Sample dispensing device and method

Abstract

A sample dispensing device and a sample dispensing method are provided. A sample dispensing device according to one aspect of the present invention comprises: a pipette tray in which a plurality of pipettes are arranged; a sample tube tray in which a plurality of sample tubes are arranged and which is arranged in a first direction of the pipette tray; a well plate in which a plurality of well tubes are arranged and which is arranged between the pipette tray and the sample tube tray; a sample tube gripper arranged adjacent to the well plate; a first manipulator that moves in a vertical direction and in the first direction and moves the sample tube of the sample tube tray to the sample tube gripper; a second manipulator that moves in the vertical direction and in the first direction, grasps the pipette of the pipette tray, sucks up the sample from the sample tube placed in the sample tube gripper, and dispenses it into the well tube of the well plate; a pipette tray actuator that moves the pipette tray in the vertical direction and in a second direction perpendicular to the first direction; and a sample tube tray actuator that moves the sample tube tray in the second direction. and includes a well plate actuator that moves the well plate in the second direction.

Description

Technology Field

[0001] The present invention relates to a sample dispensing device and a sample dispensing method. Background Technology

[0002] Today, infectious diseases caused by novel viruses are increasing worldwide.

[0003] For example, there are SARS, Ebola, MERS, West Nile fever, and Zika virus infection, and the coronavirus, which has recently been spreading worldwide, is also one of them.

[0004] In particular, COVID-19, an acute respiratory infectious disease caused by SARS-CoV-2, is an infectious pneumonia and is highly contagious, resulting in a large number of confirmed cases and deaths not only domestically but also globally.

[0005] Given the situation of large-scale COVID-19 outbreaks as described above, there is an urgent need for research on medical support systems to ensure a rapid, accurate, and safe initial response to suspected infected patients in medical settings.

[0006] Furthermore, as the entire process from sample collection to testing for COVID-19 infection currently relies almost entirely on medical personnel, measures to address the issue of accumulated fatigue among them must also be urgently prepared.

[0007] Meanwhile, Korean Patent Publication No. 10-2021-0136385 (Patent Document 1) discloses "a method for collecting specimens, a robot, and a system," wherein the specimen collecting robot according to the above is characterized by comprising: a first object gripping part to which a cotton swab for collecting specimens from a subject is coupled; a sensor part that detects contact between the oropharynx or nasopharynx of a subject and the cotton swab; a first actuator that rotates the first object gripping part; and a control part that activates the first actuator according to the detection result of the pressure sensor.

[0008] In the case of Patent Document 1 as described above, since a robot rather than medical personnel collects the specimen of a subject, infection of medical personnel during the specimen collection process can be prevented and the workload of medical personnel can be reduced to some extent, but since the robot here is only capable of collecting specimens, it cannot replace medical personnel in carrying the collected specimen to the laboratory and performing a series of testing processes through multiple steps. The problem to be solved

[0009] The problem that the present invention aims to solve is to provide a sample dispensing device and a sample dispensing method that can automatically dispense a collected sample into a well plate required for testing, thereby ensuring the safety of the worker from viruses and improving the work speed.

[0010] In addition, the problem that the present invention aims to solve is to provide a sample dispensing device and a sample dispensing method that can improve the working speed through the independent and simultaneous driving of a first manipulator and a second manipulator.

[0011] In addition, the problem that the present invention aims to solve is to provide a sample dispensing device and a sample dispensing method that can improve space efficiency by distributing the axes through the two-axis movement of the first and second manipulators and the one-axis movement of the pipette tray actuator, the sample tube tray actuator, and the well plate actuator.

[0012] In addition, the problem that the present invention aims to solve is to provide a sample dispensing device and a sample dispensing method that can prevent the equipment from being contaminated by preventing the sample aspirated by the pipette from falling onto the sample dispensing device.

[0013] In addition, the problem that the present invention aims to solve is to provide a sample dispensing device and a sample dispensing method that can facilitate the separation of a pipette from a second manipulator.

[0014] In addition, the problem that the present invention aims to solve is to provide a sample dispensing device and a sample dispensing method capable of tracking a sample dispensed into a well plate by recognizing information of a sample tube. means of solving the problem

[0015] A sample dispensing device according to one aspect of the present invention for achieving the above objective comprises: a pipette tray in which a plurality of pipettes are arranged; a sample tube tray in which a plurality of sample tubes are arranged and which is positioned in a first direction of the pipette tray; a well plate in which a plurality of well tubes are arranged and which is positioned between the pipette tray and the sample tube tray; a sample tube gripper positioned adjacent to the well plate; a first manipulator that moves in a vertical direction and in the first direction and moves the sample tube of the sample tube tray to the sample tube gripper; a second manipulator that moves in the vertical direction and in the first direction, grasps the pipette of the pipette tray, sucks up the sample from the sample tube placed in the sample tube gripper, and dispenses it into the well tube of the well plate; a pipette tray actuator that moves the pipette tray in a second direction perpendicular to the vertical direction and the first direction; a sample tube tray actuator that moves the sample tube tray in the second direction; and the well plate in the second direction It may include a well plate actuator that moves the well plate.

[0016] Through this, collected samples can be automatically dispensed into well plates required for testing, thereby ensuring worker safety from viruses and improving work speed.

[0017] In addition, the work speed can be improved due to the independent and simultaneous driving of the first manipulator and the second manipulator.

[0018] In addition, space efficiency can be improved by distributing the axes through the two-axis movement of the first and second manipulators and the one-axis movement of the pipette tray actuator, specimen tube tray actuator, and well plate actuator.

[0019] In addition, the first manipulator can grasp the sample tube of the sample tube tray and move it upward, then move to one side of the first direction and move downward to place the sample tube on the sample tube gripper, and open the cap of the sample tube.

[0020] In addition, the second manipulator can grasp the pipette of the pipette tray and move it upward, then move to the other side of the first direction and move downward to aspirate the sample from the sample tube with the cap open, and dispense the aspirated sample into the well tube of the well plate.

[0021] In addition, the first manipulator can close the cap of the sample tube in which the sample was sucked by the second manipulator and move the sample tube in which the sample was sucked to the sample tube tray.

[0022] Additionally, the device includes a pipette collection container disposed between the pipette tray and the well plate, and the second manipulator can move the pipette it has captured to the pipette collection container after dispensing the aspirated sample.

[0023] Additionally, it includes a pipette guide rotatably disposed on the second manipulator, and when the pipette guide rotates in one direction, it may overlap in a vertical direction with the lower region of the pipette held by the second manipulator.

[0024] This prevents the sample aspirated by the pipette from falling onto the sample dispensing device, thereby preventing the equipment from becoming contaminated.

[0025] Additionally, the pipette guide includes a pipette groove corresponding to the pipette, and when the pipette guide rotates in a different direction, the pipette caught by the second manipulator can be caught in the pipette groove and separated from the second manipulator.

[0026] This makes it easier to separate the pipette from the second manipulator.

[0027] In addition, it may include a sensor that recognizes information of a sample tube placed on the sample tube gripper.

[0028] Through this, information from the sample tube can be recognized to track the sample dispensed into the well plate.

[0029] A sample dispensing device according to one aspect of the present invention for achieving the above objective may include a pipette tray in which a plurality of pipettes are arranged, a sample tube tray in which a plurality of sample tubes are arranged and which is arranged in a first direction of the pipette tray, a well plate in which a plurality of well tubes are arranged and which is arranged between the pipette tray and the sample tube tray, a sample tube gripper arranged adjacent to the well plate, a first manipulator that moves in a vertical direction and in the first direction and moves the sample tube of the sample tube tray to the sample tube gripper, a second manipulator that moves in the vertical direction and in the first direction and grasps the pipette of the pipette tray, sucks up the sample from the sample tube arranged in the sample tube gripper, and dispenses it into the well tube of the well plate, and a pipette guide rotatably arranged on the second manipulator.

[0030] In this case, when the pipette guide rotates in one direction, it may overlap vertically with the lower region of the pipette caught by the second manipulator.

[0031] Through this, collected samples can be automatically dispensed into well plates required for testing, thereby ensuring worker safety from viruses and improving work speed.

[0032] In addition, the work speed can be improved due to the independent and simultaneous driving of the first manipulator and the second manipulator.

[0033] In addition, it prevents the sample aspirated by the pipette from falling onto the sample dispensing device, thereby preventing the equipment from becoming contaminated.

[0034] Additionally, the pipette guide includes a pipette groove corresponding to the pipette, and when the pipette guide rotates in a different direction, the pipette caught by the second manipulator can be caught in the pipette groove and separated from the second manipulator.

[0035] This makes it easier to separate the pipette from the second manipulator.

[0036] A sample dispensing method according to one aspect of the present invention for achieving the above objective comprises: a first step of moving a sample tube placed in a sample tube tray to a sample tube gripper through a first manipulator; a second step of opening the cap of the sample tube placed on the sample tube gripper through the first manipulator; a third step of grasping a pipette placed in a pipette tray through a second manipulator and moving it to the sample tube with the open cap; a fourth step of drawing the sample from the sample tube with the open cap into the pipette through the second manipulator; a fifth step of moving the pipette with the drawn sample to a well tube of a well plate through the second manipulator; a sixth step of dispensing the sample from the pipette with the drawn sample into the well tube through the second manipulator; a seventh step of moving the pipette with the dispensed sample to a pipette collection container through the second manipulator; and moving the pipette with the dispensed sample to the second It may include an 8th step of separating from the manipulator, and a 9th step of closing the cap of the sample tube in which the sample was aspirated through the 1st manipulator and moving the sample tube in which the sample was aspirated to the sample tube tray.

[0037] In this case, the first manipulator and the second manipulator move in a vertical direction and in a first direction perpendicular to the vertical direction, and the sample tube tray, the pipette tray, and the well plate can move in a second direction perpendicular to the vertical direction and the first direction.

[0038] Through this, collected samples can be automatically dispensed into well plates required for testing, thereby ensuring worker safety from viruses and improving work speed.

[0039] In addition, the work speed can be improved due to the independent and simultaneous driving of the first manipulator and the second manipulator.

[0040] In addition, space efficiency can be improved by distributing the axes through the two-axis movement of the first and second manipulators and the one-axis movement of the pipette tray actuator, specimen tube tray actuator, and well plate actuator. Effects of the invention

[0041] Through this embodiment, a sample dispensing device and a sample dispensing method can be provided to automatically dispense a collected sample into a well plate required for testing, thereby ensuring the safety of the worker from viruses and improving the work speed.

[0042] In addition, through this embodiment, a sample dispensing device and a sample dispensing method can be provided that can improve the working speed due to the independent and simultaneous driving of the first manipulator and the second manipulator.

[0043] In addition, through this embodiment, a sample dispensing device and a sample dispensing method can be provided that can improve space efficiency by distributing the axes to the two-axis movement of the first and second manipulators and the one-axis movement of the pipette tray actuator, the sample tube tray actuator, and the well plate actuator.

[0044] In addition, through this embodiment, a sample dispensing device and a sample dispensing method can be provided that prevent the sample aspirated by the pipette from falling into the sample dispensing device, thereby preventing the equipment from being contaminated.

[0045] In addition, through this embodiment, a sample dispensing device and a sample dispensing method that can facilitate the separation of a pipette from a second manipulator can be provided.

[0046] In addition, through this embodiment, a sample dispensing device and a sample dispensing method can be provided that can track a sample dispensed into a well plate by recognizing information of a sample tube. Brief explanation of the drawing

[0047] FIG. 1 is a perspective view of a sample dispensing device according to one embodiment of the present invention. FIGS. 2 to 10 are operation diagrams of a sample dispensing device according to one embodiment of the present invention. FIG. 11 is a flowchart of a sample dispensing method according to one embodiment of the present invention. FIG. 12 is a flowchart showing the operation of each of the first manipulator and the second manipulator according to one embodiment of the present invention. Specific details for implementing the invention

[0048] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0049] However, the technical concept of the present invention is not limited to some of the described embodiments but can be implemented in various different forms, and within the scope of the technical concept of the present invention, one or more of the components among the embodiments may be selectively combined or substituted.

[0050] In addition, terms used in the embodiments of the present invention (including technical and scientific terms) may be interpreted in a sense that is generally understood by those skilled in the art to which the present invention belongs, unless explicitly and specifically defined otherwise. Terms that are commonly used, such as terms defined in advance, may be interpreted in consideration of their meaning in the context of the relevant technology.

[0051] Furthermore, the terms used in the embodiments of the present invention are for the purpose of describing the embodiments and are not intended to limit the present invention.

[0052] In this specification, the singular form may include the plural form unless specifically stated otherwise in the text, and when described as "at least one of A and B and C (or more than one)," it may include one or more of all combinations that can be formed from A, B, and C.

[0053] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments of the present invention. These terms are used merely to distinguish the components from other components and are not intended to limit the essence, order, or sequence of the components.

[0054] And, where it is stated that a component is 'connected', 'combined', or 'connected' to another component, this may include not only cases where the component is directly 'connected', 'combined', or 'connected' to the other component, but also cases where it is 'connected', 'combined', or 'connected' due to another component located between the component and the other component.

[0055] Furthermore, when described as being formed or placed "above" or "below" each component, "above" or "below" includes not only cases where two components are in direct contact with each other, but also cases where one or more other components are formed or placed between the two components. Additionally, when expressed as "above" or "below," it may include the meaning of a downward direction as well as an upward direction relative to a single component.

[0056] The present invention will be described in more detail below with reference to the attached drawings.

[0057] FIG. 1 is a perspective view of a sample dispensing device according to one embodiment of the present invention.

[0058] Referring to FIG. 1, a sample dispensing device (10) according to one embodiment of the present invention may include a pipette tray (100), a sample tube tray (200), a well plate (300), a sample tube gripper (400), a first manipulator (600), a second manipulator (500), a pipette collection container (130), a pipette tray actuator (120), a sample tube tray actuator (220), and a well plate actuator (320), but may be implemented excluding some of the components and not excluding additional components.

[0059] The sample dispensing device (10) may refer to a pretreatment device that dispenses a sample extracted from the human body into a well plate (300) for testing in a testing device.

[0060] A pipette tray (100), a sample tube tray (200), a well plate (300), a sample tube gripper (400), a pipette tray actuator (120), a sample tube tray actuator (220), and a well plate actuator (320) may be disposed on the lower plate (12) of the sample dispensing device (10).

[0061] A support member (14) extending upward from the bottom plate (12) may have a connecting part (16) extending in a horizontal direction. A first manipulator (600) and a second manipulator (500) may be placed in the connecting part (16) of the sample dispensing device (10).

[0062] In this specification, the vertical direction may be interpreted as meaning the Z-axis direction, the first direction as meaning the X-axis direction, and the second direction as meaning the Y-axis direction.

[0063] A pipette tray (100) can be placed on a bottom plate (12). The pipette tray (100) can be moved in a second direction by a pipette tray actuator (120). A plurality of pipettes (110) can be placed in the pipette tray (100). The pipettes (110) can be used once and discarded to prevent contamination of the sample. The pipettes (110) used once and discarded can be collected in a pipette collection container (130). The pipettes (110) of the pipette tray (100) can be picked up and moved by a second manipulator (500).

[0064] A sample tube tray (200) may be placed on the bottom plate (12). The sample tube tray (200) may be placed on one side of the first direction of the pipette tray (100). For example, the sample tube tray (200) may be placed on the right side of the pipette tray (100) with respect to FIG. 1. The sample tube tray (200) may be moved in a second direction by a sample tube tray actuator (220). A plurality of sample tubes (210) may be placed in the sample tube tray (200). Samples collected from the human body may be placed in the sample tubes (210).

[0065] Since the amount of sample required for testing varies depending on the testing equipment or testing method, the sample in the sample tube (210) must be transferred to the well plate (300) in the required amount. The sample tube (210) can be transferred to the sample tube gripper (400) by the first manipulator (600). The sample in the sample tube (210) can be transferred to the well plate (300) by the second manipulator (500).

[0066] An identification mark, such as a barcode containing information about the sample, may be attached to the sample tube (210). The identification mark on the sample tube (210) may be recognized by the second sensor (410). Here, the information about the sample may include personal information of the human body from which the sample was collected and the date of collection, etc.

[0067] The well plate (300) can be placed on the bottom plate (12). The well plate (300) can be placed between the pipette tray (100) and the sample tube tray (200). The well plate (300) can be moved in a second direction by the well plate actuator (320). A plurality of well tubes (310) can be placed in the well plate (300). A sample contained in the sample tube (210) can be dispensed into the well tubes (310) by the second manipulator (500).

[0068] The sample tube gripper (400) can be seated and secured with a sample tube (210) containing a sample to be transferred to a well plate (300). The sample tube gripper (400) can be positioned adjacent to the well plate (300). The sample tube gripper (400) can be positioned between the well plate (300) and the sample tube tray (200). The sample tube gripper (400) can be positioned adjacent to the second sensor (410).

[0069] The first manipulator (600) can move in a vertical direction and a first direction. The first manipulator (600) can be coupled to the coupling part (16) so as to be movable in the first direction. The first manipulator (600) can be positioned on the other side of the first direction of the second manipulator (500). In one embodiment of the present specification, the other side of the first direction may be interpreted as meaning the right direction with respect to FIG. 1.

[0070] The first manipulator (600) can grasp the sample tube (210) of the sample tube tray (200) and move it to the sample tube gripper (400). Specifically, the first manipulator (600) can grasp the sample tube (210) of the sample tube tray (200), move it upward, move it to one side of the first direction, and then move it downward to place the sample tube (210) on the sample tube gripper (400). The first manipulator (600) can open the cap of the sample tube (210) placed on the sample tube gripper (400).

[0071] The first manipulator (600) can close the cap of the sample tube (210) from which the sample has been sucked by the second manipulator (500). The first manipulator (600) can move the sample tube (210) from which the sample has been sucked back to the sample tube tray (200).

[0072] The first manipulator (600) may include a first horizontal moving part (610) movably coupled to the coupling part (16) in a first direction, a first vertical moving part (620) movably coupled to the first horizontal moving part (610) in a vertical direction, a cap gripper actuator (630) coupled to the first vertical moving part (620) and driving a cap gripper (632), and a cap gripper (632) capable of grasping the cap of a sample tube (210) or releasing the grasped cap of a sample tube (210). The cap gripper (632) may rotate in one direction or the other by the cap gripper actuator (630). The cap gripper (632) may open or close the cap of a sample tube (210) that is seated on and fixed to the sample tube gripper (400).

[0073] The second manipulator (500) can move in a vertical direction and a second direction. The second manipulator (500) can be coupled to the coupling part (16) so as to be movable in a first direction. The second manipulator (500) can be positioned on one side of the first direction of the first manipulator (600). In one embodiment of the present specification, one side of the first direction may be interpreted as meaning the left direction with respect to FIG. 1.

[0074] The second manipulator (500) can grasp the pipette (110) of the pipette tray (100), suck up the sample from the sample tube (210) placed on the sample tube gripper (400), and dispense it into the well tube (310) of the well plate (300).

[0075] Specifically, the second manipulator (500) can grasp the pipette (110) of the pipette tray (100), move upward, move to the other side of the first direction, and then move downward to suck up the sample from the capped sample tube (210). After sucking up the sample from the capped sample tube (210), the second manipulator (500) can move upward and move to one side of the first direction to dispense the sample sucked from the capped sample tube (210) into the well tube (310) of the well plate (300). Afterward, the second manipulator (500) can move upward and move to one side of the first direction to move the used pipette (110) to the pipette collection container (130).

[0076] The second manipulator (500) may include a second horizontal moving part (510) movably coupled to the coupling part (16) in a first direction, a second vertical moving part (520) movably coupled to the second horizontal moving part (510) in a vertical direction, a pump (530) coupled to the second vertical moving part (520), a connecting pipe (540) coupled to the pump (530), a pipette tip (550) coupled to the end of the connecting pipe (530) and to which a pipette (110) is detachably coupled, a third vertical moving part (560) movably coupled to the second vertical moving part (520), a rotating part (570) coupled to the third vertical moving part (560) and rotating a pipette guide (580), and a pipette guide (580) rotatably coupled to the rotating part (570).

[0077] A third sensor (not shown) may be installed in the connecting pipe (540). The third sensor can detect the amount of liquid being sucked into the connecting pipe (540) through the pump (530). By doing so, user convenience can be improved by giving an alarm to the user if there is no liquid or too much liquid being sucked into the connecting pipe (540) by the pump (530).

[0078] When the pipette guide (580) rotates in one direction, it may overlap vertically with the lower region of the pipette (110) held by the second manipulator (500). Specifically, when the pipette guide (580) rotates clockwise by the rotating part (570) in the basic state of FIG. 1, a portion of the pipette guide (580) may overlap vertically with the pipette (110) connected to the pipette tip (550) of the second manipulator (500). Through this, the sample aspirated by the pipette (110) is prevented from falling onto the sample dispensing device (10), thereby preventing the equipment from becoming contaminated.

[0079] The pipette guide (580) may include a pipette groove (582) corresponding to the pipette (110). When the pipette guide (580) rotates in a different direction, the pipette (110) held by the second manipulator (500) may be caught in the pipette groove (582) and separated from the second manipulator (500). Specifically, with the pipette (110) mounted on the pipette tip (550), the rotating part (570) and the pipette guide (580) may be moved upward by the third vertical moving part (560) so that they overlap with the lower region of the pipette (110) in the first direction. In this state, when the pipette guide (580) rotates counterclockwise by the rotating part (570), the pipette (110) may be caught in the pipette groove (582) and separated from the second manipulator (500). Through this, the pipette (110) can be easily separated from the second manipulator (500).

[0080] A pipette collection container (130) may be placed on the bottom plate (12). A pipette collection container (130) may be placed on a pipette tray actuator (120). The pipette collection container (130) may be moved in a second direction by the pipette tray actuator (120). The pipette collection container (130) may be placed between the pipette tray (100) and the well plate (300). A pipette (110) used by the second manipulator (500) may be collected in the pipette collection container (130).

[0081] The pipette tray actuator (120) can be placed on the lower plate (12). The pipette tray actuator (120) can move the pipette tray (100) in a second direction. By doing so, a desired pipette among the plurality of pipettes (110) placed in the pipette tray (100) can be placed on the lower side of the second manipulator (500).

[0082] The sample tube tray actuator (220) can be placed on the bottom plate (12). The sample tube tray actuator (220) can be placed on the other side of the first direction of the pipette tray actuator (120). The sample tube tray actuator (220) can move the sample tube tray (200) in the second direction. By doing so, a desired sample tube among the plurality of sample tubes (210) placed in the sample tube tray (200) can be placed on the lower side of the first manipulator (600).

[0083] The well plate actuator (320) can be placed on the lower plate (12). The well plate actuator (320) can be placed between the sample tube tray actuator (220) and the pipette tray actuator (120). The well plate actuator (320) can move the well plate (300) in a second direction. By doing so, a desired well tube (310) among the plurality of well tubes (310) placed on the well plate (300) can be placed on the lower side of the second manipulator (500).

[0084] The first sensor (230) may be positioned adjacent to the sample tube tray (200). For example, the first sensor (230) may be positioned on the other side of the first direction of the sample tube tray (200). The first sensor (230) can measure the height of each of the plurality of sample tubes (210) placed in the sample tube tray (200). By doing so, accidents can be prevented in advance by detecting whether each of the plurality of sample tubes (210) placed in the sample tube tray (200) is irregularly positioned or lifted from the sample tube tray (200).

[0085] The second sensor (410) may be positioned adjacent to the sample tube gripper (400). The second sensor (410) can detect identification markings, such as a barcode, on the sample tube (210) placed on the sample tube gripper (400) to recognize information about the sample contained in the sample tube (210). Through this, information about the sample tube (210) placed on the sample tube gripper (400) can be recognized to track the sample being dispensed into the well plate (300).

[0086] Since the sample collected through the sample dispensing device (10) according to one embodiment of the present invention can be automatically dispensed into a well plate (300) required for testing, the safety of the worker from viruses can be ensured and the work speed can be improved.

[0087] In addition, the work speed can be improved due to the independent and simultaneous operation of the first manipulator (600) and the second manipulator (500).

[0088] In addition, space efficiency can be improved by distributing the axes through the two-axis (X-axis, Z-axis) movement of the first manipulator (600) and the second manipulator (500), and the one-axis (Y-axis) movement of the pipette tray actuator (120), the specimen tube tray actuator (220), and the well plate actuator (320).

[0089] Hereinafter, the operation of the sample dispensing device (10) will be explained with reference to FIGS. 2 to FIGS. 10.

[0090] FIGS. 2 to 10 are operation diagrams of a sample dispensing device according to one embodiment of the present invention.

[0091] Referring to FIG. 2, the cap gripper (632) of the first manipulator (600) can be positioned above the sample tube (210). In this case, the cap gripper (632) can be positioned above a desired sample tube among a plurality of sample tubes (210) of the sample tray (200) by means of the sample tube tray actuator (220) and the first horizontal moving part (610) of the first manipulator (600). The cap gripper (632) can be moved downward by means of the first vertical moving part (620) of the first manipulator (600), and the cap gripper (632) can grasp the cap of the sample tube (210) through the cap gripper actuator (630).

[0092] Referring to FIG. 3, after the cap gripper (632) grasps the cap of the desired sample tube (210), the first vertical moving part (620) of the first manipulator (600) moves upward, and the first manipulator (600) moves to one side of the first direction through the first horizontal moving part (610) so that it can be placed on the upper side of the sample tube gripper (400). In this case, the sample tube (210) grasped by the cap gripper (632) through the first vertical moving part (620) can be placed on the sample tube gripper (400), and when the sample tube (210) is fixed to the sample tube gripper (400), the cap of the sample tube (210) can be opened by the cap gripper actuator (630).

[0093] Referring to FIG. 4, the first manipulator (600) returns to its initial position, and the pipette tip (550) of the second manipulator (500) can be positioned on the upper side of the pipette tray (100). In this case, the pipette tip (550) can be positioned on the upper side of a desired pipette among a plurality of pipettes (110) in the pipette tray (100) by means of the pipette tray actuator (120) and the second horizontal moving part (510) of the second manipulator (500). The pipette tip (550) can be moved downward by means of the second vertical moving part (520) of the second manipulator (500) to grasp the desired pipette (110). In this case, the pipette tip (550) can be inserted into the pipette (110).

[0094] Referring to FIG. 5, the pipette tip (550) holding the desired pipette (110) moves upward by the second vertical moving part (520) and moves to the other side of the first direction by the second horizontal moving part (510) so that it can be positioned on the sample tube (210) seated on the sample tube gripper (400). The pipette tip (550) and the pipette (110) move downward by the second vertical moving part (520), and the sample from the sample tube (210) with the cap opened can be sucked by the pump (530).

[0095] Referring to FIG. 6, the pipette tip (550) and pipette (110) that have aspirated the sample from the sample tube (210) can be moved upward by the second vertical moving part (520) and moved to one side of the first direction by the second horizontal moving part (510). In this case, the pipette guide (580) can be rotated clockwise by the rotating part (570) so that a portion of the pipette guide (580) is positioned below the pipette (110) into which the pipette tip (550) is inserted.

[0096] Referring to FIG. 7, the pipette tip (550) and pipette (110) that have aspirated the sample from the sample tube (210) can be placed on the upper side of the well plate (300). In this case, the pipette guide (580) can be rotated counterclockwise by the rotating part (570) so that the lower region of the pipette (110) into which the pipette tip (550) is inserted can be opened. The pipette (110) into which the pipette tip (550) is inserted can be moved to the lower side by the second vertical moving part (520) and placed on top of a desired well tube among a plurality of well tubes (310) placed on the well plate (300). In this case, the desired well tube among the plurality of well tubes (310) placed on the well plate (300) can be positioned below the pipette (110) into which the pipette tip (550) is inserted by the well plate actuator (320) and the second horizontal moving part (510). Afterwards, the sample aspirated by the pipette (110) can be dispensed into the well tube (310).

[0097] Referring to FIG. 8, the pipette (110) and pipette tip (550) with the sample dispensed can be moved upward by the second vertical moving part (520) and moved to one side of the first direction by the second horizontal moving part (510). In this case, the pipette guide (580) can be rotated clockwise by the rotating part (570) so that a portion of the pipette guide (580) is positioned below the pipette (110) into which the pipette tip (550) is inserted.

[0098] Referring to FIG. 9, the pipette (110) with the sample dispensed and the pipette tip (550) can be placed on the upper side of the pipette collection container (130). In this case, the pipette guide (580) can be rotated counterclockwise by the rotating part (570) so that the lower region of the pipette (110) into which the pipette tip (550) is inserted can be opened. In this state, the pipette (110) with the sample dispensed can be separated from the second manipulator (500) and collected in the pipette collection container (130). In this case, it is preferable that the rotating part (570) and the pipette guide (580) move upward by the third vertical moving part (560) so as to overlap with the pipette (110) on which the sample is dispensed in the first direction, and the pipette guide (580) rotates counterclockwise by the rotating part (570) so that the pipette (110) on which the sample is dispensed is separated from the second manipulator (500) by the pipette groove (582).

[0099] At the same time, the first manipulator (600) can be placed on the sample tube gripper (400) and move over the sample tube (210) from which the sample has been sucked.

[0100] Referring to FIG. 10, the second manipulator (500) moves to an initial position, and the first manipulator (600) can close the cap of the sample tube (210) in which the sample has been sucked and grasp the sample tube (210) to move it to the sample tube tray (200).

[0101] FIG. 11 is a flowchart of a sample dispensing method according to one embodiment of the present invention.

[0102] The sample dispensing method according to FIG. 11 is preferably carried out by the sample dispensing device (10) according to FIG. 1 to FIG. 10, but is not limited thereto.

[0103] The sample dispensing method comprises a first step (S110) of moving a sample tube (210) placed in a sample tube tray (200) to a sample tube gripper (400) via a first manipulator (600), a second step (S120) of opening the cap of the sample tube (210) placed on the sample tube gripper (400) via the first manipulator (600), a third step (S130) of grasping a pipette (110) placed in a pipette tray (100) via a second manipulator (500) and moving it to the sample tube (210) with the cap opened, a fourth step (S140) of sucking the sample from the sample tube (210) with the cap opened into the pipette (110) via the second manipulator (500), and a well of the pipette (110) with the sample sucked in through the second manipulator (500). The method may include a fifth step (S150) of moving to a well tube (310) of a plate (300), a sixth step (S160) of dispensing the sample from the pipette (110) into the well tube (310) through the second manipulator (500), a seventh step (S170) of moving the pipette (110) into which the sample was dispensed through the second manipulator (500) to a pipette collection container (130), an eighth step (S180) of separating the pipette (110) into which the sample was dispensed from the second manipulator (500), and a ninth step (S190) of closing the cap of the sample tube (210) into which the sample was dispensed through the first manipulator (600) and moving the sample tube (210) into a sample tube tray (200).

[0104] In this case, the first manipulator (600) and the second manipulator (500) can move in a vertical direction and a first direction perpendicular to the vertical direction. Additionally, the sample tube tray (200), the pipette tray (100), and the well plate (300) can move in a vertical direction and a second direction perpendicular to the first direction.

[0105] Through this, the collected sample can be automatically dispensed into a well plate (300) required for testing, thereby ensuring the safety of the worker from viruses and improving the speed of work.

[0106] In addition, the work speed can be improved due to the independent and simultaneous operation of the first manipulator (600) and the second manipulator (500).

[0107] In addition, space efficiency can be improved by distributing the axes through the two-axis (X-axis, Z-axis) movement of the first manipulator (600) and the second manipulator (500), and the one-axis (Y-axis) movement of the pipette tray actuator (120), the specimen tube tray actuator (220), and the well plate actuator (320).

[0108] FIG. 12 is a flowchart showing the operation of each of the first manipulator and the second manipulator according to one embodiment of the present invention.

[0109] Referring to FIG. 12, it can be seen that the first manipulator (600) and the second manipulator (500) are driven independently. That is, it can be seen that the first manipulator (600) and the second manipulator (500) are driven simultaneously at times and are driven one by one at times.

[0110] Specifically, while the first manipulator (600) moves the sample tube (210) of the sample tube tray (200) to the sample tube gripper (400), the second manipulator (500) can move the pipette (110) of the pipette tray (100) to a standby position. Here, the barcode recognition position refers to the position of the sample tube gripper (400), and the sample extraction standby position can be interpreted as referring to the upper side and one side of the first direction of the sample tube gripper (400).

[0111] Afterward, while the first manipulator (600) places the sample tube (210) onto the sample tube gripper (400) and moves to a preset waiting location before closing the cap of the sample tube (210) again, the second manipulator (500) can wait.

[0112] After the first manipulator (600) returns to the initial position or the waiting area before closing the cap of the sample tube (210), the second manipulator (600) can draw the sample from the sample tube (210) seated on the sample tube gripper (400) into the pipette (110) and dispense it into the web tube (310) of the web plate (300).

[0113] When the second manipulator (600) sucks the sample from the sample tube (210) seated on the sample tube gripper (400) into the pipette (110) and moves it to the web plate (300), the first manipulator (600) can close the cap of the sample tube (210) from which the sample was sucked and move the sample tube (210) from which the sample was sucked to the sample tube tray (200).

[0114] Therefore, the work speed can be improved due to the independent and simultaneous operation of the first manipulator (600) and the second manipulator (500).

[0115] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without changing its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. Explanation of the symbols

[0116] 10: Sample dispensing device 100: Pipette tray 110: Pipette 120: Pipette tray actuator 130: Pipette collection container 200: Specimen tube tray 210: Specimen tube 220: Specimen tube tray actuator 230: First sensor 300: Well plate 310: Well tube 320: Well plate actuator 400: Specimen tube gripper 410: Second sensor 500: 2nd manipulator 510: 2nd horizontal movement unit 520: Second vertical moving unit 530: Pump 540: Connector 550: Pipette tip 560: 3rd vertical movement part 570: Rotation part 580: Pipette Guide 600: First Manipulator 610: 1st horizontal moving unit 620: 1st vertical moving unit 630: Cap gripper actuator 632: Cap gripper

Claims

Claim 1 A pipette tray in which a plurality of pipettes are arranged; a sample tube tray in which a plurality of sample tubes are arranged and which is positioned in a first direction of the pipette tray; a well plate in which a plurality of well tubes are arranged and which is positioned between the pipette tray and the sample tube tray; a sample tube gripper positioned adjacent to the well plate; a first manipulator that moves in a vertical direction and in the first direction and moves the sample tube of the sample tube tray to the sample tube gripper; a second manipulator that moves in the vertical direction and in the first direction, grasps the pipette of the pipette tray, sucks up the sample from the sample tube placed in the sample tube gripper, and dispenses it into the well tube of the well plate; a pipette tray actuator that moves the pipette tray in the vertical direction and in a second direction perpendicular to the first direction; and a sample tube tray actuator that moves the sample tube tray in the second direction. A sample dispensing device comprising a well plate actuator for moving the well plate in the second direction, wherein the second manipulator comprises a pump for sucking a sample from a sample tube placed in the sample tube gripper, and a pipette guide rotatably disposed in the second manipulator and, when rotated in one direction, overlaps vertically with the lower region of the pipette held by the second manipulator to prevent the sample sucked into the pipette from falling off the pipette and causing contamination. Claim 2 A sample dispensing device according to claim 1, wherein the first manipulator grasps the sample tube of the sample tube tray and moves it upward, moves to one side of the first direction, then moves downward to place the sample tube on the sample tube gripper, and opens the cap of the sample tube. Claim 3 In claim 2, the second manipulator grasps the pipette of the pipette tray and moves it upward, moves to the other side of the first direction, then moves downward to suck up a sample from a sample tube with an open cap, and dispenses the sucked sample into the well tube of the well plate. Claim 4 In claim 3, the first manipulator is a sample dispensing device that closes the cap of the sample tube in which the sample was sucked by the second manipulator and moves the sample tube in which the sample was sucked to the sample tube tray. Claim 5 A sample dispensing device according to claim 3, comprising a pipette collection container disposed between the pipette tray and the well plate, wherein the second manipulator moves the pipette held after dispensing the aspirated sample to the pipette collection container. Claim 6 delete Claim 7 A sample dispensing device according to claim 1, wherein the pipette guide includes a pipette groove corresponding to the pipette, and when the pipette guide rotates in the other direction, the pipette caught by the second manipulator is caught in the pipette groove and separated from the second manipulator. Claim 8 A sample dispensing device according to claim 1, comprising a sensor that recognizes information of a sample tube placed on the sample tube gripper. Claim 9 delete Claim 10 delete Claim 11 A first step of moving a sample tube placed in a sample tube tray to a sample tube gripper using a first manipulator; a second step of opening the cap of the sample tube seated on the sample tube gripper using the first manipulator; a third step of grasping a pipette placed in a pipette tray using a second manipulator and moving it to the sample tube with the open cap; a fourth step of aspirating the sample from the sample tube with the open cap into the pipette using the second manipulator, and rotating the pipette guide provided on the second manipulator in one direction to overlap it vertically with the lower region of the pipette held by the second manipulator, thereby preventing the sample aspirated into the pipette from falling off the pipette and causing contamination; a fifth step of moving the pipette with the aspirated sample to a well tube of a well plate using the second manipulator, and rotating the pipette guide in the opposite direction to open the lower region of the pipette; and moving the sample from the pipette with the aspirated sample to the well tube using the second manipulator. A method for dispensing a sample, comprising: a sixth step of dispensing; a seventh step of moving the pipette with the sample dispensed thereon to a pipette collection container via the second manipulator; an eighth step of separating the pipette with the sample dispensed thereon from the second manipulator; and a ninth step of closing the cap of the sample tube with the sample aspirated thereon via the first manipulator and moving the sample tube with the sample aspirated thereon to the sample tube tray, wherein the first manipulator and the second manipulator move in a vertical direction and in a first direction perpendicular to the vertical direction, and the sample tube tray, the pipette tray, and the well plate move in a second direction perpendicular to the vertical direction and in a vertical direction.

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