Guide apparatus, analysis device and method for operating an analysis device

Abstract

A guide apparatus (200) for guiding a cartridge (105) within a receiving region (202) of an analysis device for analysing a fluid arranged in the cartridge (105) has a guide carriage (205), a spring element (210) and a braking apparatus (215). The guide carriage (205) is designed to guide the cartridge (105) within the receiving region (202). The spring element (210) is coupled to the guide carriage (205) and is designed to be preloaded by an insertion movement of the cartridge (105) into the receiving region (202). In addition, the spring element (210) is designed to bring about a push-out movement of the cartridge (105) out of the receiving region (202) using the preload. The braking apparatus (215) is coupled to the guide carriage (205) and is designed to brake the push-out movement.

Description

[0001] R. 413581

[0002] - 1 -

[0003] Description

[0004] title

[0005] Control device, analyzer and method for operating an analyzer

[0006] State of the art

[0007] The invention relates to a guidance device, an analysis device and a method for operating an analysis device according to the preamble of the independent claims.

[0008] Microfluidic analysis systems (so-called lab-on-a-chips, or LoCs) enable automated, reliable, fast, compact, and cost-effective processing of patient samples for medical diagnostics. By combining a variety of operations for the controlled manipulation of fluids, complex molecular diagnostic test sequences can be performed in a microfluidic device, also known as a lab-on-a-chip cartridge. The processing of the lab-on-a-chip cartridge and the analysis of the patient sample can be performed in a single compact analyzer. Various types of microfluidic analysis systems, also referred to as lab-on-a-chip platforms or lab-on-a-chip systems, are currently known.Such lab-on-a-chip platforms employ various technological approaches to provide microfluidic operations: Centrifugal-based lab-on-a-chip systems, for example, utilize the centrifugal, Coriolis, and Euler forces that occur in a lab-on-a-chip cartridge set into controlled rotation. Another class of lab-on-a-chip platforms comprises pressure-based systems, which achieve controlled fluid transport within a microfluidic cartridge by applying at least two pressure levels. R. 413581.

[0009] - 2 -

[0010] Disclosure of the invention

[0011] Against this background, the approach presented here introduces an improved guidance device, an improved analysis device and an improved method for operating an analysis device according to the main claims. The measures listed in the dependent claims enable advantageous further developments and improvements of the device specified in the independent claim.

[0012] The presented approach enables safe cartridge insertion into and safe cartridge ejection from an analyzer. This allows for particularly precise and stable guidance of the cartridge within the analyzer's receiving area.

[0013] A guiding device for guiding a cartridge within the receiving area of ​​an analyzer for analyzing a fluid contained in the cartridge is presented. The guiding device comprises a guide carriage, a spring element, and a braking device. The guide carriage is configured to guide the cartridge within the receiving area. The spring element is coupled to the guide carriage and is configured to be pre-tensioned by an insertion movement of the cartridge into the receiving area. Additionally, the spring element is configured to eject the cartridge from the receiving area using this pre-tension. The braking device is coupled to the guide carriage and is configured to brake the ejection movement.

[0014] The guidance unit can, for example, be designed as part of the analyzer, which can be used for research or diagnostic purposes. The analyzer can be a compact device for molecular diagnostics. The cartridge can be a familiar lab-on-a-chip cartridge, with which, for example, a patient sample can be analyzed as a fluid. For this purpose, the cartridge can incorporate a microfluidic network for processing fluids (R. 413581).

[0015] - 3 - comprise. The receiving area can be a recess in the guide device. The cartridge can be fully or at least partially inserted into the receiving area to allow the fluid to be analyzed using the analyzer. For example, the cartridge can be inserted into the receiving area through an insertion opening of the analyzer along the insertion direction and ejected from the receiving area through the insertion opening along an ejection direction. The cartridge can be coupled to the guide carriage, and the guide carriage can be moved into the analyzer along with the cartridge during the insertion movement, which can be performed manually. During the ejection movement, the guide carriage can be moved in the opposite direction to the insertion opening along with the cartridge.The insertion and ejection movements can be linear movements.

[0016] Advantageously, the insertion and ejection movements can be performed without a motor integrated into the analyzer. Depending on the design and the connection of the spring element to the guide carriage, the preload of the spring element can be achieved, for example, by compression or extension of the spring element. The braking device can prevent the cartridge from jumping out of the guide by exerting a braking force on the guide carriage that counteracts the spring force exerted on the guide carriage by the spring element. For this purpose, the braking device can include suitable braking elements.

[0017] The approach presented here enables a more cost-effective implementation for inserting and dispensing the cartridge from the analyzer. This eliminates the need for active components such as a motor, while still ensuring user convenience. This approach can also be described as a push-and-automatic release mechanism for cartridge insertion and ejection on an analyzer. R. 413581

[0018] - 4 -

[0019] The braking device can be designed as a rotary brake. For example, the rotary brake can have a gear that is set in rotation by a rack profile during the extension movement. This allows for a smooth and consistent extension motion. The rotary brake can be easily integrated into the guide system and can also be maintenance-free.

[0020] The spring element can be designed as a coil spring. Coil springs are inexpensive to manufacture and easy to handle. The preload can advantageously be achieved simply by compressing or stretching the coil spring.

[0021] The guide device can include a clamping element. This clamping element can be located on the guide carriage and designed to clamp the cartridge to the guide carriage. More precisely, the clamping element can engage a tip of the cartridge and clamp it against the guide carriage. This allows for very precise positioning of the cartridge. Furthermore, the movements of the cartridge and the guide carriage can be coupled.

[0022] The guide device may include a guide rod. The guide rod may be designed to guide the guide carriage along an insertion direction of the insertion movement and along an extension direction of the extension movement. The guide carriage may be movably arranged along the guide rod. The guide device may also include multiple guide rods, for example, at least one additional guide rod. The guide rod may be aligned parallel to the insertion and extension directions.

[0023] The guide rod can be designed to simultaneously accommodate the spring element. In this way, the spring element can be held securely and precisely in the guide device.

[0024] The guide device may have a frame. The guide rod may be held by the frame. Optionally, the frame may have a R. 413581

[0025] - 5 -

[0026] Shape the rack to guide a gear of the braking device. The frame can be reliably attached to the analyzer using fasteners or be designed as an integral part of the analyzer.

[0027] The guide device may include a detent element. The detent element may be designed to hold the guide carriage within the receiving area in a detent position after the insertion movement has been completed, and to release the guide carriage in a release position. The detent element may be designed as a detent hook and actuated, for example, by a plunger, a solenoid, or an electric motor. The frame may, for example, form the detent element. The guide carriage may be designed to engage with the detent element when the cartridge is fully inserted into the receiving device along the insertion direction.

[0028] The guide device may include a switching element. The switching element may be configured to detect the rear end position of the guide carriage after the insertion movement has been completed. The switching element may be a microswitch. The switching element may be configured to provide an electrical or mechanical switching signal, which can be used, for example, to initiate an analysis process.

[0029] The switching element can be arranged on the frame. This allows the switching element to advantageously detect the rear end position of the guide carriage.

[0030] An analyzer for analyzing a fluid arranged in the cartridge has a receiving area and an insertion opening for the cartridge and an embodiment of a guide device mentioned herein.

[0031] The analyzer may have a pin that can be configured to engage in a hole in the cartridge to secure the cartridge in the receiving area after the insertion movement is complete. The pin may be configured as a positioning pin. For example, the cartridge may be secured by R. 413581

[0032] - 6 - the pen as well as the clamping element are held at a position within the recording area intended for analyzing the fluid.

[0033] The analyzer may have a barrier section, which can be shaped to limit a receiving area adapted to the shape of the cartridge. This ensures that only one specific cartridge type or several specific cartridge types can be received by the guide. For example, an unsuitable cartridge type can be prevented by the barrier section from being inserted far enough into the receiving area. The barrier section may, for example, include at least one barrier element that projects into an insertion plane for the cartridge in the receiving area.

[0034] A method for operating an embodiment of an analytical device mentioned herein comprises an actuation step, an activation step, and a braking step. In the actuation step, the spring element coupled to the guide carriage is actuated with the preload by the insertion movement of the cartridge into the receiving area. In the activation step, the ejection movement of the cartridge from the receiving area is effected using the preload. In the braking step, the ejection movement is braked, for example, using the braking device.

[0035] Examples of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows:

[0036] Fig. 1 shows a partial representation of an embodiment of an analysis device;

[0037] Fig. 2 shows an embodiment of a guide device;

[0038] Fig. 3 shows an embodiment of a guide device;

[0039] Fig. 4 shows a sectional view of an embodiment of a guide device; R. 413581

[0040] - 7 -

[0041] Fig. 5 shows an embodiment of a guide device: and

[0042] Fig. 6 shows a flowchart of an exemplary embodiment of a method for operating an analyzer.

[0043] In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and acting similarly, without repeating these elements.

[0044] Fig. 1 shows a partial view of an embodiment of an analyzer 100. The analyzer 100 is designed to analyze samples introduced using a cartridge 105, enabling, for example, PCR tests. For this purpose, the cartridge 105, which is equipped, for example, with a plastic housing and a microfluidic network for processing the sample, can be inserted into an insertion opening 110 of the analyzer 100. In this embodiment, the analyzer 100 optionally includes a touchscreen display 115, which allows, by way of example, the manual input of settings for the desired analysis process. Furthermore, the display 115 is designed, by way of example, to show analysis results.

[0045] In other words, the Analyzer 100 enables, for example, the performance of rapid PCR tests. For this purpose, the corresponding application-specific cartridge 105 is filled with a sample to be tested. After filling the cartridge 105 with a sample, it is inserted into the Analyzer 100.

[0046] To examine material samples in the analyzer 100, they are often placed in containers, such as the cartridge 105, before the analysis begins. The cartridge 105 is then inserted into the analyzer 100 and removed after the analysis. Usually, this is initially done through an interaction with R. 413581.

[0047] - 8 - defines an analyzer that a specific analysis is to be performed. The cartridge 105 is then inserted into the analyzer 100 in a specific position and orientation. After a successful analysis or after an aborted analysis, the cartridge 105 is removed.

[0048] To ensure that the cartridge 105 is positioned at the predetermined location within the analyzer 100 during insertion, the analyzer 100 is equipped with a guide mechanism, which is illustrated and explained in more detail in the following figures. After the cartridge 105 is inserted, the analysis is performed. For this purpose, the cartridge 105 is first secured in its position inside the analyzer 100. Then, various process steps are carried out, such as pressing down seals, mechanically pressing pistons to generate fluid flows, heating parts of the cartridge 105, optically reading processes, etc. The analyzer 100 has suitable devices for this purpose. After completion of the analysis, the cartridge 105 is removed or ejected.The guide device is used to guide the cartridge 105 to an analysis position inside the analyzer 100 and then return it so that the cartridge 105 can be removed or ejected.

[0049] Fig. 2 shows an embodiment of a guide device 200 for receiving a cartridge 105 for an analyzer, as described and illustrated, for example, in Fig. 1. According to one embodiment, a top view of the guide device 200 is shown. In other words, Fig. 2 shows a top view of the guide device 200, as well as a rear end position 201 with the cartridge 105 inserted.

[0050] In the operational state of the analyzer, the guide device 200 is installed in the analyzer. The cartridge 105 is similar to or corresponds to the cartridge in Fig. 1 and contains, for example, a sample which is analyzed using the analyzer. The cartridge 105 is, for example, inserted by a user into a receiving area 202 of the analyzer and is shown in Fig. 2, by way of example, inserted into the receiving area 202 up to an end position. R. 413581

[0051] - 9 -

[0052] The guide device 200 is designed to guide the cartridge 105 within the receiving area 202 of the analyzer. For this purpose, the guide device 200 comprises a guide carriage 205, a spring element 210, and a braking device 215. Optional components of the guide device 200 are a clamping element 220, a guide rod 225, a frame 230, a locking element 235, and a switching element 240.

[0053] The spring element 210 and the brake device 215 are coupled to the guide carriage 205. The guide carriage 205 is designed to guide the cartridge 105 within the receiving area 202. According to one embodiment, the guide rod 225 is used to guide the guide carriage 205. The guide carriage 205 is movably arranged along the guide rod 225. More precisely, the guide rod 225 is designed to guide the guide carriage 205 along an insertion direction 245 of the insertion movement and along an extension direction 250 of the extension movement.

[0054] The insertion direction 245 is shown by means of an arrow only as an example and represents the insertion of the cartridge 105. The ejection direction 250 is also shown by means of an arrow as an example and represents the ejection of the cartridge 105.

[0055] The spring element 210 is, for example, received by the guide rod 225 and is designed, for illustrative purposes only, as a coil spring. The guide rod 225 is shown to pass through the coil spring. The spring element 210 is designed to be subjected to a preload by the insertion movement of the cartridge 105 into the receiving area 202. According to the illustrated embodiment, the spring element 210 is compressed during the insertion movement. The spring element 210 is designed to effect the ejection movement of the cartridge 105 from the receiving area 202 using the preload. For this purpose, a spring force of the spring element 210 is used to accelerate the cartridge 105. R. 413581

[0056] - 10 -

[0057] The braking device 215 is designed to slow the ejection movement, thereby preventing, for example, the cartridge 105 from jumping out of the receiving area. According to one embodiment, the braking device 215 is designed as a rotary brake.

[0058] The clamping element 220 is, for example, arranged on the guide carriage 205 and is designed to clamp the cartridge 105 to the guide carriage 205. The cartridge 105 forms, for example, a point, with the clamping element 220 engaging, for example, the point, thus clamping the cartridge 105 to the guide carriage 205 and aligning it correctly. In the embodiment shown here, the clamping element 220 clamps the cartridge 105 against the guide carriage 205. This means that the guide carriage 205 moves with the cartridge 105 during the insertion movement, and conversely, the cartridge 105 moves with the guide carriage 205 during the ejection movement.

[0059] According to one embodiment, the frame 230 holds the guide rod 225. By way of example, the frame 230 has two through-openings 255, 260 for attaching the frame 230, and thus the guide device 200, to the analyzer, as shown only by way of example in Fig. 5. Also by way of example, the frame 230 has a length 265 between 90 mm and 130 mm, for example a length of approximately 110 mm, and a height 270 between 15 mm and 30 mm, for example a height of approximately 21 mm. More precisely, the frame 230 forms, for example, a side section 275 that is located opposite the guide rod 225. When the guide device 200 is mounted, the side section 275 faces, for example, an inner wall of the analyzer, with the guide rod 225 facing the cartridge 105.

[0060] According to one embodiment, the frame 230 also forms the locking element 235. The locking element 235 is designed, for example, to hold the guide carriage 205 when the cartridge 105 is fully inserted in the insertion direction 245 and to prevent the R. 413581

[0061] - 11 -

[0062] The guide carriage 205 is to be released when the cartridge 105 is ejected. For this purpose, the locking element 235 is, for example, shaped as a locking hook, and the guide carriage 205 forms a locking opening into which the locking element 235 engages. In the embodiment shown here, the guide carriage 205 is engaged in the locking element 235, and the cartridge 105 is therefore arranged in the rear end position 201 of the guide device 200.

[0063] The switching element 240 is, for example, arranged on the frame 230 and configured to detect a rear end position of the guide carriage 205 when the insertion movement has ended. In the embodiment shown here, the rear end position of the guide carriage 205 has been reached, so the switching element 240 detects this position.

[0064] According to one embodiment, Fig. 2 shows a barrier section 280 formed by the analyzer or the guide device 200. The barrier section 280 is formed to accommodate only one or more specific cartridge shapes. For example, the barrier section 280 ensures that only the cartridge shape shown here is received by the guide device 200.

[0065] In an operational state, the guide device 200 inserts the cartridge 105, for example, through the insertion opening of the analyzer and from there into the receiving area 202. This is done, for example, manually by a user. During this process, one side surface of the cartridge 105 rests against the guide carriage 205 and is guided by it, with the guide carriage 205 being guided, for example, by the guide rod 225. Simultaneously, the spring element 210 is compressed by the insertion movement. When the cartridge 105 has been guided to the rear end position 201, the locking element 235, for example, engages in the guide carriage 205. Simultaneously or sequentially, the clamping element 220 clamps the cartridge 105 against the guide carriage 205. Thus, the cartridge 105 is reliably positioned in the guide assembly 200 and therefore in the analyzer, allowing the sample in the cartridge 105 to be analyzed in the analyzer. R. 413581

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[0067] To dispense or eject the cartridge 105, the locking element 235 is actuated, thereby releasing the guide carriage 205. The braking device 215 is arranged on the guide carriage 205, which prevents the cartridge 105 from springing out of the guide assembly in an uncontrolled manner.

[0068] 200 is prevented. The braking device 215 ensures a slow dispensing of the cartridge 105.

[0069] In other words, the user inserts the cartridge 105 into the receiving area 202, which can also be referred to as the front end position. The receiving area 202 is designed for inserting and removing the cartridge 105. The rear end position 201 is designed for processing the cartridge 105 in the analyzer. When inserting the cartridge 105, the user pushes it into the analyzer until it reaches the rear end position 201, thereby compressing the spring element 210.

[0070] The energy stored in the spring element 210 is used when ejecting the cartridge 105. The braking device 215, which can also be described as a rotary brake, prevents the cartridge 105 from jumping out of the analyzer and also ensures a slow, smooth, and high-quality ejection of the cartridge 105. This eliminates the need for an active component, such as a motor, to transport the cartridge 105 into or out of the analyzer.

[0071] The cartridge 105 is inserted into the analyzer by the user and manually pushed to the rear end position 201. The cartridge 105 engages the guide carriage 205 and compresses the spring element 210 or multiple spring elements, which are held in position on the guide rod 225 or multiple guide rods. The rear end position

[0072] Position 201 is reached when the spring element 210 can no longer be compressed or another stop is reached, and the guide carriage 205 is engaged in the detent element 235, which can also be called a detent hook. The detent element 235 holds the guide carriage 205 and thus the R. 413581

[0073] - 13 -

[0074] Cartridge 105 is in this rear end position 201. For automatic ejection of the cartridge 105, the locking element 235 is actuated. The actuation direction is in the insertion direction 245 of the cartridge 105. Actuation is achieved, for example, by a plunger pressed directly by the user. The locking element 235 then releases the guide carriage 205, which, by releasing the compressed spring element 210, transports the cartridge 105 to the front end position. The front end position is reached when the spring element 210 is completely released or another stop is reached. The braking device 215 prevents the cartridge 105 from springing out of the analyzer and also ensures a slow, smooth, and high-quality ejection of the cartridge 105. In the front end position, the user removes the cartridge 105 from the analyzer.The clamping element 220, which can also be called a clamp, holds the tip of the cartridge 105 and presses it against the guide carriage 205. Additionally, the switching element 240, which can also be called a microswitch, detects the rear end position of the guide carriage 205. This is helpful for automated instrument sequence control. For example, a solenoid or a small electric motor, or continuous movement of an actuator used elsewhere in the analyzer 100, can be used to actuate the detent element 235. The barrier section 280 only permits the cartridge 105 with its characteristic shape, which is approved for this analyzer.

[0075] Fig. 3 shows an embodiment of a guide device 200. The guide device 200 is similar to or corresponds to the guide device 200 from Fig. 2, except that a bottom view of the guide device 200 is shown. In other words, Fig. 3 shows a view of the guide device 200 from below, as well as a rear end position 201 with a cartridge 105 inserted.

[0076] The frame 230, for example, forms a rack 300 on the side section 275. The brake device 215 includes, by way of example, a gear 305. The gear is rotatably attached to the guide slide 205. The rack 300 is designed to guide the gear 305 of the brake device 215, with the teeth of the gear 305 engaging in the R. 413581

[0077] - 14 -

[0078] The rack 300 engages, causing the gear 305 to rotate when the guide carriage 205 moves. According to one embodiment, the gear 305 rubs against a brake disc attached to the guide carriage 205 during its rotation, thereby generating a braking force. Alternatively, other methods for generating a braking force using the gear 305 are possible.

[0079] When the guide carriage 205 is released from the locking element 235, the braking device 215, by means of the gear 305 of the braking device 215 running along the rack 300, slows down the movement of the guide carriage 205 caused by the spring element 210 to such an extent that the cartridge 105 is prevented from jumping out of the guide device 200. Thus, the cartridge 105 is dispensed slowly.

[0080] In combination with a positioning pin inserted into a hole 310 of the cartridge 105, this results in the very precise positioning of the cartridge 105 in the analyzer for further processing.

[0081] Fig. 4 shows a sectional view of an embodiment of a guide device 200. The guide device 200 is similar to or corresponds to the guide device 200 from one of the figures described above. In other words, Fig. 4 shows a section through the locking element 235 with the guide carriage 205 locked in place.

[0082] The braking device 215 is coupled to the guide slide 205, with the gear 305 of the braking device 215 engaging in the rack 300 of the frame 230.

[0083] Fig. 5 shows an embodiment of a guide device 200. The guide device 200 is similar to or corresponds to the guide device 200 from Fig. 2, except that the guide device 200 is arranged in the analyzer 100. In other words, Fig. 5 shows a view of the rear end position with the cartridge 105 inserted. R. 413581

[0084] - 15 -

[0085] The frame 230 is, for example, attached to fastening elements of the analyzer. A surface 500 for pressing the cartridge 105 into the analyzer is shown by way of an arrow only as an example. Fig. 6 shows a flowchart of an embodiment of a method.

[0086] 600 for operating an analyzer. The analyzer corresponds to or resembles the analyzer shown in one of the figures described above.

[0087] Method 600 comprises a step 605 of applying pressure, a step 610 of causing action, and a step 615 of braking. In step 605 of the

[0088] In the actuation step, the spring element coupled to the guide carriage is subjected to preload by the insertion movement of the cartridge into the receiving area. In step 610 of the actuation process, the ejection movement of the cartridge from the receiving area is effected using the preload. In step 615 of the braking process, the

[0089] Ejection movement slowed.

Claims

R. 413581 - 16 - Claims 1. A guiding device (200) for guiding a cartridge (105) within a receiving area (202) of an analyzer (100) for analyzing a fluid arranged in the cartridge (105), wherein the guiding device (200) has the following features: a guide carriage (205) configured to guide the cartridge (105) within the receiving area (202); a spring element (210) coupled to the guide carriage (205) and configured to be biased by an insertion movement of the cartridge (105) into the receiving area (202) and to cause an ejection movement of the cartridge (105) from the receiving area (202) using the bias; and a braking device (215) coupled to the guide carriage (205) and configured to brake the ejection movement.

2. Guide device (200) according to claim 1, wherein the braking device (215) is designed as a rotary brake.

3. Guide device (200) according to one of the preceding claims, wherein the spring element (210) is designed as a coil spring.

4. Guide device (200) according to one of the preceding claims, comprising a clamping element (220) which is arranged on the guide carriage (205) and is designed to clamp the cartridge (105) to the guide carriage (205). R. 413581 - 17 - 5. Guide device (200) according to one of the preceding claims, comprising at least one guide rod (225) configured to guide the guide slide (205) along an insertion direction (245) of the insertion movement and along an extension direction (250) of the extension movement, wherein the guide slide (205) is movably arranged along the guide rod (225).

6. Guide device (200) according to claim 5, wherein the guide rod (225) is designed to accommodate the spring element (210).

7. Guide device (200) according to claim 5 or 6, comprising a frame (230), wherein the guide rod (225) is held by the frame (230), wherein the frame (230) forms a rack (300) for guiding a gear (305) of the brake device (215).

8. Guide device (200) according to one of the preceding claims, with a locking element (235) which is designed to hold the guide carriage (205) in a locking position after completion of the insertion movement within the receiving area (202) and to release the guide carriage (205) in a release position.

9. Guide device (200) according to one of the preceding claims, comprising a switching element (240) designed to detect a rear end position of the guide slide (205) after completion of the insertion movement.

10. Analyzer (100) for analyzing a fluid arranged in the cartridge (105), wherein the analyzer (100) has a receiving area (202) and an insertion opening (110) for the cartridge (105) and a guide device (200) according to any one of claims 1 to 9. R. 413581 - 18 - 11. Analyzer (100) according to claim 10, comprising a pin designed to enter a hole (310) of the cartridge (105) in order to fix the cartridge (105) in the receiving area (202) after completion of the insertion movement.

12. Analysis device (100) according to one of claims 10 to 11, comprising a barrier section (280) which is shaped to limit a receiving section of the receiving area (202) adapted to a shape of the cartridge (105).

13. Method (600) for operating an analyzer (100) according to any one of claims 10 to 12, wherein the method (600) comprises the following steps: Applying (605) to the spring element (210) coupled to the guide carriage (205) the preload by the insertion movement of the cartridge (105) into the receiving area (202); Causing (610) the ejection movement of the cartridge (105) from the receiving area (202) using the preload; and Braking (615) of the extension movement using the braking device (215).

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