receiving area associated with the at least one analytical device and / or measuring device, and an unloading module configured to move a container holder previously loaded in the at least one analytical device and / or measuring device to a second receiving position of the receiving area.

[0058] According to one embodiment of the invention, the at least one analytical and / or measuring device comprises at least one of the following modules: a spectrophotometric reading module, a fluorescence reading module, a luminescence reading module, a coagulation measurement module and a cytometry module.

[0059] According to one embodiment of the invention, the at least one analytical device and / or measuring device comprises a holder agitator, and a loading module of the at least one transfer device is configured to transfer the vessel holder from the first receiving position to the agitator.

[0060] In any case, the invention will be better understood from the following description taken in conjunction with the accompanying schematic drawing which shows, by way of non-limiting example, one embodiment of this biological sample processing system. [Brief description of the drawings]

[0061] [Figure 1] FIG. 1 is a perspective view of a bioanalytical system for in vitro analysis according to the present invention. [Diagram 2] FIG. 2 is a perspective view of a self-propelled transport vehicle belonging to the bioanalysis system of FIG. [Diagram 3] FIG. 3 is a bottom view of the self-propelled transport vehicle of FIG. [Figure 4] 4 is a perspective view of the self-propelled transport vehicle of FIG. 2 during gripping of a container holder belonging to the bioanalytical system of FIG. 1. FIG. [Diagram 5] 5 is a partial perspective view of the top surface of the self-propelled transport vehicle of FIG. 2 during gripping of a container holder. [Figure 6] FIG. 6 is an enlarged partial perspective view of the self-propelled transport vehicle of FIG. 2 during gripping of a container holder. [Figure 7] 7 is a cutaway perspective view of the self-propelled transport vehicle of FIG. 2. FIG. [Figure 8] FIG. 8 is a perspective view of the self-propelled carrier of FIG. 2 on which the main body of the self-propelled carrier is placed. [Figure 9] FIG. 9 is a perspective view of the self-propelled carrier of FIG. 2 on which the upper body of the self-propelled carrier is placed. [Figure 10] 10 is a perspective view of the container holder of FIG. 5. FIG. [Figure 11] FIG. 11 is a partial perspective view of the bioanalytical system of FIG. 1, showing the self-propelled transport vehicle transporting the container holder toward a receiving area where an analytical device and / or a measuring device is used. [Figure 12] FIG. 12 is a partial perspective view of the bioanalytical system of FIG. 1, showing the self-propelled transport vehicle facing a passage opening belonging to a receiving area in which an analytical device and / or a measuring device is used. [Figure 13] FIG. 13 is a partial perspective view of the bioanalytical system of FIG. 1, showing the self-propelled transport vehicle inserting the container holder into a guide track belonging to a receiving area in which an analytical device and / or a measuring device is used. [Figure 14] FIG. 14 is a partial perspective view of the bioanalytical system of FIG. 1, illustrating a state in which the self-propelled transport vehicle moves the container holder along the guide track toward the first receiving position. [Figure 15] FIG. 15 is a partial perspective view of the bioanalytical system of FIG. 1, showing the container holder received in the first receiving position of the receiving area. [Figure 16] FIG. 16 is a partial perspective view of the bioanalysis system of FIG. 1, showing a state in which the self-propelled transport vehicle transports the container holder along the travel path. [Figure 17] FIG. 17 is a side view of the self-propelled transport vehicle of FIG. 2 in a state in which the container holder is gripped and raised. [Figure 18] FIG. 18 is a side view of the self-propelled transport vehicle of FIG. 2 in a state in which the container holder is gripped and raised. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0062] In this specification, the terms "horizontal" and "vertical" are used to describe the self-propelled carrier in a use situation in which the self-propelled carrier is placed on its drive wheels on a flat horizontal surface.

[0063] 1 shows a bioanalytical system 1 for in vitro analysis, more particularly an automated bioanalytical system, comprising a transport system 2 including a number of vessel holders 3 and a transport unit 4 configured for transporting the vessel holders 3. The bioanalytical system 1 further comprises a number of analysis and / or measurement devices 5 arranged alongside the transport unit 4 and configured for performing blood tests.

[0064] For example, each analytical device and / or measuring device 5 may comprise one or more modules selected from among a spectrophotometric reading module, a fluorescent reading module, a luminescence reading module, a cytometry module and a coagulation measuring module.

[0065] The transport system 2 also comprises a storage device 6 , also called a loading device, arranged alongside the transport unit 4 and configured to store the receptacle holders 3 .

[0066] The transport system 2 further comprises a number of receiving areas 7 arranged along the transport unit 4 and each including at least one receiving position 8 configured to at least temporarily receive and store a container holder 3 .

[0067] Advantageously, one receiving area 7 is arranged close to the storage device 6 and one receiving area 7 is arranged close to each of the analytical and / or measuring devices 5 .

[0068] According to the illustrated embodiment, each receiving area 7 (see Figs. 1 and 11 to 16) comprises two receiving positions 8 offset relative to one another along the transport unit 4, namely a first receiving position 8.1 and a second receiving position 8.2. Advantageously, each analytical and / or measuring device 5 comprises a loading module (not shown) configured to load a vessel holder 3 arranged at the first receiving position 8.1 of the respective receiving area 7 into said analytical and / or measuring device 5, and an unloading module (not shown) configured to move a vessel holder 3 previously loaded into said analytical and / or measuring device 5 through the second receiving position 8.2 of the respective receiving area 7. Similarly, the storage device 6 comprises a drive mechanism (not shown) configured to move a vessel holder 3 stored in the storage device 6 through the second receiving position 8.2 of the respective receiving area 7.

[0069] According to the illustrated embodiment, each receiving area 7 has a first guide wall 13 and a second guide wall 14 which are offset from one another and extend substantially perpendicularly. The first and second guide walls 13, 14 form a guide track extending along the transport unit 4 and are configured to guide the container holder 3 translating along the guide track. Advantageously, the first and second receiving positions 8.1 and 8.2 of said receiving area 7 are respectively arranged at opposite ends of the respective guide track, the first guide wall 13 being located opposite the respective second guide wall 14 and having a passage opening 15 for the passage of the container holder 3.

[0070] As shown in more detail in Figures 10 and 11, each vessel holder 3, also called a rack, cassette or carrier, is intended to hold a number of vessels 16 containing biological liquid samples to be analysed, such as blood, plasma or blood serum samples. Advantageously, the vessels 16 are sample tubes.

[0071] Each container holder 3 is generally parallelepiped shaped and extends in the same direction of elongation (extension direction). More specifically, each container holder 3 has two mutually opposing longitudinal faces 17 and two mutually opposing lateral faces 18.

[0072] Each container holder 3 has a base 3.1 and a container receiving portion 3.2. Advantageously, the container receiving portion 3.2 of each container holder 3 has a plane of symmetry extending transversely to the direction in which said container holder 3 extends. The container holders 3 can therefore be loaded indiscriminately into the storage device 6.

[0073] Each container holder 3 comprises a number of preferably cylindrical receiving compartments 19 aligned according to the extension direction of said container holder 3. Advantageously, the receiving compartments 19 are open towards the top in order to facilitate the insertion and removal of the containers 16 into and from the receiving compartments 19. Advantageously, the lower part of each receiving compartment 19 is equipped with, for example, an elastically deformable holding member 20, configured to hold the containers 16 in said receiving compartment 19. Such a configuration of the holding member 20 makes it possible to avoid damage to an identification code carried by the containers 16 and provided, for example, on an identification tag.

[0074] Each container holder 3 has a number of reading windows 21 allowing optical reading of the identification codes carried by the containers 16 received in said container holder 3. Advantageously, two reading windows 21 are added to each receiving compartment 19 to allow optical reading from each side of the container holder 3.

[0075] Each vessel holder 3 also has two receiving recesses 22, the function of which will be explained below, provided on each of the two lateral faces 18 of the vessel holder 3. Advantageously, each receiving recess 22 is provided on the upper part of the respective lateral face 18.

[0076] As shown in Figures 11 to 16, the transport unit 4 has a carriage guide element 23 forming a linear transport track. For example, the carriage guide element 23 can have a horizontal and planar support surface 23a and two guide rails 23b fixed to the support surface 23a. Advantageously, the transport track is parallel to the first and second guide walls 13, 14 belonging to each receiving area 7. However, according to a variant of the invention, the transport track may also have a curved portion.

[0077] Furthermore, the transport unit 4 comprises a self-propelled transport carriage 24 movable along the transport track. The self-propelled transport carriage 24 is configured to move the container holder 3 along a movement path parallel to the transport track and to move said container holder 3 to or from a receiving position 8 displaced laterally with respect to the movement path when the self-propelled transport carriage 24 moves along the transport track, thereby moving the container holder 3 laterally with respect to the movement path. Advantageously, the self-propelled transport carriage 24 is configured to hold the container holder 3 substantially vertical during the movement along the movement path.

[0078] More specifically, the carriage guide element 23 is configured to guide the self-propelled carriage 24 during its displacement along the conveying track. Advantageously, two guide rails 23b are configured to cooperate with two guide grooves 25 (see FIG. 3) provided on the underside of the self-propelled carriage 24.

[0079] 2 and 3, the self-propelled transport vehicle 24 has a carriage body 26 and drive wheels 27 rotatably mounted on the carriage body 26 and configured to roll on the support surface 23a of the carriage guide element 23. Each drive wheel 27 has a rotation axis extending substantially horizontally. Advantageously, the self-propelled transport vehicle 24 has a pair of drive wheels arranged adjacent to a first longitudinal end of the carriage body 26 and a pair of drive wheels arranged adjacent to a second longitudinal end of the carriage body 26.

[0080] The self-propelled transport vehicle 24 has a rotation drive mechanism 28 configured to rotate the drive wheels 27. For example, the rotation drive mechanism 28 has a drive motor rotatably connected to the drive wheels 27.

[0081] Each drive wheel 27 can be rotated in a first rotation direction and a second rotation direction opposite to the first rotation direction. Therefore, the self-propelled transport vehicle 24 can move along the transport track in a first running direction and a second running direction opposite to the first running direction.

[0082] The self-propelled transport vehicle 24 further comprises a support element 29, for example in the form of a support frame, which is translationally movable relative to the vehicle body 26 according to the horizontal movement direction and is mounted perpendicular to the transport track. Advantageously, the support element 29 is translationally guided by a pair of guide rods 30.

[0083] The self-propelled transport vehicle 24 also has two gripping arms 31 arranged at a distance from one another along the longitudinal direction of the self-propelled transport vehicle 24. The two gripping arms 31 are pivotably mounted on the support element 29 about two vertical pivot axes, respectively. Advantageously, the two gripping arms 31 are movable in a substantially horizontal movement plane.

[0084] The two gripping arms 31 are attached to be able to pivot between at least a gripping position where the gripping arms 31 approach each other (see Figs. 11 to 16 and 18) and are configured to grip and lift the container holder 3 arranged at one of the receiving positions 8, and a release position (see Figs. 3 to 5 and 17) where the gripping arms 31 move away from each other to release the container holder 3 and place the container holder 3 at one of the receiving positions 8. Thus, more specifically, the self-propelled transport vehicle 24 is configured to move the container holder 3 gripped and lifted by the gripping arms 31 along the movement path when the self-propelled transport vehicle 24 moves along the transport track.

[0085] Each gripping arm 31 has a gripping portion 32 with a support surface 33 configured to exert a support force against a respective lateral surface 18 of the container holder 3 when the gripping arms 31 are in the gripping position. Advantageously, each gripping portion 32 is located at a free end of the respective gripping arm 31. As shown in more detail in Figure 3, the gripping portions 32 of the two gripping arms 31 protrude from a side surface 26.1 of the trolley body 26 when the two gripping arms 31 are in the gripping position.

[0086] Each gripping arm 31 also has a lifting member 34, such as a lifting protrusion, extending from the support surface 33 of the respective gripping portion 32. Advantageously, each lifting member 34 has an inclined lifting surface 35 that is inclined relative to the vertical.

[0087] The lifting members 34 are configured to be each received in a receiving recess 22 provided in the container holder 3 when the gripping arm 31 is in the gripping position, and are configured so that when the gripping arm 31 moves to the gripping position, the lifting inclined surface 35 cooperates with a complementary surface formed by the receiving recess 22 to lift the container holder 3.

[0088] More specifically, the support element 29 is configured to take a transport position (see Figures 7 to 9) in which each gripping arm 31 protrudes a first distance from the side 26.1 of the cart body 26 when the gripping arms 31 are in the gripping position, and a movement position (see Figure 13) in which each gripping arm 31 protrudes a second distance greater than the first distance from the side 26.1 of the cart body 26 when the gripping arms 31 are in the gripping position.

[0089] More specifically, the self-propelled transport vehicle 24 is configured to move the container holder 3 grasped and lifted by the gripping arm 31 along a movement path when the support element 29 is in the transport position, and to grasp and lift the container holder 3 arranged at the receiving position 8, or release the container holder 3 and place it at the receiving position 8, when the support element 29 is in the movement position.

[0090] 12 and 13, the support element 29 and the gripping arm 31 of the self-propelled transporting vehicle 24 are configured to move the container holder 3 from the movement path through the passage opening 15 by movement of the support element 29 from the transport position to the transfer position when the self-propelled transporting vehicle 24 is arranged facing the passage opening 15 belonging to the receiving area 7 and the gripping arm 31 is in the gripping position and coupled to the container holder 3. Furthermore, the support element 29 and the gripping arm 31 are configured to displace the container holder 3 from the guide track into the movement path by displacement of the support element 29 from the transfer position to the transport position when the self-propelled transporting vehicle 24 is arranged facing the passage opening 15 and the gripping arm 31 is in the gripping position and coupled to the container holder 3.

[0091] Furthermore, the self-propelled transport vehicle 24 is configured to be grasped and lifted by the gripping arm 31 when the self-propelled transport vehicle 24 moves along the transport track, and to move the container holder 3 placed in the guide track along the guide track.

[0092] The self-propelled transport vehicle 24 further comprises an actuator 36 configured to pivot each gripping arm 31 about its pivot axis to move the two gripping arms 31 between a gripping position and a release position. The actuator 36 may comprise different types of actuators known to those skilled in the art, for example two motors 36 rotatably coupled to each gripping arm 31.

[0093] The self-propelled transport vehicle 24 also comprises a translation drive mechanism 37 configured to translate the support element 29 relative to the carriage body 26 and between a transport position and a transfer position. The translation drive mechanism 37 may comprise different types of actuators known to the person skilled in the art, for example a linear motor, such as a worm gear motor, having a first part connected to the support element 29 and a second part connected to the carriage body 26. According to one variant, the translation drive mechanism may comprise a rack provided on the support element 29, a gear wheel provided on the carriage body 26 and configured to cooperate with the rack, and a drive motor provided on the carriage body 26 and rotatably meshing with the gear wheel.

[0094] The self-propelled transport vehicle 24 also has a battery 38 configured to supply power to the self-propelled transport vehicle 24, more specifically, to the translation drive mechanism 37, the rotation drive mechanism 28 and the actuator 36. The battery 38 is also configured to supply power to an electronic control unit 40 provided in the self-propelled transport vehicle 24 and configured to control the operation of the self-propelled transport vehicle 24. More specifically, such electronic control unit 40 has an electronic board equipped with a microprocessor.

[0095] According to the illustrated embodiment, the battery 38 is rechargeable, for example by contact or induction. For this purpose, the transport system 2 comprises at least one charging area 39, which is configured to electrically charge the battery 38 when the self-propelled transport vehicle 24 is located in said charging area. Advantageously, the transport system 2 comprises two charging areas 39, each located at an end of the transport track, and a charging coil is provided adjacent to each of the longitudinal ends of the self-propelled transport vehicle 24.

[0096] According to an embodiment of the present invention, the transport system 2 has a plurality of positioning markings (not shown) arranged on the transport track. For example, the transport system 2 has positioning markings facing each receiving position 8 and each passage opening 15.

[0097] According to this embodiment of the invention, the self-propelled transport vehicle 24 has, on the one hand, detection means such as an optical reader, an RFID detector or an induction detector configured to detect positioning markings arranged on the transport track during the movement of the self-propelled transport vehicle 24 along the transport track, and, on the other hand, control means such as an integrated circuit or a microprocessor configured to control the stop of the operation of the self-propelled transport vehicle 24 when the detection means detects a positioning marking associated with the receiving position 8 or the passage opening 15 to be reached by the self-propelled transport vehicle 24. For example, each positioning marking can be formed by an optical barrier, a barcode, a QR code (registered trademark), an RFID tag or a notch in the guide rail 23b.

[0098] According to an embodiment of the invention, the self-propelled transport vehicle 24 further comprises a determination means configured to determine the position of the self-propelled transport vehicle 24 along the transport path as a function of the distance travelled by the self-propelled transport vehicle 24. For this purpose, the drive wheels 27 can be configured to drive encoders enabling the measurement of the distance travelled by the self-propelled transport vehicle 24, and the control of the movement of the self-propelled transport vehicle 24 can be configured to be servo-controlled by the electronic control unit 40 as a function of this distance travelled in particular.

[0099] 1, the transport system 2 comprises a control unit 41 configured to communicate remotely with the self-propelled transport vehicle 24, for example by WiFi or Bluetooth. This control unit 41 may for example be a computer of personal computer type. Advantageously, the control unit 41 is also configured to communicate with various analysis and / or measurement devices 5.

[0100] Advantageously, the control means belonging to the self-propelled transport vehicle 24 are configured to receive control signals issued from the control unit 41 and, in response to the received control signals, to transmit drive signals, in particular to the translation drive mechanism 37, the rotation drive mechanism 28 and the actuator 36.

[0101] The transport system 2 further comprises a further storage device 42 arranged along the transport unit 4, also called an unloading device, configured to store container holders 3 unloaded from the transport unit 4.

[0102] Next, an example of a sample processing method that can be performed using the bioanalysis system 1 described above will be described. In particular, this sample processing method includes the following steps: a) manually loading the container 16 into the container holder 3 and the container holder 3 into the storage device 6; b) optically reading the identification codes of the different containers 3 held in the container holders 4 loaded in the storage device 6 by means of an identification code reader provided in the storage device 6; c) optionally rotating one or more containers 16 carried by the container holder 4 to ensure optical reading of the identification code by the identification code reader; d) automatically loading the container holder 3 into a second receiving position 8.2 of a receiving area 7 located adjacent to the storage device 6; e) determining a target position for the receptacle holder 3 loaded in the second receiving position 8.2 of the receiving area 7 located close to the storage device 6 according to the identification codes of the different receptacles 16 held by said receptacle holder 3 and according to a predetermined analysis transmitted by the control unit 41 or a central computer of the laboratory; f) controlling the movement of the self-propelled transport vehicle 24 towards the second receiving position 8.2 of the receiving area 7 arranged adjacent to the storage device 6; g) controlling the movement of the support element 29 of the self-propelled transport vehicle 24 in the transfer position and the pivoting of the gripping arm 31 of the self-propelled transport vehicle 24 in the gripping position so as to grip and lift the container holder 3; h) controlling the displacement of the support element 29 in the transport position; i) controlling the displacement of a self-propelled transport vehicle 24 facing a passage opening 15 provided in a receiving area 7 associated with an analytical device and / or measuring device 5 into which the container holder 3 is to be loaded; j) controlling the movement of the support element 29 of the self-propelled transport vehicle 24 in the transfer position so as to move the container holder 3 through the passage opening 15 into the guide track defined by the receiving area 7; k) controlling the displacement of the self-propelled transport vehicle 24 along the transport track so as to position the container holder 3 in a first receiving position 8.1 provided in the receiving area 7; l) controlling the rotation of the gripping arm 31 of the self-propelled transport vehicle 24 in the release position so as to release the container holder 3; m) loading a container holder 3 into an analytical and / or measuring device 5 used in the receiving area 7, taking samples in one or more containers 16 held in said container holder 3 using a sampling device belonging to the analytical and / or measuring device 5, and processing the taken samples using the analytical and / or measuring device 5, wherein during these sampling and processing steps the self-propelled transport vehicle 24 can be controlled to move one or more other container holders 3 within the mask time; n) moving the container holder 3 previously loaded on the analytical and / or measuring device 5 to a second receiving position 8.2 of the receiving area 7 for this analytical and / or measuring device 5 and controlling the displacement of the self-propelled transport vehicle 24 opposite the second receiving position 8.2; o) controlling the translation of the support element 29 of the self-propelled transport vehicle 24 in the transfer position and controlling the pivoting of the gripping arm 31 in the gripping position so as to grip and lift the container holder 3 arranged in the second receiving position 8.2; p) controlling the translation of the support element 29 of the self-propelled transport vehicle 24 in the transport position so as to withdraw the container holder 3 from the guide track; q) controlling the displacement of the self-propelled transport vehicle 24 facing the receiving position 8 located adjacent to the further storage device 42 and controlling the translation of the support element 29 of the self-propelled transport vehicle 24 in the transfer position so as to deposit the container holder 3 at said receiving position 8; r) pivoting the gripping arm 31 of the self-propelled transport vehicle 24 in the release position to release the container holder 3; has.

[0103] The bioanalytical system 1 according to the invention is intended to facilitate the flow of samples in the analytical laboratory in order to increase its productivity and quality (reduce labor and errors). It goes without saying that the transport system 2 according to the invention is therefore arranged to communicate with a control unit 41 managing the workload of the different analytical and / or measuring devices 5 (tests performed per sample, etc.) and to send the different containers 16 to the transport system 2 and to the analytical and / or measuring devices 5 so that they are transported to the analytical and / or measuring devices 5 according to the test requirements and capabilities of each analytical and / or measuring device 5. The control unit 41 managing the transport devices and the loading trolleys therefore has an "intelligence" to optimize the transport of the container holders 3 according to the workload of the different analytical and / or measuring devices 5, i.e. a kind of ERP (Enterprise Resource Planning: Integrated Management System).

[0104] Furthermore, each analytical and / or measuring device 5 may have a communication and display interface as well as built-in electronics (not shown). For example, each communication and display interface has a touch screen 66 connected to a personal computer type computer. The personal computer type computer is more particularly configured to record analysis requests entered manually by the operator using the touch screen or originating from the control unit 41 or the central computer of the laboratory, to transmit the analysis requests to the built-in electronics, to acquire the measurement data, to process them by means of certain algorithms and to make the results available to the operator or to transmit the results to the control unit 41.

[0105] According to a variant of the present invention, the bioanalysis system 1 can have an analytical device and / or measuring device 5 arranged on both sides of the transport unit 4, and the two gripping arms 31 of the self-propelled transport cart 24 can be configured to take a first gripping position in which the two gripping arms 31 protrude from the first side 26 and are configured to grip and lift a container holder 3 arranged on the first side of the transport track, and a second gripping position in which the two gripping arms 31 protrude from the second side 26.2 of the cart body 26 and are configured to grip and lift a container holder 3 arranged on the second side of the transport track.

[0106] Thus, the bioanalytical system 1 according to the present invention includes a pre-analysis section, an analysis section, and a post-analysis section. For example, the pre-analysis section includes, among other things, a vessel holder loading station, an identification code identification station, and a transport unit for transporting, among other things, vessel holders towards one or more analyzers and / or measuring instruments. The pre-analysis section may also include one or more of a centrifugation station, an aliquot station, and an unplugging station.

[0107] For example, the analytical section may include one or more of a biochemistry (eg, photometry) station, an immunological (eg, immunofluorescence) station, a coagulation station, a hematology station, and a cytometry station.

[0108] For example, the post-analytical section may include a short-term storage station and / or a long-term refrigerated (frozen) storage station.

[0109] Needless to say, the invention is not limited to the single embodiment of this biological sample processing system described herein above by way of example, but on the contrary embraces all its variants.

Claims

1. 1. A biological sample processing system comprising: a plurality of vessel holders (3) for holding vessels (16) containing biological samples; a transport unit (4) configured to transport the container holder (3), the transport unit (4) having a carriage guide element (23) forming a transport track and a self-propelled transport carriage (24) movable along the transport track, the carriage guide element (23) configured to guide the self-propelled transport carriage (24) during displacement of the self-propelled transport carriage (24) along the transport track, the self-propelled transport carriage (24) having a carriage body (26) and configured to move the container holder (3) along a movement path when the self-propelled transport carriage (24) moves along the transport track; a plurality of receiving positions (8) arranged along the movement path and offset laterally with respect to the movement path, each of the receiving positions (8) configured to receive and at least temporarily store a container holder (3), and further configured for the self-propelled transport vehicle (24) to move the container holder (3) laterally with respect to the movement path to move the container holder (3) to or from the receiving position (8); A conveying system (2) having at least one analysis and / or measurement device (5) arranged along the transport unit (4) and configured to perform a blood test, The self-propelled transport vehicle (24) has two gripping arms (31) arranged at a distance from each other and movably mounted between at least a gripping position in which the gripping arms (31) are close to each other and configured to grip and lift up a container holder (3) arranged in one of the receiving positions (8) and a release position in which the gripping arms (31) are separated from each other and configured to release the container holder (3) and place the container holder (3) in one of the receiving positions (8), the self-propelled transport vehicle (24) is configured to move the container holder (3) gripped and lifted by the gripping arm (31) along the movement path when the self-propelled transport vehicle (24) moves along the transport track; A biological sample processing system characterized in that each gripping arm (31) has a lifting member (34), which is configured to be received in two receiving recesses (22) provided on two opposing lateral surfaces (18) of the container holder (3) when the gripping arm (31) moves to the gripping position, and to lift the container holder (3).

2. 2. The biological sample processing system according to claim 1, The two gripping arms (31) protrude from a side surface (26.1) of the carriage body (26) when the two gripping arms (31) are in the gripping position.

3. 3. The biological sample processing system according to claim 1, A biological sample processing system wherein each of said gripping arms (31) is pivotally mounted about a respective pivot axis which is substantially vertical.

4. 2. The biological sample processing system according to claim 1, A biological sample processing system, wherein said gripping arm (31) is movable in a substantially horizontal movement plane.

5. 2. The biological sample processing system according to claim 1, A biological sample processing system, wherein each of the gripping arms (31) has a gripping portion (32) configured to exert a supporting force against a respective lateral surface (18) of the container holder (3) when the gripping arm (31) is in the gripping position.

6. 6. The biological sample processing system according to claim 5, A biological sample processing system in which each gripping portion (32) has a support surface (33) configured to exert a support force against a respective lateral surface (18) of the container holder (3) when the gripping arm (31) is in the gripping position, and each lifting member (34) extends from the support surface (33) of the respective gripping portion (32).

7. 2. The biological sample processing system according to claim 1, A biological sample processing system in which each lifting member (34) has a lifting inclined surface (35) inclined relative to the vertical, and the two lifting inclined surfaces (35) are configured to lift the container holder (3) when the gripping arm (31) is displaced to the gripping position.

8. 2. The biological sample processing system according to claim 1, The biological sample processing system, wherein the transport system (2) has at least one receiving area (7) arranged along the movement path, the receiving area (7) including a first receiving position (8.1) and a second receiving position (8.2) offset from each other along the movement path, the first receiving position (8.1) and the second receiving position (8.2) each configured to receive and at least temporarily store a container holder (3).

9. 9. The biological sample processing system according to claim 8, The at least one receiving area (7) has a first guide wall (13) and a second guide wall (14) that are offset from each other in a direction extending across the movement path, the first and second guide walls (13, 14) define a guide track extending along the movement path, the first and second receiving positions (8.1, 8.2) are respectively arranged at opposite ends of the guide track, the first guide wall (13) separating the movement path and the guide track is located opposite the second guide wall (14) and has a passage opening (15) through which the container holder (3) passes, and the self-propelled transport cart (24) is configured to move the container holder (3) gripped and lifted by the gripping arm (31) through the passage opening (15) and along the guide track.

10. 2. The biological sample processing system according to claim 1, The self-propelled transport cart (24) has a support element (29) to which the gripping arm (31) is movably attached, and the support element (29) is attached so as to be movable in translation in a movement direction crossing the transport track, at least between a transport position, which is a position where the self-propelled transport cart (24) is configured to move a container holder (3) that has been gripped by the gripping arm (31) and lifted along the movement path, and a movement position, which is a position where the self-propelled transport cart (24) is configured to grip and lift a container holder (3) arranged at a receiving position (8) or to release and place the container holder (3) at the receiving position (8).This is a biological sample processing system.

11. The biological sample processing system according to claim 10, the two gripping arms (31) protrude from a side surface (26.1) of the carriage body (26) when the two gripping arms (31) are in the gripping position; A biological sample processing system in which, when the support element (29) is in the transport position and the gripping arms (31) are in the gripping position, each of the gripping arms (31) protrudes a first distance from a side (26.1) of the cart body (26), and, when the support element (29) is in the movement position and the gripping arms (31) are in the gripping position, each of the gripping arms (31) protrudes a second distance greater than the first distance from the side (26.1) of the cart body (26).

12. 2. The biological sample processing system according to claim 1, A biological sample processing system in which the two gripping arms (31) of the self-propelled transport cart (24) are configured to take a first gripping position in which the two gripping arms (31) protrude from a first side of the cart body (26) and are configured to grip and lift a container holder (3) arranged on a first side of the transport track, and a second gripping position in which the two gripping arms (31) protrude from a second side of the cart body (26) and are configured to grip and lift a container holder (3) arranged on a second side of the transport track.

13. 2. The biological sample processing system according to claim 1, The self-propelled transport cart (24) has at least one drive wheel (27) configured to roll on the cart guide element (23) and at least one rotational drive mechanism (28) configured to rotate the at least one drive wheel (27).

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