Apparatus and method for monitoring items in a diagnostic laboratory system

Abstract

A method for monitoring a specimen container or specimen in a diagnostic laboratory system includes moving the specimen container on a track in the diagnostic laboratory system; moving a sensor module on the track; and monitoring at least one characteristic of the specimen container or the specimen in the specimen container with the sensor module. Other methods, sensor modules, and diagnostic laboratory systems are disclosed.

Description

Technical Field

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[0001] ​​​​​​​​​​​​​​​​​​​​​​​​​​​​New types of specimen containers with new shapes, colors, sizes, and / or caps are constantly being introduced to the market and thus accepted by diagnostic laboratory systems. Extensive testing is required for each new type of specimen container accepted into a diagnostic laboratory system to ensure that it functions properly. Therefore, there is a need for apparatus and methods for checking the suitability of specimen containers in diagnostic laboratory systems. [Means for solving the problem]

[0006] According to a first aspect, a method for monitoring an article in a diagnostic laboratory system is provided. This method includes moving the article on a track within the diagnostic laboratory system, moving a sensor module on the track, and monitoring at least one feature of the article using the sensor module.

[0007] According to a second aspect, a method is provided for monitoring a specimen container or specimen in a diagnostic laboratory system. This method includes moving a specimen container on a track within the diagnostic laboratory system, moving a sensor module on the track, and using the sensor module to monitor at least one characteristic of the specimen container or a specimen contained in the specimen container.

[0008] In another embodiment, a sensor module is provided. The sensor module includes at least one sensor configured to monitor at least one feature of an article configured to be transported on a truck in a diagnostic laboratory system, and a transport component configured to transport the sensor module on a truck in a diagnostic laboratory system.

[0009] Further other aspects, configurations, and advantages of the Disclosure will readily become apparent from the following description and examples of several exemplary embodiments, including the best mode intended for carrying out the Disclosure. The Disclosure may also enable other different embodiments, some of which details can be modified in various ways without departing in any way from the scope of the Disclosure. The Disclosure includes all modifications, equivalents, and alternatives within the claims.

[0010] The drawings described below are for illustrative purposes only and are not necessarily shown to actual size. Therefore, the drawings and specification should be interpreted as illustrative and not limiting. The drawings do not in any way limit the scope of this disclosure. [Brief explanation of the drawing]

[0011] [Figure 1] A block diagram of a diagnostic laboratory system including a sensor module, according to one or more embodiments, is shown. [Figure 2A] The image shows a side view of a sample container located within a sensor module and carrier, according to one or more embodiments, where the sensor module and carrier are located on a track in a diagnostic laboratory system. [Figure 2B] The image shows a side view of a sensor module and a sample container located within a carrier, according to one or more embodiments, where the sensor module and sample container are situated on a transport component of a diagnostic laboratory system. [Figure 3A] A side view of a sensor module for monitoring carriers and specimen containers in a diagnostic laboratory system, according to one or more embodiments, is shown, with a gripper assembly positioned to contact the specimen container. [Figure 3B] Figure 3A shows a sensor module, carrier, sample container, and gripper assembly according to one or more embodiments, where the gripper fingers of the gripper assembly are interacting with the sample container. [Figure 4]The images show side views of embodiments of a sensor module that monitors the interaction between a sample container and a gripper assembly, according to one or more embodiments, where the sample container differs from the sample containers in Figures 3A and 3B. [Figure 5] The images show side views of embodiments of a sensor module that monitors the interaction between a sample container and a gripper assembly, according to one or more embodiments, where the sample container differs from the sample containers in Figures 3A, 3B, and 4. [Figure 6] A side view is shown of a sensor module that monitors an aspiration device in a diagnostic laboratory system interacting with a specimen container, according to one or more embodiments. [Figure 7] A side view is shown of a sensor module that monitors an aspiration device in a diagnostic laboratory system interacting with a sample container, which is either incompatible with the carrier or in collision with the sample container, according to one or more embodiments. [Figure 8] A side view of a sensor module and general articles according to one or more embodiments is shown, where the sensor module and general articles are located on a track in a diagnostic laboratory system. [Figure 9] This is a flowchart illustrating a method for monitoring articles in a diagnostic laboratory system according to one or more embodiments. [Figure 10] This flowchart shows a method for monitoring specimen containers in a diagnostic laboratory system according to one or more embodiments. [Modes for carrying out the invention]

[0012] Diagnostic laboratory systems analyze specimens, such as liquid specimens taken from patients. Specimens may include any bodily fluids, such as blood, urine, cerebrospinal fluid, and other fluids. Specimens are typically collected in specimen containers that are accepted by the diagnostic laboratory system. Analysis may include identifying one or more analytes in the specimen and / or identifying the concentration of one or more analytes in the specimen.

[0013] Diagnostic laboratory systems can be configured to accept various types of sample containers. These different types of containers may vary depending on the analysis (e.g., test) planned for the sample in the container, the type of additives contained within, and / or the manufacturer of the container. For example, different containers may have specific shapes, colors, sizes, and / or caps, which indicate the type of analysis planned for the sample in the container, the additives contained within, and / or the manufacturer of the container.

[0014] Sample containers with new shapes, colors, sizes, and / or caps may be introduced to the market and thus adopted successively by diagnostic laboratory systems. Each new type of sample container intended for adoption by a diagnostic laboratory system requires extensive testing to determine whether it will function properly with the various components housed within the system. For example, components such as robotic arms, sample container carriers, decappers, centrifuges, quality control modules, aspiration devices, alcoators, and other components must be tested with the new type of sample container to ensure compatibility and usability with the various components.

[0015] The specimen containers can be moved throughout the diagnostic laboratory system by a transport system. In some embodiments, the transport system may include a carrier that carries the specimen containers on a truck or the like throughout the diagnostic laboratory system. The transport system can move the specimen containers to various components within the diagnostic laboratory system, where work is performed on the specimen containers and / or specimens within them as described herein.

[0016] The diagnostic examination room system can also transport general items such as reagent packages and supplies used by the components of the diagnostic examination room system and / or the analyzers. The components of the diagnostic examination room system can interact with such general items, such as removing items from the transport components of the transport system.

[0017] The devices and methods described herein provide for monitoring specimen containers and other items in a diagnostic examination room system to determine whether they are compatible with the components of the diagnostic examination room system. The methods and devices described herein describe monitoring specimen containers (and / or, in some cases, the specimens therein) and / or carriers of specimen containers. However, the devices and methods can monitor general items such as packages or reagents (e.g., reagent packs) used by the diagnostic examination room system and other general items.

[0018] The device includes a sensor module configured to move on the same track as the specimen container. The sensor module has one or more sensors, and the sensors are configured to monitor at least one characteristic of the specimen container or the specimen in the specimen container. In some embodiments, while work is being performed on the specimen container by one or more components in the diagnostic examination room system, the one or more sensors monitor one or more characteristics. Based on the monitoring, the diagnostic examination room system or a user of the diagnostic examination room system can determine whether a new type of specimen container is compatible and can be used with one or more components of the diagnostic examination room system.

[0019] In some embodiments, the sensor may be a vibration sensor and the monitored feature may be vibration. In some embodiments, the sensor is an imaging device configured to at least capture an image of the sample container. In some embodiments where the sensor is an imaging device, the features to be monitored are the tilt, the height of the sample in the sample container, and / or the state of a cap configured to be located on the sample container. In some embodiments, the sensor is an acoustic sensor configured to monitor sound. In such embodiments, the feature is sound. In some embodiments, monitoring includes monitoring at least one interaction between the sample container and a component, the component being movable or housing a movable sub-component of the diagnostic laboratory system. In such embodiments, the features may be the location of the movable component or sub-component relative to the sample container, the sound generated during the interaction, and / or the pressure applied to the sample container during the interaction.

[0020] These and other methods and apparatuses will be described in more detail herein with reference to FIGS. 1-10.

[0021] Reference is now made to FIG. 1. FIG. 1 shows an exemplary embodiment of a diagnostic laboratory system 100 configured to process and / or analyze a biological sample housed in a sample container 102. The sample container 102 can be stored in one or more racks 104 provided in a loading area 106. Processing can include pre-processing or pre-screening the sample and / or the sample container 102 prior to analysis by one or more modules 108. The diagnostic laboratory system 100 can also include one or more instruments 110, each instrument including one or more modules that can be similar to one or more of the modules 108.

[0022] In the embodiment shown in Figure 1, the diagnostic laboratory system 100 may include a first instrument 112 and a second instrument 114, which can perform various processing on specimens and / or specimen containers 102. The embodiment of the first instrument 112 shown in Figure 1 includes three modules 116, which are individually referred to as the first module 116A, the second module 116B, and the third module 116C. In some embodiments, module 116 may include a pre-processing module for processing the specimen container 102 and / or the specimen contained therein. Module 116 may also include one or more analyzer modules for analyzing the specimen as described herein. The embodiment of the second instrument 114 shown in Figure 1 includes three modules 118, which are individually referred to as the first module 118A, the second module 118B, and the third module 118C. These instruments may include fewer or more modules.

[0023] The embodiment in Figure 1 includes four modules 108, which are individually referred to as the first module 108A, the second module 108B, the third module 108C, and the fourth module 108D. One or more of the modules 108 may be pre-processing modules, which may be, for example, a decapper, centrifuge, quality control module, alli coater, etc. The diagnostic laboratory system 100 may include other types of pre-processing modules. In some embodiments, one or more of the modules 108 may be one or more clinical chemistry analyzers or assay instruments. Modules 116 and 118 in instrument 110 may be identical or similar to modules 108. The diagnostic laboratory system 100 may include more or fewer modules 108 and instruments 110.

[0024] The sample container 102 is located inside or on the carrier 122. The track 120 can be made operable to move the carrier 122 along with the sample container 102 inside it throughout the diagnostic laboratory system 100. In some embodiments, the track 120 can move the carrier 122 between various modules 108, instruments 110, and other components of the diagnostic laboratory system 100. In some embodiments, the carrier 122 may be self-propelled, and the track 120 can enable the carrier 122 to move the sample container 102 throughout the diagnostic laboratory system 100.

[0025] In some embodiments, the track 120 may be a track with rails (e.g., a monorail track or a multirail track), a collection of conveyor belts, a chain, a propulsion-type or otherwise movable platform, or other suitable transport mechanism. In some embodiments, the track 120 may be circular, meandering, or other shapes, and may be a closed track (i.e., an endless track). The track 120 can transport individual specimen containers 102 in a carrier 122. In other embodiments, some specimen containers 102 may be transported in a single carrier. The specimen containers 102 may be configured to be moved in an upright orientation by the carrier 122. In the illustrated embodiment, the carrier 122 may be configured to stop at a predetermined location along the track 120, such as to be processed by module 108 and equipment 110. In some embodiments, the carrier 122 may be configured to stop at that predetermined location to deliver general goods to that location.

[0026] The diagnostic laboratory system 100 may include one or more position sensors 126 for detecting the location of sample containers 102 and / or carriers 122 within the diagnostic laboratory system 100. In some embodiments, a position sensor (not shown in Figure 1) may be located within module 108 and / or instrument 110. In some embodiments, the position sensor 126 may include an optical device (not shown) for detecting the location of sample containers 102 and / or carriers 122. The optical device may read markings on the sample containers 102 and / or carriers 122 that identify individual sample containers 102 and / or individual carriers 122.

[0027] In some embodiments, the position sensor 126 may include or include other sensors, such as RFID devices, to detect the location of the sample containers 102 and / or carriers 122. For example, each of the sample containers 102 and / or carriers 122 may have a unique RFID tag (not shown) that identifies the individual sample container 102 and / or carrier 122. The position sensor 126 may include an RFID reader that reads the RFID tags and thereby identifies the location of the sample containers 102 and / or carriers 122 within the diagnostic laboratory system 100.

[0028] The diagnostic laboratory system 100 may include a computer 128 or be configured to communicate with a computer 128. The computer 128 may be a microprocessor-based central processing unit (CPU) and may include appropriate memory, software, and regulating electronics, as well as drivers configured to operate various components and sub-components of the diagnostic laboratory system 100. The computer 128 may include a processor 128A and memory 128B, with processor 128A configured to execute a program 128C stored in memory 128B. The computer 128 may be housed as part of the diagnostic laboratory system 100 or separately. Program 128C can operate components including modules 108 and equipment 110, and can also operate the transport system of the diagnostic laboratory system 100, enabling analysis as described herein. In some embodiments, the computer 128 may be configured to communicate with a separate workstation computer associated with various modules 108 and equipment 110.

[0029] In some embodiments, the diagnostic laboratory system 100 may include a robot 130, which may be configured to pick up a specific sample container 102 from one or more racks 104 and place the sample container 102 into one or more carriers 122 located in predetermined locations. Additionally, the robot 130 may be configured to remove the sample container 102 from the carriers 122 and place the sample container 102 into the racks 104. The robot 130 may operate via instructions generated by the computer 128, such as instructions generated by one or more programs 128C. Optionally, a separate workstation computer may be configured to communicate with the computer 128 and perform loading and unloading therein.

[0030] The robot 130 may include gripper fingers (e.g., gripper fingers 362 - Figure 3A) which grip the sample container so that the robot 130 can transport the sample container 102 between the rack 104 and the carrier 122. The gripper fingers 362 may grip the sample container 102 in a specific manner depending on the type of sample container being gripped. For example, the grip may vary depending on the height, width, and / or shape of the sample container 102 to be gripped. The robot 130 may also transport the sample container 102 in a specific manner depending on the type of sample container 102 being transported. If the robot 130 transports the sample container 102 improperly, the sample container 102 may collide with components or subcomponents of the diagnostic laboratory system 100. In some embodiments, the collision may damage the components, the robot 130, and / or the sample container 102. In some embodiments, the methods and apparatus described herein can monitor the interaction between the robot 130 and the sample container 102 to ensure that the sample container 102 is being properly grasped and transported.

[0031] The diagnostic laboratory system 100 may include a robot 132 configured to transport a sample container 102 between a carrier 122 and a third module 108C. The robot 132 may include gripper fingers similar to or identical to those of the robot 130's gripper fingers 362. As with the robot 130, failure of the robot 132 to properly grasp and / or transport the sample container 102 may damage the sample container 102, the robot 132, or other components within the diagnostic laboratory system 100. Other modules 108 and instruments 110 in the diagnostic laboratory system 100 may include robots similar to or identical to those of robots 130 and 132. Methods and apparatus for monitoring the interaction between the robot 132 and the sample container 102 and for determining the effectiveness of the interaction are described herein.

[0032] As described herein, the diagnostic laboratory system 100 may include a number of movable components that interact with the specimen container 102 and / or the specimen contained therein. Some interactions may allow the specimen container 102 to move, and some interactions may allow access to the specimen contained within the specimen container 102 (e.g., aspiration and / or dispensing). When one or more new types of specimen containers 102 are to be introduced into the diagnostic laboratory system 100, program 128C must be revised to control the components within the diagnostic laboratory system 100 to operate precisely with the new specimen containers 102.

[0033] For example, when a new type of sample container 102 that is shorter than previous sample containers 102 is introduced, the instructions to operate at least robot 130, robot 132, and other system robots can be revised to have the robots grasp and / or transport the shorter sample containers 102. The methods and apparatus described herein monitor one or more robots to ensure that they operate correctly with the new type of sample container 102.

[0034] The diagnostic laboratory system 100 may include one or more sensor modules 136, each configured to move on the same track 120 as at least one of the sample containers 102 and / or at least one of the carriers 122 within the diagnostic laboratory system 100. Other similar sensor modules 136 may be included and may move anywhere on the track 120. In the embodiment of Figure 1, the sensor module 136 and the sample container 102A held in the carrier 122A are shown moving on the track 120. The carrier 122A may be identical or substantially similar to the carrier 122. The sensor module 136 may follow or track the sample container 102A and the carrier 122A as the carrier 122A transports the sample container 102A on the track 120. In some embodiments, the sensor module 136 may lead (i.e., be in front of) the sample container 102A on the track 120.

[0035] The sensor module 136 includes one or more sensors configured to monitor the carrier 122A and / or the sample container 102 located within the carrier 122A. In some embodiments, the sensor module 136 monitors the sample container 102A and / or the carrier 122A during one or more interactions between the sample container 102A and / or the carrier 122A and one or more components or subcomponents in the diagnostic laboratory system 100. In some embodiments, one or more sensors may monitor the sample container 102A as the carrier 122A transports the sample container 102A within the diagnostic laboratory system 100. In some embodiments, one or more sensors may monitor the sample container 102A and / or the carrier 122A at a first time and a subsequent second time. In some embodiments, one or more sensors may monitor the sample container 102A at a first time before and a second time after one or more interactions with one or more components of the diagnostic laboratory system 100. The software can analyze data acquired at first and second time points to detect certain changes that allow for the determination of whether the sample container 102A is compatible with the diagnostic laboratory system 100. For example, at one or more stages of the interaction between a component (or its subcomponents) and the sample container 102 or the sample contained therein, images captured by one or more sensors can be analyzed to determine the positioning of the component or subcomponent.

[0036] See also Figures 2A and 2B. These figures are side views of the sensor module 136 monitoring the sample container 102A and the carrier 122A. The sensor module 136 shown in Figures 2A and 2B includes one or more sensors. In some embodiments, the sensor module 136 may include more or fewer sensors than those shown in Figures 2A and 2B. One or more sensors may include one or more imaging devices, such as one or more cameras, CMOS sensors, sensor arrays, or other digital imaging devices.

[0037] In the embodiment shown in Figure 2A, the sensor module 136 is separate from the carrier 122A and can move on the track 120 independently of the carrier 122A. However, the sensor module 136 can be configured to move together with the carrier 122A on the track 120. For example, the sensor module 136 can be configured to maintain a predetermined distance from the carrier 122A. In other embodiments, the sensor module 136 can be configured so that one or more of its sensors are within a predetermined range of the carrier 122A or the sample container 102A when monitoring the sample container 102A and / or the carrier 122A. This distance can be controlled by any suitable means, such as a physical spacer or physical coupling, distance measurement, or other positioning means.

[0038] The carrier 122A may include or be coupled to a transport component 238A configured to transport the carrier 122A on the track 120. In some embodiments, the transport component 238A may be self-propelled, such as having an electric or other motor to move the transport component 238A and the carrier 122A on the track 120. The motor in the transport component 238A may receive commands to move the transport component 238A. Commands may be generated, for example, by program 128C (Figure 1). In other embodiments, a device (not shown) near the track 120 may move the transport component 238A. Thus, in those embodiments, the transport component 238A can enable the movement of the carrier 122A on the track 120. The sensor module 136 may include or be coupled to a transport component 238B. The transport component 238B may be identical or substantially similar to the transport component 238A.

[0039] In some embodiments, the sensor module 136 can be configured to remain within a predetermined range of distance from the carrier 122A when components such as movable components of the diagnostic laboratory system 100 interact with the sample container 102A, or when one or more sensors on the sensor module 136 monitor one or more features of the sample container 102A.

[0040] In some embodiments of the carrier 122A, a mark 240A may be included, and the sensor module 136 may include a mark 240B. Marks 240A and / or 240B can be readable by the position sensor 126. In some embodiments, marks 240A and 240B may be barcodes or characters readable by the position sensor 126. When a mark 240A or 240B is read, the position of the carrier 122A or sensor module 136 relative to the position sensor reading the mark 240A or 240B is known or can be interpolated. In some embodiments, marks 240A and / or 240B may be RFID tags, and at least one of the position sensors 126 may be an RFID reader. When the position sensor 126 reads an RFID tag, the position of the carrier 122A and / or sensor module 136 can be determined. In the embodiment of Figure 2B, the transport component 258 is configured to transport both the sensor module 136 and the carrier 122A. Therefore, a single mark 240 can be attached to the transport component 258.

[0041] As described above, the sensor module 136 may include one or more sensors configured to monitor one or more features of the interaction between the sample container 102A, the carrier 122A, and / or movable components or subcomponents and the sample container 102A. In some embodiments, at least one sensor may be an imaging device 242 configured to capture an image of at least a portion of the sample container 102A. In some embodiments, the imaging device 242 may also be configured to capture an image of components that are interacting with or interacting with the sample container 102A at one or more stages. The imaging device 242 may have a field of view 244, the size of which the field of view 244 is such that it captures an image of the sample container 102A and, in some embodiments, an image of components (or subcomponents) that are interacting with or interacting with the sample container 102A. In the embodiment of Figure 2A, the field of view 244 is bounded by an upper limit 244A and a lower limit 244B. The field of view 244 can be made wide enough for the imaging device 242 to capture an image of the sample container 102A and, in some embodiments, an image of one or more components (or their subcomponents) that are interacting with or interacting with the sample container 102A.

[0042] In some embodiments, the imaging device 242 can capture images of reference markers to determine the location of the sensor module 136. For example, one or more position sensors 126 may include reference markers on the carrier 122A that can be imaged by the imaging device 242.

[0043] The imaging device 242 acquires images as described herein and converts the acquired images into image data. The image data can be transmitted by the transmitter / receiver 246 to the computer 128 (Figure 1). The computer 128 can then process the image data as described herein. The transmitter / receiver 246 can transmit other data and receive data and commands, such as commands to operate the transport component 238B, such as positioning.

[0044] The imaging device 242 can monitor one or more features of the sample container 102A. In some embodiments, the feature is the height of the sample 260 in the sample container 102A. In some embodiments, the feature is the condition of the cap 259 that may be on the sample container 102A, such as whether the cap is present and / or its color. In some embodiments, the feature is the position of a movable component or subcomponent relative to the sample container 102A. In some embodiments, the feature to monitor is whether the sample 260 has spilled out.

[0045] The sensor module 136 may include an acoustic sensor 248. The acoustic sensor 248 can be configured to convert sound into audio data, which can be processed by a computer 128 (Figure 1). In some embodiments, the audio data can be transmitted to the computer 128 by a transmitter / receiver 246. In some embodiments, the acoustic sensor 248 can be configured to receive sound in its vicinity, which includes sound emanating from the area of ​​the sample container 102A. In some embodiments, the acoustic sensor 248 can be configured to receive sound from the area of ​​the sample container 102A and / or from the area of ​​a component or subcomponent that is interacting with or configured to interact with the sample container 102A. For example, the acoustic sensor 248 may include a directional receiver (not shown) configured to receive sound from a specific area, such as the area of ​​the sample container 102A. Thus, in those embodiments, monitoring includes monitoring sound, and at least one feature is sound.

[0046] In some embodiments, the sensor module 136 may include one or more rangefinders. A first rangefinder 250A may be configured to measure the distance between the sensor module 136 and the carrier 122A. In some embodiments, a second rangefinder 250B may be configured to measure the distance between the sensor module 136 and a defined portion of the sample container 102A. In some embodiments, the first rangefinder 250A and / or the second rangefinder 250B may use an optical system, such as a laser (e.g., a laser rangefinder), to measure the distance. Distance may be measured using other methods, such as acoustic methods. Using the distance measured by the first rangefinder 250A, the sensor module 136 and the carrier 122A can be positioned such that the distance between them falls within a predetermined range (e.g., 9 cm to 10 cm). In some embodiments, range information can be transmitted to a computer 128 via a transmitter / receiver 246. Next, the computer 128 can generate commands to move the sensor module 136 or the carrier 122A in order to maintain a predetermined range of distance between the sensor module 136 and the carrier 122A. In some embodiments, processing within the sensor module 136 maintains the predetermined range of distance by generating internal commands to maintain that range.

[0047] In some embodiments, the position of the sample container 102A relative to the carrier 122A can be determined using the distance measured by the second rangefinder 250B. In some embodiments, the orientation (e.g., degree of tilt) of the sample container 102A can be measured using the distance measured by the second rangefinder 250B.

[0048] In some embodiments, the sensor module 136 may include a vibration sensor 249 configured to monitor vibrations. Thus, monitoring may include monitoring vibrations that may occur during the interaction between a movable component or subcomponent and the sample container 102A. For example, vibrations of the sample container 102A, carrier 122A, or transport component 238A may be monitored, and such vibrations may indicate a collision between the component or subcomponent and the sample container 102A.

[0049] The carrier 122A is shown in cross-section in Figure 2A. The carrier 122A includes an opening 252 configured to receive the sample container 102A. In some embodiments, the opening 252 includes one or more retaining devices 254 configured to reliably hold the sample container 102A upright within the opening 252. In the embodiment of Figure 2A, the retaining device 254 may be a spring device that holds the sample container 102A generally upright in the opening 252.

[0050] In some embodiments, the carrier 122A may be set up on or integrated into a pressure sensor 256. The pressure sensor 256 can measure or monitor the pressure (e.g., force) applied to the sample container 102A and / or carrier 122A when components or subcomponents of the diagnostic laboratory system 100 interact with the sample container 102A and / or carrier 122A. The pressure data generated by the pressure sensor 256 can be transmitted to a computer 128 via a transmitter / receiver (not shown). Thus, in such embodiments, the feature to be monitored is the pressure applied to the sample container 102A.

[0051] In the embodiment shown in Figure 2A, the sample container 102A includes a cap 259, and the sample 260 is located inside the sample container 102A. The cap 259 can be removed by a cap remover (decapper not shown), and the interaction between the cap remover and the cap 259 can be monitored by a sensor module 136. The sample 260 can be removed by an aspiration device (e.g., aspiration device 600 - Figure 6), and the interaction between the aspiration device and the sample 260 and / or the sample container 102A can be monitored by a sensor module 136. In these embodiments, the cap remover and the aspiration device include movable components (which may be subcomponents).

[0052] Refer further to Figure 2B. Figure 2B shows an embodiment in which the sensor module 136 is physically coupled to the carrier 122A. In the embodiment of Figure 2B, the sensor module 136 and the carrier 122A are coupled to a transport component 258. The transport component 258 moves the sensor module 136 and the carrier 122A together on the track 120. Thus, the distance between the sensor module 136 and the carrier 122A is maintained at a predetermined distance. In some embodiments, the pressure sensor 256 can be incorporated into or located on the transport component 258 and can be configured to communicate with a transmitter / receiver 246 to transmit monitored pressure data to a computer 128. Thus, in such embodiments, at least one feature is the pressure monitored by the pressure sensor 256.

[0053] The sensor module 136 can monitor the features described herein to determine whether the sample container 102A is compatible with the diagnostic laboratory system 100 and its components. In some embodiments, the features are monitored during the first and subsequent second times to determine whether a change between the first and second times indicates incompatibility. In some embodiments, the feature is the height of the sample 260, which can be monitored by the imaging device 242. If the height changes or is not at a predetermined level, the sample container 102A may have caused the sample 260 to spill out or, in some cases, collide with the sample container 102A, and is therefore incompatible with the diagnostic laboratory system 100. In some embodiments, the feature is the tilt or orientation of the sample container 102, which can be monitored by the imaging device 242. If the sample container 102A has a tilt greater than a predetermined tilt, the sample container 102A may be incompatible. In some embodiments, the feature is the state of the cap 259, which can be monitored by the imaging device 242. If cap 259 is attached when it should be removed, or removed when it should be attached, the sample container 102A may be unsuitable. In some embodiments, the color or type of cap 259 can be monitored by the imaging device 242. If cap 259 is the wrong color or type for the indicated analysis, the sample container 102A may be unsuitable.

[0054] See also Figure 3A. Figure 3A is a side view of the sensor module 136 and carrier 122A, in which the gripper assembly 360 is positioned to contact the sample container 102A. The gripper assembly 360 shown in Figures 3A and 3B is just one of many different embodiments of a gripper assembly that can be used to grasp and move the sample container 102A. The gripper assembly 360 and its components may be one or more of the movable components (including subcomponents) described herein. A similar gripper assembly can be used in module 108 (Figure 1) and / or instrument 110 (Figure 1). The gripper assembly 360 can be used in either or both of robot 130 (Figure 1) and robot 132 (Figure 1). The gripper assembly 360 includes a plurality of gripper fingers 362 configured to move to grasp the sample container 102A. Embodiments of the gripper assembly 360 include a first finger 362A and a second finger 362B. You may use a different number of gripper fingers (for example, three or four).

[0055] The gripper finger 362 is configured to move relative to the sample container 102A in the X direction to engage and disengage it. The gripper finger 362 can move in the Z direction to approach and disengage the sample container 102A. Thus, the gripper finger 362 can move toward the sample container 102A in the Z direction to engage with the sample container 102A, as shown in Figure 3B, and then move toward each other in the X direction. The gripper finger 362 can then move in the Z direction to withdraw the sample container 102A from the carrier 122A. The reverse process can be performed to insert the sample container 102A into the carrier 122A.

[0056] The gripper assembly 360 may include one or more servo motors (not shown) connected to the gripper fingers 362. The power supplied to the gripper assembly 360 can be monitored by a voltage sensor 366 and / or a current sensor 368. In some embodiments, the voltage sensor 366 and / or the current sensor 368 can be integrated into the gripper assembly 360. Voltage data generated by the voltage sensor 366 and / or current data generated by the current sensor 368 can be transmitted to a computer 128 (Figure 1) and processed by program 128C. An excessive current drawn into the gripper assembly 360 may indicate an anomaly during the interaction between the gripper fingers 362 and the sample container 102A. An excessive voltage required to move the gripper fingers 362 may also indicate an anomaly during the interaction between the gripper fingers 362 and the sample container 102A.

[0057] In both configurations of Figures 3A and 3B, the carrier 122A, the sample container 102A, and the gripper finger 362 are within the field of view 244 of the imaging device 242. Therefore, images of the carrier 122A, the sample container 102A, and the gripper finger 362 can be captured by the imaging device 242. Additionally, interactions between the carrier 122A, the sample container 102A, and the gripper finger 362 can be captured. Image data representing the captured images can be transmitted by the transmitter / receiver 246 to the computer 128 (Figure 1) as described herein, and processed by the computer 128's program 128C (Figure 1).

[0058] In some embodiments, the acoustic sensor 248 can monitor sound and generate acoustic data representing the sound produced during the interaction between the gripper finger 362 and the sample container 102A. The acoustic data can be transmitted to the computer 128 (Figure 1) via the transmitter / receiver 246. Program 128C can analyze the acoustic data to determine whether the sound is due to an anomaly occurring during the interaction. The anomaly may be found to be due to incompatibility between the gripper assembly 360 and the sample container 102A.

[0059] Refer to Figure 4. Figure 4 shows an embodiment of a sensor module 136 that monitors the interaction between the sample container 402 and the gripper assembly 360. In the embodiment of Figure 4, the sample container 402 differs from the sample container 102A in that it is narrower than the sample container 102A. In other embodiments, the sample container 402 may have a different shape from the sample container 102A. For example, the sample container 402 may have a shape other than cylindrical.

[0060] As shown in Figure 4, the size and / or shape of the sample container 402 prevents it from being properly received by the carrier 122A. As described herein, the sensor module 136 can monitor one or more interactions between the gripper assembly 360 and the sample container 402. Occasionally, the sample container 402 was tilted within the carrier 122A. For example, the holding device 254 may not be properly holding the sample container 402 within the carrier 122A. For example, tilting may have occurred while loading the sample container 402 into the carrier 122A or while moving the carrier 122A on the track 120.

[0061] As described above, tilt can be a feature monitored by the imaging device 242. The program 128C (Figure 1) or the user can recognize the tilt, but the gripper fingers 362 may be made to interact with the sample container 402 in order to determine whether the sample container 402 is compatible with the gripper fingers 362 even if there is a tilt.

[0062] As shown in Figure 4, the tilt of the sample container 402 may interfere with proper interaction between the gripper fingers 362 and the sample container 402. For example, the first finger 362A may come into contact with the top of the sample container 402 when the gripper fingers 362 move toward the sample container 402 in the Z direction. The contact between the sample container 402 and the first finger 362A can be captured by the imaging device 242. The image data generated by the imaging device 242 can be analyzed by program 128C or by a user of the diagnostic laboratory system 100. A determination may then be made that the sample container 402 is not compatible with the gripper fingers 362. The incompatibility may be based on the recognition of contact between the upper edge of the sample container 402 and at least one of the gripper fingers 362.

[0063] In some embodiments, the acoustic sensor 248 can detect (e.g., monitor) the sound generated by the contact between the first finger 362A and the sample container 402. The acoustic data generated by the contact between the first finger 362A and the sample container 402 can be analyzed by program 128C (Figure 1) or by the user to determine the compatibility of the sample container 402 with the gripper finger 362. In some embodiments, the contact between the first finger 362A and the sample container 402 may cause pressure in the pressure sensor 256, which can be transmitted as pressure data and analyzed by program 128C. Excessive pressure may indicate that the sample container 402 is not compatible with the gripper finger 362 due to the contact between them.

[0064] When the first finger 362A contacts the sample container 402, the current and / or voltage input to the gripper assembly 360 may change. The current sensor 368 and / or voltage sensor 366 can measure or monitor the current and / or voltage. This data, combined with data generated by the sensor module 136 (e.g., acoustic data and / or image data), can be used to determine whether the interaction between the gripper finger 362 and the sample container is appropriate and whether the sample container 402 is compatible with the gripper finger 362.

[0065] Refer to Figure 5. Figure 5 shows an embodiment of a sensor module 136 that monitors the interaction between the sample container 502 and the gripper assembly 360. In the embodiment of Figure 5, the sample container 502 differs from the sample container 102A in that it is wider and shorter than the sample container 102A. In other embodiments, the sample container 502 may have a different shape from the sample container 102A. For example, the sample container 502 may have a shape other than cylindrical.

[0066] As shown in Figure 5, the specimen container 502 fits tightly into the opening 252 of the carrier 122A due to its width. Therefore, the size and / or shape of the specimen container 502 may prevent it from being properly accepted into and withdrawn from the carrier 122A. Thus, the specimen container 502 may be incompatible with the components of the diagnostic laboratory system 100. For example, the holding device 254 may hold the specimen container 502 too tightly into the opening 252. If it is too tight, it may prevent the gripper assembly 360 from moving or removing the specimen container 502 in the carrier 122A. Additionally, if the specimen container 502 is too short, it may prevent the gripper fingers 362 from properly gripping each side of the specimen container 502, as described herein.

[0067] As described herein, the sensor module 136 can monitor one or more interactions between the gripper assembly 360 and the sample container 502. The width of the sample container 502 may cause one of the gripper fingers 362 to make improper contact with the sample container 502. The imaging device 242 and the acoustic sensor 248 and / or pressure sensor 256 can generate data in response to improper contact between the sample container 502 and the gripper finger 362, as shown in Figure 4. This data can be analyzed to determine whether the sample container 502 is compatible with the gripper finger 362. Data from the voltage sensor 366 and / or current sensor 368 can be used to confirm the incompatibility of the sample container 502 with the gripper finger 362.

[0068] If the sample container 502 is tightly fitted within the carrier 122A, this may increase the force applied to the sample container 502 by the gripper assembly 360 when the sample container 502 is moved relative to the carrier 122A. The pressure sensor 256 can monitor the force applied by the gripper assembly 360 to move the sample container 502. Additionally, the voltage sensor 366 and / or current sensor 368 can monitor any additional force required to move the sample container 502. The imaging device 242 can generate image data of the sample container 502, which can be analyzed by program 128C (Figure 1) to determine the width of the sample container 502. Based at least in part on the aforementioned data from the sensor module 136, and possibly in combination with other verification data, program 128C can determine whether the sample container 502 is compatible with the gripper fingers 362.

[0069] As described herein, the specimen container 502 may be shorter than the specimen container 102A. The shorter size of the specimen container 502 may prevent the gripper fingers 362 from properly gripping the specimen container 502. For example, as shown in Figure 5, the gripper fingers 362 may not fully engage with the specimen container 502. The imaging device 242 can capture images of the interaction between the gripper fingers 362 and the specimen container 502. Program 128C (Figure 1) can analyze the image data generated by the imaging device 242 to determine whether the specimen container 502 is compatible with the gripper assembly 360. For example, the position of the gripper fingers 362 relative to the top of the specimen container 502 in the Z direction can be analyzed to determine compatibility or incompatibility.

[0070] Refer to Figure 6 here. Figure 6 shows a side view of the suction device 600 appropriately interacting with the sample container 102A. The suction device 600 can be configured to aspirate the sample 260 from the sample container 102A. In some embodiments, the suction device 600 can be configured to supply the sample 260 to another container (not shown). In some embodiments, the suction device 600 can be configured to supply liquid to the sample container 102A. The suction device 600 and its components may be the movable components (including subcomponents) described herein.

[0071] The aspiration device 600 includes a probe 660 (e.g., a pipette) configured to move in and out of the sample container 102 to perform aspiration and / or dispensing operations. Thus, the probe 660 is configured to enter the sample container 102A to contact the sample 260 and aspirate it. In the embodiment shown in Figure 6, the probe 660 is properly interacting with the sample container 102A. For example, the probe 660 is not in contact with the sample container 102A at its top, but is properly positioned inside the sample container 102A to proceed to contact the sample 260.

[0072] The suction device 600 may include a robot 662, which is connected to the probe 660 and configured to move the probe 660 at least in the Z direction. For example, a motor 664 may be configured to move the probe 660 in the Z direction. In the embodiment of Figure 6, the robot 662 may also be configured to move the probe 660 in the X direction, and the X direction may be parallel or perpendicular to the direction of the track 120. For example, a motor 665 may be configured to move the probe 660 in the X and Z directions. The robot 662 may be configured to move the probe 660 in other directions. The suction device 600 may include a pump 668 connected to the probe 660, which is configured to aspirate and supply liquid through the probe 660.

[0073] The components of the suction device 600 can be controlled by a computer 628, which can connect to and communicate with a computer 128 (Figure 1). In some embodiments, computer 628 is the same as computer 128. Computer 628 can generate commands to operate motors 664, 665, and pump 668. In the embodiment of Figure 6, computer 628 includes a position controller 670, which generates commands to operate motors 664 and 665. Motors 664 and 665 can transmit feedback monitoring signals back to the position controller 670. The monitoring signals may include position information and / or power (voltage and / or current) drawn in by motors 664 and 665. Computer 628 may also include a suction controller 672 configured to generate commands to control pump 668.

[0074] The sensor module 136 can be configured to monitor the interaction between the sample container 102A and the aspiration device 600. The imaging device 242 can acquire images of the probe 660, the sample container 102A, the sample 260, and / or the carrier 122A. The acoustic sensor 248 can monitor the sound generated during the interaction. The pressure sensor 256 can monitor the pressure applied to the carrier 122A during the interaction. The vibration sensor 249 can monitor vibrations during the interaction. The data generated during the interaction can be transmitted to the computer 128 (Figure 1) to determine the compatibility of the sample container 102A with the aspiration device 600 and can be analyzed by program 128C.

[0075] Refer to Figure 7. Figure 7 shows the aspiration device 600 interacting with a sample container 402 that is incompatible with carrier 122A. As described herein, sample container 402 is narrower than sample container 102A (Figure 2A), which caused sample container 402 to tilt significantly in carrier 122A. An image of sample container 402 can be acquired by imaging device 242 as described herein. Because sample container 402 is incompatible with the aspiration device 600, the probe 660 collided with sample container 402 when moved toward it in the Z direction. The imaging device 242, acoustic sensor 248, and / or vibration sensor 249 can generate data which can be analyzed by computer 628 to determine that sample container 402 is incompatible with the aspiration device 600. The pressure sensor 256 can generate data which can be analyzed by computer 628 to further confirm the incompatibility of sample container 402.

[0076] The sensor module 136 described in Figures 2A to 7 shows a sensor module 136 that monitors the sample container 102A and / or carrier 122A. In some embodiments, the sensor module 136 is configured to monitor an article 802, as shown in Figure 8. The article 802 may be a general article that can be transported through the diagnostic laboratory system 100. In some embodiments, the article 802 may be a package containing reagents (e.g., a reagent pack), or another package containing chemicals or liquids used by the diagnostic laboratory system 100. In other embodiments, the article 802 may be a hardware component or replenishment used in the diagnostic laboratory system 100.

[0077] The sensors in the sensor module 136 can be configured to generate data about article 802. For example, the imaging device 242 can be configured to capture an image of at least a portion of article 802. The imaging device 242 can be configured to capture an image of at least a portion of article 802, and an image of at least a portion of components or their subcomponents that interact with article 802. When a new type of article is introduced to the diagnostic laboratory system 100, the sensor module 136 can monitor article 802. Program 128C (Figure 1) can then analyze the data generated by the sensor module 136 to determine whether the article is compatible with the diagnostic laboratory system 100.

[0078] Refer to Figure 9 here. Figure 9 is a flowchart of method 900 for monitoring an article (e.g., article 802) in a diagnostic laboratory system (e.g., diagnostic laboratory system 100). Method 900 includes, in 902, moving the article on a track (e.g., track 120) within the diagnostic laboratory system. Method 900 includes, in 904, moving a sensor module (e.g., sensor module 136) on the track. Method 900 includes, in 906, monitoring at least one feature of the article using the sensor module. If monitoring article 802, the feature may be the location, tilt, height, and / or width of the article, and / or the interaction of components (or their subcomponents) with article 802.

[0079] See also Figure 10. Figure 10 is a flowchart of method 1000 for monitoring specimen containers (e.g., specimen containers 102, 102A, 402, 502) or specimens (e.g., specimen 260) in a diagnostic laboratory system (e.g., diagnostic laboratory system 100). Method 1000 includes, in 1002, moving the specimen containers on a track (e.g., track 120) within the diagnostic laboratory system. Method 1000 includes, in 1004, moving a sensor module (e.g., sensor module 136) on the track. Method 1000 further includes, in 1006, monitoring at least one feature of the specimen containers or specimens contained in the specimen containers using the sensor module.

[0080] This disclosure is subject to various modifications and alternative forms, and embodiments of specific methods and apparatus are shown as examples in the drawings and described in detail herein. However, it should be understood that the specific methods and apparatus disclosed herein are not limiting to this disclosure, but rather encompass all modifications, equivalents, and alternatives within the claims.

Claims

1. A method for monitoring items in a diagnostic laboratory system: Moving items on a truck within the diagnostic laboratory system; Moving the sensor module on the truck; The sensor module is used to monitor at least one feature of the item. Includes, Here, moving an item includes moving a sample container, and monitoring at least one feature of the item is configured to determine whether the sample container is compatible with the diagnostic laboratory system. The method comprising monitoring the state of a cap configured to be positioned on a sample container, wherein at least one feature is the state of the cap, and monitoring includes capturing an image including the sample container.

2. The method according to claim 1, wherein the sensor module includes at least one sensor configured to monitor at least one feature.

3. The method according to claim 1, comprising positioning an article on a transport component and positioning a sensor module on the transport component, wherein moving the article and moving the sensor module includes moving the transport component on a truck.

4. The method according to claim 1, wherein monitoring includes monitoring at least one feature in a first time period and monitoring at least one feature in a subsequent second time period.

5. The method according to claim 1, wherein monitoring includes monitoring the interaction of at least one of the specimen containers with a movable component.

6. The method according to claim 1, wherein moving the article includes moving the reagent pack.

7. A method for monitoring specimen containers or specimens in a diagnostic laboratory system: Moving specimen containers on a truck within the diagnostic laboratory system; Moving the sensor module on the truck; The sensor module is used to monitor at least one characteristic of the sample container or the sample contained in the sample container. Includes, Here, monitoring at least one characteristic of the specimen container or the specimen contained in the specimen container is configured to determine whether the specimen container is compatible with the diagnostic laboratory system. The method comprising monitoring the state of a cap configured to be positioned on a sample container, wherein at least one feature is the state of the cap, and monitoring includes capturing an image including the sample container.

8. The method according to claim 7, wherein the sensor module includes at least one sensor configured to monitor at least one feature.

9. The method according to claim 7, comprising positioning a sample container on a transport component and positioning a sensor module on the transport component, wherein moving the sample container and moving the sensor module includes moving the transport component.

10. The method according to claim 7, wherein monitoring includes monitoring at least one feature in a first time period and monitoring at least one feature in a subsequent second time period.

11. The method according to claim 7, wherein monitoring includes monitoring the interaction of at least one of the specimen containers with a movable component.

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