Sample Container Transport System

Abstract

To provide an improved sample container transport system and a method of using such the sample container transport system in an external diagnosis ("in-vitro diagnostic or IVD") laboratory system improved in a problem that there is leakage of contents of a sample container or leakage detection takes time.SOLUTION: A sample container transport system (1) comprises a gripping apparatus (3) for gripping sample containers (5), and a robotic movement apparatus (2) for moving the gripping apparatus (3) in a plurality of directions. The sample container transport system (1) comprises a multidimensional-force sensor (4) that is designed for detecting a multidimensional-force signal indicative of force in a plurality of directions acting on the sample container (5) gripped by the gripping apparatus (3). Further, a method for using the sample container transport system (1) is proposed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a sample container transport system for moving sample containers in an in-vitro diagnostic ("in-vitro diagnostic or IVD") laboratory system, and to methods of using such a sample container transport system. [Background technology]

[0002] Biological samples to be analyzed in in vitro diagnostic ("in-vitro diagnostic or IVD") laboratories are typically contained in sample containers, such as tubes. These can be handled in IVD laboratories by using a transport system that grips and moves the sample container. Such movement is a delicate matter. For example, if the sample container is not closed, such as an open tube without a cap, leakage of the contents of the sample container can occur during movement. This can lead to contamination and therefore can be a serious problem within the IVD laboratory. Prior art has proposed using volumetric and / or gravimetric detection for leak detection. However, such detection tends to be time consuming and only indicates leakage that has already occurred. Summary of the Invention

[0003] SUMMARY OF THE INVENTION It is an object of the present invention to provide an improved sample container transport system and a method of using such a sample container transport system.

[0004] To this end, a sample container transport system and method are proposed according to the independent claims, with particular embodiments of the invention being set out in the dependent claims.

[0005] In an IVD laboratory system, a sample container transport system for transporting a sample container is proposed. a gripping device for gripping the sample container; a robotic movement device that moves the gripping device in multiple directions; a multidimensional force sensor designed to detect multidimensional force signals indicative of forces acting in multiple directions on a sample container gripped by the gripping device; Includes:

[0006] According to some embodiments, the multi-dimensional force sensor is designed to detect multi-dimensional force signals indicative of forces in multiple directions, including three translational dimensions and three rotational dimensions.

[0007] According to some embodiments, the multi-dimensional force sensor is located at the intersection of the robotic locomotion device and the gripping device.

[0008] According to some embodiments, the sample container transport system includes a signal processing unit configured to process the multidimensional force signal, and the signal processing unit is configured to determine whether the detected multidimensional force signal satisfies a predefined condition.

[0009] According to some embodiments, the sample container transport system includes an artificial intelligence unit that determines whether the detected multidimensional force signal satisfies a predefined condition.

[0010] According to some embodiments, the sample container transport system includes a gripping device and / or a position sensor designed to detect a position signal indicative of the position of a sample container gripped by the gripping device.

[0011] Also proposed is a method of using the proposed sample container transport system for moving a sample container, the method comprising: moving a sample container, by gripping the sample container using a gripping device; and By moving the gripping device, Moving the sample container; detecting a multidimensional force signal indicative of forces acting in multiple directions on the sample container during movement; determining whether the detected multi-dimensional force signal satisfies a predefined condition; Includes:

[0012] According to some embodiments, the predefined condition comprises a parameter of one dimension of the multidimensional force signal exceeding a predefined threshold.

[0013] According to some embodiments, the one-dimensional parameter is a combination of force signals in two or more directions.

[0014] According to some embodiments, determining whether the detected multi-dimensional force signal satisfies the predefined condition includes using artificial intelligence.

[0015] According to some embodiments, the multidimensional force signal includes a position signal indicative of a position of the gripping device and / or the sample container gripped by the gripping device at which the multidimensional force signal is detected; The predefined conditions include a location condition; detecting a multi-dimensional force signal indicative of forces acting in multiple directions on the sample container during movement includes detecting a position signal; Determining whether the detected multi-dimensional force signal satisfies a predefined condition includes determining whether the detected position signal satisfies a position condition.

[0016] According to some embodiments, the predefined condition depends on a non-vertical translational and / or rotational force, such as a horizontal force.

[0017] According to some embodiments, the method further includes taking a predefined action upon determining that the detected force signal satisfies a predefined condition.

[0018] According to some embodiments, the method comprises: moving a reference sample container; by gripping the reference sample container using a gripping device; and By moving the gripping device, moving a reference sample container; detecting and recording a multidimensional force signal indicative of forces acting in multiple directions on the reference sample container during movement, and / or a profile of parameters derived therefrom; defining a condition for the detected multi-dimensional force signal using the recorded profile, whereby the condition becomes a predefined condition; Includes:

[0019] According to some embodiments, Detecting and recording a multidimensional force signal profile indicative of forces acting in multiple directions on the reference sample container during movement includes detecting and recording position signals; Using the recorded profile to define a condition for the detected multi-dimensional force signal, whereby the condition becomes a predefined condition. Using the recorded profile to define a condition for the detected multi-dimensional force signal includes defining a position condition for the predefined condition.

[0020] Specific embodiments of the present invention are described below with reference to the drawings, which are intended to illustrate, but not to limit, specific embodiments of the present invention. [Brief explanation of the drawings]

[0021] [Figure 1] 1 shows a sample container transport system including a multi-dimensional force sensor. [Figure 2] 2 illustrates the sample container transport system of FIG. 1 from another perspective. [Figure 3]1 shows another sample container transport system with a sample container in a first position. [Figure 4] 4 shows the sample container delivery system of FIG. 3 with the sample container in a second position. [Figure 5] 1 shows a flowchart of a method of using a sample container transport system including a multi-dimensional force sensor. [Figure 6] 10 shows a flowchart of a further method of using a sample container transport system including a multi-dimensional force sensor. [Figure 7] 1 shows a flow chart of a method for leak detection / prevention. [Figure 8] 1 shows a flowchart of a method for rack detection. [Figure 9] 1 shows a flowchart of a method for collision detection. [Figure 10] 1 shows a flowchart of a method for verifying sample container grip. [Figure 11] 1 shows a diagram of multiple force profiles. DETAILED DESCRIPTION OF THE INVENTION

[0022] FIG. 1 shows an example of a proposed sample container transport system 1 for moving sample containers 5, such as tubes, in an in-vitro diagnostic ("in-vitro diagnostic or IVD") laboratory system. The sample container transport system 1 includes a gripping device 3 designed to grip the sample container 5 and a robotic movement device 2 designed to move the gripping device 3 in multiple directions, i.e., two or more directions. This may allow for moving the gripped sample container 5. According to some specific embodiments, one of the multiple directions in which the robotic movement device 2 can move the gripping device 3 is the vertical direction, indicated by the z-axis in the tripod depicted in FIG. 1.

[0023] According to some embodiments, the robotic mobile device 2 is designed to move the gripping device 3 in multiple directions in three translational dimensions, such as translation in all directions. In the example of Figure 1, the robotic mobile device 2 is realized as a Cartesian robot, where translational movement consists of movement along multiple mutually orthogonal axes, in the illustrated case the x-, y-, and z-axes indicated by the depicted tripod. The illustrated robotic mobile device 2: a rail 20 for movement in the x-direction; a rail 21 for movement in the y direction; a movable beam 22 for movement in the z direction; Includes:

[0024] Other combinations of rails and beams are conceivable as well.

[0025] According to some embodiments, the robotic transfer device 2 is designed to move the gripping device 3 in multiple directions in at least one rotational dimension and three translational dimensions. The at least one rotational direction can be, for example, rotation about the z-axis in FIG. 1 . This can allow for rotation of the gripped tube about its major axis, such as moving a barcode affixed to the tube to a particular side. According to some particular embodiments, the robotic transfer device 2 is designed to move the gripping device 3 in multiple directions in two or more rotational dimensions, such as three rotational dimensions.

[0026] The sample container transport system 1 includes a multidimensional force sensor 4 that is designed to detect multidimensional force signals indicative of forces acting in multiple (i.e., two or more) directions on a sample container 5 gripped by the gripping device 3. This may allow for detecting, evaluating, and / or quantifying forces acting on the gripped sample container 5. According to some particular embodiments, the multiple directions in which the multidimensional force sensor is designed to detect forces acting on the sample container 5 include the vertical direction.

[0027] According to some embodiments, the multidimensional force sensor 4 is designed to detect multidimensional force signals indicative of forces in multiple directions including at least three translational dimensions, i.e., translational forces with three degrees of freedom, such as all translational forces.

[0028] According to some embodiments, the multidimensional force sensor 4 is designed to detect multidimensional force signals indicative of forces in multiple directions, including three translational dimensions and three rotational dimensions, such as all translational forces and all rotational forces. Such sensors are also sometimes referred to as six-axis force torque sensors. A commercially available six-axis force torque sensor is, for example, the Mini40 sensor from ATI Industrial Automation, available as of August 15, 2020. A six-axis force torque sensor may be designed to measure, for example, translational forces along three defined, mutually orthogonal axes and rotational forces (torques) about each of the same three axes.

[0029] FIG. 2 shows the sample container transport system 1 of FIG. 1 from the side facing the y-direction. In this example, the gripping device 3 includes a gripping body 30 and a gripping element 32. Here, the gripping device 3 is designed so that the gripping element 32 comes into direct contact with the sample container 5 when the sample container 5 is gripped by the gripping device 3. The gripping element 32 may include, for example, a set of movable gripper fingers as shown in FIG. 2, a retractable and extendable ring (not shown), and / or a soft robotic gripping structure (not shown). In the depicted example, the multidimensional force sensor 4 is operably connected to the gripping element 32 to transmit a force such that a force acting on the sample container 5 gripped by the gripping element 32 acts on the multidimensional force sensor 4. The gripping body 30 may include a motor and / or mechanics for opening / closing the grip of the gripping element 32. A commercially available gripper body is, for example, the double-jaw gripper "GEP2010IO-05-A-05" from the company "Zimmer GMBH," which was available as of August 15, 2020.

[0030] 2, the multi-dimensional force sensor 4 is located at the intersection of the robotic movement device 2 and the gripping device 3, in the depicted case between the z-axis beam 22 and the gripping body 30. Alternatively, the multi-dimensional force sensor 4 may be included in the gripping device 3, for example, between the gripping body 30 and the gripping element 32 and / or as part of the soft robotic gripping structure. In another alternative, the multi-dimensional force sensor 4 may be included in the robotic movement device 2, for example, at the intersection between the z-axis beam 22 and the x-axis rail 20.

[0031] According to some embodiments, the sample container transport system 1 comprises a position sensor 40 designed to detect a position signal indicative of the position of the gripping device 3 and / or the sample container 5 gripped by the gripping device 3. This may make it possible to determine the position of the gripped sample container 5, such as its x / y / z coordinates. In one example, the position signal is raw data recorded by the position sensor 40. The sample container transport system 1 comprises a signal processing unit 6 configured to use this raw data to calculate the position of the sample container 5.

[0032] As shown in Figures 1 and 2, the position sensor 40 may include a camera and may use, for example, image recognition and / or time-of-flight calculations to determine the position of the sample container 5, which may include using, for example, artificial intelligence.

[0033] A further embodiment is shown in Figures 3 and 4. Here, a position sensor 40 component is included in the drive mechanism of the robotic movement device 2. This may enable determining the position of the gripping device 3 and / or the sample container 5 gripped by the gripping device 3 based on the motion caused by the respective drive mechanism. In one example, the drive mechanism's encoder can use a method of discrete drive steps, where each step effectively measures a fixed length (e.g., a few micrometers) of movement in a particular direction. This allows determining the current position by using a known position and the drive step used at this known position. The gripped sample container 5 is in a first position in Figure 3 and in a second position in Figure 4. In this example, these two positions have different x-coordinates and different z-coordinates, and this difference can be determined by the number of drive steps in the x-direction and the number of drive steps in the z-direction during movement from the first position to the second position.

[0034] According to some embodiments, the location sensor 40 comprises one or more radio-frequency identification (RFID) sensors. The sample container transport system 1 is configured to detect a location signal indicative of the location of an RFID chip attached to the sample container 5, for example, by using two or more RFID sensors positioned at different locations and analyzing the RFID signals detected by the two or more RFID sensors.

[0035] 1 to 4, the sample container transport system 1 may include a signal processing unit 6 configured to process the multidimensional force signal. If the sample container transport system 1 includes a position sensor 40, the signal processing unit 6 may be further configured to process the position signal. Processing may include, for example, smoothing, filtering, recording, logging, comparing, analyzing, and / or outlier detection. The signal processing unit 6 may be configured to detect, evaluate, and / or quantify forces acting on the gripped sample container 5 by using the multidimensional force signal and, if applicable, determine the position of the sample container 5 by using the position signal.

[0036] The signal processing unit 6 may be configured to determine whether the detected multidimensional force signal satisfies (i.e., at least one) predefined condition. According to some particular embodiments, the sample container transport system 1 is designed to move the sample container 5 and determine whether the multidimensional force signal satisfies the predefined condition simultaneously (e.g., with a delay of less than 1 millisecond). This may allow for real-time reaction to events indicated by the multidimensional force signal.

[0037] The signal processing unit 6 may include a processor, volatile memory, non-volatile memory, and a bus structure connecting these components.

[0038] According to some embodiments, the sample container transport system 1 includes an artificial intelligence unit 60. The artificial intelligence unit 60 may be configured, e.g., trained, to determine, for example, whether a detected multidimensional force signal satisfies a predefined condition. As shown in Figures 1 to 4, the artificial intelligence unit 60 may be included in the signal processing unit 6. The artificial intelligence unit 60 may enable a fast and / or accurate determination of whether a predefined condition has been met, which may improve the response time and / or accuracy of the sample container transport system 1.

[0039] 5 shows a flow chart of a proposed method of using a sample container transport system 1, such as one of the sample container transport systems 1 proposed herein, to move a sample container 5. The method includes: moving the sample container 5 by the sample container transport system 1 (e.g. by gripping the sample container 5 using a gripping device 3 and moving the gripping device 3 by a robotic movement device 2); detecting (e.g., in real time) multidimensional force signals (e.g., by using a multidimensional force sensor 4) indicative of forces acting in multiple directions on the sample container 5 during movement; determining (e.g., in real time) whether the detected multidimensional force signal satisfies (i.e., at least one) predefined condition; Includes:

[0040] Depending on how the predefined conditions are defined, this method may enable, for example, problem detection / prevention, leak detection / prevention, collision detection, rack detection, sample container grip confirmation, and / or sample container release confirmation.

[0041] According to some embodiments, the method includes detecting a multidimensional force signal indicative of at least one rotational force. According to some particular embodiments, the method includes detecting a multidimensional force signal indicative of rotational forces in three rotational dimensions, such as all possible rotations. Using rotational forces, also known as torque, to detect problems can have the advantage that certain events may be detected more quickly and / or with greater accuracy using rotational forces than using translational forces alone.

[0042] According to some embodiments, the predefined condition comprises that (i.e., at least) one-dimensional parameter of the multidimensional force signal exceeds a predefined threshold, which may be a parameter derived from the multidimensional force signal.

[0043] According to some particular embodiments, the one-dimensional parameter is a force signal in one direction, such as translational or rotational, and the predefined condition comprises this force signal exceeding a particular value, which may be predetermined by experimentation and may be indicative of, for example, a shock that may be caused by a collision and / or that may cause a leak.

[0044] According to some particular embodiments, the one-dimensional parameter is a combination of force signals in two or more directions. For example: f x denotes the translational force in the x-axis, f y denotes the translational force in the y-axis, f z denotes the translational force in the z-axis, t x indicates the rotational force (torque) around the x-axis, t y indicates the rotational force (torque) around the y-axis, t z indicates the rotational force (torque) around the z-axis, The one-dimensional parameter is f=f(f x ,f y ,f z ,t x ,t y ,t z ) such a function can be used to calculate a force in any translational direction and / or any rotational direction based on, for example, the six fundamental forces. In a particular example, the function is f=f x +f y +f z +t x +t y +t z and the predefined condition is that this function exceeds a certain value (in other words, the sum of the basic forces is too large), which may indicate that any translational and / or any rotational force is too large. Another possible example of a predefined condition is the function f=max(f x ,f y ,f z ,t x ,ty ,t z ) exceeds a certain value.

[0045] According to some embodiments, the one-dimensional parameter is the variance of the force in one direction or a function (e.g., sum, average, etc.) of the variance of the forces in different directions. An abnormally high variance may indicate sloppy delivery and, therefore, leakage and / or other problems during delivery.

[0046] According to some embodiments, the predefined condition includes deviation of the detected multidimensional force signal profile from (i.e., at least one) multidimensional force signal pattern. Such deviation can be detected, for example, using artificial intelligence. According to one example, the predefined multidimensional force signal pattern is derived from recordings of multidimensional force signal profiles of moving sample containers 5, such as spill-free movements of sample containers 5, using the same sample container transport system 1 and / or sample container transport systems 1 of identical or similar structure. In practice, multiple (i.e., two or more) patterns can be stored, and the detected multidimensional force signal profile can be compared to each of those patterns, such as a first pattern for a first movement from A to B and a second pattern for a second movement from A to C, and / or a third pattern for moving a first type of sample container and a fourth pattern for moving a second type of sample container.

[0047] According to some embodiments, the predefined conditions do not depend only on the multidimensional force signal, but instead may additionally depend on other information, such as the position of the sample container 5, its previous movements, its intended movements, its weight, its type, and / or information about the expected locations of racks and / or other sample containers.

[0048] According to some embodiments, determining whether the detected multidimensional force signal satisfies the predefined condition includes using artificial intelligence. The artificial intelligence may be based on, for example, machine learning and / or neural networks. The artificial intelligence may be implemented in the artificial intelligence unit 60 of the sample container transport system 1. According to some specific embodiments, training the artificial intelligence includes using records of multidimensional force signal profiles of one or more sample container 5 movements, such as reference data and / or real-world data. The artificial intelligence may be trained using various patterns, for example, some of which are records of when a problem (e.g., a leak) occurred and some of which are records of when a problem did not occur. The quality of problem detection using the artificial intelligence may depend on the training data used to train the artificial intelligence. The artificial intelligence may be retrained, for example, when more data is available, thereby redefining the condition. For example, the artificial intelligence may be retrained after the condition is met even if no problem occurs and / or after a problem occurs even if the condition is not met. Retraining can lead to modifying existing conditions or defining new conditions, which can then be used in the future as predefined conditions. The AI ​​can undergo constant retraining, whether problems occur or not, with constant feedback to the AI, etc.

[0049] The predefined condition may include one or more (sub)conditions, which in some examples depend not only on the force value but also on other factors such as the position of the sample container 5.

[0050] According to some embodiments, the multidimensional force signal includes a position signal indicating the position (e.g., x / y / z coordinates in Figures 1 to 4) of the gripping device 3 and / or the sample container 5 gripped by the gripping device 3 at which the multidimensional force signal was detected; The predefined conditions include a location condition; detecting a multi-dimensional force signal indicative of forces acting in multiple directions on the sample container 5 during movement includes detecting a position signal (e.g., simultaneously with the multi-dimensional force signal); Determining whether the detected multi-dimensional force signal satisfies a predefined condition includes determining whether the detected position signal satisfies a position condition.

[0051] In the example of Figures 3 and 4, the predefined condition may be, for example, that at least one of the following sub-conditions is met: Subcondition 1:f x (force in the x direction) is greater than 3 Newtons, and Subcondition 2:f x is greater than 2 Newtons and the sample container is not located in the predefined area. Here, the position of the sample container 5 in Figure 3 is not in the predefined area, and the position of the sample container 5 in Figure 4 is in the predefined area. x A value of f = 2.5 Newtons is measured, sub-condition 1 is not met, sub-condition 2 is met, and therefore the predefined condition is met. However, x 4, neither sub-condition 1 nor sub-condition 2 is met, and therefore the predefined condition is not met. Defining different conditions for different positions can be beneficial, for example, if the possible risk from a force event goes from high to low at a particular position and / or if a particular force event is expected at a particular position, such as a position where a tube is placed on a rack.

[0052] As shown in the flowchart of Figure 6, the method may include taking an action when it is determined that the detected force signal satisfies a predefined condition. The decision as to whether and / or which action is taken may depend on the details of the multidimensional force signal and / or other factors. In one example, if the vertical force drops after the predefined condition is met compared to before the movement, the movement is stopped and a warning signal is given (e.g., indicating that a possible leak event has occurred). On the other hand, if the vertical force remains constant, the movement is only slowed down (e.g., to stabilize the force signal).

[0053] According to some embodiments, the sample container transport system 1 is configured to choose an action to take when a predefined condition is met. This choice may depend on the multidimensional force signal and / or other information, such as the position of the sample container 5, its previous movement, its intended movement, its weight, its type, and / or information about the expected location of racks and / or other sample containers.

[0054] According to some embodiments, the actions are predefined, for example, with predefined conditions.

[0055] According to some embodiments, the (e.g., predefined) action includes logging the event, for example, by writing data related to the predefined condition being met to a log file. The logged data may include, for example, the date and time when this condition was fulfilled; The position where this condition is met, The starting position of the movement while this condition is met, The target position for movement while this condition is met, multidimensional force signals and / or data derived therefrom, such as before, during, and / or after the condition is met; Includes:

[0056] The logged data may be used, for example, for documentation, (re)specifying conditions, (re)specifying actions, and / or training artificial intelligence.

[0057] According to some specific embodiments, the logged data is used for future routing of sample container movements, for example, routing can be adjusted with respect to slowing down or avoiding specific areas where predefined conditions indicative of a possible spill event are often met disproportionately.

[0058] The logged data can be used to (re)design the sample container transport system, for example, by modifying the design of areas where predefined conditions indicative of a possible leak event are often met disproportionately.

[0059] According to some specific embodiments, the logged data is used to define new predefined conditions for the proposed method. For example, if evaluating the logged data reveals that a predefined condition designed to indicate a possible leak event is often met disproportionately, but in many of those cases, an actual leak event has not occurred, the predefined condition can be adjusted to reduce false alerts. In one example, the predefined condition is: max(t x ,t y ) is greater than 2 Newtons, and after 1,000 samples have been transferred, this condition was met 10 times, but it was found that an actual leak occurred only in one of those 10 times. After evaluating the log, it was found that in the 9 times where no leak occurred, max(t x ,t y ) remains below 2.2 Newtons, and once the leak occurs, max(t x ,t y ) was found to exceed 2.5 Newtons. Based on this finding, the predefined conditions are, for example, max(t x ,t y) is greater than 2.2 Newtons, thereby reducing the likelihood of false leak warnings.

[0060] According to some embodiments, the (e.g., predefined) action comprises emitting a warning signal, such as an audible and / or visual warning signal, which may draw the user's attention to possible problems during movement of the sample container 5.

[0061] According to some embodiments, the (e.g., predefined) action includes adjusting the movement of the sample container 5. According to some particular embodiments, adjusting the movement of the sample container 5 includes slowing down the movement of the sample container 5, e.g., slowing down the movement of the sample container 5 compared to the speed when the predefined condition is met and / or compared to the speed originally planned by the sample container transport system 1. Adjusting the movement can include adjusting the speed pattern of the movement, e.g., from a first speed pattern originally planned before determining that the detected force signal satisfies the predefined condition to a second speed pattern after determining that the detected force signal satisfies the predefined condition. Slowing down the movement of the sample container 5 can reduce the risk of leakage.

[0062] According to some specific embodiments, adjusting the movement includes adjusting the movement path, such as from an originally planned first pass before determining that the detected force signal satisfies a predefined condition to a second pass after determining that the detected force signal satisfies the predefined condition, where, for example, the first pass is shorter than the second pass, but cleaning in the area of ​​the second pass is simpler compared to that in the area of ​​the first pass. Adjusting the movement can include adjusting the movement path to a smoother path, such as a path without points that may vary along the path, a smoother path that may reduce the possibility of leaks. Adjusting the movement can include using artificial intelligence to determine the movement to be adjusted.

[0063] According to some embodiments, the (eg, predefined) action comprises stopping the movement of the sample container 5 .

[0064] According to some embodiments, the (eg, predefined) action includes checking for contamination in the area through which the sample container 5 has been moved.

[0065] According to some embodiments, the (eg, predefined) action comprises cleaning the area through which the sample container 5 has been moved.

[0066] According to some embodiments, the (eg, predefined) action comprises releasing the sample container 5 from the gripping device 3 , such as by opening the gripping elements 32 .

[0067] 7 shows a flowchart of a possible implementation of a method for leak detection / prevention during movement. A sample container 5 is gripped by a gripping device 3, which is moved by a robotic movement device 2, and then moved by a sample container transport system 1. During the movement, the force / torque profile of the movement is evaluated, for example, by a signal processing unit 6 using the multidimensional force signals detected by the multidimensional force sensor 4. If the sample liquid in the sample container 5 splashes abnormally hard for some reason, which may lead to a leak, the sample container transport system 1, e.g., the signal processing unit 6, detects an anomaly in the force / torque profile, or in other words, detects that a specific force event has occurred, so that a respective predefined condition is met. In response, the sample container transport system 1 performs an action. For example, based on available information (e.g., the severity of the abnormal deviation of the force / torque profile from a normal force / torque profile), the sample container transport system 1 may decide either that leak prevention is generally possible and adapt the movement of the sample container 5 accordingly (e.g., by slowing down the movement), or that leak prevention is nearly impossible and stop the movement of the sample container 5. In either case, the sample container transport system 1 may further determine whether there is a difference in the force in the vertical z-direction after the force event compared to before the force event, because the force in the z-direction indicates weight, and a difference may indicate that a leak has occurred. If such a difference is detected, the movement is stopped and an alert is issued so that the user can check the incident. Additionally, the force event may be logged so that information about it can be used later.

[0068] According to some embodiments, the method includes determining whether a force in (i.e., at least one) direction after an event (i.e., a predefined condition is met) differs from the force in that direction before the event. A difference here can mean, for example, 5% or more higher or lower and / or 1% or more higher or lower on average. This comparison can include, for example, smoothing, filtering, and / or averaging the data to reduce the effects of noise.

[0069] Figure 8 shows a flow chart of a possible implementation of the method for rack detection. The sample container 5 is moved to the preferred x / y coordinates, i.e., onto the expected rack position, and then moves downwards (opposite to the z direction shown in Figures 1 to 4). During this vertical movement, a force f in the z direction (i.e., upwards) is applied. z The increase in f is detected, for example, by the signal processing unit 6 using the multidimensional force signal detected by the multidimensional force sensor 4. In this case, the predefined conditions include the positional conditions, i.e., at this x / y / z coordinate (plus small variations thereof), z A predefined increase in f indicates that a sample container 5 has been placed in the rack. z The detected increase in f z The detected f is compared to a predefined increase in z If it is determined that the sample container 5 satisfies the predefined conditions, the sample container transport system 1 takes action to release the sample container 5, for example by opening the gripping elements 32 of the gripping device 3.

[0070] According to some embodiments, the predefined condition depends on a non-vertical force, such as a horizontal force, and / or a rotational force. Such a force may, for example, represent friction between the sample container and the rack (e.g., a wall of the rack position in the rack), and the predefined condition may, for example, represent friction between the sample container and the rack (e.g., a wall of the rack position in the rack). z In the context of the occurrence of an increase in the force, this may include the occurrence of certain forces in a non-vertical direction.

[0071] The sample container transport system 1 may be configured to take further actions before release to ensure that the sample container 5 has actually been placed in the rack. As shown in the dotted box in Figure 8, the sample container transport system 1 may for example attempt to move the sample container 5 horizontally (in the x / y plane) and apply respective translational and rotational forces f x , f y , t x , t y can be detected from the multidimensional force signal and determined whether those forces match a particular pattern expected as the sample container 5 moves horizontally within the rack. For example, when the sample container 5 moves in the x direction within the rack, f x and / or t x A characteristic increase in the

[0072] 9 shows a flow chart of a possible implementation of a method for collision detection, in this case determining whether a sample container 5 moved into a rack during vertical movement has collided with another sample container 5 already placed in that rack. Similar to the method of FIG. 8, the sample container 5 moves downwards and is subjected to a force f in the z direction (i.e., upwards). z However, in contrast to the present method in Fig. 8, an increase in f z The location where this increase in is detected is not where the rack is expected to be. Instead, the condition is that at this location, f z is defined such that such an increase in indicates a possible collision with another sample container 5 already placed in that rack. If this condition is met, the sample container transport system 1 assumes a failure to move the sample container 5 and stops it to prevent further problems. Further actions may include, for example, issuing a warning signal and / or logging data related to this event.

[0073] 10 shows a flow chart of a possible implementation of a method for verifying the gripping of a sample container, i.e., for verifying that a sample container 5 has been gripped by the gripping device 3. In this example, the gripping device 3 moves to a position where the sample container transport system 1 expects the sample container 5 to be, and a gripping action is performed at this position so that the sample container 5 is gripped. Subsequently, the gripping device 3 moves upwards and a multidimensional force signal is detected, which indicates forces in multiple directions. Once lifted, the sample container 5 containing the sample liquid is subjected to a vertical force f z Based on this, for example, after grasping and during the upward movement, f z A respective condition is defined, such as whether the force is less than a certain value, e.g., less than 0.5 Newtons. If the condition is met, the sample container transport system 1 assumes a failed transfer and stops it. Further actions may include, for example, issuing a warning signal and / or logging data related to this event.

[0074] The predefined conditions may be defined, for example, based on the multidimensional force signal profile of a previous (e.g., test) run using the same sample container transport system 1 and / or a sample container transport system 1 of identical or similar structure.

[0075] According to some embodiments, the method comprises: moving the reference sample container 5 (e.g., by gripping the reference sample container 5 using the gripping device 3 and by moving the gripping device 3); - detecting and recording a multidimensional force signal indicative of forces acting in multiple directions on the reference sample container 5 during the movement and / or a profile of parameters derived therefrom; defining a condition for the detected multi-dimensional force signal using (e.g., based on) the recorded profile, whereby the condition becomes a predefined condition; and Includes:

[0076] The profile may be, for example, raw force sensor data and / or a profile of processed data, a smoothed profile, and / or a profile transformed by using calibration data, etc. Such training part of the method may be performed before and / or during the processing of real samples in the course of normal operation in an IVD laboratory, with the sample container containing the real sample taking on the role of the reference sample container mentioned above.

[0077] In the diagram shown in FIG. 11, multiple force profiles measured in Newtons (N) in a particular direction are plotted as a function of time measured in seconds (s). Each profile illustrates a case in which a reference sample container 5 moves and subsequently impacts another object. In each case, the force detected during normal movement is between 0.5 and 1.8 Newtons; after impact, the force exceeds 2 Newtons in each case. Based on this series of profiles, a condition can be defined, such as a force exceeding 2 Newtons in a particular direction, and a respective action can be defined, such as stopping movement when that condition is met. As can be seen in FIG. 11, in each case, the force actually exceeds 2.5 Newtons. While a threshold of 2 Newtons can initially be defined, this threshold can later be adjusted to, for example, 2.5 Newtons if log data indicates that force events between 2 Newtons and 2.5 Newtons do not in all cases lead to problematic incidents, e.g., no leakage occurs.

[0078] Another condition can be defined based on the data in Figure 11 using the variation in the force signal. As can be seen in Figure 11, the force signal during normal movement varies only within a limited range, and only after a collision does the force signal increase significantly. A possible condition could be, for example, a difference in the force signal of more than 0.4 Newtons within a 0.02 second window.

[0079] The proposed method may allow to indicate possible problems independent of the actual type of sample container, where for example the condition depends on the relative variations of the multidimensional force signal during the movement.

[0080] The conditions may be defined by using artificial intelligence that uses the recorded profiles, where for example the recorded profiles and information about whether a problem occurred during each journey are used as training data for the artificial intelligence.

[0081] According to some particular embodiments, the method comprises: detecting and recording a multi-dimensional force signal profile indicative of forces acting in multiple directions on the reference sample container 5 during movement includes detecting and recording a position signal (e.g., as part of the profile); defining a condition for the detected multi-dimensional force signal using the recorded profile, whereby the condition becomes a predefined condition; and defining a condition for the detected multi-dimensional force signal using the recorded profile includes defining a position condition for the predefined condition (e.g., by using the profile and / or other information); Includes:

[0082] Further proposed are sample container transport systems 1, laboratory analyzers, laboratory systems and IVD laboratories designed and / or configured to perform any of the proposed methods. The proposed methods may be implemented (at least in part) as computer-implemented methods, e.g., performed by a signal processing unit 6 of the sample container transport system 1.

[0083] Also proposed is a method embodied by any of the proposed sample container transport systems 1.

[0084] The following specific proposals are proposed:

[0085] Proposal 1: In an IVD laboratory system, a sample container transport system 1 for moving a sample container, a gripping device 3 for gripping a sample container 5; a robotic movement device 2 that moves a gripping device 3 in multiple directions; Including, A sample container transport system (1) characterized in that it includes a multidimensional force sensor (4) designed to detect multidimensional force signals indicative of forces acting in multiple directions on a sample container (5) gripped by a gripping device (3).

[0086] Proposal 2: A sample container transport system 1 as described in Proposal 1, wherein the gripping device 3 includes a gripping element 32, the gripping device 3 is designed so that when the sample container 5 is gripped by the gripping device 3, the gripping element 32 is in direct contact with the sample container 5, and the multidimensional force sensor 4 is operably connected to the gripping element 32.

[0087] Proposal 3: A sample container transport system 1 described in any one of Proposals 1 to 2, wherein the multidimensional force sensor 4 is designed to detect a multidimensional force signal indicating forces in multiple directions, including at least three translational dimensions.

[0088] Proposal 4: A sample container transport system 1 described in any one of Proposals 1 to 3, wherein the multidimensional force sensor 4 is designed to detect a multidimensional force signal indicating forces in multiple directions, including three translational dimensions and three rotational dimensions.

[0089] Proposal 5: A sample container transport system 1 described in any one of Proposals 1 to 4, wherein the robotic mobile device 2 is a Cartesian robot and the translational motion consists of motion along multiple axes that are perpendicular to each other.

[0090] Proposal 6: A sample container transport system 1 described in any one of Proposals 1 to 5, wherein the robotic movement device 2 is designed to move the gripping device 3 in multiple directions in at least three translational dimensions.

[0091] Proposal 7: A sample container transport system 1 described in any one of Proposals 1 to 6, wherein the robotic movement device 2 is designed to move the gripping device 3 in multiple directions in at least one rotational dimension and three translational dimensions.

[0092] Proposal 8: A sample container transport system 1 according to any one of Proposals 1 to 7, wherein the multidimensional force sensor 4 is arranged at the intersection of the robotic moving device 2 and the gripping device 3.

[0093] Proposal 9: A sample container transport system 1 according to any one of Proposals 1 to 7, wherein the multidimensional force sensor 4 is included in the gripping device 3.

[0094] Proposal 10: A sample container transport system 1 according to any one of Proposals 1 to 7, wherein the multidimensional force sensor 4 is included in the robotic mobile device 2.

[0095] Proposal 11: A sample container transport system 1 described in any one of Proposals 1 to 10, wherein the sample container transport system 1 includes a signal processing unit 6 configured to process multidimensional force signals.

[0096] Proposal 12: A sample container transport system 1 described in any one of Proposals 1 to 11, wherein the signal processing unit 6 is configured to determine whether the detected multidimensional force signal satisfies predetermined conditions.

[0097] Proposal 13: A sample container transport system 1 described in any one of Proposals 1 to 12, including an artificial intelligence unit 60 that determines whether the detected multidimensional force signal satisfies predefined conditions.

[0098] Proposal 14: A sample container transport system 1 described in any one of Proposals 1 to 13, including a gripping device 3 and / or a position sensor 40 designed to detect a position signal indicating the position of a sample container 5 gripped by the gripping device 3.

[0099] Proposal 15: A sample container transport system 1 according to any one of Proposals 11 to 13 and Proposal 14, wherein the signal processing unit 6 is further configured to process the position signal.

[0100] Proposal 16: A method of using a sample container transport system 1 according to any one of proposals 1 to 15 for moving a sample container 5, comprising: Moving the sample container 5, by gripping the sample container 5 using the gripping device 3; and By moving the gripping device 3, moving the sample container 5; detecting a multidimensional force signal indicative of forces acting in multiple directions on the sample container 5 during movement; determining whether the detected multi-dimensional force signal satisfies a predefined condition; A method comprising:

[0101] Proposal 17: The method of proposal 16, wherein the predefined condition comprises that a one-dimensional parameter of the multidimensional force signal exceeds a predefined threshold.

[0102] Proposal 18: The method according to proposal 17, wherein the one-dimensional parameter is a force signal in one direction.

[0103] Proposal 19: The method according to proposal 17, wherein the one-dimensional parameter is a combination of force signals in two or more directions.

[0104] Proposal 20: A method according to any one of Proposals 16 to 19, wherein the predefined condition includes that the profile of the detected multidimensional force signal deviates from a predefined pattern of the multidimensional force signal.

[0105] Proposal 21: A method according to proposal 20, wherein the predefined multidimensional force signal pattern is derived from recordings of the multidimensional force signal profile of the movement of the sample container 5.

[0106] Proposal 22: A method according to any one of Proposals 16 to 21, wherein determining whether the detected multidimensional force signal satisfies a predefined condition includes using artificial intelligence.

[0107] Proposal 23: A method according to proposal 22, wherein training the artificial intelligence comprises using a recording of a multidimensional force signal profile of the movement of one or more sample containers 5.

[0108] Proposal 24: The multidimensional force signal comprises a position signal indicating the position of the gripping device 3 and / or the sample container 5 gripped by the gripping device 3 at which the multidimensional force signal is detected; The predefined conditions include a location condition; detecting a multi-dimensional force signal indicative of forces acting in multiple directions on the sample container 5 during movement includes detecting a position signal; determining whether the detected multidimensional force signal satisfies a predefined condition includes determining whether the detected position signal satisfies a position condition; Any of the methods described in Propositions 16 through 23.

[0109] Proposal 25: A method according to any one of proposals 16 to 24, wherein the predefined conditions depend on non-vertical translational and / or rotational forces, such as horizontal forces.

[0110] Proposal 26: A method according to any one of proposals 16 to 25, further comprising performing a predefined action when it is determined that the detected force signal satisfies a predefined condition.

[0111] Proposal 27: The method of proposal 26, wherein the predefined action includes logging the event.

[0112] Proposal 28: The method according to any one of proposals 26 to 27, wherein the predetermined action includes issuing a warning signal.

[0113] Proposal 29: A method according to any one of proposals 26 to 28, wherein the predefined action includes adjusting the movement of the sample container 5.

[0114] Proposal 30: The method according to proposal 29, wherein adjusting the movement of the sample container 5 includes slowing down the movement of the sample container 5.

[0115] Proposal 31: A method according to any one of proposals 26 to 28, wherein the predefined action includes stopping the movement of the sample container 5.

[0116] Proposal 32: A method according to any one of proposals 26 to 28, wherein the predefined action includes releasing the sample container 5 from the gripping device 3.

[0117] Proposal 33: A method according to any one of Proposals 26 to 32, wherein the predefined action includes checking for contamination of the area through which the sample container 5 has been moved.

[0118] Proposal 34: A method according to any one of proposals 26 to 33, wherein the predefined action includes cleaning the area through which the sample container 5 has been moved.

[0119] Proposal 35: The method according to any one of Proposals 16 to 34, comprising: moving the reference sample container 5; by gripping the reference sample container 5 using the gripping device 3; and By moving the gripping device 3, moving the reference sample container 5; - detecting and recording a multidimensional force signal indicative of forces acting in multiple directions on the reference sample container 5 during the movement and / or a profile of parameters derived therefrom; defining a condition for the detected multi-dimensional force signal using the recorded profile, whereby the condition becomes a predefined condition; A method comprising:

[0120] Proposal 36: Detecting and recording a multidimensional force signal profile indicative of forces acting in multiple directions on the reference sample container 5 during movement includes detecting and recording position signals; defining a condition for the detected multi-dimensional force signal using the recorded profile, whereby the condition becomes a predefined condition; and defining a condition for the detected multi-dimensional force signal using the recorded profile includes defining a position condition for the predefined condition. As per Proposition 24 and Proposition 35. [Explanation of symbols]

[0121] 1. Sample container transport system 2 Robotic Mobile Device 20 x rails in direction 21 Rail in y direction 22 Beam in the z direction 3 Gripping device 30 Gripper body 32 Gripping element 4 Multidimensional force sensor 40 Position Sensor 5 Sample Container 6 Signal Processing Unit 60 Artificial Intelligence Unit

Claims

1. In an IVD laboratory system, a sample container transport system (1) for moving a sample container, comprising: a gripping device (3) for gripping a sample container (5); a robotic movement device (2) that moves the gripping device (3) in multiple directions; Including, a multidimensional force sensor (4) designed to detect multidimensional force signals indicative of forces acting in multiple directions on a sample container (5) gripped by said gripping device (3); a signal processing unit (6) configured to determine whether the detected multidimensional force signal satisfies a predefined condition, wherein the predefined condition is that a profile indicating a change in the multidimensional force signal during movement of the sample container (5) includes a deviation from a predefined pattern of the multidimensional force signal.

2. 2. The sample container transport system (1) of claim 1, characterized in that the multidimensional force sensor (4) is designed to detect multidimensional force signals indicative of forces in multiple directions, including three translational dimensions and three rotational dimensions.

3. 3. The sample container transport system (1) according to claim 1 or claim 2, characterized in that the multidimensional force sensor (4) is arranged at the intersection of the robotic movement device (2) and the gripping device (3).

4. A sample container transport system (1) according to any one of claims 1 to 3, characterized in that it comprises an artificial intelligence unit (60) for determining whether the detected multidimensional force signal satisfies a predefined condition.

5. A sample container transport system (1) according to any one of claims 1 to 4, characterized in that it comprises a position sensor (40) designed to detect a position signal indicative of the position of the gripping device (3) and / or the position of the sample container (5) gripped by the gripping device (3).

6. A method of using a sample container transport system (1) according to any one of claims 1 to 5 for moving a sample container (5), comprising: Moving the sample container (5), by gripping the sample container (5) using the gripping device (3); and By moving the gripping device (3), moving said sample container (5); detecting a multidimensional force signal indicative of forces acting in multiple directions on said sample container (5) during movement; determining whether the detected multidimensional force signal satisfies a predefined condition; A method comprising:

7. 7. The method of claim 6, wherein the predefined condition comprises a parameter of one dimension of the multidimensional force signal exceeding a predefined threshold.

8. 8. The method of claim 7, wherein the one-dimensional parameter is a combination of force signals in two or more directions.

9. 9. The method according to claim 6, wherein the step of determining whether the detected multidimensional force signal satisfies a predefined condition comprises using artificial intelligence.

10. the multidimensional force signal comprises a position signal indicative of a position of the gripping device (3) and / or a position of a sample container (5) gripped by the gripping device (3) at which the multidimensional force signal was detected, the predefined conditions include a location condition; detecting a multidimensional force signal indicative of forces acting in multiple directions on said sample container (5) during movement comprises detecting said position signals; the step of determining whether the detected multidimensional force signal satisfies the predefined condition includes determining whether the detected position signal satisfies the position condition.

10. The method according to any one of claims 6 to 9.

11. 11. The method according to any one of claims 6 to 10, characterized in that the predefined conditions depend on non-perpendicular translational and / or rotational forces.

12. 12. The method of claim 6, further comprising the step of performing a predefined action when it is determined that the detected force signal satisfies the predefined condition.

13. Moving the reference sample container (5), by gripping the reference sample container (5) using the gripping device (3); and By moving the gripping device (3), Moving the reference sample container (5); detecting and recording a multidimensional force signal indicative of forces acting in multiple directions on said reference sample container (5) during movement, and / or a profile of parameters derived therefrom; defining conditions for the detected multi-dimensional force signal using the recorded profile, said conditions thereby becoming predefined conditions; 13. The method according to any one of claims 6 to 12, comprising:

14. detecting and recording a multidimensional force signal profile indicative of forces acting in multiple directions on the reference sample container (5) during movement includes detecting and recording said position signals; using the recorded profile to define a condition for the detected multidimensional force signal, whereby said condition becomes a predefined condition, characterized in that the step of defining a position condition for said predefined condition.

14. The method of claim 13 when dependent on claim 10.

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