Method for processing specimen and specimen processing system

Patent metadata

Field	Value
Publication number	US-10155311-B2
Application number	US-201615221769-A
Country	US
Kind code	B2
Filing date	Jul 28, 2016
Priority date	Jul 31, 2015
Publication date	Dec 18, 2018
Grant date	Dec 18, 2018

Abstract

A method for processing a specimen includes controlling a robot to open a lid of a composite container. The composite container includes a first container and a second container. The first container includes a first opening. The second container includes an insertion portion, a protrusion portion, and a second opening. The insertion portion is insertable into the first container through the first opening. The protrusion portion is protrudable through the first opening. The second opening is disposed on the protrusion portion and coverable by the lid. After the lid has been opened, the robot is controlled to take the second container out of the first container. After the second container has been taken out of the first container, the robot is controlled to cover the first opening using the lid.

First claim

What is claimed as new and desired to be secured by Letters Patent of the United States is:

1. A method for processing a specimen, comprising:
controlling a robot to open a lid of a composite container comprising a first container and a second container, wherein the composite container includes the first container having a first opening, and the second container having an insertion portion insertable into the first container through the first opening, a protrusion portion protrudable through the first opening, and a second opening formed on the protrusion portion and coverable by the lid;
after the lid has been opened, controlling the robot to take the second container out of the first container; and
after the second container has been taken out of the first container, controlling the robot to cover the first opening using the lid,
wherein the robot is controlled using a controller comprising circuitry configured to control the robot to open the lid of the composite container, take the second container out of the first container, and to cover the first opening using the lid.

2. The method according to claim 1 , further comprising, before the controlling of the robot to take the second container out of the first container, controlling the robot to alternate effecting a first force to incline the second container in a first direction relative to the first container with effecting a second force to incline the second container in a second direction relative to the first container.

3. The method according to claim 2 , wherein the robot comprises a first finger and a second finger that are configured to hold the second container.

4. The method according to claim 2 , wherein the controlling of the robot to alternate effecting the first force with effecting the second force comprises controlling the robot to move the protrusion portion away from the first container while alternating effecting the first force with effecting the second force.

5. The method according to claim 1 , wherein the composite container further comprises a strap connecting a circumference of the first opening with the lid, and the controlling of the robot to cover the first opening using the lid comprises controlling the robot to move the lid to a position corresponding to the first opening, controlling the robot to cause a portion of the robot contacting an outer surface of the lid to move toward the first opening, and after the portion of the robot contacting the outer surface of the lid has moved to the first opening, controlling the robot to cause the portion of the robot to move along a plane of the first opening.

6. The method according to claim 5 , wherein the controlling of the robot to cause the portion of the robot to move along the plane of the first opening comprises controlling the robot to cause the portion of the robot to reciprocate between a first side of the plane by the strap and a second side of the plane opposite to the first side.

7. The method according to claim 5 , further comprising:
controlling the robot to insert the second container taken out of the first container into another first container; and
controlling the robot to cover the second opening using another lid connected with the another first container.

8. The method according to claim 7 , wherein the controlling of the robot to cover the second opening using the another lid connected to the another first container comprises controlling the robot to move the another lid to a position corresponding to the second opening, controlling the robot to cause a portion of the robot contacting an outer surface of the another lid to move toward the second opening, and after the portion of the robot contacting the outer surface of the another lid has moved to the second opening, controlling the robot to cause the portion of the robot to move away from the outer surface of the another lid without moving along a plane of the second opening.

9. The method according to claim 1 , further comprising:
before the controlling of the robot to open the lid of the composite container, controlling the robot to hold a portion of the composite container between a first flange and a second flange of the composite container so as to transfer the composite container,
wherein the first flange is disposed at a circumference of the first opening and extending outward from the first container, and the second flange is disposed at a circumference of the second opening and extending outward from the second container.

10. A specimen processing system, comprising:
a robot; and
a controller comprising circuitry configured to control the robot to open a lid of a composite container,
wherein the composite container includes a first container having a first opening, and a second container having an insertion portion insertable into the first container through the first opening, a protrusion portion protrudable through the first opening, and a second opening formed on the protrusion portion and coverable by the lid, and the circuitry of the controller is further configured to control the robot to, after the robot has opened the lid, take the second container out of the first container, and control the robot to, after the robot has taken the second container out of the first container, cover the first opening using the lid.

11. The specimen processing system according to claim 10 , further comprising:
a rack configured to store the composite container; and
a platform configured to support the composite container after the composite container has been taken out of the rack as a processing object,
wherein the composite container further comprises a strap connecting a circumference of the first opening with the lid, and the rack comprises a depression formed to receive the strap of the composite container when the composite container is stored in the rack.

12. The method according to claim 3 , wherein the controlling of the robot to alternate effecting the first force with effecting the second force comprises controlling the robot to, while alternating effecting the first force with effecting the second force, move the protrusion portion away from the first container.

13. The method according to claim 2 , wherein the composite container further comprises a strap connecting a circumference of the first opening with the lid, and the controlling of the robot to cover the first opening using the lid comprises controlling the robot to move the lid to a position corresponding to the first opening, controlling the robot to cause a portion of the robot contacting an outer surface of the lid to move toward the first opening, and after the portion of the robot contacting the outer surface of the lid has moved to the first opening, controlling the robot to cause the portion of the robot to move along a plane of the first opening.

14. The method according to claim 3 , wherein the composite container further comprises a strap connecting a circumference of the first opening with the lid, and the controlling of the robot to cover the first opening using the lid comprises controlling the robot to move the lid to a position corresponding to the first opening, controlling the robot to cause a portion of the robot contacting an outer surface of the lid to move toward the first opening, and after the portion of the robot contacting the outer surface of the lid has moved to the first opening, controlling the robot to cause the portion of the robot to move along a plane of the first opening.

15. The method according to claim 4 , wherein the composite container further comprises a strap connecting a circumference of the first opening wi

Assignees

• Yaskawa Electric Corp

Inventors

• Nakamura Miki
• Matsuzaki Yoshikazu
• Umeno Makoto

Classifications

• G01N35/00584

  Control arrangements for automatic analysers · CPC title

• B25J9/1633 Primary

  compliant, force, torque control, e.g. combined with position control · CPC title

• G01N2035/0405

  manipulating closing or opening means, e.g. stoppers, screw caps, lids or covers · CPC title

• B01L3/5021

  Test tubes specially adapted for centrifugation purposes · CPC title

• G01N35/0099

  comprising robots or similar manipulators (robots per se B25J) · CPC title