Control apparatus for a machine for the treatment or analysis of fluids or soft matter

Abstract

Control apparatus for a machine for the treatment or analysis of fluids or soft matter, wherein said machine (1) comprises at least one work surface (2) configured to support one or more devices (3); movement means (4) operatively associated with said work surface (2) and configured to intercept and / or use said devices (3) to carry out said treatment or said analysis; acquisition means (7) configured to acquire images of said work surface (2) and / or of said devices (3); said control apparatus comprises a mapping module, configured to identify and / or define a position of said devices (3) on said work surface (2); a vision module; an image processing module; and a command module operatively connected to said mapping module, to said vision module and to said image processing module and configured to command at least the movement of said movement means (4).

Description

CONTROL APPARATUS FOR A MACHINE FOR THE TREATMENT OR ANALYSIS OF FLUIDS OR SOFT MATTER DESCRIPTIONField of application of the invention

[0001] The present invention relates to a control apparatus for a machine for the treatment or analysis of fluids or soft matter, according to the preamble of the independent main claim n. 1 .

[0002] The control apparatus for a machine for the treatment or analysis of fluids or soft matter here dealt with finds advantageous use in the technical field of the production and marketing of more or less automatic machines for the treatment or processing of fluids, soft matter, or other.

[0003] For example, the apparatus in question can be advantageously used to control machines for biological or clinical analysis, for example (but not limited to) PCR (Polymerase Chain Reaction) machines.

[0004] Therefore, a possible technical field in which the apparatus finds advantageous use is the technical field of production and marketing of machines for the treatment or analysis of fluids or soft matter in the field of biotechnology, molecular biology, medicine or clinical science.

[0005] Obviously, the apparatus in question could be advantageously employed in machines for the treatment or analysis of fluids or soft matter in any other field of technology.State of the art

[0006] In the current state of the art, the control of machines for the treatment of fluids or soft matter represents a constantly evolving technological field, capable of involving multiple industrial and scientific applications.

[0007] The term "soft matter" must be understood, as is known to the skilled person in the art, as a set of materials or compounds with intermediate properties between the solid and liquid states, sometimes appearing for example as disordered and highly deformable solids, other times as partially ordered and highly viscous fluids. For purely exemplary and non-limiting purposes, soft matter includes liquids, colloids, polymers, foams, gels, granular materials, and substantially all types of biological materials.

[0008] The control apparatus of a machine for the treatment or analysis of fluids or soft matter can be applied in water purification, chemical processing, as well as in molecular biology machines, such as machines used for the extraction of compounds (e.g. nucleic acids) from biological samples for carrying out PCR (Polymerase Chain Reaction) reactions.

[0009] Over the years, the above machines have enjoyed increasing success. Obviously, their complexity has also increased and nowadays the apparatuses for their control include the management of various operating parameters, as well as the control of the movement of any moving mechanical parts.

[0010] Machines for the treatment of fluids or soft matter, both in industrial and scientific fields, require rigorous control of all operating parts, whether they are mechanical moving parts or otherwise, to ensure that, in all operating conditions, the machine complies with the specific requirements of the process, which is usually defined by a rigid protocol.

[0011] In specialized applications, such as PCR machines, control is not limited to physical parameters but also extends to chemical and optical variables. These sophisticated instruments require extremely precise thermal control, accompanied by advanced optical systems to detect fluorescent signals that monitor DNA amplification in real time.

[0012] For example, machines may include suitable CCD sensors or photomultiplier tubes (PMTs) to detect minute variations in light intensity, while multiple fluorophores used in the reactions allow the simultaneous analysis of multiple targets.

[0013] Apparatuses of the prior art must therefore guarantee precision and reliability to meet the needs of very different sectors, from molecular biology to industrial chemistry, including environmental treatment.

[0014] For example, known apparatuses provide temperature control in PCR machines, where it is important that thermal variations are rapid, precise and uniform.

[0015] For this purpose, known apparatuses include feedback control algorithms that ensure real-time correction of any oscillations, avoiding deviations from optimal conditions.

[0016] Differently, in industrial contexts, such as water treatment or chemical synthesis processes, temperature control may require even more complex systems.

[0017] Furthermore, in PCR machines, it is necessary to constantly monitor the composition of a reagent fluid.

[0018] Normally, the composition is monitored indirectly through the fluorescence of suitable chemical markers.

[0019] For this purpose, known apparatuses use optical acquisition devices, for example based on CCD sensors or photomultiplier tubes (PMT), capable of detecting variations in fluorescence, which indicate the progress of the DNA amplification reaction.

[0020] Subsequently, the known type of apparatuses provides for processing the data thus obtained by means of appropriate analysis algorithms, configured to guarantee that the results are accurate and reproducible.

[0021] Differently, in other industrial processes, such as the production of chemical or pharmaceutical substances, the known type of apparatuses allow the dosage of the necessary reagents based on the data provided by appropriate chemical sensors.

[0022] With particular reference to machines for chemical or biological analysis, for example PCR machines, today there are machines on the market configured to perform a predetermined protocol, i.e. a predefined sequence of operating phases to obtain a desired result, for example the analysis of a type of liquid or soft matter.

[0023] The control apparatuses of known type are therefore designed and programmed to allow the machine to execute and control, in a substantially automatic manner, the aforementioned predetermined protocol.

[0024] As briefly described above, the known type of control apparatuses provides for equipping the machines with a plurality of very specific and complex sensors, aimed at acquiring a corresponding plurality of physical quantities to allow the control of the machine's operation and / or to allow the execution of the predetermined protocol.

[0025] Therefore, the known type of apparatuses has proved in practice not to be free from drawbacks.

[0026] The main drawback lies in the fact that the control (and management) apparatus of the plurality of sensors of the known type of machine is very complex and requires the use of extremely complex and expensive instrumentation.

[0027] A further drawback is that the known type of devices do not allow the acquisition of useful information to understand whether the machine has been correctly equipped before starting theaforementioned protocol.

[0028] The term “equipped” must be understood as a preliminary use phase, in which the machine is prepared to start its use, for example by arranging test tubes, samples, reagents, etc.

[0029] Obviously, each predetermined protocol needs to be equipped differently, for example with a different arrangement of test tubes or samples, and / or filling different housing locations with different instruments, etc.

[0030] Nowadays, checking the correct machine equipment is done visually by one or more operators.

[0031] This provision of the prior art results in an increase in management costs, as it is necessary for an expert operator to visually check each operational phase of the protocol, including the aforementioned preliminary phase.

[0032] Furthermore, the expectation of carrying out the check visually results in an increase in evaluation errors, due to the human factor.Presentation of the invention

[0033] The present invention has as its main purpose overcoming the drawbacks of the above-mentioned prior art, by providing a control apparatus for a machine for the treatment or analysis of fluids or soft matter.

[0034] In particular, the main purpose of the present invention is to provide a control apparatus for a machine for the treatment or analysis of fluids or soft matter which is structurally and functionally completely reliable.

[0035] A further purpose of the present invention is to provide a control apparatus for a machine for the treatment or analysis of fluids or soft matter which is able to guarantee constant and optimal functioning of the machine in which it operates.

[0036] Another purpose of the present invention is to provide a control apparatus for a machine for the treatment or analysis of fluids or soft matter which allows for a reduction in human intervention during the normal operation of the machine.

[0037] A further purpose of the present invention is to provide a control apparatus for a machine for the treatment or analysis of fluids or soft matter which has an alternative and / or innovative character with respect to known type apparatuses.

[0038] Another purpose of the present invention is to provide a control apparatus for a machine for the treatment or analysis of fluids or soft matter which allows constant and automatic control of the machine.

[0039] Furthermore, a not least purpose of the present invention is to provide a control apparatus for a machine for the treatment or analysis of fluids or soft matter which allows the implementation of operating protocols in a rapid and simple manner.

[0040] A further purpose of the invention is to provide a control apparatus for a machine for the treatment or analysis of fluids or soft matter which is able to automate the treatment of any fluid or soft matter, even through long and / or complex protocols.

[0041] These purposes, together with others which will be better clarified below, are achieved by a control apparatus for a machine for the treatment or analysis of fluids or soft matter of the type according to claim 1.

[0042] Other purposes which will be better described below are achieved by a control apparatus for a machine for the treatment or analysis of fluids or soft matter according to the dependent claims.Brief description of the drawings

[0043] The advantages and features of the present invention will be clearly apparent from the following detailed description of some preferred but non-limiting configurations of a control apparatus for a machine for the treatment or analysis of fluids or soft matter with particular reference to the following drawings:Figure 1 shows a front view of a machine for the treatment or analysis of fluids or soft matter, with some parts removed to better highlight others, in which the control apparatus according to the invention is operationally associated;Figure 2 shows an axonometric view from above of the machine in Figure 1 , with some parts removed to better highlight others, in which the control apparatus according to the invention is operationally associated;Figure 3 shows a top plan view of the machine in Figure 1 and Figure 2;Figure 4 shows a schematic top plan view of a work surface of the machine;Figure 5 shows a schematic top plan view of a work surface of the machine, together with handling means;Figure 6 shows a schematic top plan view of a work surface of the machine, wherein optical acquisition means are identified;Figure 7 shows an image acquired with appropriate acquisition means, which depicts a portion of the machine's work surface, following its processing;Figure 8 shows a second image acquired by appropriate acquisition means, which depicts a further portion of the machine's work surface, following its processing.Detailed description of the invention

[0044] The present invention relates to a control apparatus for a machine for the treatment or analysis of fluids or soft matter.

[0045] The apparatus here disclosed finds advantageous use in machines intended to manipulate, manage, treat or analyse liquids, soft matter or similar.

[0046] For example, the control apparatus according to the invention can be advantageously employed in machines for the treatment or analysis of fluids by exploiting the polymerase chain reaction (known in the technical jargon of the field with the English acronym PCR, Polymerase Chain Reaction).

[0047] Obviously, the control apparatus in question may be advantageously employed in any machine for the treatment or analysis of fluids of any type, without thereby departing from the scope of protection of the present patent application.

[0048] Preferably, the apparatus in question is intended to be implemented by means of an electronic processor (not illustrated in the attached figures and in itself well known to those skilled in the art), for example at least a microprocessor, a PLC or similar.

[0049] Advantageously, the control apparatus according to the invention can be integrated inside the machine for the treatment or analysis of fluids or soft matter or, alternatively, it can be applied subsequently in a machine already existing and / or present on the market.

[0050] A machine for the treatment or analysis of fluids or soft matter (equipped with a control apparatus according to the invention) has been identified in the attached drawings with the reference number 1 .

[0051] Obviously, the machine 1 illustrated in the attached figures is an example of a construction in which the apparatus can be applied. This representation is purely for illustrative and non-limiting purposes.

[0052] In fact, the machine 1 equipped with the apparatus according to the invention may include any type of device (as will be described in detail below) and may be intended to be used in any application, without thereby departing from the scope of protection of the present patent application.

[0053] In general, as well as in a manner known per se to those skilled in the art, the machine 1 (equipped or intended to be equipped with the control apparatus according to the invention) comprises at least one work surface 2 configured to support one or more devices 3 intended to be used to carry out said treatment or said analysis.

[0054] Preferably, the machine 1 comprises a support frame 9, intended to be placed on the ground or on a different external support wall, not illustrated in the attached figures.

[0055] For this purpose, the support frame 9 comprises a support base 10, in particular, according to the embodiment illustrated in the attached figures, defined by support feet, on which at least one support wall 11 rests (directly or indirectly).

[0056] Preferably, the work surface 2 remains defined on an upper surface of the supporting wall 11.

[0057] According to the particular embodiment of the present invention, the machine 1 is an automatic machine for performing analysis of biological material by PCR.

[0058] For this purpose, the machine 1 comprises the devices 3 useful and / or necessary for carrying out the desired analysis method.

[0059] In the following, the sequence of predetermined steps necessary to perform the analysis and / or treatment of fluids and / or soft matter will be called “protocol”, in accordance with the technical jargon of the field.

[0060] The term "fluid" shall be understood to mean any material that does not have its own shape and / or that cannot sustain a shear stress for an appreciable time. Furthermore, "fluid" shall be understood in the following to mean any type of solution or the like, comprising a liquid phase and a solid or semi-solid phase.

[0061] The term "soft matter" must be understood, as is known to the person skilled in the art, as a set of materials or compounds with intermediate properties between the solid and liquid states, sometimes appearing for example as disordered and highly deformable solids, other times as partially ordered and highly viscous fluids. For purely illustrative and non-limiting purposes, soft matter includes liquids, colloids, polymers, foams, gels, granular materials, and substantially all types of biological materials.

[0062] According to the particular embodiment of the invention illustrated in the attached figures, the fluids or soft matter used in the machine 1 are of a biological nature, for example blood, saliva, faeces or the like.

[0063] Advantageously, the machine 1 comprises uprights 12 extending vertically at least from the support wall 11.

[0064] Above the support wall 11 , an operational area remains defined, in which the devices 3 are housed and in which the operational phases for implementing the protocol take place.

[0065] The machine 1 also comprises movement means 4 operationally associated with said work surface 3 and configured to intercept and / or use said devices 3 to carry out said treatment or said analysis.

[0066] The machine 1 also comprises acquisition means 7, facing said work surface 2 and configured to acquire images of said work surface 2 and / or of said devices 3.

[0067] Preferably, the acquisition means 7 comprises at least one video camera, mechanically connected to an upper portion of the support frame 9 (not illustrated in the attached figures).

[0068] According to the preferential but non-limiting embodiment of the attached figures, the acquisitionmeans 7 comprise a plurality of cameras, and in particular in the illustrated embodiment they comprise four cameras, facing the work surface 2.

[0069] Obviously, the acquisition means 7 may comprise any number of cameras 7, based on the needs and different applications, without thereby departing from the scope of protection of the present patent application.

[0070] The control apparatus which is the object of the present invention is preferably intended to be implemented by means of an electronic processor and comprises a plurality of operating modules, each described on the basis of the technical function it is called upon to perform.

[0071] Obviously, each module of the control apparatus may be realized, in practice, as a portion of a code or algorithm capable of carrying out the function described below.

[0072] The control apparatus according to the invention comprises at least one mapping module, configured to identify and / or define a position of said devices 3 on said work surface 2.

[0073] The control apparatus according to the invention further comprises a vision module, configured to control the activation of said acquisition means 7 and to receive said images of said work surface 2 and / or of said devices 3 from said acquisition means 7.

[0074] The apparatus further comprises an image processing module, operatively connected to said vision module and configured to process said images, in such a way as to identify an operational state of said devices 3.

[0075] The processing module is configured to send a corresponding signal based on said operating state of said devices 3.

[0076] The control apparatus further comprises a command module operatively connected to said mapping module, to said vision module and to said image processing module and configured to control at least the movement of said movement means 4.

[0077] In this way, the apparatus according to the invention allows to control and command the machine 1 , both during its preparation and during the execution of the protocol.

[0078] In particular, the implementation of the vision module and the image processing module allows to ensure the correct functioning of each device, as well as to ensure the correct preparation of the work plan and of the devices, before starting the execution of the protocol, as well as - preferably -during the execution of the protocol itself.

[0079] Advantageously, the mapping module is configured to generate a map 5 of said work surface 2, to identify a plurality of operating zones 6.

[0080] According to the embodiment illustrated in the attached figures, and with particular reference to figure 4, the map 5 is preferably realized by dividing the work surface 2 into a grid or chessboard, in which the operating zones 6 are defined by a corresponding plurality of blocks 13 placed side by side.

[0081] Therefore, in the following reference will be made to operating zones 6 or to blocks 13 in a similar manner, since the preferred embodiment illustrated in the attached figures provides that the operating zones are defined by blocks 13 of a grid.

[0082] Advantageously, the mapping module is configured to identify and / or define the position of said devices 3 in said operating zones 6 in said map 5.

[0083] In more detail, the mapping module associates one or more devices 3 to each operating zone 6.

[0084] For example, in the exemplary embodiment illustrated in the attached figures, the work surface 2 isdivided into five rows and five columns, defining twenty-five operating zones 6 or blocks 13.

[0085] For ease of explanation, in the attached figure 4, the rows are identified with lowercase letters a-e and the columns are identified with uppercase letters A-E. Therefore, in the following the blocks 13 will be identified on the basis of the nomenclature thus defined for rows (lowercase letter) - columns (uppercase letters).

[0086] In the following, reference will be made to specific devices 3 used in a PCR machine, for illustrative and non-limiting purposes only.

[0087] For example, with reference to figure 4, block aA and block bA are occupied by devices 3 comprising a refrigeration unit 14.

[0088] Furthermore, for example, the blocks bA, cA, aB, bB, cB are occupied by devices 3 comprising racks 15, equipped with housing seats 16 (called in technical jargon "wells") intended to at least partially house test tubes or similar (for example microcentrifuge tubes, or PCR tubes or "Eppendorf" tubes), to contain doses of fluid or soft material or other, necessary in some operational steps of the protocol.

[0089] Preferably, the boxes cA, aB, bB, cB can accommodate further devices 3, such as racks or housings for tips (known in technical jargon with the term ‘‘tips’’) of a suitable operator device, for example a pipettor, which will be discussed in more detail below.

[0090] Furthermore, for example, boxes aC-eC house devices 3 comprising a rack 17 equipped with corresponding second housing seats 18 intended to at least partially house test tubes suitable for containing fluids or soft matter during the various operational steps of the protocol, in this case, of PCR.

[0091] Furthermore, according to the exemplary embodiment of figure 4, the boxes dA, eA accommodate a device 3 comprising a thermocycler 19.

[0092] Finally, preferably, the boxes aD, aE, bD, bE accommodate a PCR extractor and the boxes dD, dE, eD, eE accommodate a device 3 comprising a waste bin 20, for example intended to contain used test tubes and / or used tips, as disclosed below.

[0093] In this way, the mapping module defines and saves a map of all devices 3 present on the work surface 2.

[0094] Furthermore, the mapping module biunivocally associates each device 3 with one or more operating zones 6 (or, preferably, blocks 13).

[0095] Advantageously, said mapping module is configured to save and maintain calibration and / or positioning data of said devices 3 arranged on said work surface 2.

[0096] Preferably, the positioning data of the devices 3 are identical for all machines of the same type. Otherwise, the calibration data are peculiar and / or unique for each machine 1 .

[0097] For example, the mapping module is configured to save not only the position of each device 3 with respect to the different operating zones 6, but also operating information, such as dimensions, times, working temperatures, etc.

[0098] Obviously, the calibration data saved by the mapping module depends on the type of protocol that machine 1 is intended to perform.

[0099] Therefore, the mapping module is preferably intended to be used during and / or following the preparation of the work surface 2, known in jargon as the ‘‘equipment’’ phase of the work surface 2.

[0100] Preferably, the mapping module of the apparatus here disclosed is programmed and / or compiled in a preliminary phase, or production phase of the machine 1 .

[0101] Preferably, the mapping module is used in substantially all activities of machine 1. In fact, advantageously, the mapping module is configured to translate “logical” positions (e.g.: refrigeration unit) into physical positions (e.g. distance along the first axis X: 12.2cm, distance along the second axis Y: 7.6cm).

[0102] Obviously, the mapping module provides for the division of the work surface 2 into a grid or chessboard, in a free and independent manner. In other words, the operating zones 6 are defined by the blocks 13 placed side by side, the number (and arrangement) of which is arbitrary and can be chosen on the basis of the application of the machine 1 , and / or on the basis of the number and type of devices 3, etc.

[0103] Preferably, identical machines 1 (or in any case machines equipped with the same work surface 2 with the same devices 3) provide control devices in which the corresponding mapping modules are programmed and / or configured in the same way. In other words, preferably, the mapping modules provide for a division of the work surface 2 into substantially identical grids.

[0104] Advantageously, the machine 1 comprises a control module, configured to control an operating status of said devices 3 arranged on said work surface 2 and send a corresponding status signal to said command module.

[0105] In more detail, said machine 1 comprises sensor means (not illustrated in the attached figures and in themselves well known to those skilled in the art) operationally associated with said devices 3 and configured to detect a predetermined value of said devices 3.

[0106] For example, the sensor means can be configured to detect the temperature reached by the refrigeration unit 14.

[0107] Furthermore, the sensor means may be configured to detect opening and / or closing of a lid of the bin 20, or other.

[0108] Advantageously, said status signal sent by said command module comprises at least one availability information, processed on the basis of said predetermined value, to determine the possibility of using said devices 3.

[0109] In other words, the command module is configured to receive the value acquired by the sensor means associated with the devices 3, process it to obtain information on the status of the corresponding device 3.

[0110] In more detail, the value acquired by the sensor means is compared with a predetermined value, or a threshold value, to establish whether the current state of the device 3 is compliant with its use in the protocol.

[0111] Therefore, the status signal sent by the command module preferably contains a positive value, where device 3 is capable of being used correctly in the protocol, or a negative value, where device 3 is unusable and thus the protocol cannot be started.

[0112] Differently, according to a different embodiment, the command module can receive the value acquired by the sensor means associated with the devices 3 and send said value to an application, preferably at a higher level, configured to establish whether the current state of the device 3 is compliant with its use in the protocol.

[0113] In other words, preferably, the decision whether the protocol can be started is taken at a high level (e.g. PC) or by a specialized and / or advanced control unit.

[0114] Advantageously, said movement means 4 of said machine 1 comprise at least one operator device (not visible in the attached figures), configured to take and / or release a dose of liquid or soft material.

[0115] Preferably, the operator device preferably comprises at least one mechanical pipette (also known in the technical jargon of the technical field with the term "micropipette" or pipettor), configured to aspirate and deposit a predetermined dose of fluid or soft matter.

[0116] Preferably, in accordance with a preferred but not limiting embodiment, the operator device is a gripping device, such as for example a suction device, such as in particular a pipetting device.

[0117] Alternatively, the operator device may include a clamp or similar, to be able to intercept, move, open or close the devices 3 (and / or test tubes, tips, etc.) arranged on the work surface 2.

[0118] Therefore, in the following reference will be made in a generic way to an operator device, implying that it can be realized in a plurality of different ways, based on the needs and / orthe protocol to be performed, in a manner known in itself to the skilled person in the art and therefore not discussed in detail below.

[0119] For this purpose, with reference to the attached figure 5, the handling means 4 may comprise a mobile trolley 21 movable parallel to the work surface 2, preferably at a higher level than the work surface 2 and preferably at a higher level than all the devices 3.

[0120] Preferably, the mobile trolley 21 carries the operator device mounted on it, and is configured to move the operator device in a controlled manner on the work surface 2, to interact with the devices 3, in particular to carry out the operating steps of the predetermined protocol.

[0121] Preferably, the movement means 4 further comprise two guides 22 extending parallel to each other and preferably arranged parallel to the work surface 2. Preferably, the guides 22 are arranged at a higher level than the work surface 2 and, preferably, are mechanically constrained to the support frame 9 and more preferably are mechanically constrained to the uprights 12.

[0122] Preferably, the movement means 4 comprise at least one movable crosspiece 23, slidably connected to the guides 22 and movable parallel to the work surface 2, along (or parallel to) a first axis X.

[0123] In particular, the crosspiece 23 is movable between a first end 21of the work surface 2 and a second end 2", opposite to the first end 21, of the work surface 2.

[0124] Advantageously, the mobile trolley 21 is slidably connected to the crosspiece 23 and is movable along (or parallel to) a second Y-axis, transversal to the first X-axis, between a first end 23' of the crosspiece 23 and a second end 23", opposite to the first end 23', of the crosspiece 23.

[0125] In this way, the operator device mounted on the mobile trolley 21 is mobile on the entire surface of the work surface 2, mobile both along (or parallel to) the first axis X (by moving the crosspiece 23 along or parallel to the guides 22) and along (or parallel to) the second axis Y (by moving the mobile carriage 21 along or parallel to the crosspiece 23).

[0126] Preferably, the operator device is mobile along (or parallel to) a third Z-axis (substantially vertical) orthogonal to the first axis X and the second axis Y, in particular towards and away with respect to the work surface 2.

[0127] In more detail, the operator device is mobile with respect to the mobile trolley 21 between a raised position, proximal to the mobile trolley 21 (and distal to the work surface 2) and a lowered position, distal to the mobile trolley 21 (and proximal to the work surface 2).

[0128] Preferably, with the operator device in the lowered position, the operator device intercepts at least one of the devices 3 and is operated to aspirate and / or release the dose of liquid or soft matter, based on the operating phase required by the protocol. Preferably, with the operator device in the lowered position, the movement means 4 are kept still, so as to allow the operator device to carry out the operating step withthe corresponding device 3.

[0129] Furthermore, preferably, with the operator device in the raised position, the movement means 4 can be activated to move the operator device itself in correspondence with the next device 3 (i.e. in correspondence with the next operating zone 6 or block 13 saved in the mapping module of the control apparatus).

[0130] Advantageously, the command module is operatively connected to said operator device and configured to command, directly or indirectly, the activation of said operator device to withdraw and / or release said dose of liquid.

[0131] Advantageously, the control apparatus in question comprises a movement module, operationally associated with said command module and configured to command the movement of said movement means 4.

[0132] Preferably, said movement module is configured to interface said command module and said movement means 4.

[0133] Advantageously, the movement module can also be configured to calculate and / or program the movement of the movement means 4 to move the operator device between the various operating zones 6 (or boxes 13) of the work surface 2.

[0134] For example, the movement module can be programmed to fix one or more fixed points, predetermined on the work surface 2, preferably in correspondence with operating zones 6 (or blocks 13) in which one or more of the aforementioned devices 13 are arranged.

[0135] The movement module is advantageously configured to determine a movement path between the fixed points, be it in a straight line or other movements.

[0136] The movement module is configured to identify the best path between the fixed points determined on the work surface 2, for example to minimize the linear distance and / or to avoid one or more devices 3, which could have a height such as to intercept the operator device, even in its raised position.

[0137] Advantageously, said image processing module is based on artificial intelligence algorithms and / or analytical processing algorithms and is configured to interpret and understand the content of the images detected by said acquisition means 7, to determine the status of said devices 3 and / or identify positioning or operating anomalies of said devices 3.

[0138] An example of acquisition means 7 is highlighted in the attached figure 6, in which four distinct video cameras 24 are visible, arranged spaced apart from each other and facing the work surface 2.

[0139] Advantageously, each video camera 24 of the acquisition means 7 is configured to acquire images (or videos) of one or more predetermined operating zones 6 or blocks 13.

[0140] In this way, each video camera 24 of the acquisition means 7 is intended to acquire images (or videos) of one or more devices 3.

[0141] Suitably, each video camera 24 is configured to acquire images with a predetermined field of view, based on the extension and footprint of the device 3 to be observed.

[0142] In the attached figure 6, the field of vision of the video cameras 24 is identified with circles with a dotted area and generically identified with the reference 25. It is possible to appreciate that each video camera 24 is provided with a field of vision 25 different from the field of vision 25 of the other video cameras 24, based on the different size of the devices 3 to be observed.

[0143] For example, with reference to the attached figure 6, a first video camera 24' is intended to acquireimages (or videos) of the extractor 19 and the basket 20, with a first field of vision 25' .

[0144] Furthermore, preferably, a second 24” video camera is intended to acquire images (or videos) of the rack 17 to identify the state of the test tubes arranged in the housing seats 18, with a second 25” field of vision.

[0145] Furthermore, a third 24”’ video camera is preferably intended to acquire images (or videos) of the thermocycler 19, with a third 25”’ field of vision.

[0146] Furthermore, a fourth 24”” video camera is preferably intended to acquire images (or videos) of the racks 15, and in particular of the housing seats 16 to identify and control the test tubes housed therein (for example microcentrifuge tubes, or PCR tubes or “Eppendorf” tubes), with a fourth field of vision 25””. In particular, the fourth video camera 24”” is preferably intended to acquire images or videos of the microcentrifuge tubes to detect the presence or absence of the respective caps.

[0147] Advantageously, said image processing module comprises a training function, wherein said processing module defines a data offset for learning how to recognize said devices 3 and / or the state of said devices 3.

[0148] According to one embodiment, the training function is implemented by artificial intelligence algorithms based on Machine Learning and / or Deep Learning.

[0149] Differently, according to a different embodiment, the training function can be implemented by means of algorithms based on Computer Vision techniques (e.g. filtering, thresholding, manipulation of the pixel intensities of the acquired images, etc.).

[0150] Preferably, the training function is performed by providing images of the device 3 in an operational state, i.e. in a state in which it is usable during the protocol.

[0151] For example, in the case of microcentrifuge tubes, the images with which to train the image processing module show tubes with a cap when they need to be closed or without a cap when they need to be open to allow the withdrawal or pouring of the dose of liquid or soft matter.

[0152] In this way, the image processing module is able to learn, through its training function, which visual characteristics correspond to an operating state of the device 3.

[0153] Furthermore, said image processing module comprises a comparison function, wherein said processing module compares said images acquired by said acquisition means 4 with said data offset, to identify the status of said devices 3 and / or identify positioning or operation anomalies of said devices 3.

[0154] In more detail, the image processing module identifies the presence or absence of anomalies in the image acquired by the acquisition means 4 with respect to the offset generated thanks to the training phase.

[0155] In this way, the image processing module allows to identify anomalies or errors in the devices 3.

[0156] Advantageously, said image processing module is configured to associate a positive value to a predetermined state of said devices 3 and a negative value to positioning or operating anomalies of said devices 3.

[0157] In more detail, said image processing module is configured to send a vision signal comprising said positive value and / or said negative value associated with said devices 3.

[0158] For example, the image processing module may send the vision signal to a user interface device (not shown in the attached figures), such as a display, containing an alarm message, to prevent the protocol from being started.

[0159] Differently, the image processing module may send the vision signal to the command module, insuch a way as to substantially automatically allow or prevent the machine from starting the predetermined protocol.

[0160] An example of an image acquired by the acquisition means 4 is illustrated in figures 7 and 8.

[0161] In more detail, Figures 7 and 8 show racks configured to accommodate tips forthe operator device, in particular a pipettor.

[0162] In more detail, figures 7 and 8 show how the vision module and the image processing module are able to determine the presence or absence of one or more of the tips in correspondence with their relative position.

[0163] Furthermore, preferably, the image processing module is configured to classify the tips into large (see Figure 7, where the tips have a capacity of 1000pL) and small (see Figure 8, where the tips have a capacity of 50pL).

[0164] Figure 7 shows an image, following processing by the image processing module, in which some tips 26 are missing from their relative position on the rack 15.

[0165] Conveniently, the image processing module identifies the present tips 26 differently (with a lighter circle) than the missing tips 26 (with a darker circle). The lack of tips 26 means that the image processing module (or a higher-level application) will send a negative state signal, since (in the example of figures 7 and 8) the protocol requires that all tips 26 are present in the rack 15.

[0166] Differently, Figure 8 shows a rack 15 in which all the tips 26 are housed in the corresponding seats 16. In this case, the image processing module has correctly identified, by means of the comparison function, the presence of the aforementioned tips 26. In this second case, the image processing module (or a higher-level application) will send a positive vision signal, allowing the machine 1 to carry out the predetermined protocol.

[0167] Advantageously, the machine may comprise an optical sensor 27 configured to acquire images of graphic identifiers associated with test tubes and / or devices 3 arranged on the work surface 2.

[0168] Graphic identifiers associated with test tubes and / or devices 3 may include barcodes, QR codes or the like and are configured to uniquely identify the content or purpose of the test tubes and / or devices 3 themselves.

[0169] Advantageously, the vision module is configured to receive signals from the optical sensor 27, to identify the test tubes and / or devices 3.

[0170] Preferably, the image processing module is configured to cross-reference the information deriving from the optical sensor 27 with the data obtained by processing the images acquired by the acquisition means 4, so as to increase the detection precision of the devices 3 present on the work surface 2.

[0171] The present invention can be realized in other variants all falling within the scope of the inventive features claimed and described; these technical features can be replaced by different technically equivalent elements and the materials used; the shapes and dimensions of the invention can be any as long as they are compatible with its use.

[0172] The numbers and reference signs inserted in the claims and in the description have the sole purpose of increasing the clarity of the text and must not be considered as elements that limit the technical interpretation of the objects or processes identified by them.

Claims

CLAIMS1 . Control apparatus fora machine for the treatment or analysis of fluids or soft matter, wherein said machine (1) comprises:at least one work surface (2) configured to support one or more devices (3) intended to be used, to carry out said treatment or said analysis;movement means (4) operationally associated with said work surface (2) and configured to intercept and / or use said devices (3) to carry out said treatment or said analysis; acquisition means (7), facing said work surface (2) and configured to acquire images of said work surface (2) and / or of said devices (3);said control apparatus comprises:a mapping module, configured to identify and / or define a position of said devices (3) on said work surface (2);a vision module, configured to control the activation of said acquisition means (7) and to receive said images of said work surface (2) and / or of said devices (3) from said acquisition means (7); an image processing module, operationally connected to said vision module and configured to process said images, in such a way as to identify an operating state of said devices (3); said processing module being configured to send a corresponding signal based on said operating state of said devices (3);a command module operationally connected to said mapping module, to said vision module and to said image processing module and configured to control at least the movement of said movement means (4).

2. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to claim 1 , characterized in that said mapping module is configured to generate a map (5) of said work surface (2), to identify a plurality of operating zones (6); said mapping module being configured to identify and / or define the position of said devices (3) in said operating zones (6) in said map (5).

3. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to claim 1 or 2, characterized in that said mapping module is configured to save and maintain calibration and / or positioning data of said devices (3) arranged on said work surface (2).

4. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that it comprises a control module, configured to control an operating state of said devices (3) arranged on said work surface (2) and send a corresponding status signal to said command module.

5. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said machine (1) comprises sensor means operatively associated with said devices (3) and configured to detect a predetermined value of said devices (3);said status signal sent by said command module comprises at least one availability information, processed on the basis of said predetermined value, to determine the possibility of using said devices (3).

6. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said status signal sent by thecommand module contains a positive value, wherein the device (3) is susceptible of being correctly used in the protocol, or a negative value, wherein the device (3) is unusable and therefore the protocol cannot be started.

7. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said movement means (4) of said machine (1) comprise at least one operator device, configured to withdraw and / or release a dose of liquid or soft matter;said command module being operatively connected to said operator device and configured to command, directly or indirectly, the activation of said operator device to withdraw and / or release said dose of liquid or soft matter.

8. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said movement module is configured to calculate and / or program the movement of said movement means (4) to move said operator device between the operating zones (6) of said work surface (2).

9. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said movement module is programmed so as to fix one or more fixed points, predetermined on said work surface (2), preferably in correspondence with operating zones 6 in which one or more of the aforementioned devices (13) is arranged; said movement module being configured to determine a movement path between said fixed points, whether in a straight line or other movements.

10. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said movement module is configured to identify the best path between said fixed points determined on said work surface (2), to minimise the linear distance and / or to avoid one or more devices (3).11 . Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that it comprises a movement module, operationally associated with said command module and configured to control the movement of said movement means (4);said movement module being configured to interface said command module and said movement means (4).

12. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said image processing module is based on artificial intelligence algorithms and / or analytical processing algorithms and is configured to interpret and understand the content of the images detected by said acquisition means (7), to determine the state of said devices (3) and / or identify positioning or operating anomalies of said devices (3).

13. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said image processing module comprises:a training function, wherein said processing module defines a data offset to learn how to recognize said devices (3) and / or the state of said devices (3);a comparison function, wherein said processing module compares said images acquired by saidacquisition means (4) with said data offset, to identify the state of said devices (3) and / or identify positioning or operation anomalies of said devices (3).

14. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said image processing module is configured to associate a positive value with a predetermined state of said devices (3) and a negative value with positioning or operating anomalies of said devices (3);said image processing module is configured to send a vision signal comprising said positive value and / or said negative value associated with said devices (3).

15. Control apparatus for a machine for the treatment or analysis of fluids or soft matter according to one or more of the preceding claims, characterized in that said image processing module identifies the presence or absence of anomalies in the image acquired by said acquisition means (4) with respect to the offset generated thanks to said training phase, in this way, the image processing module allows to identify anomalies or errors in said devices (3).

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