Apparatus and container for automated diagnostic analysis of liquid samples

Abstract

In order to improve size and functionalities of analyzers as known in the art, the present invention discloses an apparatus for the automated analysis of liquid samples, wherein said apparatus has arranged in a housing a sample tray, a reagent tray, a measuring device, a loading opening, and a robotic arm for transporting the containers from the loading opening to the analysis area, wherein the robotic arm comprises an oblong finger having a central longitudinal axis extending vertically, wherein said finger has an engagement means for releasable engagement with sample containers and / or reagent containers, wherein said engagement means comprises at least one engagement element being movable from a release position into a locking position by a movement in a direction perpendicular to and away from the central longitudinal axis of the finger.

Description

[0001] Apparatus and container for automated diagnostic analysis of liquid samples

[0002] The present invention refers to an apparatus for the automated analysis of liquid samples, wherein said apparatus has a housing and being arranged in said housing an analysis area comprising a sample tray for receiving sample containers, at least one reagent tray for receiving reagent containers and at least one measuring device for measuring a physical or chemical property, and a loading opening for receiving the containers and a robotic arm for transporting the containers from the loading opening to the analysis area, wherein the robotic arm has an end effector for grabbing and transporting the containers. Further, the present invention refers to a container for use in the aforementioned apparatus, wherein the container has at least one sample / reagent cavity for receiving sample or reagent.

[0003] Technological Background

[0004] In the context of increasing automation in the field of medical and veterinary medical diagnostics, apparatuses for the automated analysis of liquids, so-called analyzers, are being widely used. Such analyzers are designed for automatically taking a reagent from a reagent container and for combining said reagent with a sample to be analyzed for carrying out the analysis procedure in a reaction vessel.

[0005] Typically, analyzers have an analysis area including a sample tray, at least one reagent tray and at least one reaction tray providing slots for receiving and holding the respective containers. Further, the analysis area comprises a measuring device for determining the physical or chemical parameter (process parameter) of a reaction mixture in a reaction vessel. Said measuring devices perform measurement technologies, such as spectrophotometry, colorimetry, ion selective electrode, coagulation and GLIA. For removing reagent or sample and transferring it into a reaction vessel the analysis area often comprises automatic pipetting devices having a pipetting arm including a pipetting needle, which is connected to a pump unit for drawing up liquid into the needle and ejecting the liquid from the needle again. The pipetting arm can be moved either in XY directions or by rotation over a working area, where the sample tray, the reagent tray and / or the reaction tray are located.

[0006] Prior Art

[0007] WO 2021 / 219352 A1 discloses an analyzer having its analysis area being arranged in a housing, wherein there is provided a loading opening in the housing of the apparatus, said loading opening being for receiving sample containers and reagent containers either individually or prepacked in racks. The loading opening comprises a robotic arm for transporting the sample containers and reagent containers either individually or in the form of prepacked racks from the loading opening to the sample tray and / or the reagent trays.

[0008] Because of the presence of a robotic arm the human operator of the analysis apparatus does not have to insert new samples and / or new reagents to the sample tray or the reagent trays by hand, which would require stopping all moving actions in the analysis area in order to avoid any contact with moving parts, such as pipetting arms and / or rotating discs. By using a robotic arm for transporting the sample containers and reagent containers to the sample tray and / or reagent trays all processes in the analysis area may continue, as any motion of the robotic arm can be perfectly coordinated with the automated motions in the analysis area. Whenever there is a time slot for loading samples or reagents to the corresponding trays in the analyzer, the robotic arm may grab a sample or reagent from the loading zone and transport the same to the corresponding tray.

[0009] The robotic arm being disclosed in WO 2021 / 219352 A1 comprises an end effector having at least two fingers movable relative to each other for grabbing and transporting the sample containers and reagent containers, either individually or in the form of prepacked racks. The two or more finger design allows grabbing objects of different size and shape, such as various containers, racks or even other objects.

[0010] However, for the grabbing action the fingers have to be brought in a position on two opposing sides of the container, wherein moving the fingers by reducing the distance between the fingers results in grabbing the container. Apparently, the grabbing action requires some space beside the respective container walls, either when picking a container in the loading zone or when placing the container in one of the trays. Therefore, there must be sufficient space for the grabbing action between two adjacent containers.

[0011] Problem to be solved

[0012] In order to save space in the laboratories, where analyzers shall be run, there is a need to minimize the size of the apparatus design. As the size of analyzers depends on the size and the arrangement of its components, the need to minimize applies to the design, functionalities and arrangement of all analyzer components, such as sample tray, reagent trays, reaction trays, measuring devices and pipetting devices. In cases, where the analyzer comprises a loading zone for automated loading of samples or reagents by a robotic arm, the need to minimize applies also to the design of the robotic arm in the loading zone.

[0013] Technical Solution according to the Invention

[0014] In order to improve size and functionalities of analyzers as known in the art, the present invention discloses an apparatus for the automated analysis of liquid samples, wherein said apparatus has a housing and being arranged in said housing an analysis area comprising a sample tray for receiving sample containers, at least one reagent tray for receiving reagent containers, at least one measuring device for measuring a physical or chemical property, a loading opening for receiving the containers, a robotic arm for transporting the containers from the loading opening to the analysis area, wherein the robotic arm has an end effector, characterized in that the end effector is an oblong finger having a central longitudinal axis extending vertically, wherein said finger has an engagement means for releasable engagement with the containers, wherein said engagement means comprises at least one engagement element being movable from a release position into a locking position by a movement in a direction perpendicular to and away from the central longitudinal axis of the finger.

[0015] According to the present invention, the end effector is one single vertical finger having at least one engagement element for releasable engagement with the containers. For the “grabbing process”, said finger is moved into the cavity of the container, and then, by moving the engament element on the finger in a direction perpendicular to and away from the central longitudinal axis of the finger, the engagement means engages with the inner walls of the container cavity, in order to complete the “grabbing” process.

[0016] By using just one single vertical finger the grabbing action does not require two fingers to be brought in a position on opposing sides of the container, thereby saving space beside the respective container walls. Accordingly, sample and / or reagent containers may be arranged in a space-saving manner, both, in the loading zone and in the analysis area.

[0017] In the present application the term “loading opening” refers to an area in a wall of the apparatus, where the sample / reagent containers may be placed either by an operator or by a conveyor in order to have the same picked by the robotic arm. In contrast to that the term “loading zone” refers to an area outside the loading opening, where the operator may place sample / reagent containers either individually or in prepacked racks.

[0018] According to the present invention the loading opening is designed for receiving new sample containers and / or new reagent containers to be placed by the operator of the analyzer in the loading opening either individually or in the form of prepacked racks by hand. The robotic arm may then pick up the containers / racks and transport the same to the sample tray and / or reagent trays. Vice versa empty containers / racks may be taken by the robotic arm from the sample tray and / or reagent trays and be transported to the loading opening, where the operator may remove the same. Consequently, the “loading opening” of the present invention is not only a “loading opening” but also an “unloading opening”.

[0019] The “analysis area” is the area of the inventive apparatus, where the sample tray, the reagent trays, the reaction trays and the pipetting devices are located. In preferred embodiments the analysis area is a plane, where said devices are located side by side.

[0020] The term "robotic arm" refers to a movable transport device having an end effector for transporting sample containers and / or reagent containers either individually or in the form of racks being loaded with sample containers and / or reagent containers.

[0021] Specific Aspects and Embodiments

[0022] In one embodiment, the robotic arm has a swiveling element, through one end of which an axis of rotation passes. About said axis of rotation the end effector, which is, referring to the axis of rotation, arranged on the opposing end of the swiveling element, can move along a circular path.

[0023] In a further preferred embodiment, the swiveling arm can be moved along a vertical axis, and in a further preferred embodiment, the swiveling element or the entire robotic arm can be moved along a horizontal axis. Particularly, it is preferred that the swiveling element can be moved along said vertical axis and along said horizontal axis.

[0024] All potential movements around the axis of rotation, along the vertical axis and along the horizontal axis define the working zone of the robotic arm, wherein in said working zone the end effector can be moved to sample containers and / or reagent containers in the loading opening and to slots for receiving sample containers or reagent containers in the sample tray and / or reagent tray.

[0025] For grabbing containers and / or racks, the robotic arm comprises a vertical finger as an end effector, wherein said vertical finger comprises engagement means for performing the grabbing process. In the locking position the at least one engagement element engages with the container or rack, wherein said engagement is released in the release position. For bringing the engagement element to the locking position the distance between the outermost end of the engagement element and the central longitudinal axis of the finger is increased during the “grabbing action” as compared to said distance in the release position.

[0026] In the locking position the engagement element engages with an inner surface of a cavity in the liquid container. Preferably, the cavity, where the engagement element engages with the container is an individual grabbing cavity, being separate to the cavity for receiving the sample or reagent. A separate grabbing cavity is beneficial in that it avoids potential contamination of sample or reagent by moving the one finger effector of the invention into the same cavity.

[0027] In order to suitably fit into the grabbing cavity, the vertical finger is geometrically corresponding to the mating grabbing cavity in the container with play. For instance, in cases where the inner walls of the grabbing cavity are vertically oriented rectangulars, resulting in a cuboid shaped cavity, the outer walls of the vertical finger are geometrically corresponding vertically oriented rectangulars, resulting in a vertical finger of cuboid shape that may be fittedly inserted in the cavity with play. A force-fitting engagement of the engagement means of the vertical finger with the inner walls of the cavity in the container may be sufficient to grab and lift some containers, particularly light-weight containers. However, in preferred embodiments the engagement means are designed to engage with at least one geometrically corresponding recess being provided in an inner wall of the grabbing cavity.

[0028] The engagement of the engagement means with either an inner wall of the grabbing cavity and / or a recess being provided in an inner wall of the grabbing cavity may be form-fittingly and / or force-fittingly. Where the engagement means engages with a vertical inner wall of the grabbing cavity the engagement is force-fittingly, preferably. Where the engagement means engages with a recess in an inner wall of the grabbing cavity the engagement is form-fittingly, preferably.

[0029] Form-fitting engagement minimizes the risk that a container may accidentally be dropped, such as in cases where the engaging surfaces are fogged or slightly wet due to prior cooling or very cool liquid content. Further, form-fitting engagement renders possible having a grabbing cavity with slightly tapered inner walls, resulting in a cavity having the shape of an upside-down truncated pyramid. A vertical finger with geometrically corresponding outer walls being slightly tapered, resulting in the shape of an upside-down truncated pyramid, may then easily be inserted in the cavity and fixed therein.

[0030] In some embodiments of the invention the engagement means comprises one engagement element being movably arranged on the vertical finger for being brought from a release position into a locking position, wherein the engagement element form-fittingly engages with a recess in an inner wall of the grabbing cavity. In alternative embodiments of the invention the engagement means comprises two, three, four or even more engagement elements.

[0031] In specific embodiments of the invention the engagement means comprises at least two engagement elements being arranged such that they move in opposite directions, when being brought from the release position into the locking position and vice versa.

[0032] Different geometrical shapes of the engagement means are encompassed by the present invention, such as bars having a rectangular or round cross-section, the longitudinal axis of which being vertically arranged with respect to the longitudinal axis of the vertical finger. In some embodiments the at least one engagement element has a locking nose protruding from an outer surface of the finger. In those cases the locking nose is designed for locking engagement with a corresponding locking recess in the grabbing cavity. In some embodiments the at least one engagement element is moved from a release position into a locking position and back to the release position by a force being provided by e.g. an electric motor, a magnetic mechanism, compressed air or a spring.

[0033] In some other embodiments the finger comprises a vertically movable displacement element, said displacement element moving the at least one engagement element into the locking position, when the displacement element moves upwards along the central longitudinal axis of the finger. In some specific of these embodiments the displacement element is pulled upwards by a force being provided by e.g. an electric motor, a magnetic mechanism, compressed air or a spring. In some other specific of these embodiments the displacement element protrudes the lower end of the finger in the release position, whereas in the locking position it does not protrude the lower end of the finger, wherein the displacement element is designed to move upwards upon contact with a bottom part of the grabbing cavity.

[0034] Further, to the inventive apparatus described in detail above the present invention also refers to an inventive container for use in the aforementioned apparatus, wherein the container has at least one sample / reagent cavity for receiving sample or reagent. Said inventive container is characterized in that the container has - in addition to the sample / reagent cavity - a separate individual grabbing cavity for receiving the finger of the robotic arm of the apparatus.

[0035] Some embodiments of the inventive container have at least one recess in at least one of the inner walls of the grabbing cavity for receiving at least one engagement element of the finger, wherein in the locking position the engagement element form-fittingly engages with the recess. In specific embodiments there are two, three or four recesses in the inner walls of the grabbing cavity. In even more specific of these embodiments there are at least two recesses being provided on opposing inner walls of the grabbing cavity.

[0036] The inventive container may be made of different materials. Preferably, the inventive container is made of plastic. In some embodiments the container is composed of two or more separate parts being formed from different materials. Particularly, the container may be composed of a grabbing cavity part of one (plastic) material and a sample / reagent cavity part of another (plastic) material, said parts being fixedly mounted together. In yet another embodiment the inventive container is made of one (plastic) material being formed in one piece, comprising both, the grabbing cavity and the sample / reagent cavity. In some specific embodiments the inventive container comprises an additional separate container unit having a cavity for receiving a liquid and / or a powder and / or beads, wherein said separate container unit is releasably attachable to the container main body comprising the grabbing cavity and the reagent / sample cavity.

[0037] In some embodiments of the inventive container the opening for filling in and / or taking out sample or reagent at the top of the container is fluid-tight sealed by a cap. In some embodiments fluid-tight means tight to liquids, only. In some embodiments fluid-tight means not only tight to liquids, but also to gases, such as air.

[0038] In some embodiments the inventive container comprises one cavity for sample or reagent, only. In some other embodiments the inventive container comprises two, three or even more cavities for receiving liquids, such as samples or reagents. In such embodiments the openings for filling in and / or taking out sample or reagent at the top of the container are fluid-tight sealed by one or more caps. In preferred embodiments all sample or reagent openings are fluid-tight sealed by one common cap. In such embodiments the openings for filling in and / or taking out sample or reagent at the top of the container are fluid-tight sealed by one or more caps.

[0039] The at least one fluid tight sealing cap can be form-fittedly and / or force-fittedly fixed to the container opening(s). In some embodiments the at least one cap is fluid-tight welded to the opening.

[0040] In some embodiments filling in and / or taking out sample or reagent requires removing the cap(s) from the container. In specific embodiments there is provided a pierceable septum in the cap(s) for each opening of a sample / reagent cavity in the container.

[0041] Further, to the inventive apparatus and the inventive container described in detail above the present invention also refers to an automated analysis system comprising said inventive apparatus and at least one of said inventive containers.

[0042] Specific embodiments of the inventive automated analysis system are characterized in that a number of inventive containers are loaded on container racks, wherein the engagement means of the finger are suitable for releasable engagement with a grabbing cavity being provided in the container racks. In addition or alternatively to the inventive containers said racks may also comprise containers containing a control medium or a calibrator. When running the inventive automated analysis system each container may be placed individually in the loading opening, or the containers are placed on a container rack and subsequently said rack is placed in the loading opening. In the case of prepacked racks the robotic arm either grabs the individual container, but leaves the rack on the conveyor, or the robotic arm grabs the entire rack including the containers.

[0043] Some embodiments of the inventive automated analysis system comprise a conveyor for transporting inventive containers either individually or in the form of the aforementioned prepacked racks to or from the loading opening.

[0044] The apparatus of the inventive automated analysis system may comprise a guide rail along the conveyor and the containers and / or the racks have a guide groove at their bottom, wherein the guide groove in the containers / racks geometrically mates with the guide rail of the apparatus. Therefore, in specific embodiments the inventive containers are characterized in that they have a guide groove for engagement with a guide rail at their bottom end.

[0045] In specific embodiments of the invention at least one guide groove and at least one mating guide rail are designed in that they prevent container movement around the yaw axis. In some embodiments of the invention at least one guide groove and at least one mating guide rail are designed in that they prevent container movement around the pitch axis. In very specific embodiments of the invention there is at least one guide groove and at least one mating guide rail designed for preventing container movement around the yaw axis, and there is at least one guide groove and at least one mating guide rail designed for preventing container movement around the pitch axis.

[0046] The housing of the inventive analyzer is preferably formed by floor, ceiling, rear, side, and front walls. In preferred embodiments the loading opening is arranged in the front wall of the housing. Preferably the loading opening is arranged in the middle between the left and the right edge of the front wall.

[0047] In specific embodiments of the present invention, the housing of the analysis apparatus comprises a base and an openable hood, wherein the analysis area is arranged on top of the base, and wherein the hood - in its closed state - covers the analysis area entirely. In those embodiments, the loading opening is preferably arranged in the front wall of the base or the hood or extends across both, the front wall of base and hood. Irrespective which of the afore-mentioned alternatives is realized, the loading opening allows loading samples and / or reagents to the analysis apparatus without opening the hood. In a specific embodiment of the present invention, the apparatus comprises a conveyor for transporting sample containers and / or reagent containers either individually or in the form of prepacked racks to or from the loading opening. The conveyor extends horizontally from the loading opening to the left and / or the right along the wall of the housing where the loading opening is arranged.

[0048] In some embodiments, one end of the conveyor is outside the loading opening, whereas the other end of the conveyor reaches into the loading opening, wherein at the end outside the loading opening, there is the loading zone, where it is possible to place a number of sample containers and / or reagent containers either individually or in the form of prepacked racks on the conveyor, and wherein said conveyor then transports said containers / racks into the loading opening one after the other. Further, such conveyor allows transporting used or even empty sample containers and / or reagent containers that have been taken from the sample disc or a reagent disc and have been placed by the robotic arm in the loading opening to the outside end of the conveyor. In those cases, the conveyor is bidirectional and the loading zone is also an unloading zone.

[0049] In other embodiments, one end of the conveyor is outside on the left of the loading opening, whereas the other end of the conveyor reaches through the loading opening and extends from the loading opening to the right along the wall. In those embodiments, loading zone and unloading zone of the conveyor are separate, namely on one side from the loading opening there is the loading zone, whereas on the opposite side there is the unloading zone.

[0050] In some embodiments the containers / racks have a label with a 1 D code (barcode), 2D code (matrix code) or RFID (Radio-frequency identification). Further, some embodiments of the inventive automated analysis system are provided with a camera or a bar code reader for reading the 1 D code, 2D code and / or an RFID reader for reading the RFID code. Preferably, said camera or reader is located in the loading zone or the loading opening.

[0051] In order to distinguish between samples and to distinguish between different reagents, the operating human places the containers in the loading zone, and before transporting a container to its destination, each container is moved, e.g. by a conveyor or the robotic arm to the reader, and according to the information read out from the code, the robotic arm performs the corresponding transporting action. The inventive apparatus is capable of performing different analysis processes. In preferred embodiments, the physical or chemical property measured by at least one of the measuring devices is selected from a result of an immunoassay, a result of a clinical chemistry assay, a result of a coagulation assay or a result of an ion selective electrode assay in a reaction vessel. In some specific embodiments, there is a combination of one immunoassay unit and one clinical chemistry unit. In other embodiments, there are two immunoassay units or two clinical chemistry units combined.

[0052] In some embodiments, the apparatus comprises an access control unit for coordinating both, the access to the central sample tray by the robotic arm in the loading zone, and the access to the central sample tray by the analytical components arranged all around. Particularly, the control unit decides about the rules of access and the timeslots allowed for the different requesting units (robotic arm, analytical units).

[0053] The controlling unit is connected to the different components of the analyzer via a signal transmission connection, such as through wire or bluetooth. Via this connection the robotic arm and the analytical units (e.g. immunoassay unit, clinical chemistry unit) may communicate. Particularly, via said connection the robotic arm and the analytical units can request time slots for access to the central sample tray in order to either place a sample container or sample container rack in the sample tray or to remove it from the same or to take an aliquot of a sample in a sample container that is placed in the sample tray.

[0054] Preferably, the time slot requests are associated with a period attribute, said period attribute defining the time period, when the time slot is required. Even more preferred, the time slot requests are further associated with a priority attribute, said priority attribute defining at least two levels of priority (e.g. high / low), wherein a high level of priority indicates that assigning a time slot within the defined time period is essential for proper operation, and wherein a low level of priority indicates that assigning a time slot within the defined time period is not essential for proper operation. The control unit will then analyze all requests, optionally including time period and / or priority level attributes and calculate an optimum operation chart that assigns specific time slots for each access request. Finally, the relevant information on the respective time slot is communicated by the control unit to each of the requesting units.

[0055] In those embodiments having a 1 D code reader, a 2D code reader, an RFID reader or a camera in the loading zone, the controlling unit is connected to the same via a signal transmission connection, such as through wire or bluetooth. Via this connection the controlling unit may receive information on the respective containers being placed in the loading opening. According to said information, the controlling unit can decide whether to place the container in the sample tray or one of the reagent trays. The information on the designated location of the container is then transmitted by the controlling unit to the robotic arm.

[0056] For the purpose of original disclosure it is to be noted that any features which may be gathered by a skilled person from the present description, the drawings and the claims, even if only described in connection with particular further features, may be combined individually as well as in arbitrary combinations with any other of the features or groups of features disclosed herein, unless this is explicitly excluded or technical conditions would render such combinations impossible or senseless. The comprehensive, explicit discussion of any combinations of features which might be thought of is dispensed with just for the sake of brevity and legibility of the description and claims.

[0057] Particularly, it is to be noted that those features, that are mentioned in the context of one of the above mentioned aspects of the invention may be combined with features that are mentioned in the context of one other of the above mentioned aspects of the invention.

[0058] In addition it is pointed out that it is self-evident to the man skilled in the art that the accompanying Figures and the specific description hereinafter only serve to set out by way of example the possible configurations of the present invention, that are set forth as embodiments by way of example. The man skilled in the art will therefore readily understand that in addition all other structures which have the features or combinations of features according to the invention as recited in the claims also lie within the scope of protection of the invention. A comprehensive explicit representation of all conceivable embodiments is dispensed with here only for the sake of brevity and readability of the description.

[0059] In accompanying figures 1 through 6:

[0060] Figure 1 is a schematic illustration of a specific embodiment of the inventive analyzer shown in a view from above on the top of the analyzer,

[0061] Figure 2 shows a perspective view of a robotic arm of a specific embodiment of the inventive analyzer,

[0062] Figure 3 is a schematic illustration of cross section through a specific embodiment of an inventive container being “grabbed” by the end effector of a specific embodiment of the robotic arm of an inventive analyzer,

[0063] Figure 4 shows perspective views of a specific embodiment of an inventive container, Figure 5 shows side and top views of a specific embodiment of an inventive container,

[0064] Figure 6 show a perspective view of a specific embodiment of an inventive container being placed on the conveyor of the analyzer.

[0065] Figure 1 shows a perspective view from above on the top of a specific embodiment of the inventive analyzer 1 . In the analysis area 2 of said analyzer 1 there are two reagent trays 5, 6, wherein both of said reagent trays 5, 6 are in the form of rotatable discs. Further, in the analysis area 2 there are located two reaction trays 9, 10, wherein one of said reaction trays 9 is in the form of a rotatable reaction disc and the other reaction tray 10 is in the form of a static reaction ring 10.

[0066] The rectangular formed by the dashed lines that are connecting the axes of rotation of the reagent trays 5, 6 and the axes of rotation of the reaction trays 9, 10 defines the center of the analysis area 2. The axis of rotation of the sample tray 3 crosses said center of the analysis area 2. Accordingly, the sample tray 3 is arranged in the center of the analysis area 2.

[0067] Adjacent to the sample tray 3, there are the two reagent trays 5, 6 on the right from the sample tray 3 and on the left from the sample tray 3, respectively. Further, adjacent to the sample tray 3, there are the two reaction trays 9, 10, one on the right and one on the left.

[0068] Between the sample tray 3 and each of the two reaction trays 9, 10 there are pipetting devices 15, 16. Further, between the reaction tray 9 and the reagent tray 5 there are two pipetting devices 17, and between the reaction tray 10 and the reagent tray 6 there is one pipetting device 18. The pipetting devices 15, 16 between the sample tray 3 and the reaction trays 9, 10 are for transferring liquid sample from sample containers 4 in the sample tray 3 to the reaction vessels 11 , 12 in the reaction trays 9, 10. The pipetting devices 17, 18 between the reagent trays 5, 6 and the reaction trays 9, 10 are for transferring reagent from reagent containers 7, 8 in the reagent trays 5, 6 to the reaction vessels 11 , 12 and the reaction trays 9, 10.

[0069] The pipetting devices 15, 16, 17, 18 are in the form of swiveling pipetting arms having an axis of rotation 19 (represented by a cycle in the figure) on one end of the pipetting arm, about which the pipetting needle 20 (represented by a triangle in the figure) on the other end of the pipetting arm is movable along a circular path. The axis of rotation 19 of the pipetting devices 15, 16, 17, 18 is either located between the sample disc 3 and each reaction tray 9, 10 or between each reagent tray 5, 6 and its corresponding reaction tray 9, 10. Adjacent to each of the reaction trays 9, 10 there is a measuring device 13, 14. The measuring device 14 adjacent to the reaction tray 10 is a PMT detector having a photo multiplier tube for measuring chemiluminescence in an immuno assay. The measuring device 13 adjacent to the reaction tray 9 is a photometer for measuring the optical characteristics of a clinical chemistry reaction mixture. The sample tray 3 has receiving pockets 28 for receiving longish sample container racks 24, each container rack having five slots for receiving sample containers 4, said five slots being arranged side by side along the longitudinal axis of the racks. The receiving pockets 28 are oriented radially on the sample tray 3. In the present embodiments there are ten receiving pockets 28. Accordingly, when fully packed the sample tray 3 of this embodiment may carry ten sample container racks, each having five slots. Consequently, said sample tray 3 may carry a total of 50 sample containers at maximum.

[0070] The reagent tray 6 has 14 receiving pockets for receiving reagent container racks, each off said racks having 3 slots for receiving reagent containers 8. The reagent container racks are oriented radially on the outer circumferential edge of the disc of the reagent tray 6.

[0071] On the disc of reagent tray 5 there are 24 pockets for receiving reagent container racks 23, each off said reagent container racks having two slots for receiving reagent containers 7. The pockets for receiving the reagent container racks are arranged in two rows, one row on the outer circumferential edge of the disc of the reagent tray 5, and the other row in the center of the disc of the reagent tray 5.

[0072] The reaction tray 9 has on the outer circumferential edge of its disc about 100 slots for receiving reaction vessels 11 . In the present embodiments said reaction vessels are cuvettes for photometric analysis of the reaction mixture contained therein. By rotation of the disc of the reaction tray 9 each of the reaction vessels 11 can be transported to the photometer 13 for measuring the optical properties of the reaction mixture contained therein.

[0073] According to figure 1 the embodiment of the analyzer 1 as shown has the analysis area arranged on a plane and inside a housing 21 , wherein said housing 21 has a loading opening 22 in the front wall 26 of the housing 21 . Said loading opening 22 is for receiving sample containers 4 and reagent containers 7, 8 either individually or prepacked in racks 23, 24. The loading opening 22 comprises a robotic arm 25 for transporting the sample containers 4 and reagent containers 7, 8 either individually or in the form of prepacked racks 23, 24 from the loading opening 22 to the sample tray 3 or the reagent trays 5, 6. Further, the robotic arm 25 may transport sample containers from the sample tray 3 to the reagent trays 5, 6 and back. In those embodiments, where the reagent trays 5, 6 are cooled, sample container racks 24 carrying sample containers filled with controls may be transferred to the reagent trays 5, 6 for cooling in order to elongate control lifetime.

[0074] In the embodiment shown the robotic arm 25 is a swiveling arm having an axis of rotation on one end of said arm, about which the other end is movable along a circular path. At the end of the arm that is on the opposite side as compared to the axis of rotation the robotic arm has an end effector for grabbing and transporting sample containers and reagent containers, either individually or in the form of prepacked racks.

[0075] The robotic arm can move along a horizontal axis from the left (where the reagent tray 6 is located) to the right (where the reaction tray 5 is located) in order to place or take reagent containers / racks or the reagent trays 5, 6 or from the reagent trays 5 or 6. Further, the robotic arm 25 can move along a vertical axis in order to pick containers / racks from the level of the loading opening 22, which is below the level of the analysis area 2 and transport the same to the level of the analysis area and to place them e.g. into the reagent trays 5 or 6.

[0076] The circular movement of the swiveling arm plus the movability along a horizontal and a vertical axis allows the robotic arm 25 to move the end effector within a working zone, and within said working zone the end effector can grab sample containers and / or reagent containers, either individually or in the form of prepacked racks, from the loading opening 22, the reagent trays 5, 6 and / or the sample tray 3, transport them from or to one of said devices and / or place them in or into one of said devices.

[0077] In the front wall 26 of the housing 21 there is provided a horizontal recess providing a conveyor 27 reaching from the left to the right and through the loading opening 22. Containers / racks that shall be loaded to the sample tray 3 and / or the reagent trays 5, 6 may be placed on the conveyor 27, wherein said conveyor 27 transports the containers / racks to the loading opening 22, where the robotic arm 25 may pick the containers / racks and bring them into the analysis area.

[0078] Figure 2 shows a perspective view of a robotic arm 25 of a specific embodiment of the inventive analyzer. The robotic arm of this embodiment has a vertical element 32 extending vertically from a horizontal element 33. Wherein the horizontal element 33 is slidely arranged on horizontal rails 48, 49. The vertical element 32 is rotatibly arranged on the horizontal element 33, wherein the axis of rotation extends along the central vertical axis of the vertical element 32. On the vertical element 32 there is arranged a swiveling element 31 , said swiveling element 31 rotating around the central vertical axis of the vertical element 32 as the vertical element 32 rotates around its central axis. Further, the swiveling element 31 may be moved in vertical direction to different height levels along the vertical extension of the vertical element 32. At the radial end of the swiveling element 31 there is arranged the end effector 28, wherein in the particular illustration of figure 2 said end effector is in engagement with a container rack 34.

[0079] Figure 3 is a schematic illustration of a cross-section through a specific embodiment of an inventive container being "grabed" by the end effector of a specific embodiment of the robotic arm of the inventive analyzer. Particularly, figure 3 shows a reagent container 7 having a grabbing cavity 35, which extends in the upper half section of the reagent container 7. Illustration a) of figure 3 shows the end effector 29 of a robotic arm 25 interacting with the reagent container 7 in the grabbing procedure. The specific phase shown in figure 3a) is the state where the finger of the end effector 29 has entered the grabbing cavity 35 of the reagent container 7. Particularly, the end effector 29 has been introduced into grabbing cavity 35 up to a depth, where the displacement element 47 has slightly contacted the bottom of the grabbing cavity 35. However, the contact force is not sufficient to push the displacement element 47 upwards. Therefore, the engagement element 30 remains in the non-locking release position. In said non-locking release position the locking nose 45 being provided on the engagement element 30 is in a retracted position, resulting in the locking nose 45 not engaging with the corresponding locking recess 46.

[0080] As compared to Figure 3a) the illustration of figure 3b) shows a different state of the grabbing procedure. In this case the end effector 29 is even further introduced into the grabbing cavity 35, thereby pushing the displacement element 47 stronger against the bottom of the grabbing cavity 35. In this position the contact force is sufficient to push displacement element 47 upwards, thereby forcing the locking nose 45 on the engagement element 30 from the non-locking release position into the locking position by a movement in a direction perpendicular to and away from the central longitudinal axis of the end effector. As a result the locking nose 45 engages with the locking recess 46, and in this state the grabbing procedure is completed resulting in the reagent container 7 being grabbed by the end effector 29. Consequently, the grabbed reagent container 7 may be moved by the robotic arm from his original place to any destination place within the range of the robotic arm.

[0081] Figures 4 and 5 show a specific embodiment of inventive reagent container 7. Said reagent container 7 comprises separate reagent cavities 36 and 37 as well as a separate grabbing cavity 35. In the perspective use of the illustrations a) and b) of figure 4 it can be seen that the locking recess 46 reaches from the grabbing cavity 35 to the outer wall of reagent container 7, resulting in an opening of the grabbing cavity in the outer wall of the reagent container 7. Through this opening access to the grabbing cavity 35 is possible, and this allows unlocking and releasing a reagent container 7 being grabbed by the end effector of a robotic arm from the outside. Accordingly, a reagent container 7 may be released from an end effector by pushing the locking nose(s) through the opening in the wall of the reagent container 7 into the unlocking release position.

[0082] Further, in the illustrations of figure 4 there can be identified yaw preventing grooves 38, 39 and pitch preventing grooves 40, 41 . The yaw preventing grooves 38, 39 are provided at the bottom of the reagent container 7 on each lateral side of the container. The pitch preventing grooves 40, 41 are also provided at the bottom of the reagent container 7. However, in case of the pitch preventing grooves 40, 41 they are arranged such that the opening of the grooves 41 , 42 is provided in horizontal direction, whereas in case of the yaw preventing grooves, their openings are provided in vertical direction. In figure 6 there is shown how said yaw preventing grooves 38, 39 and pitch preventing grooves 40, 41 engage with the corresponding yaw preventing guide rail 50 and the pitch preventing guide rail 51 , respectively.

[0083] Illustrations a) and b) of figure 5 show side and top views of the reagent container embodiment 7 as illustrated in figure 4. Illustration a) shows that locking recess 46 reaches from the outside to the grabbing cavity. Further, the details of geometry of yaw preventing groove 38 and pitch preventing groove 40 can be identified. The top view of illustration b) shows that the grabbing cavity 35 opens on the top, whereas the reagent cavities are closed by a septum 42, 43, respectively, said septum being penetrable by a pipetting needle, but closing tightly again after the pipetting needle has been retracted. In the illustration of figure 5 b) the reagent container is shown in a state after the septum 42 and the septum 43 have been pierced.

[0084] In figure 6 there is shown a perspective view of a specific embodiment of an inventive container being placed on the conveyor of the analyzer. Particularly, it is shown that the reagent container 8 engages with its yaw preventing grooves with the yaw preventing guide rail 50. Further, the container 8 engages with its pitch preventing grooves with the pitch preventing guide rail 51 . Further, it should be noted that in this particular embodiment of the reagent container 8, there is not only provided two reagent cavities 36, 37 and a grabbing cavity 35, but also a mixing tube 44. In the volume of said mixing tube 44 suspended reagent components can be provided, wherein turning the tube 44 around its vertical axis keeps the suspended reagent components homogenously distributed by means of homogenizing rips inside the tube. Reference si

[0085] 1 apparatus for the automated analysis of liquid samples (analyzer)

[0086] 2 analysis area

[0087] 3 sample tray

[0088] 4 sample container

[0089] 5 first reagent disc

[0090] 6 second reagent disc

[0091] 7 first reagent container

[0092] 8 second reagent container

[0093] 9 reaction disc

[0094] 10 reaction ring

[0095] 11 first reaction vessel

[0096] 12 second reaction vessel

[0097] 13 first measuring device

[0098] 14 second measuring device

[0099] 15 first pipetting device

[0100] 16 second pipetting device

[0101] 17 first pipetting device

[0102] 18 second pipetting device

[0103] 19 axis of rotation

[0104] 20 pipetting needle

[0105] 21 housing

[0106] 22 loading opening

[0107] 23 reagent container rack

[0108] 24 sample container rack

[0109] 25 robotic arm

[0110] 26 front wall

[0111] 27 conveyor

[0112] 28 end effector

[0113] 29 end effector tip

[0114] 30 engagement element

[0115] 31 swiveling element

[0116] 32 vertical element

[0117] 33 horizontal element

[0118] 34 sample container rack

[0119] 35 grabbing cavity 36 reagent cavity

[0120] 37 reagent cavity

[0121] 38 yaw preventing groove

[0122] 39 yaw preventing groove

[0123] 40 pitch preventing groove

[0124] 41 pitch preventing groove

[0125] 42 septum

[0126] 43 septum

[0127] 44 mixing tube

[0128] 45 locking nose

[0129] 46 locking recess

[0130] 47 displacement element

[0131] 48 transport rail

[0132] 49 transport rail

[0133] 50 yaw preventing guide rail

[0134] 51 pitch preventing guide rail

[0135] 52 mixing tube opening

Claims

C l a i m s1. Apparatus (1 ) for the automated analysis of liquid samples, wherein said apparatus has a housing and being arranged in said housing- an analysis area (2) comprising a sample tray (3) for receiving sample containers (4), at least one reagent tray (5, 6) for receiving reagent containers (7, 8), and at least one measuring device (13, 14) for measuring a physical or chemical property, and- a loading opening (22) for receiving the containers (4, 7, 8),- a robotic arm (25) for transporting the containers (4, 7, 8) from the loading opening (22) to the analysis area (2), wherein the robotic arm (25) has an end effector (28), characterized in that the end effector (28) is an oblong finger having a central longitudinal axis extending vertically, wherein said finger has an engagement means for releasable engagement with the containers (4, 7, 8), wherein said engagement means comprises at least one engagement element (30) being movable from a release position into a locking position by a movement in a direction perpendicular to and away from the central longitudinal axis of the finger.

2. Apparatus according to claim 1 , characterized in that the engagement means comprises at least two engagement elements being arranged such that they move in opposite directions, when being brought from the release position into the locking position and vice versa.

3. Apparatus according to one of the claims 1 and 2, characterized in that the at least one engagement element is a nose protruding from an outer surface of the finger.

4. Apparatus according to one of the claims 1 to 3, characterized in that the finger comprises a vertically movable displacement element, said displacement element bringing the engagement elements into the locking position, when the displacement element moves upwards along the central longitudinal axis of the finger.

5. Apparatus according to claim 4, characterized in that the displacement element in the release position protrudes the lower end of the finger, whereas in the locking position it does not protrude the lower end of the finger.

6. Container for use in an apparatus according to one of the claims 1 to 9, wherein the container has at least one sample / reagent cavity for receiving sample or reagent, characterized in that the container further has a grabbing cavity for receiving the finger of the robotic arm of the apparatus.

7. Container according to claim 6, characterized in that in said grabbing cavity there is at least one recess for receiving the at least one engagement element of the finger.

8. Container according to one of the claims 6 and 7, characterized in that it has a guide groove for engagement with a guide rail at its bottom end.

9. Container according to one of the claims 6 to 8, characterized in that it is made of plastic and formed in one piece.

10. Container according to one of the claims 6 to 9, characterized in that the container has at least one opening for filling in and / or taking out sample or reagent from, wherein the opening is fluid-tight sealed by a cap being welded to the opening.11 . Automated analysis system comprising an apparatus according to one of the claims 1 to 5 and at least one container according to one of the claims 6 to 10.

12. Automated analysis system according to claim 11 , characterized in that it comprises a plurality of sample containers and / or reagent containers and at least one container rack, wherein at least some of the sample containers and / or reagent containers are loaded on the at least one container rack, wherein the engagement means are suitable for releasable engagement with the at least one container rack.

13. Automated analysis system according to one of the claims 11 and 12, characterized in that it comprises a conveyor (27) for transporting the containers either individually or in the form of prepacked racks to or from the loading opening.

14. Automated analysis system according to one of the claims 11 to 13, characterized in that the apparatus has a guide rail along the conveyor and the containers and / or the racks have at least one guide groove at their bottom, which mates with the guide rail.

15. Automated analysis system according to one of the claims 11 to 14, characterized in that at least some of the sample tubes and / or reagent containers have a label with a 1 D code (barcode), 2D code (matrix code) or RFID (Radio-frequency identification) and the apparatus is provided with a camera or a bar code reader for reading the 1 D code, 2D code and / or an RFID reader for reading the RFID code.

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