System for incubating and digitally imaging biological samples
Patent Information
- Application Number
- PCT/RU2024/050162
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2023-09-07
- Filing Date
- 2024-07-18
- Publication Date
- 2025-03-13
Smart Images
Figure RU2024050162_13032025_PF_FP_ABST
Abstract
Description
[0001] SYSTEM FOR INCUBATION AND FORMATION OF DIGITAL IMAGES OF BIOLOGICAL SAMPLES
[0002] Field of technology to which the invention relates
[0003] The invention relates to laboratory equipment for conducting microbiological research, namely to automated microbiological laboratories and systems that allow for the incubation of microorganisms and cellular structures placed in containers, for example, in Petri dishes, and their study using digital images of the seeding results, including recording colony growth in real time, identifying the microbial agent in the sample, determining its resistance to antibacterial drugs, etc.
[0004] State of the art
[0005] Currently, there is an active development of the microbiological industry, one of the tasks of which is the introduction of automated systems and equipment for the incubation of microorganisms and cellular structures and the conduct of microbiological studies. With the growth in the number of microbiological studies, it is important to develop high-performance systems, increase the speed of research while ensuring the high quality of the result obtained, including by eliminating errors caused by the human factor, as well as increasing the overall efficiency of the laboratory service.
[0006] The prior art provides for various automated systems that include modules for incubation and study of microbiological and cell cultures (samples). The known systems contain incubation chambers, which are isolated boxes equipped with means for monitoring the parameters of the environment formed in the working volume of the chamber for the growth of microorganisms, including temperature, humidity, atmospheric composition, including the amount of carbon dioxide and / or oxygen. The incubation chambers are equipped with cells for placing containers with samples, units for loading and unloading containers with samples, units for moving containers in the working volume of the incubation chamber, and units for optical or digital visualization of samples during incubation, for example, for the presence of microbial growth. Traditionally, in automated systems, the container movement unit contains a three-coordinate manipulator or an XYZ robot, made with a rotary gripper for containers.The images of the samples obtained during incubation are compared to determine the results of microorganism growth. The need for periodic monitoring of the culture growth process is due to the relevance of the problem of detecting microorganism growth at early stages during the incubation period, with the frequency of monitoring ranging from once every 3 hours to once an hour. However, not all known systems have this capability due to limitations associated with the design features of the incubation chamber and the container movement mechanism located in it. The solution to this problem is complicated by increasing the loading volume of the incubation chamber to 300 containers or more with a frequency of obtaining an image of each sample of at least once an hour.
[0007] A system for incubating microbiological samples in Petri dishes and obtaining digital images of the seeding results is known from the prior art (US20120251275 A1, publication date: 04.10.2012, also published as US9028752B2, publication date: 12.05.2015), including a chamber for incubating samples in Petri dishes, a unit for photographing colonies of microorganisms, a mechanism for moving samples to the zone of forming digital images of colonies of microorganisms, a unit for loading and unloading Petri dishes, designed with the possibility of moving the dishes outside the incubation chamber, a set of sensors and scanners for monitoring and identifying a specific microbiological sample, a control unit for the mechanism for moving samples in the incubation chamber. This system is characterized by high productivity associated with the increased capacity of Petri dishes in the incubation chamber due to the implementation of the storage unit in the form of a carousel containing racks with cells located along the circumference for placing Petri dishes.The Petri dish is brought by rotating the carousel to a movement mechanism (manipulation device), which grabs the Petri dish and moves it to the digital image formation zone, while the movement mechanism is fixed to the wall of the incubation chamber and contains a lifting stand with two vertically moving carriages located one above the other.
[0008] The description of the invention notes that during the incubation period in the photography unit, the growth of the cultures is visually checked several times. However, at maximum loading of the incubation chamber, problems may arise related to the possibility of multiple photographing of samples during a given time interval. These problems are caused by the design features of the incubator and the manipulator, limiting the productivity of the system under conditions of an increased flow of dishes. This problem manifests itself both at the stage of loading dishes into the incubator, which is associated with the limited throughput of the equipment, due to the presence of one mechanism responsible for moving the dishes, and the capacity of the incubation chamber, and at the stage of monitoring (detection, identification) of the growth of the microorganism, which in turn is associated with the presence of one mechanism responsible for monitoring (detection, identification) of the growth of bacteria.
[0009] The automated modular microbiological systems WASPLab (manufacturer - COPAN) and Kiestra ReadA (manufacturer - BD) are known from the state of the art.
[0010] The automated microbiological system WASPLab by COPAN (official website of COPAN / / URL: https: / / www.copanusa.com / full-lab-automation-and-artificial-intelligence / wasplab / , access date: 07 / 28 / 2023) allows conducting research from the sowing stage to the recognition of grown bacterial colonies and their subsequent sorting for disposal. The system includes an incubation chamber, a dish loading module that provides manual loading of inoculated plates or dishes into a loading carousel for transfer to the incubation chamber; a conveyor for transporting dishes to the incubation chamber; a photography module; a module for unloading dishes into removable containers after incubation for their further processing and checking by laboratory personnel.The WASPLab system also includes a results viewing workstation that allows lab staff to quickly view, interpret and separate bacterial cultures using artificial intelligence and digital microbiology.
[0011] Despite the existing advantages, this technical solution also has a disadvantage associated with the inability to ensure high productivity, which, in particular, is due to the design of this system, according to which the incubator has a high capacity, on the one hand, in the absence of the possibility of an appropriate high-intensity level of servicing of incoming cups, on the other.
[0012] The closest to the declared system for incubation and research of biological samples is the BD Kiestra™ ReadA™ microbiological laboratory (US11041871 B2, publication date: 06 / 22 / 2021, and also presented on the official website of the copyright holder BD / / URL: https: / / www.bd.com / en-us / products-and-solutions / products / product-families / bd-kiestra-reada, access date: 07 / 28 / 2023), which combines automated sample processing, transportation, incubation and digital visualization. The system is a modular design containing:
[0013] - a sample incubation chamber with windows for loading and unloading containers with samples located on one of the walls of the chamber, shelves with cells - nests for placing containers, means for creating the required temperature regime and atmosphere in the working volume of the chamber with the possibility of forced ventilation of the chamber;
[0014] - a module for loading and unloading containers with samples, comprising two units, one of which is located in the incubation chamber, the second - outside the incubation chamber; wherein the unit located outside the incubation chamber contains a conveyor for loading containers into the incubation chamber, scanners with the ability to read information placed on the containers, a conveyor for unloading containers from the incubation chamber, rotary flaps guiding the container from the loading conveyor to the incubation chamber input window and from the incubation chamber output window to the unloading conveyor; the unit located in the incubation chamber contains two conveyors, one of which is intended for the container being loaded into the chamber, the second - for the container being unloaded from the incubation chamber;
[0015] - a module for forming a digital image of samples, containing a digital optical unit located in a separate housing made to communicate with the working volume of the incubation chamber, and a conveyor (conveyor) for feeding containers into the said unit, located in the working volume of the incubation chamber,
[0016] - a module for moving containers in the working volume of the chamber, containing a 3-coordinate manipulator with a grip for a container, designed with the possibility of moving containers into the digital image formation module; wherein the 3-coordinate manipulator contains a vertical column, horizontal guides, equipped with separate movement drives;
[0017] - a control unit for manipulators and incubation modes, connected to a personal computer (PC).
[0018] The system includes a doctor / laboratory assistant workstation, which includes a PC with software that allows working with the system and processing data obtained by the photography module.
[0019] However, the design solution of the known incubation chamber and the system based on it is characterized by the disadvantages listed in the description of the WASPLab system.
[0020] The design solutions of analogues and prototypes do not allow to significantly increase the productivity and efficiency of automated microbiological systems, as well as to reduce the time of the study with a high flow of incubated samples. In this regard, there is a need to develop high-performance systems that provide the ability to monitor incubated cultures during the cultivation process with automatic digital formation of high-resolution images and with a given periodicity.
[0021] The technical problem, the solution of which is provided by the implementation / use of the present invention, is the development of a highly productive automated microbiological system with an incubation chamber, eliminating the shortcomings of analogues and the prototype, capable of ensuring the implementation of high-quality microbiological studies, including incubation and multiple photographing of samples at the incubation stage.
[0022] Disclosure of the essence of the invention
[0023] The technical result provided by the invention in solving the above-mentioned technical problem consists in increasing the productivity of the incubation chamber and the incubation system with photographing of samples placed in containers, for example, in Petri dishes, while eliminating the “collision” of the grips of two manipulators in the area of the window for loading and unloading containers.
[0024] The technical result is achieved by using two sample photography modules in combination with a module for moving containers in the working volume of the chamber with two manipulators, eliminating the “collision” of their grips in the window area for loading and unloading containers both during the process of loading and unloading containers into / from the incubation chamber, and during the process of moving containers from the photography area to the incubation cells and back.
[0025] The technical result is achieved by a module for moving containers in a chamber for incubating biological samples, containing a window for loading and unloading containers, wherein said module includes two 3-coordinate manipulators with a grip for a container, each of which contains a column for vertical movement of the grip, horizontal guides and a rotary table, equipped with movement drives, wherein the manipulators are located one above the other with the possibility of overlapping each other's working stroke, ensuring access of the grip of each manipulator to the container located in the working volume of the incubation chamber near the window for loading and unloading containers; the manipulators are equipped with "red zone" sensors, designed with the possibility of detecting the presence of the manipulator grip in the "red zone" located around the window for loading and unloading containers, accessible for servicing by the upper and lower manipulators.The container movement module is designed with the ability to stop the movement of one manipulator by a signal coming from the control unit, when the "red zone" sensor of another manipulator is triggered. Three-coordinate manipulators in the initial position before the start of work can be located mirror-symmetrically relative to the middle horizontal plane of the chamber, perpendicular to the plane of the window for loading and unloading containers.
[0026] The rotary table of the three-coordinate manipulator is preferably designed with the possibility of rotation up to 400 degrees in opposite directions.
[0027] Three-coordinate manipulators are preferably equipped with sensors of the extreme lower and extreme upper positions of the manipulator grip (limit switches), sensors of continuous monitoring of the position of the coordinates of the manipulator grip. In this case, the "red zone" sensors are located between the sensors of the extreme upper and extreme lower positions of the manipulator grips, ensuring the possibility of signaling when the mechanisms for moving containers in the incubation chamber approach each other. The sensors of the extreme lower and extreme upper positions of the manipulator grip and the "red zone" sensor are fixed on the column of vertical movement of the manipulator grip.In one embodiment of the invention, the "red zone" sensors are inductive sensors, wherein the distance between the sensors fixed to the columns of the manipulators is not less than the height of the window for loading and unloading containers, preferably exceeding the height of the window by up to 5 cm, which makes it possible to receive a signal from the sensor before the manipulator grip approaches the loading / unloading window at such a distance that it becomes possible for two grips to be in one place at the same time.
[0028] The grip of the three-coordinate manipulator can be equipped with shaped jaws with pads designed to control the clamping force of the container.
[0029] The technical result is achieved by a chamber for incubating biological samples, containing a window for loading and unloading containers with biological samples, located on one of the walls of the chamber in its central part, equipped with a gateway; shelves with cells for placing containers; a module for moving containers in the working volume of the chamber, containing a 3-axis manipulator with a gripper for the container, including a column for vertical movement of the gripper (vertical column), horizontal guides and a rotary table, equipped with movement drives;a module for forming a digital image of samples, a control unit, where, according to the invention, the module for moving containers in the working volume of the chamber contains a second 3-coordinate manipulator with a grip for the container, wherein the manipulators are located one above the other with the possibility of overlapping each other's working stroke, ensuring access of the grip of each manipulator to the container located in the working volume of the incubation chamber near the window for loading and unloading containers, and are equipped with "red zone" sensors, configured to detect the presence of the grip of the manipulator in the "red zone" located around the window for loading and unloading containers, accessible for servicing by the upper and lower manipulators, and characterized by a possible collision of the manipulators;the control unit is designed with the ability to control the movements of the manipulators and contains a protection unit designed with the ability to send a signal to stop the movement of the second manipulator when the “red zone” sensor of the first manipulator is triggered.
[0030] Three-coordinate manipulators in the initial position before starting work can be positioned mirror-symmetrically relative to the central horizontal plane of the chamber, perpendicular to the plane of the window for loading and unloading containers.
[0031] The chamber for incubating biological samples in one embodiment of the invention comprises a front, rear, side walls, a roof and a bottom, wherein the window for loading and unloading containers is located on the front wall, the base of the rotary table of the upper manipulator is attached to the roof of the incubation chamber, and the lower manipulator is secured to the bottom of the incubation chamber. The rotary table of the three-coordinate manipulator is preferably made with the possibility of rotation up to 400 degrees in opposite directions.
[0032] The 3-coordinate manipulators are preferably equipped with sensors of the extreme lower and upper positions of the manipulator grip (limit switches), sensors of continuous monitoring of the position of the coordinates of the manipulator grip. In this case, the "red zone" sensors are located between the sensors of the extreme upper and extreme lower positions of the manipulator grips, ensuring the possibility of signaling when the mechanisms for moving containers in the incubation chamber approach each other. The sensors of the extreme lower and upper positions of the manipulator grip and the "red zone" sensor are fixed on the column of vertical movement of the manipulator grip.In one embodiment of the invention, the "red zone" sensors are inductive sensors, wherein the distance between the sensors fixed to the columns of the manipulators is not less than the height of the window for loading and unloading containers, preferably exceeding the height of the window by up to 5 cm, which makes it possible to receive a signal from the sensor before the manipulator grip approaches the loading / unloading window at such a distance that it becomes possible for two grippers to be in one place at the same time.
[0033] The grip of the three-coordinate manipulator can be equipped with shaped jaws with pads designed to control the clamping force of the container.
[0034] The chamber for incubating biological samples can be equipped with additional devices, such as scanners, a block for loading and unloading containers with samples - internal and external, as well as other devices depending on the tasks to be solved.
[0035] Scanners can be mounted on the gateway above the platforms of the module for loading and unloading containers with samples, with the ability to read information placed on the containers.
[0036] The internal block for loading and unloading containers with samples is located in the working volume of the incubation chamber and, in one embodiment, includes two platforms for containers located in the projection of the incubation chamber window, one of which is intended for a container being loaded into the chamber, the second for a container being unloaded from the incubation chamber, wherein each of the platforms is equipped with a means for vertically moving containers into the scanning zone.
[0037] The external block of the module for loading and unloading containers with samples is equipped with conveyors for loading and unloading containers with samples and trays for loading and unloading containers, wherein the conveyors are designed with the possibility of moving in opposite directions, are located at different height levels and are connected to the incubation chamber from its external side. The external block of the module for loading and unloading containers with samples can have different design versions and in one of the variants can contain at least two independent trays for unloading containers.The tray may be provided with a conveyor configured to move the container inside the tray, stoppers configured to stop the container on the said conveyor, a means for moving the container in the vertical direction, made in the form of an elevator with the ability to move the container above the conveyor level, flaps holding the container or stack of containers above the conveyor level, and a horizontal pusher configured to move the container or stack of containers into a cassette for unloading containers installed in the tray, equipped with a cassette presence sensor. The external unit of the module for loading and unloading containers with samples may contain at least one loading tray with an end wall adjacent to the conveyor, wherein the end wall contains a gap configured to move the lower container from the stack through it onto the conveyor for loading containers.The external unit of the module for loading and unloading containers with samples may additionally contain mechanisms for the alternate delivery of containers from loading trays to the corresponding conveyor, wherein the mechanisms are equipped with pushers that repeat the shape of the container, designed with the possibility of rotational or rotational-translational movement, implementing the alternate movement of containers through the slot of the end wall of the tray to the conveyor.
[0038] The module for forming a digital image of samples includes a digital optical unit located in a separate housing, which is made communicating with the working volume of the incubation chamber, and a platform for feeding containers into the digital optical unit. In one embodiment of the invention, the platform for feeding containers in the digital image formation module is made stationary, wherein said module contains a rotary disk placed on the platform with two cells for containers, three means for moving the container, two of which are made in the form of an elevator with the possibility of moving the container in the vertical direction, and the third means is equipped with a basket for placing the container and is made with the possibility of moving the container from the working area of the incubation chamber to the digital image formation area and back.The first moving means is located above the first cell of the rotary disk and is configured to move the container from the initial uppermost position to the platform level with the container being placed in this cell of the rotary disk; the second moving means is located under the second cell of the rotary disk and is configured to move the container placed in this cell of the rotary platform to the vertical lowermost position with the container being placed in the basket; the third moving means is configured to transport the basket with the container in the horizontal direction. The first and second means for moving containers are preferably provided with platforms for the container, and the rotary disk is configured to rotate by 180 degrees. The cells of the rotary disk can be provided with support surfaces for the container lid, providing the ability to move to the container photography zone without a lid.
[0039] It is preferable to implement the biological sample incubation chamber with two modules for forming a digital image of the samples, wherein one of the modules is placed above the window for loading and unloading containers, and the second one is placed under the said window. In the preferred embodiment of the invention, the drives of the manipulators, the container loading and unloading unit, and the module for forming a digital image of the samples are electromechanical.
[0040] The incubation chamber is equipped with means for creating the required temperature regime and atmosphere in the working volume of the chamber.
[0041] The technical result is also achieved by a system for incubating and forming digital images of biological samples, including:
[0042] - an incubation chamber containing a front, rear, side walls, a roof and a bottom, as well as a window for loading and unloading containers with biological samples, located on one of the walls of the chamber in its central part, equipped with an airlock; shelves with cells for placing containers, means for creating the required temperature regime and atmosphere in the working volume of the chamber;
[0043] - a module for loading and unloading containers with samples, containing two blocks, one of which is internal, located in the working volume of the incubation chamber, the second is external, located outside the working volume of the incubation chamber, wherein the external block contains conveyors for loading and unloading containers,
[0044] - a module for forming a digital image of biological samples, containing a digital optical unit located in a separate housing communicating with the working volume of the incubation chamber, and a platform for feeding containers into the said unit,
[0045] - a module for moving containers in the working volume of the chamber, containing a 3-axis manipulator with a grip for the container, containing a column for vertical movement of the grip (vertical column), horizontal guides and a rotary table, equipped with separate movement drives;
[0046] - a set of sensors for the extreme lower and upper positions (limit switches) of the manipulator grip, fixed on its vertical column, a sensor for continuous monitoring of the position of the manipulator grip coordinates, connected to the shaft of the vertical movement motor of the grip,
[0047] - a control unit for manipulators connected to a PC; where, according to the invention, the system additionally comprises a second digital image formation module, wherein one of the modules is located above the window for loading and unloading containers, and the second one is located under said window; the module for moving containers in the working volume of the chamber comprises a second 3-coordinate manipulator with a grip for a container, wherein the manipulators are located one above the other with the possibility of overlapping each other's working stroke, ensuring access of the grip of each manipulator to the container located in the working volume of the incubation chamber near the window for loading and unloading containers; the set of sensors includes "red zone" sensors located on the vertical movement column of the grip of each manipulator, configured to detect the presence of the grip of the manipulator in the "red zone" located around the window for loading and unloading containers, accessible for servicing by the upper and lower manipulators;the manipulator control unit contains a protection unit configured to send a signal to stop the movement of the second manipulator along the vertical axis when the “red zone” sensor of the first manipulator is triggered.
[0048] In one embodiment of the invention, the platform for feeding containers in the digital image formation module is made stationary, wherein said module contains a rotary disk placed on the platform with two cells for containers, three means for moving the container, two of which are made in the form of an elevator with the possibility of moving the container in the vertical direction, and the third means is equipped with a basket for placing the container and is made with the possibility of moving the container from the working area of the incubation chamber to the digital image formation area and back.The first moving means is located above the first cell of the rotary disk and is configured to move the container from the initial uppermost position to the platform level with the container being placed in this cell of the rotary disk; the second moving means is located under the second cell of the rotary disk and is configured to move the container placed in this cell of the rotary platform to the vertical lowermost position with the container being placed in the basket; the third moving means is configured to transport the basket with the container in the horizontal direction. The first and second means for moving containers are preferably provided with platforms for the container, and the rotary disk is configured to rotate by 180 degrees. The cells of the rotary disk can be provided with support surfaces for the container lid, providing the ability to move to the container photography zone without a lid.
[0049] Three-coordinate manipulators in the initial position before the start of work can be arranged mirror-symmetrically relative to the middle horizontal plane of the chamber, perpendicular to the plane of the window for loading and unloading containers. The base of the turntable of the upper manipulator can be attached to the roof of the incubation chamber, the lower manipulator - fixed to the bottom of the incubation chamber. The turntable of the three-coordinate manipulator is preferably made with the possibility of rotation up to 400 degrees in opposite directions.
[0050] The "red zone" sensors can be located between the sensors of the extreme upper and extreme lower positions of the manipulator grips, ensuring the possibility of signaling when the mechanisms for moving containers in the incubation chamber approach each other. In one embodiment of the invention, the "red zone" sensors are inductive sensors, wherein the distance between the sensors fixed to the manipulator columns is not less than the height of the window for loading and unloading containers, preferably exceeding the height of the window by up to 5 cm, which makes it possible to receive a signal from the sensor before the manipulator grip approaches the loading / unloading window at such a distance that it becomes possible for two grips to be in one place at the same time.
[0051] The grip of the three-coordinate manipulator in a specific embodiment of the invention is provided with shaped jaws with pads designed with the ability to control the clamping force of the container.
[0052] The drives of the manipulators, the container loading and unloading module, and the digital image formation module are preferably electromechanical.
[0053] In one embodiment of the invention, the internal block of the module for loading and unloading containers with samples contains two platforms for placing containers located in the projection of the incubation chamber window, one of which is intended for a container being loaded into the chamber, the second - for a container being unloaded from the incubation chamber, wherein each of the platforms is equipped with a means for vertically moving containers into the scanning zone, made in the form of an elevator, and is connected to a corresponding conveyor for loading or unloading containers, located on the outside of the incubation chamber.
[0054] The external block of the module for loading and unloading containers with samples can be additionally equipped with trays for loading and unloading containers, while the loading and unloading conveyors are designed with the ability to move in opposite directions, are located at different height levels and are connected to the incubation chamber.The external unit of the module for loading and unloading containers with samples may contain at least two independent container unloading trays, wherein the tray is provided with a conveyor configured to move the container inside the tray, stoppers configured to stop the container on said conveyor, a means for moving the container in the vertical direction, made in the form of an elevator with the ability to move the container above the level of the conveyor, flaps holding the container or stack of containers above the level of the conveyor, and a horizontal pusher configured to move the container or stack of containers into a cassette for unloading containers installed in the tray, equipped with a cassette presence sensor.The external unit of the module for loading and unloading containers with samples may contain at least one loading tray with an end wall adjacent to the conveyor, wherein the end wall contains a slot configured to allow the lower container from the stack to be moved through it onto the conveyor for loading containers. The external unit of the module for loading and unloading containers with samples may additionally contain mechanisms for alternately dispensing containers from loading trays onto the corresponding conveyor, wherein the mechanisms are equipped with pushers repeating the shape of the container, configured to allow rotational or rotational-translational movement, implementing alternate movement of containers through the slot of the end wall of the tray onto the conveyor.
[0055] Scanners in the incubation chamber can be mounted on the gateway above the platforms of the module for loading and unloading containers with samples, with the ability to read information placed on the containers.
[0056] The use of a module for moving containers in the working volume of the chamber, containing two 3-coordinate manipulators, and two photography modules, in addition to increasing the productivity of the incubation system, increases the reliability of the system by reducing the risk of interrupting its operation due to technical problems associated with the cessation of operation of one of the manipulators or one of the photography modules. The second manipulator and, accordingly, the second photography module, serve in such situations as a backup mechanism to ensure uninterrupted operation of the system.
[0057] The claimed system with an incubation chamber and a container movement module is reliable, ergonomic, easy to use and maintain, allows for a larger number of samples to be examined per unit of time compared to similar systems, reduces the time required to analyze a sample and prepare a report on the results, and reduces the likelihood of operator errors that may lead to incorrect diagnosis, late diagnosis, loss or damage of samples. Such errors may potentially have a negative impact on the quality of diagnostics and the effectiveness of patient treatment. In addition, the claimed system has a modular design, can be used as an autonomous system working with a laboratory operator, and can also be easily integrated into an automated laboratory environment and included in a complex (system) of interconnected modules for automating most microbiological research processes.
[0058] Brief description of the drawings
[0059] The invention is explained by illustrative material, where Figure 1 schematically shows an automated microbiological laboratory containing the claimed system for incubation and formation of digital images of biological samples, as well as a module for seeding biomaterial into containers, a conveyor system, a laboratory assistant's workstation with a PC for conducting studies of biological samples, for example, for resistance to antibiotics, etc.; wherein the system for incubation and formation of digital images of biological samples contains a module for loading and unloading containers with samples, an incubation chamber with a sample identification module (sample scanning module), a module for forming a digital image of samples (photography module) located inside it, as well as a module for moving containers in the working volume of the chamber;Figures 2 and 3 show an incubation chamber with an external block of the module for loading and unloading containers with samples, a general view from the front and rear walls, respectively; the external configuration of the incubation chamber and the relative position of the incubation chamber and the external block of the module for loading and unloading containers with samples (the module block located outside the incubation chamber), a version of their design and the docking area are shown; Figure 4 shows an incubation chamber - a view from the inside, from the side wall; the internal structure of the incubation chamber is shown, including the built-in elements of the module for loading and unloading containers with samples (the internal block of the module located in the incubation chamber, including platforms for placing containers) and the module for moving containers in the working volume of the chamber; Figure 5 shows an incubation chamber - a view from the inside, from the rear wall with a door;the internal structure of the incubation chamber is shown, including shelves with cells (nests) for placing containers located on its side walls and the rear wall with a door, grouped into sections - upper and lower, and also the working volume of the incubation chamber and two 3-coordinate manipulators located in it - upper and lower (intended for servicing the corresponding sections with cells), a module for moving containers in the working volume of the chamber are shown; figure 6 shows a design solution for the modules located in the incubation chamber, a general view from the rear wall with a door outside the chamber body; the module for moving containers in the working volume of the chamber, individual design elements of the module for loading and unloading containers with samples, a module for forming a digital image (photographing module) of samples are shown; their mutual arrangement is shown and the design relationship of the elements is reflected, as well as a diagram of the movement of a container with a sample along the specified modules;Figure 7 shows a design solution for the modules located in the incubation chamber, a general view from the front wall with the walls of the chamber conventionally designated; a module for loading and unloading containers with samples (with an internal unit and conveyors for loading and unloading containers of the external unit) and a module for forming a digital image of samples (photography module) and a module for moving containers in the working volume of the chamber located inside the incubation chamber are shown; Figure 8 shows an incubation chamber with a module for loading and unloading containers - a top view; a variant of the placement and order of movement of containers with samples is shown, including the direction of movement of containers with samples along the conveyor for loading containers into the incubation chamber and along the conveyor for unloading containers from the incubation chamber, the trajectory of movement of a 3-coordinate manipulator in the working volume of the chamber in the horizontal plane of the chamber is shown;Figure 9 shows an incubation chamber with a module for loading and unloading containers - a top view; another version of the arrangement of the conveyors of the external block of the module for loading and unloading containers with samples relative to the incubation chamber is shown; Figures 10, 11, 12 show a general view of the 3-coordinate manipulator of the module for moving containers in the working volume of the chamber, views: on the right with the location of the manipulator grip in the upper position, on the left with the location of the manipulator grip in the lower position, and from the back, respectively; Figures 13, 14 show the module for forming a digital image (photography module) of samples, a general view, a side view, respectively; Figures 15, 16 show the container movement unit of the module for forming a digital image (photography module) of samples, a front view, a back view indicating the direction of movement of its individual elements, respectively;Figure 17 shows a digital image formation unit (digital optical unit) of the digital image formation module (photography module) of samples, located in the photography zone; Figures 18 and 19 show a general view of the external unit of the module for loading and unloading containers with samples, views from the back and front, respectively; Figure 20 shows a detail of the external unit of the module for loading and unloading containers with samples; shows a conveyor for loading containers into the incubation chamber, a gateway containing a flap with a drive, and a rotary flap guiding the container from the conveyor to the gateway, a general view from the side where the conveyors are located; Figure 21 shows a detail of the external unit of the module for loading and unloading containers with samples; shows a conveyor for unloading containers, an unloading box, and trays for unloading the container after the end of incubation - a general view from the side where the trays are located;Figure 22 shows a sectional end view of the loading and unloading conveyors and the end tray, showing the horizontal pusher and its drive; Figure 23 shows a detailed view of a portion of the container unloading tray, coupled with the unloading conveyor of the external unit of the module for loading and unloading containers with samples; Figure 24 shows a detailed view of the chain conveyor of the loading tray, the external unit of the module for loading and unloading containers with samples; the chain conveyor ensures the alternate feeding of containers from the stack to the loading conveyor; Figure 25 shows a block diagram of the operating algorithm of the manipulator control unit.
[0060] The following blocks and modules of the declared system are designated by positions on the drawings: 1 - incubation chamber, 2 - module for loading and unloading containers with samples, 3 - module for identifying a sample (scanning module), 4 - module for forming a digital image of samples (photography module), 5 - module for moving containers in the working volume of the chamber, 6 - control unit.
[0061] The incubation chamber contains the following structural elements: 7 - front wall, 8 - rear wall, 9 - side wall, 10 - door, 11 - chamber roof, 12 - chamber bottom, 13 - chamber body, 14 - window for loading and unloading containers, 15 - projection of the window for loading and unloading containers, 16 - upper window for communication with module 4, 17 - lower window for communication with module 4, 18 - airlock, 19 - airlock drive, 20 - airlock flap, 21 - platform for mounting scanners, 22 - cell (nest) for placing containers, 23 - shelf with cells (nests), 24 - rod for tiered fastening of shelves with cells, 25 - section of shelves with cells, 26 - middle horizontal plane of the chamber, 27 - working volume (or working zone) of the camera, 28 - means for forming the temperature regime, atmosphere, 29 - tray for manual removal of the container, 30 - compartment for placing the photography module.
[0062] The module for loading and unloading containers with samples contains: 31 - the first (internal) block of module 2, located in the working volume of the incubation chamber, 32 - the second (external) block of module 2, located outside the incubation chamber, 33 - a common loading and unloading area. The external block 32 comprises: 34 - a conveyor for loading containers into the incubation chamber, 35 - a conveyor for unloading containers from the incubation chamber, 36, 37 - conveyor bases, 38, 39 - conveyor drives, 40 - a stopper for fixing the container, 41 - a tray for normal or priority loading of the container, 42 - a tray for unloading the container, 43 - a container transfer device (rotary flap), 44 - a chain conveyor, 45 - a chain conveyor gripper, 46 - a stopper for the unloading tray, 47 - a tray flap, 48 - a horizontal pusher, 49 - a drive for the horizontal pusher, 50 - an unloading box, 51 - a cassette.The internal block 31 contains: 52 - a platform for placing containers loaded into the chamber, 53 - a platform for placing containers unloaded from the chamber, 54 - a means for vertical movement of containers (elevator), 55 - an elevator drive, 56 - a scanning zone, 57 - a means for rotating the container.
[0063] The sample identification module 3 (scanning module) contains: 58 - a device for identifying (reading a machine-readable label) containers (scanner), 59 - a platform (bracket), 60 - a backlight.
[0064] Module 4 for generating digital images of biological samples (photography module) comprises: 61 - upper photography module, 62 - lower photography module, 63 - module 4 housing, 64 - container movement unit (movement unit), 65 - digital image formation unit (digital optical unit), 66 - support platform for feeding containers into digital optical unit 69, 67 - support platform groove, 68 - rotary disk, 69 - electric motor, 70 - conical surface of cell (socket) of rotary disk, 71 - projection of rotary disk, 72 - input cell (socket), 73 - cell (socket) for transferring container for photography, 74 - support surface of cells for container lid, 75 - hinged lid of movement unit, 76 - channel of hinged lid, 77 - first elevator 51 in module 4, 78 - platform of first elevator 72, 79 - second elevator 51 in module 4, 80 - platform of the second elevator 74, 81 - transport basket, 82 - guide rails of the transport basket 76,83 - transport basket drive, 84 - means for moving the transport basket in a horizontal plane, 85 - platform of the means for moving, 86 - elevator table, 87 - table rotation drive, 88 - shutter, 89 - shutter drive, 90 - shutter guide rails, 91 - upper part of the digital optical unit housing, 92 - upper lamp of the digital optical unit, 93 - lower lamp of the digital optical unit, 94 - diffuser, 95 - digital camera, 96 - camera lens.
[0065] The module for moving containers in the working volume of the chamber contains: 97 - 3-axis manipulator, 98 - upper manipulator, 99 - lower manipulator, 100 - upper manipulator zone, 101 - lower manipulator zone, 102 - manipulator support platform, 103 - platform rotary table, 104 - rotary table drive, 105 - manipulator gripper, 106 - gripper head, 107 - shaped gripper jaws, 108 - gripper pads, 109 - gripper vertical movement column (column), 110 - column drive, 111 - red zone, 112 - gripper horizontal movement drive, IZ - belt transmission, 114 - vertical axis, 115 - vertical axis drive, 116 - gripper rotation drive.
[0066] The set of sensors contains: 117 - temperature, humidity and environment composition monitoring sensors, 118 - container presence sensor, 119 - stack and tray fullness sensor, 120 - inductive cassette presence sensor, 121 - angular position sensor, 122 - extreme upper grip position sensor, 123 - extreme lower grip position sensor, 124 - continuous grip coordinate position sensor of the manipulator, 125 - red zone sensor, 126 - three-coordinate manipulator vertical axis drive position sensor, 127 - unloading tray drive end position sensor.
[0067] Implementation of the invention
[0068] A more detailed description of the claimed invention is provided below.
[0069] The following terms, definitions and abbreviations are used in this description.
[0070] “A system for incubating and forming digital images of biological samples” when describing the claimed invention may have an abbreviated name - a system, an incubation system, an incubation system, an automated system.
[0071] "Container" - a container in which it is possible to place a test sample, including by means of manual and / or automatic inoculation. The container in which the sample can be placed usually contains a substrate or a medium with nutrients for the growth of target microorganisms. According to the present invention, such containers as Petri dishes (hereinafter also referred to as dishes) containing seeded medium, test tubes with broth and slides with biological samples, etc. can be used in an automated system for conducting studies.
[0072] "Biological sample" (hereinafter also referred to as sample) - a sample of fluid and (or) tissue of the human body, as well as any other material sample potentially containing microbiological objects, taken for laboratory testing.
[0073] The term “zone” in the description of the claimed invention denotes a specific area of space in which the prescribed function of a device, module, block, or their parts or individual structural elements is implemented, which may have material or conditional boundaries.
[0074] The "red zone" is an area of space in the incubation chamber in which collisions (impacts) of manipulators are possible.
[0075] "Working volume of the incubation chamber" or "Working area of the incubation chamber" - the volume in the incubation chamber in which the incubation of samples and the direct operation of the devices, modules and their parts located in it takes place.
[0076] The proposed system, an incubation chamber with a container movement module, can be implemented as independent solutions that provide the ability to incubate containers with samples under optimal conditions and form digital images of samples in real time with a specified (or required) frequency (for example, every 60 minutes) with subsequent analysis by a doctor or laboratory technician of the obtained images, including using the appropriate software. The software may contain algorithms based on the use of artificial intelligence.
[0077] The proposed incubation chamber and system can also be integrated into the structure of a microbiological laboratory (Fig. 1), which, in addition to this system, can include modules and / or blocks for automatic seeding of biomaterial into containers, such as Petri dishes, with the function of loading containers into cassettes, labeling containers; preparing samples for microfluidic tests; selecting colonies; determining antibiotic resistance, etc.
[0078] The system for incubation and formation of digital images of biological samples presented in this document (Figs. 1 - 25) comprises: - a chamber 1 for incubation of samples placed in containers (hereinafter also referred to as the incubation chamber, chamber),
[0079] - module 2 for loading and unloading containers with samples,
[0080] - module 3 for sample identification using sensors and scanners to control the location and identification of a specific Petri dish (hereinafter also referred to as the identification module, scanning module),
[0081] - two modules 4 for forming digital images of samples 4 (hereinafter also referred to as the photography module),
[0082] - module 5 for moving containers in the working volume of the chamber, including two 3-coordinate manipulators 97 for moving containers with samples into the photography module 4 and loading them back into the incubation chamber 1,
[0083] - control unit 6 with the function of controlling the movements of 3-coordinate manipulators 97 (hereinafter also referred to as the control unit).
[0084] Below is a detailed description of the design solution for each block and module, and the operation of the system is demonstrated using Petri dishes as containers, which does not limit the scope of the stated claims.
[0085] Incubation chamber 1 (Fig. 2-5, 7) is a cabinet-type body. The chamber may contain a metal frame lined on the outer and inner sides. The chamber is insulated, and may be lined on the inner side with stainless steel panels. In the working volume 27 of the chamber, shelves 23 with cells (nests) 22 for placing Petri dishes with biological samples are located, as shown, for example, in Fig. 5. In the chamber between the walls of the chamber and the working volume, where racks are installed for placing containers, engineering systems are located for creating optimal conditions for the growth of microorganisms in its working volume, including means for forming the required incubation mode (means for heating, humidification, maintaining the concentration of CO2 and air circulation) 28 of the working volume (Fig. 4).The incubation chamber can be equipped with sensors 117 for monitoring temperature, humidity, composition of the environment, and means that ensure the ability to maintain the required parameters in automatic mode.
[0086] In one embodiment of the invention, the chamber 1 is made in the form of a housing 13, having a front 7, rear 8, side 9 walls, a roof 11 and a bottom 12 (Fig. 2 and 3). The chamber is provided with a door 10 (Fig. 5) for servicing it, as well as at least one window 14 for loading and unloading containers with biological samples and two windows - upper 16 and lower 17, for communication with two modules 4 for forming a digital image of samples (photography modules) (Fig. 4). In this case, the window for loading and unloading containers 14 is made in the front wall 7 of chamber 1, preferably in its middle part, and the door 10 of chamber 1 is made on the side of its rear wall 8. In one embodiment of the invention, the rear wall 8 can be made in the form of a door, as shown in Fig. 3, 5. In this case, the door and the front wall can have a convex profile of the outer surface. The convex shape of the front wall of the chamber allows for hidden installation of the loading-unloading module elements.The window for loading and unloading containers 14 is provided with a gateway 18 (Fig. 4) designed to limit the leakage of the medium from the incubation chamber, which opens during the loading of the container into the incubation chamber or unloading from it upon a signal from the corresponding sensor 118 located on the loading conveyor 34 on the outside of the chamber or on the unloading conveyor 35 on the inside of the chamber and connected to the control unit 6. The control unit 6, after receiving a signal from the sensor 118, sends a corresponding signal to the drive 19 of the gateway 18 - a signal to open or close the gateway 18. Thus, the gateway 18 opens automatically, and the container with the sample is moved by means of the device 43 from the external conveyor to the internal device of the loading and unloading module 2.The device 43 can be made in the form of a rotary shutter located on the base of the loading conveyor outside the incubation chamber in front of the airlock, and actuated similarly to the airlock by a signal from the sensor 118 of the presence of a container in front of the airlock (Figs. 7, 9 and 20). To track the movement of a sample in the working volume 27 of chamber 1 in real time, software can be used, wherein the container with the sample is provided with a machine-readable label (for example, a bar code, an RFID label, etc.), and chamber 1 (at least at the container entry point, the container exit point and the photography modules 4, as shown in Fig. 8) is provided with corresponding readers for this label (scanners 58). After unloading the containers from the incubation chamber onto the conveyor 35, the samples can be sent for disposal, can be transferred to a special tray for manual extraction 29 by the operator or can be automatically moved to the next module or device.In one embodiment of the incubation chamber 1, separate windows with their own airlocks can be used for loading and unloading containers, or the airlock can be made of two parts that move independently of each other.
[0087] In addition to the first window - the window for loading and unloading containers 14, the second and third windows - the upper window 16 and the lower window 17 for communication with modules 61 and 62 for forming a digital image of samples - are also located on the front wall 7. In this case, window 16 is located above window 14, and the third window 17 is located below window 14 (Fig. 4). Such an arrangement of windows 16 and 17 for communication with module 4 relative to window 14 allows photography modules 61 and 62 to function independently of each other. In this case, the movement of cups in the working volume 27 of chamber 1 is carried out using the corresponding three-coordinate manipulator 98 or 99, servicing its own photography module and the common loading / unloading zone 33 (more about this below).
[0088] In various embodiments of the invention, the incubation chamber body 13 may have separate compartments 30 for accommodating the upper 61 and lower 62 photography modules (as shown in Fig. 4, 7). It is preferable to place the photography modules in separate compartments on the outside of the incubation chamber 1, as shown in Fig. 2, 4, 7. In this case, the distance between the said compartments should not be less than the height of the window for loading and unloading containers 14.
[0089] The arrangement of the shelves 23 with the cells 22 can be implemented in various ways. Each cell 22 is adapted to receive and hold a container with a sample in it during the incubation process. It is preferable to arrange the shelves 23 in a circle (as shown in Fig. 5) to provide access for the gripper 105 of the three-coordinate manipulator 97 to its cells. The array of shelves 23 with cells 22 for storing cups with samples in the preferred embodiment partially forms a cylinder with a virtual vertical axis (Fig. 5, 7). Such an arrangement of shelves 23 makes cells 22 accessible for grips of manipulators 105, placed in the central part of the cylinder (Fig. 7), formed by shelves 23 with cells 22. Shelves 23 with cells 22 in one of the embodiments of the invention can be fixed on the inside of the side walls 9, the rear wall 8 and / or the door 10 of chamber 1 (Fig. 5).In this case, the said walls of the incubation chamber with shelves 23 fixed to them may have a partially cylindrical surface profile. It is preferable to make the chamber walls with a rectilinear profile of the outer surface, while vertical rods 24 are fixed on the inner side of the walls 7 - 9 and the door 10, providing tiered fastening of round shelves with cells for Petri dishes. The incubation chamber 1 may include a different number of cells depending on the tasks of the microbiological laboratory, for example, from 600 to 720 cells. In individual embodiments of the invention, each cell is characterized by the coordinates of its spatial location. Shelves 23 with cells 22 can be made in the incubation chamber 1 in the form of sections 25.
[0090] The module for loading and unloading containers with samples 2 (Figs. 1-4, 8, 9, 18-24) contains two blocks, one of which is located in the incubation chamber - the first block 31 (or internal block) (Figs. 4, 7, 8, 9, 20), the second - outside the working volume of the incubation chamber - the second block 32 (or external block) (Figs. 2, 7, 8, 9, 18, 19, 20). The external block 32 has two conveyors (transporters) 34 and 35, located at different height levels on bases 36 and 37, which can be rigidly connected to the body of the incubation chamber 13. Conveyors (transporters) 34 and 35 are designed with the possibility of moving in opposite directions and are equipped with independent electric drives 38 and 39 (Fig. 7). One of the conveyors (transporters) transports containers with samples from loading trays 41 (Fig. 8, 9, 18, 19) to gateway 18 - a conveyor for loading containers into incubation chamber 34, and the second - from gateway 18 to unloading trays 42 - a conveyor for unloading containers from incubation chamber 35.Along the conveyor (transporter) 34 and 35 there may be (depending on the algorithm for using the incubation system: individual or as part of a complex) optical sensors for the presence of containers 118 and stoppers 40 for fixing the container in a given spatial position, driven by electromagnets (Fig. 2, 7, 20). The stoppers 40 may be implemented as retractable pins that move when power is supplied to the electromagnets and return to their original position when power is removed under the action of a spring. The stoppers are located on the conveyor in such a way that the distance between them is approximately equal to 0.75 of the diameter of the container to ensure its reliable stopping. In front of the lock 18 of the loading conveyor 34 and after the lock 18 of the unloading conveyor 35, on the outside of the chamber 1, there are devices 43 (rotary flaps) (as shown in Fig.7, 9, 20), ensuring the movement of the container from the loading conveyor 34 to the gateway 18 or from the gateway 18 to the unloading conveyor 35 with a change in the trajectory of the container, for example, by turning by 90 degrees.
[0091] The containers are fed to the loading conveyor 34 from the loading trays 41 (Fig. 8, 9, 18, 19), the number of which may vary depending on the capacity of the incubation chamber - from two or more. The loading trays may be made in the form of a container or a body having at least two parallel side walls fixed to the base. In one of the embodiments of the loading trays, they are additionally provided with an end wall on the side of the connection with the conveyor 34 for loading the containers into the incubation chamber, wherein the end wall is provided with a slit 128 or is located with an indent from the base to ensure the passage of the lower container from the stack onto the conveyor. The slit may be made 3-4 mm higher than the height of the container. A supporting surface intended for placing the trays 41 may act as a base. The loading trays are configured to match the dimensions of the containers used.When used as containers, for example, Petri dishes, the loading trays are designed with the possibility of placing Petri dishes in them in one row horizontally and at least two rows vertically, wherein the side walls for Petri dishes act as guides. In a specific embodiment (Fig. 19), the loading trays 41 have a rectangular configuration and dimensions that ensure the placement of one Petri dish in them in width, at least 10 dishes in height and up to 5 stacks of dishes in length. The trays are preferably equipped with optical sensors for the presence of containers 118 for determining the priorities for feeding containers to the conveyor depending on the algorithm for using the incubation system. For alternately issuing containers to the conveyor, the trays 41 can be equipped with a chain conveyor 44, as shown in Fig.18 and 24, with two pairs of grippers 45, designed with the possibility of interacting with Petri dishes during movement, wherein one pair of grippers pushes the container onto the loading conveyor 34, and the second fixes the container from the next stack from premature delivery onto the conveyor.
[0092] Block 31, located in the incubation chamber, contains two platforms 52 and 53 for placing containers located in the projection of the incubation chamber window 15 (Figs. 8 and 9), one of which - platform 52, is intended for a container loaded into the chamber, the second - platform 53, is intended for placing containers 53 unloaded from the incubation chamber, wherein each of the platforms 52 and 53 is equipped with a means for vertical movement of containers (elevators) 54 (Fig. 23) with electric drives and a screw transmission into the scanning zone 56, a means for rotating the container 57 in the field of view of the scanner 58 for its identification (Figs. 6, 8, 9). The container enters the incubation chamber through the chamber window 14, equipped with a gateway 18, which has 2 independent flaps 20, driven by their own electric drives 19 and opening in response to signals from the presence (presence) sensors of the container 118 in front of the gateway 18.From the gateway 18 to the elevator 54, intended for loading, and from the elevator 54, intended for unloading, to the gateway 18, the container is transported by independent conveyors (transporters) 34 and 35, moving in opposite directions and driven by independent electric drives 38 and 39. On the inside of the gateway 18, a platform 21 is secured for mounting scanners (Fig. 4).
[0093] After unloading the container from the incubation chamber, the container can be directed along the unloading conveyor 35 to the unloading box 50 (Fig. 18, 19), which is the receiving part of the container unloading tray 42, which can have a configuration similar to the trays for loading containers 41. Each tray 42 has stoppers 46 (Fig. 19), made similar to the stoppers 40 and secured to the conveyor under the corresponding unloading tray, optical sensors for the presence of a container 118 on the conveyor 35, an elevator 54 (Fig. 22) for moving the container from the conveyor 35 to the unloading tray 42, flaps 47 that allow the container to pass when it is moved upward by the elevator 54 and block the reverse movement of the container, a horizontal pusher 48 for stacking stacks of containers in the tray 42 and sensors for filling the stack and tray 119. The container, having reached the extended stoppers, 46, stops because the distance between the stoppers is less than the size of the container.The container presence sensor 118 located between the stoppers generates a signal to stop the conveyor and lift the container by the elevator into a stack formed in the output tray. The flaps 47 are plates fixed on the opposite walls of the tray with the possibility of rotation around the horizontal axis of the plate at an angle of 90 degrees, while in the initial position (without the container) the flaps are located in the horizontal plane above the conveyor, and have a configuration that ensures the formation of a window, the size of which is smaller than the diameter of the container, while larger than the diameter of the elevator platform on which it is located.Such design of the flaps ensures movement through the said window of the container from the lower position to the upper one with the help of the elevator, wherein the flaps "open" when they are turned from the horizontal position to the upper vertical position when the container walls act on them, and after the container reaches a given height, at which the flaps "close", occupying the initial horizontal position, thereby forming a support platform on which the container is placed when the elevator moves from the extreme upper position to the extreme lower position. Thus, the container is lifted by the elevator above the flaps and can no longer fall below the flaps. The stack of containers is formed by alternate vertical movement of the containers, where each subsequent container is "built into" the stack from below with simultaneous upward movement of the containers already placed on the flaps. Thus, the stack is formed one container at a time.The horizontal pusher 48 is a slide with a profile close to the container profile, moving progressively in a horizontal plane along guides located on the sides of the tray, and pushing a stack of containers into the tray. Cassettes for receiving used containers 51 can be installed in the trays 42, and the trays can also have inductive sensors 120 for the presence of cassettes. The elevator 54 and the horizontal pusher 48 have their own electric drives 55 and 49 and end position sensors 128. The use of one or another tray is determined by the operating algorithms of the incubation system.
[0094] The sample identification module (scanning module) 3 (Fig. 8, 9) includes at least two barcode scanners 58 located on the inside of the airlock 18 of the incubation chamber 1, fixed on a bracket or platform connected to the base of the internal conveyor from the airlock to the elevator in the incubation chamber 59, and means for illuminating 60 the scanned area fixed on the bracket or platform, which can be made in the form of LED lamps. Each container with a sample is marked in advance, for example, using a barcode. The scanner 58 is located with the possibility of identifying the container with the sample during loading and unloading by reading and decoding this code. In an alternative embodiment, the incubation system can be equipped with a radio tag reading system (RFID or NFC).
[0095] The module for forming digital images of samples (photography module) 4 (Figs. 4-7, 13-17) includes a container movement unit 64 and a digital image formation unit (digital optical unit) 65 (Fig. 13). In this case, unit 64 is located in the working volume of the incubation chamber (Fig. 4), and unit 65 is located in a separate compartment 30 of the incubation chamber or a separate housing 63, which adjoins the incubation chamber 1 from the outside and communicates with the working volume of the incubation chamber 27 through a corresponding window (upper window 16 and lower window 17 for communication with module 4). Thus, the container with the sample can be moved from the working volume of the chamber 1 with the help of unit 64 into the digital optical unit 65. Containers for samples are fed into the digital optical unit 65 through the mentioned window 16 or 17.
[0096] The container movement unit 64 (Fig. 13, 15, 16) includes a fixed support platform 66, under which electric motors 69 are located, transporting the container to the digital image formation unit 65 and from it, and a rotary disk 68 located on the platform, made with the possibility of moving the container from the input cell 72 to the transfer cell for photography 73, and an upper hinged cover 75, covering the disk 68. The cover 75 is in the closed position during operation of the incubator and does not interfere with the rotation of the disk together with the container. The support platform 74 has grooves 67 (Fig. 13, 15) for installation and fastening in the housing of the incubation chamber 13 using brackets fixed to the walls of the housing from its inner side for placement in the said grooves.Under the input cell 72 there is a receiving elevator 77 with its electric drive 55, belt transmission IZ, platform 78 for placing a container in it and with an optical sensor for the presence of a container 118 on the elevator, which, due to the larger diameter of the hole in the disk than the diameter of the elevator, can move above the level of the platform and the disk into the reach of the 3-coordinate manipulator 97, which installs the container on the elevator or removes the container from the elevator. Thus, the elevator moves above the platform 66 to receive the container, and then, having received the container, moves it to the level of the platform 66. As shown in Fig.13, 15, 16, the rotary disk 68 is equipped with its own electric motor 69 with a belt transmission 113 and has 2 cells, each of which is made with an inner surface 70 of a conical shape for placing a container, eliminating its jamming in the cell during movement, which makes it possible to swap the container located in the receiving (input) cell 72 and the container located in the cell for transferring for photography 73. Also, the disk 68 has a projection 71, made with the possibility of fixing the container lid (Petri dish) when moving the container below the level of the disk 68 when transferring the container for photography. The container lid can be fixed both mechanically, resting on the projection in the disk, and by creating a vacuum above the lid through a special channel 76 in the hinged lid of the container movement unit 75.
[0097] Under the photograph transfer cell 73 (Fig. 13, 15 and 16) below the level of the platform 66 there is a transport basket 81 with an electric motor, a belt drive and guide rails 82 for moving the container under the lens 96 of the camera 95, an elevator 79 (similar in its design to the elevator 54 and the elevator 77) with an electric motor, a belt drive for moving the container below the level of the platform 66 into the basket 81, a platform 80 for placing the container in the said elevator, a scanner 58 for identifying the container, a rotation drive 87 of the table 86 of the elevator for moving the container into the field of view of the scanner 58, a curtain 88 with an electric motor, a belt drive and guide rails 90, moving under the lens 96 of the camera 95 for forming images on a dark or light background.
[0098] The digital optical unit 65 (Fig. 4, 14) is placed outside the incubation chamber 1 and communicates with the container movement unit 64 through the window 16 or 17, made in the shape of the guide rails of the basket drive 83 and the shutter drive 89. The digital optical unit (Fig. 17) is placed in its housing 63, adjacent to the housing of the incubation chamber from the outside, and at least two light sources or lamps (upper 92 and lower 93), located to ensure uniform illumination of the biological sample placed in the container. The lamps are made with diffusers 94 of cylindrical, conical, parabolic or spherical shape, which allows directing light onto the container with the sample and the digital camera 95 installed in the upper part of the body of the digital block 91. In this case, the camera lens 96 is located in an opening made in the body, above the platform for placing the container with the sample for photographing, coaxially with the upper and lower lamps.The 95 camera can be focused either manually or using a separate electric drive.
[0099] The module for moving containers in the working volume of the incubation chamber 5 (Figs. 6-8, 10-12) contains two 3-coordinate manipulators 97, which are located in the chamber one above the other with the ability to service its own zone with each manipulator - the upper (zone of the upper manipulator 100) and the lower (zone of the lower manipulator 101), respectively - the upper manipulator 98 and the lower manipulator 99. In this case, the upper manipulator 98 ensures the movement of containers between the container loading and unloading window 14, the upper photography module 61 and the corresponding (upper) cells of the incubation chamber; the lower manipulator 99 ensures the movement of containers between the container loading and unloading window 14, the lower photography module 62 and the corresponding (lower) cells of the incubation chamber. The movement of manipulators 98 and 99 in module 5 can be implemented independently of each other in accordance with control programs.
[0100] Each manipulator consists of a support platform 102 rigidly fixed to the bottom of the chamber 12 (lower manipulator 99) or the roof of the incubation chamber 11 (upper manipulator 98). A rotary table 103 is located on the support platform 102, made with the possibility of rotation at an angle of up to 400 degrees (clockwise and counterclockwise). The rotary table 103 is driven into rotation by a servo drive 104 with an angular position sensor 121 and a belt transmission. A vertical movement column 109 of the gripper of the manipulator 105 is located on the rotary table 103. A vertical movement servo drive 110 with a ball screw transmission is fixed on the column 109. Also attached to the column are sensors of the extreme upper 122 and extreme lower 123 position of the gripper 105 and a “red zone” sensor 125, which generates a signal about the presence of a gripper of the manipulator 105 near the window for loading and unloading the container 14 of the incubation chamber and prevents a collision of the manipulators 98 and 99 in the “red zone” 111.The gripper 105 is equipped with a horizontal movement drive 112 and a belt transmission for moving the gripper to or from the cell when installing or removing the container from the shelf. The gripper 105 has a gripper head 106, shaped gripper jaws 107 (clamps) with pads 108 repeating a part of the outer surface of the container, while the gripper head is made with the possibility of rotation around a horizontal axis to ensure a change in the position of the container when taking from the shelf / installing on the shelf (turning the container). This allows photographing samples placed in containers in the normal position, and storing them with the lid down to minimize condensation getting on the sample.
[0101] Since the manipulators 98 and 99 have the mechanical ability to move to the same point in space (in the working volume 27) of the incubation chamber, a set of software and hardware measures to exclude their collision in the "red zone" 111 is implemented in the incubation system. For this purpose, the sensors 124 for continuous monitoring of the position of the capture coordinates of each manipulator, located on the vertical axis 114 of the servo drive 115, issue a continuous signal received in the control software, after which the control unit calculates and forms the coordinates to which the second (other) manipulator can move, and transmits the corresponding signal to the first manipulator for it to execute a command to move it to an acceptable (safe) place in the working volume of the chamber or to stop in order to avoid a collision.Thus, for example, at the moment when one of the manipulators is in the container loading window area, a permitting signal is generated for the second manipulator to move to the area of the digital image formation module, while a prohibiting signal is generated for moving to the loading window area. In addition, the servo drive 115 of the vertical axis 114 of each manipulator 98 and 99 has an inductive sensor 125 for the presence of a moving part in the danger zone ("red zone" 111). The signal of the said sensors from each manipulator 98 and 99 is also transmitted to the protection unit of the control unit 6, which generates a signal to stop the servo drive upon the operation of these sensors.
[0102] The system control unit 6 (Fig. 1, 25) is a hardware and software complex, includes a local storage for software required to control the system elements, and an independent local storage for photographs. The control unit may contain a microprocessor and a set of control boards or microcontrollers that control the system functions and ensure operation according to a specified algorithm of the incubation chamber, the module for loading and unloading containers with samples, the sample identification module (scanners), modules for forming a digital image (photography modules) of samples, manipulators of the module for moving containers in the working volume of the chamber. The control unit consists of power supplies, voltage converters, circuit breakers, stepper motor control boards, DC motor control boards, control boards for lamps, heaters and other equipment of the incubation chamber.The elements of the system control unit are located under the front panels of the incubation chamber or loading / unloading unit. The control unit elements can be arranged on special panels (shields) or DIN rails. The control unit elements are isolated from the internal volume of the incubation chamber by the walls of the incubation chamber body, and from external influences - by the front panels.
[0103] The system control unit 6 contains a manipulator control unit, which is two controllers connected to a common blocking and protection board, which generates and transmits a signal to stop the movement of one of the manipulators (along the vertical axis) when the "red zone" sensor of the other manipulator is triggered. The controllers and the blocking and protection board can be placed under the front wall of the incubation chamber next to the digital image formation unit.
[0104] The software product is responsible for the coordinated joint work of the electromechanical and electronic components of the system, which is also responsible for temporary storage and transmission to third-party software (software) of digital images of microorganism colonies for subsequent analysis on a remote automated workplace. The minimum path of movement of the container with the sample and the time it is outside of specially maintained microclimatic conditions (outside the incubation chamber) have a positive effect on the quality and speed of obtaining the results of microbiological research (earlier growth of microorganism colonies). Receiving digital images is possible on dark and light backgrounds.
[0105] The present invention may be subject to various changes and modifications, understandable to a specialist based on reading this description. Such changes do not limit the scope of claims. In particular, the layout of the incubation chamber (1 or 2 manipulators and a photographing module), the number and capacity of trays for loading and unloading, the location and type of sensors for the position of moving parts and the presence of cups, the capacity of the incubation chamber, and the method for identifying samples may be changed.
[0106] The system for incubation and digital imaging of biological samples operates as follows.
[0107] From loading trays 41 (as shown in Figs. 8, 9, 18, 19) the containers are moved one by one to conveyor belt 34. Containers fed through the priority loading tray form a signal on the priority container presence sensor 117, after which the incubation system software ensures the out-of-turn transportation of the container to incubation chamber 1. The container, leaving the conveyor belt 34, is fed through the gateway 18 to incubation chamber 1, where on the receiving elevator 54 the barcode scanner 58 reads the barcode for identifying the container and compares its number with the incubation program in the incubation system database. After identifying the container, the manipulator 98 or 99, using the gripper 105, takes the container and moves it to the cell 22 of the incubation chamber specified by the control program. The movement is carried out in three coordinates using a servo drive of the vertical axis 115, a rotary table 103 and a drive of the horizontal axis 112.During incubation, it is necessary to periodically obtain photographs of the container contents, for which purpose the manipulator 105 moves the container to the photography module 4, namely to the upper 61 or lower 62 module. In the photography module, the container is lowered to the level of the rotary disk 68 by means of the receiving elevator 54, the disk rotates, moving the container to the elevator of the transport basket 81. The basket elevator lowers the container into the basket, where the container barcode is scanned, and the basket drive 83 feeds the container to the lens 96 of the camera 95. The drive 89 of the shutter 88 allows for obtaining photographs of the container on a dark and light background, moving the shutter 88 toward or away from the container.While the container with the sample is being photographed, the receiving elevator accepts the next container, after the photographing cycle for the previous container is completed, the rotary disk 68 swaps the container, and the new container is moved to the basket 81, and the container that left the photographing module 4 is transported to its place by the manipulator 105.
[0108] After completion of the incubation cycle, the container is transported by manipulator 105 to unloading elevator 54, identified by barcode scanner 58 and, having passed through gateway 18, leaves incubation chamber 1, enters conveyor belt 35 and is fed into one of the dispensing (unloading) trays 42, after which it can be disposed of or sent for additional examination.
[0109] An example of a specific implementation of the invention.
[0110] A model of the system was manufactured, in which the incubation chamber had dimensions providing a capacity of up to 720 Petri dishes. Two three-coordinate manipulators were mounted in a mirror image in the chamber, as shown in Figs. 4 - 9, one of which was fixed on the roof of the chamber, the second - on the bottom of the chamber. Each manipulator is equipped with a gripper and a 3-coordinate drive. In the middle part of the front wall of the chamber, a window for loading and unloading containers with elevators consisting of stepper electric motors and screw gears and barcode scanners for identifying containers was made. A photography module was installed in the model, made similar to the module shown in Figs. 13 - 17, and equipped with a Daheng Imaging digital camera with a resolution of 25 MP. An external unit of the module for loading and unloading containers with samples was installed outside the incubation chamber, made as shown in Fig. 18 - 24, comprising a loading conveyor, an unloading conveyor, two loading trays and four unloading trays for containers.The results of the tests of the declared system demonstrated the possibility of obtaining up to 360 photographs of samples per hour, while the automated BD Kiestra ReadA system (USA) with a comparable capacity of the incubation chamber allows obtaining about 300 photographs per hour.
Claims
CLAUSE OF INVENTION 1. A module for moving containers in a chamber for incubating biological samples, containing a window for loading and unloading containers, characterized in that it includes two 3-coordinate manipulators with a grip for a container, where each of the manipulators contains a column for vertical movement of the grip, horizontal guides and a rotary table equipped with movement drives, wherein the manipulators are located one above the other with the possibility of overlapping each other's working stroke, ensuring access of the grip of each manipulator to the container placed in the working volume of the incubation chamber near the window for loading and unloading containers, and are equipped with "red zone" sensors, designed with the possibility of detecting the presence of the manipulator grip in the "red zone" located around the window for loading and unloading containers, accessible for servicing by the upper and lower manipulators.
2. A container movement module according to item 1, characterized in that it is designed with the ability to stop the movement of one manipulator when the “red zone” sensor of the other manipulator is triggered.
3. A container handling module according to item 1, characterized in that the three-coordinate manipulators in the initial position before the start of operation are located mirror-symmetrically relative to the middle horizontal plane of the chamber, perpendicular to the plane of the window for loading and unloading containers.
4. A container handling module according to item 1, characterized in that the rotary table of the three-coordinate manipulator is designed with the ability to rotate up to 400 degrees in opposite directions.
5. A container handling module according to item 1, characterized in that the 3-coordinate manipulators are equipped with sensors for the extreme lower and upper positions of the manipulator grip, and sensors for continuous monitoring of the position of the coordinates of the manipulator grip.
6. A container movement module according to item 5, characterized in that the “red zone” sensors are located between the sensors of the extreme upper and extreme lower positions of the manipulator grips, ensuring the possibility of signaling when the container movement mechanisms in the incubation chamber approach each other.
7. A container movement module according to item 5, characterized in that the sensors of the extreme lower and upper positions of the manipulator grip and the “red zone” sensor are fixed to the vertical movement column of the manipulator grip.
8. A container handling module according to item 1, characterized in that the “red zone” sensors are inductive sensors, and the distance between the sensors, fixed to the columns of the manipulators, is not less than the height of the window for loading and unloading containers.
9. A container handling module according to item 1, characterized in that the grip of the three-coordinate manipulator is equipped with shaped jaws with pads designed to control the clamping force of the container.
10. A container handling module according to item 1, characterized in that the manipulator drives are electromechanical.
11. A chamber for incubating biological samples, containing a window for loading and unloading containers with biological samples, located on one of the walls of the chamber in its central part, equipped with a gateway; shelves with cells for placing containers; a module for moving containers in the working volume of the chamber, containing a 3-axis manipulator with a gripper for the container, including a column for vertical movement of the gripper, horizontal guides and a rotary table, equipped with movement drives;a module for forming a digital image of samples, a control unit, characterized in that the module for moving containers in the working volume of the chamber contains a second 3-coordinate manipulator with a grip for the container, wherein the manipulators are located one above the other with the possibility of overlapping each other's working stroke with ensuring access of the grip of each manipulator to the container located in the working volume of the incubation chamber near the window for loading and unloading containers, and are equipped with "red zone" sensors, configured to detect the presence of the manipulator grip in the "red zone" located around the window for loading and unloading containers, accessible for servicing by the upper and lower manipulators; the control unit is configured to control the movements of the manipulators and contains a protection unit configured to send a signal to stop the movement of the second manipulator when the "red zone" sensor of the first manipulator is triggered.
12. A chamber for incubating biological samples according to item P, characterized in that the three-coordinate manipulators in the initial position before the start of work are located mirror-symmetrically relative to the middle horizontal plane of the chamber, perpendicular to the plane of the window for loading and unloading containers.
13. A chamber for incubating biological samples according to paragraph P, characterized in that the chamber contains a front, rear, side walls, a roof and a bottom, and a window for loading and unloading containers is located on the front wall, the base of the rotary table of the upper manipulator is attached to the roof of the incubation chamber, the lower manipulator is fixed to the bottom of the incubation chamber.
14. A chamber for incubating biological samples according to item P, characterized in that the rotary table of the three-coordinate manipulator is designed with the ability to rotate up to 400 degrees in opposite directions.
15. A chamber for incubating biological samples according to item P, characterized in that the 3-coordinate manipulators are equipped with sensors for the extreme lower and upper positions of the manipulator grip, and sensors for continuous monitoring of the position of the coordinates of the manipulator grip.
16. A chamber for incubating biological samples according to item 15, characterized in that the “red zone” sensors are located between the sensors of the extreme upper and extreme lower positions of the grippers of the manipulators, ensuring the possibility of signaling when the mechanisms for moving containers in the incubation chamber approach each other.
17. A chamber for incubating biological samples according to item 15, characterized in that the sensors for the extreme lower and upper positions of the manipulator grip and the “red zone” sensor are secured to the vertical movement column of the manipulator grip.
18. A chamber for incubating biological samples according to paragraph P, characterized in that the “red zone” sensors are inductive sensors, and the distance between the sensors, fixed to the columns of the manipulators, is not less than the height of the window for loading and unloading containers.
19. A chamber for incubating biological samples according to item P, characterized in that the grip of the three-coordinate manipulator is equipped with shaped jaws with pads designed with the ability to control the clamping force of the container.
20. A chamber for incubating biological samples according to item 11, characterized in that it contains scanners fixed to the gateway above the platforms of the module for loading and unloading containers with samples, with the ability to read information placed on the containers.
21. A chamber for incubating biological samples according to item 20, characterized in that it contains a block for loading and unloading containers with samples, located in the working volume of the incubation chamber, including two platforms for containers, located in the projection of the incubation chamber window, one of which is intended for the container being loaded into the chamber, the second for the container being unloaded from the incubation chamber, wherein each of the platforms is equipped with a means for vertically moving containers into the zone scanning.
22. A chamber for incubating biological samples according to claim 11, characterized in that the module for forming a digital image of the samples includes a digital optical unit located in a separate housing, which is made to communicate with the working volume of the incubation chamber, and a platform for feeding containers into the digital optical unit.
23. A chamber for incubating biological samples according to item 11, characterized in that it contains a second module for forming a digital image of the samples, wherein one of the modules is placed above the window for loading and unloading containers, and the second is placed under the said window.
24. A chamber for incubating biological samples according to item 21, characterized in that the drives of the manipulators, the container loading and unloading unit, and the module for forming a digital image of the samples are electromechanical.
25. A system for incubating and forming digital images of biological samples, including an incubation chamber containing a front, back, side walls, a roof and a bottom, as well as a window for loading and unloading containers with biological samples, located on one of the walls of the chamber in its central part, equipped with an airlock; shelves with cells for placing containers, means for forming the required temperature regime and atmosphere in the working volume of the chamber;a module for loading and unloading containers with samples, comprising two units, one of which is internal and is located in the working volume of the incubation chamber, the second is external and is located outside the working volume of the incubation chamber, wherein the external unit contains conveyors for loading and unloading containers, a module for forming a digital image of biological samples, comprising a digital optical unit located in a separate housing communicating with the working volume of the incubation chamber, and a platform for feeding containers into said unit, a module for moving containers in the working volume of the chamber, comprising a 3-coordinate manipulator with a gripper for a container, comprising a column for vertical movement of the gripper, horizontal guides and a rotary table equipped with movement drives; a set of sensors for the extreme lower and upper position of the manipulator gripper, a sensor for continuous monitoring of the position of the coordinates of the manipulator gripper; a control unit for manipulators, characterized in that the system additionally contains a second module for forming a digital image, wherein one of the modules is located above the window for loading and unloading containers, the second - under the said window, the module for moving containers in the working volume of the chamber is made according to clause1, comprises a second 3-coordinate manipulator with a grip for a container, wherein the manipulators are arranged one above the other with the possibility of overlapping each other's working stroke with provision of access of the grip of each manipulator to the container placed in the working volume of the incubation chamber at the window for loading and unloading containers, the set of sensors includes "red zone" sensors located on the column of vertical movement of the grip of each manipulator, configured to detect the presence of the grip of the manipulator in the "red zone" located around the window for loading and unloading containers, accessible for servicing by the upper and lower manipulators, the control unit of the manipulators comprises a protection unit configured to send a signal to stop the movement of the second manipulator when the "red zone" sensor of the first manipulator is triggered.
26. The system according to claim 1, characterized in that in the digital image formation module the platform for feeding containers is made stationary, wherein said module contains a rotary disk placed on the platform with two cells for containers, three means for moving the container, two of which are made in the form of an elevator with the ability to move the container in the vertical direction, and the third means is equipped with a basket for placing the container and is made with the ability to move the basket from the working area of the incubation chamber to the digital image formation area and back.
27. The system according to item 26, characterized in that the first means of movement is located above the first cell of the rotary disk and is designed with the possibility of moving the container from the initial extreme upper position to the level of the platform with the container being placed in this cell of the rotary disk; the second means of movement is located under the second cell of the rotary disk and is designed with the possibility of moving the container placed in this cell of the rotary platform to the vertical extreme lower position with the container being placed in the basket; the third the transport means is designed with the possibility of transporting the basket with the container in a horizontal direction.
28. The system according to item 26, characterized in that the first and second means for moving containers are provided with platforms for the container.
29. The system according to item 26, characterized in that the rotary disk is designed with the possibility of rotation by 180 degrees.
30. The system according to item 26, characterized in that the cells of the rotary disk are made with support surfaces for the container lid, providing the ability to move into the area for photographing containers without a lid.
31. The system according to item 25, characterized in that the three-coordinate manipulators in the initial position before the start of operation are located mirror-symmetrically relative to the middle horizontal plane of the chamber, perpendicular to the plane of the window for loading and unloading containers.
32. The system according to item 25, characterized in that the base of the rotary table of the upper manipulator is attached to the roof of the incubation chamber, and the base of the lower manipulator is secured to the bottom of the incubation chamber.
33. The system according to item 25, characterized in that the rotary table of the three-coordinate manipulator is designed with the possibility of rotation up to 400 degrees in opposite directions.
34. The system according to item 25, characterized in that the “red zone” sensors are located between the sensors of the extreme upper and extreme lower positions of the manipulator grips, ensuring the possibility of signaling when the mechanisms for moving containers in the incubation chamber approach each other.
35. The system according to item 25, characterized in that the “red zone” sensors are inductive sensors, and the distance between the sensors, fixed on the columns of the manipulators, is not less than the height of the window for loading and unloading containers.
36. The system according to item 25, characterized in that the grip of the three-coordinate manipulator is equipped with shaped jaws with pads designed with the ability to control the clamping force of the container.
37. The system according to item 25, characterized in that the drives of the manipulators, the container loading and unloading module, and the digital image formation module are electromechanical.
38. The system according to item 25, characterized in that the internal block of the loading module and unloading containers with samples contains two platforms for placing containers located in the projection of the incubation chamber window, one of which is intended for the container being loaded into the chamber, the second - for the container being unloaded from the incubation chamber, wherein each of the platforms is equipped with a means for vertically moving containers into the scanning zone, made in the form of an elevator, and is connected to the corresponding conveyor for loading or unloading containers, located on the outside of the incubation chamber.
39. The system according to item 25, characterized in that the external unit of the module for loading and unloading containers with samples is additionally equipped with trays for loading and unloading containers, while the loading and unloading conveyors are designed with the possibility of moving in opposite directions, are located at different height levels and are connected to the incubation chamber.
40. The system according to item 39, characterized in that the external unit of the module for loading and unloading containers with samples has at least two independent trays for unloading containers, wherein the tray is equipped with a conveyor configured to move the container inside the tray, stoppers configured to stop the container on the said conveyor, a means for moving the container in the vertical direction, made in the form of an elevator with the ability to move the container above the level of the conveyor, flaps holding the container or stack of containers above the level of the conveyor, and a horizontal pusher configured to move the container or stack of containers into a cassette for unloading containers installed in the tray, equipped with a cassette presence sensor.
41. The system according to claim 25, characterized in that the external unit of the module for loading and unloading containers with samples has at least one loading tray with an end wall adjacent to the conveyor, wherein the end wall contains a slot designed with the possibility of moving the lower container from the stack through it onto the conveyor for loading containers.
42. The system according to item 41, characterized in that the external unit of the module for loading and unloading containers with samples has mechanisms for alternately issuing containers from loading trays onto the corresponding conveyor, wherein the mechanisms are equipped with pushers that repeat the shape of the container, designed with the possibility of rotational or rotational-translational movement, implementing the alternate movement of containers through the gap in the end wall of the tray onto the conveyor.
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