Sample Rack Imaging for Dynamic Specimen Container Pick Sequencing
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Solution Overview
Problem
In medical testing and processing systems, the close spacing of specimen containers in sample racks leads to jams, collisions, and jarring during robotic pick and place operations, causing damage and downtime due to the inability of existing systems to dynamically adjust for varying container sizes and orientations.
Innovation Solution
A method and apparatus that dynamically determine the sequence of picking and placing specimen containers based on imaging data, including population and configuration data, to adjust the gripper's pick and place order, ensuring accessible receptacles and minimizing contact between containers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If specimen containers are tightly spaced in sample racks to maximize machine footprint usage, then space utilization is improved, but jams and collisions occur during robotic pick and place operations
Solution Approach 1:
The system dynamically determines the sequence of picking and placing specimen containers based on real-time imaging data about container positions, orientations, and sizes. This dynamic sequencing allows the robot to adapt its pick and place operations to the actual configuration of containers in the tightly spaced rack, preventing jams and collisions while maintaining high space utilization.
Solution Approach 2:
The system performs preliminary imaging and analysis of the sample rack configuration before executing pick and place operations. By obtaining imaging data about container positions, orientations, and sizes in advance, the system can plan an optimal sequence that prevents operational issues before they occur.
2Ease of operation
If a fixed pick and place sequence is used, then operational simplicity is maintained, but the system cannot adapt to varying container sizes and orientations
Solution Approach 1:
The system transitions from a fixed pick and place sequence to a dynamic sequence determined by imaging data. The robot controller automatically adjusts the operation sequence based on detected container characteristics, maintaining ease of operation while achieving adaptability to varying container sizes, shapes, and orientations.
Solution Approach 2:
The system uses imaging data as feedback to determine the optimal pick and place sequence. The imaging system continuously monitors container positions and configurations, and this information feeds back to the robot controller to adjust the operation sequence accordingly.
3Device complexity
If traditional robotic pick and place operations are used without dynamic sequencing, then system complexity is minimized, but contact between containers causes damage and downtime
Solution Approach 1:
The system performs preliminary imaging and sequence determination before pick and place operations begin. This advance planning identifies potential collision risks and adjusts the sequence to prevent contact between containers, improving reliability without significantly increasing operational complexity.
Solution Approach 2:
The imaging system provides continuous feedback about container positions and orientations, allowing the robot controller to adjust the pick and place sequence in real-time to prevent collisions and damage.
Data Source
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Figure 3A~3B
AI summary
Methods of operating a gripper are provided. The methods include providing a robot including the gripper, the gripper moveable by the robot and including gripper fingers, providing a sample rack including receptacles accessible by the gripper, at least some of the receptacles adapted to contain specimen containers, providing data, obtained by imaging, regarding the sample rack and the specimen containers therein, and determining, based on the data, an accessible target receptacle for one of a pick operation or a place operation. Apparatus and systems configured to carry out the methods are provided, as are other aspects.