• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a pipetting device (10) with at least one motor-driven pipetting channel that is movable relative to a frame (12) of the pipetting device (10), preferably with a plurality of such pipetting channels, for aspiration and / or dispensing of a liquid, the at least one Pipetting channel is designed for the detachable coupling of a pipetting tip (28) formed separately from the pipetting device (10) and with - a control device (15) for controlling the operation of the pipetting device (10), the pipetting device (10) - having a camera (22) which is designed to optically capture at least a section of a work area (18) of the pipetting device (10), and - has a processing device which is designed for image processing of images captured with the camera (22), which is characterized in that the camera (22) for optical detection of at least one Abs section of a provision location is designed for a plurality of pipette tips (28) provided for coupling to the at least one pipetting channel, and that the processing device is designed to display an image recorded by the camera (22) of at least the section of the retrieval location with a predetermined reference image or / and to compare a predetermined reference pattern.
    公开号:CH712782B1
    申请号:CH01475/17
    申请日:2016-07-01
    公开日:2020-07-31
    发明作者:Schwaiger Ingo；Hofstetter Meinrad
    申请人:Hamilton Bonaduz Ag；
    IPC主号:
    专利说明:

    The present invention relates to a pipetting device according to the preamble of claim 1. The present invention relates, for example, to a pipetting device<tb> - <SEP> at least one motorized pipetting channel movable relative to a frame of the pipetting device, preferably with a plurality of such pipetting channels, for aspiration and / or dispensing a liquid, the at least one pipetting channel for the detachable coupling of a pipette tip formed by the pipetting device is trained and with<tb> - <SEP> a control device for controlling the operation of the pipetting device,<tb> - <SEP> has a camera which is designed to optically capture at least a section of a working area of the pipetting device, and<tb> - <SEP> has a processing device which is designed for image processing of images captured with the camera.
    The present invention also relates to a pipette tip carrier with a plurality of pipette tips received therein for preparation for the above-mentioned pipette device.
    [0003] Pipetting devices with at least one pipetting channel which can be moved in a controlled, motorized manner are generally known. They are often referred to as “pipetting robots” in the specialist literature. Such pipetting devices are used in laboratories, inter alia, in the chemical and pharmaceutical industries for the automated processing of highly precisely dosed amounts of liquid, especially small amounts of liquid in the micro or milliliter range. The pipetting devices aspirate (take up) a predetermined amount of liquid at one location and transport it to another location, where they dispense (release) the amount of liquid.
    There are also known pipetting devices which are equipped with a camera to optically detect, for example, the area below a pipetting head, that is, an area along a pipetting channel axis of the at least one pipetting channel away from a coupling formation of the at least one pipetting channel.
    An important factor influencing the quality of a pipetting device and the pipetting result that can be achieved with it are the pipetting tips that can be coupled with the pipetting device, more precisely: with the at least one pipetting channel. While the apparatus of the pipetting device is essentially fixed, the pipette tips, which are generally designed as disposable products, form a variable element of the pipetting device and thus a variable factor of the quality that can be achieved by the pipetting device.
    The object of the present invention is therefore to develop the pipetting device mentioned at the beginning in such a way that it is improved with regard to its quality management.
    This object is achieved according to the invention by a generic pipetting device with all the features of claim 1. This is, for example, a pipetting device in which the camera for optical detection of at least one section of a location for a plurality of pipetting tips provided for coupling to the at least one pipetting channel is designed, and in which the processing device is designed to compare an image recorded by the camera of at least the section of the provision location with a predetermined reference image and / or a predetermined reference pattern.
    [0008] The camera is thus able to optically capture at least part of that location at which pipette tips are provided for coupling to the pipette channels of the pipette device. The present invention thus offers the basic possibility that the pipette tips provided for coupling can be optically detected at least in sections before they are connected to the pipetting device and this optical detection can be processed by the processing device at least for an evaluation. Thus, by comparing the image recorded by the camera with the predetermined reference image and / or with the predetermined reference pattern, the pipette tips provided for coupling can be detected and evaluated at least qualitatively with regard to quality-sensitive features.
    For example, the above comparison can be used to determine whether a pipette tip carrier is provided at all, whether a pipette tip carrier provided is fully equipped with pipette tips, whether the pipette tips that are provided for a pipetting task to be performed are contained in a pipette tip carrier that is correct, and even whether the provided ones Pipette tips in a pipette tip holder have passed a possibly required quality check.
    [0010] The provision location is preferably a predetermined provision location which the at least one pipetting channel always moves to in accordance with the preprogrammed control in order to couple an unused pipetting tip. However, this predetermined location generally does not relate to a single pipette tip on its own, but rather to the pipette tip carrier in which a plurality of pipette tips are provided and which are coupled one after the other from a single pipette channel. If a multiple pipetting head is used, a plurality of pipette tips can also be coupled simultaneously to a plurality of pipetting channels of the multiple pipetting head.
    The staging location can, however, also be any staging location in the work area of the pipetting device, for example when the pipetting device with its processing device and possibly also with its control device is designed to recognize a pipetting tip carrier provided in its work area and, after its detection, by this to couple the pipette tips for the subsequent pipetting tasks.
    To ensure that the camera is actually able to optically capture at least sections of the pipette tips provided, the camera is preferably arranged in such a way that it is at the ready location - assuming a plurality of pipette tips actually provided there - for each pipette tip of the plurality of provided pipette tips detects at least one section. The pipette tips are generally provided oriented such that their coupling section, which interacts with the coupling formation of the at least one pipetting channel of the pipetting device for coupling the pipetting tip to it, points to the at least one pipetting channel. In addition, since the coupling section of a pipette tip, unlike its pipette opening, does not come into contact with a liquid to be dosed, the coupling section is available for image recognition rather than the pipette opening of a pipette tip as an optically manipulable area. The camera is thus particularly preferably arranged in such a way that it detects at least the coupling section as a section of the pipette tips. Since it is advantageous for structural reasons to arrange the camera above the working area of the pipetting device, a preferred development of the present invention provides for the camera to be arranged and designed in such a way that it points away from a pipetting opening in the direction of a pipette tip axis Area of the pipette tips recorded.
    [0013] The pipetting device discussed here preferably comprises a plurality of pipette tips which are provided in a pipette tip carrier at the provision location in order to be coupled to the at least one pipette channel.
    In order to be able to achieve the clearest possible evaluation result in the above-mentioned comparison of the image captured by the camera with a predetermined reference image or a predetermined reference pattern, it is preferred that the pipette tips received in the pipette tip carrier have at least two optically different types of pipette tips exhibit. The at least one pipette tip of one type can differ from the at least one pipette tip of another type, inter alia, because of the color applied at least in sections and / and because of the optically effective surface texture formed at least in sections. The effect of the optically effective surface texture and the ability to distinguish it from another surface texture can be enhanced by appropriate lighting. A further development of the pipetting device of the present invention can therefore have lighting means which are arranged and designed to illuminate the area that can be captured by the camera. The processing device is consequently preferably designed to compare an image recorded by the camera of the plurality of pipette tips provided in the pipette tip carrier with the predetermined reference image and / or the predetermined reference pattern.
    The pipette tip carrier preferably contains a plurality of pipette tips of one type as well as the other type. Furthermore, it should not be ruled out that the pipette tip carrier has more than just two types of visually differing pipette tips. The pipette tips of a pipette tip holder are preferably functionally identical and only differ optically.
    The use of at least two types of optically differing pipette tips can be used for binary coding of information in a pipette tip carrier with fixed locations for the arrangement of pipette tips - these are usually arranged in rows and columns in an orthogonal pattern in the pipette tip carrier, for example if one type of pipette tip represents a “0” and the other type of pipette tip represents a “1”. This type of information can be captured by the processing device if it is designed to determine by comparison whether an arrangement of optically distinguishable pipette tips in the pipette tip carrier corresponds to a predetermined relative arrangement relative to one another or not. Such a coding can be used, for example, to determine by the processing device whether or not the pipette tips provided are actually the suitable pipette tips for the pipetting task to be carried out. For example, by arranging the at least two visually different types of pipette tips, the maximum intake volume of the pipette tips can be coded so that the processing device can recognize or at least prepare a recognition as to whether the provided pipette tips have the required intake volume and are not too large or too small.
    [0017] The arrangement of the pipette tips in the pipette tip carrier does not have to be a binary coding. The visually differing pipette tips can be arranged in the pipette tip carrier in a predetermined pattern which indicates that the pipette tips come from a specific manufacturer. In this way, for example, users of the pipetting device can be protected against the use of inferior pipette tips of undetermined origin.
    [0018] The processing device is preferably in communication connection with the control device. It can even be part of the control device, in which case it does not need to be physically implemented by the same processor. The control device is preferably designed to carry out an action as a function of the comparison-based determination result, such as output a message, for example to warn the user of the pipetting device against the use of incorrect pipette tips. Alternatively or in addition, the control device can send a message to a predetermined address, for example by email, for example for warning or documentation purposes.
    The control device is thus preferably designed to control the operation of the pipetting device as a function of the comparison-based determination result. This includes, for example, the design to prevent coupling of at least one, preferably all, pipette tips of the pipette tip holder if the comparison-based determination result shows that the actual relative arrangement of optically distinguishable pipette tips does not match the predetermined relative arrangement sufficiently. In the above-mentioned example of information coding by means of a corresponding relative arrangement of the optically distinguishable pipette tips, the control device can interrupt further operation of the pipette device after it has been determined that the wrong pipette tips have been provided until an operator has checked the operating situation and canceled the operational interruption by means of a corresponding input action.
    The pipetting device of the present invention preferably has a plurality of pipetting channels, which can be accommodated in a multiple pipetting head for joint movement or which can be moved relative to one another individually or in groups. Especially in the event that the number of pipetting tips provided is greater than the number of pipetting channels of the pipetting device, so that even if all pipetting channels were to accept a new pipetting tip at the same time, not all of the pipetting tips of the pipetting tip holder would be removed, it is advantageous if the processing device is designed to recognize whether a pipette tip carrier provided at the ready location has been exchanged for another pipette tip carrier. If, after a coupling process, unused pipette tips remain in the pipette tip carrier and are removed during a subsequent coupling process, the incomplete removal of pipette tips from the pipette tip carrier changes the image that can be captured by the camera of the location at which it is provided. The above-mentioned comparison of the captured image with a predetermined reference image and / or a predetermined reference pattern can, under certain circumstances, only work with a pipette tip carrier that is fully equipped or with at least a predetermined minimum size. If a correspondingly equipped pipette tip holder has been found to be in order by the described image acquisition and evaluation, it is advantageous if this result is stored in a data memory and remains until an exchange of the already checked pipette tip holder with a new pipette tip holder is determined, be it through optical detection of the location by the camera or by appropriate manual input by an operator.
    In order to ensure that the camera can capture the provision location, the camera can be coupled to the at least one pipetting channel for joint movement. In this case, it is preferably arranged in such a way that it covers an area which is located below the at least one pipetting channel in the direction of a pipetting channel axis of the at least one pipetting channel. Alternatively, however, the camera can also be provided fixed to the frame on a frame of the pipetting device, to which the at least one pipetting channel is provided to be relatively movable. In this case, the camera is preferably set such that it can optically capture at least such a large part of the working area of the pipetting device that a predetermined provision location or a plurality of possible or expected provision locations can always be optically captured by the camera.
    Since, according to the above description, the pipette tip carrier with the pipette tips received therein serves as an information carrier for the pipetting device described above, the present invention also relates to a pipette tip carrier with a plurality of pipette tips received therein according to claim 8 to achieve the object mentioned above.
    According to the invention it is provided for the reasons mentioned above that the pipette tips received in the pipette tip carrier have at least two visually different types of pipette tips. With regard to the physical design of the at least two types of pipette tips to ensure that they can be visually distinguished, reference is made to the above statements.
    To facilitate the coupling of the plurality of pipette tips in the pipette tip carrier, it is preferred if each of the pipette tips extends along a respective pipette tip axis. The existing optical differences can then be recognized particularly well from an elevated camera position when the at least one pipette tip of one type differs from the at least one pipette tip of another type due to optically different surface areas that form an angle, preferably one, with the respective pipette axis Include angles of greater than 60 °, particularly preferably a right angle. The increased camera position with respect to the pipette tip holder is given when the camera is designed to move together with the pipette head. The increased camera position with respect to the pipette tip holder is advantageous if the camera is to be able to capture such a large part of the working area of the pipetting device that it can capture all possible supply locations.
    Since the pipette tip holder is generally placed on an opaque worktop after it has been made available, it is advisable to detect the plurality of pipette tips from a camera position raised with respect to the pipette tip holder. The camera is therefore preferably located axially above the plurality of pipette tips with respect to the pipetting axes of the pipette tips. The pipette tips used can then be visually differentiated from one another particularly reliably if the at least one pipette tip of one type differs from the at least one pipette tip of another type due to at least a portion of its end face pointing in the axial direction, preferably away from a pipette opening, preferably at the coupling-side longitudinal end, distinguish. This end face is always sufficiently well illuminated or at least sufficiently illuminated with appropriate lighting means, so that an advantageous signal-to-noise ratio can be obtained for the detection and evaluation of the end faces of the pipette tips.
    The present invention will be explained in more detail below with reference to the accompanying drawings. It shows:<tb> <SEP> FIG. 1 an exemplary embodiment according to the invention of a pipetting device in the form of a pipetting robot,<tb> <SEP> FIG. 2 shows a storage carrier for providing a plurality of pipette tip carriers according to the invention, each with a plurality of pipette tips,<tb> <SEP> FIG. 3 shows an embodiment according to the invention of a pipette tip holder of the present application for use in a pipetting device, for example that of FIG. 1, or in a storage carrier, as is shown by way of example in FIG.<tb> <SEP> FIG. 4 shows a detailed view of the pipetting device from FIG. 1 and FIG<tb> <SEP> FIG. 5 shows an exemplary representation of an image of a fully equipped pipette tip holder according to FIG. 3 captured by the camera of the pipetting device.
    In FIG. 1, an embodiment of a pipetting device according to the invention is designated generally by 10. A pipetting robot is shown as a pipetting device as an example. In Figure 3, a central area of the illustration of Figure 1 is shown enlarged in detail.
    The pipetting device 10 has a housing 12 on which a pipetting head 14 is received so as to be displaceable in the y-direction. The pipetting head 14 can have a plurality of pipetting channels displaceable in the x-direction, of which each individual pipetting channel can be lowered in the z-direction to the working surface 16 of the working area 18 and raised again independently of the other pipetting channels.
    In a manner known per se, the adjusting motors for displacing the pipetting head 14 in the y direction can be accommodated in the housing 12. Furthermore, modules which can be displaced in the x direction can be provided on the pipetting head 14, which modules can be displaced in the x direction, for example, by means of a spindle drive or a linear drive, and are preferably displaceable independently of one another. Each module can carry a pipetting channel, which can be accommodated on the module so that it can be displaced in the z-direction by a further adjusting motor.
    In the housing 12 of the pipetting device 10, a control device 15, for example in the form of a CPU, is also provided, which controls the operation of the pipetting device 10. The operation of the pipetting device 10 includes, for example, the displacement of the pipetting head and one or more pipetting channels and the operation of a pressure changing device for aspirating and dispensing liquid through the pipetting channels.
    The pipetting device 10 also has a camera head 20 on which a camera 22 is adjustably received. In the example given, it is sufficient if the camera 22 can be adjusted in the x direction along the supply carrier 24 provided below the camera 22. The supply carrier 24, which is shown enlarged on its own in FIG. 2, is provided on the work surface 16 in the work area 18 of the pipetting device 10 directly below the camera 22 or the camera head 20.
    In the supply carrier 24 there is a plurality of pipetting tip carriers 26 successively in the x direction, each of which in turn contains a plurality of - in the example shown exactly 12 x 8 = 96 - pipetting tips 28, which in the z direction from their respective Pipette tip carrier 26 can be removed. The similar pipette tip carriers 26, one of which is shown enlarged in FIG. 3, comprise, for example, a matrix-like arrangement of through holes through which the preferably rotationally symmetrical pipette tips 28 can be inserted with their dosing-side longitudinal ends 28a and on the edges of which the pipette tips 28 with their coupling-side longitudinal end 28b can rest. The dosing-side longitudinal end 28a of the pipette tips 28 has a pipetting opening in a manner known per se, the coupling-side longitudinal end 28b has a coupling formation 30 for coupling to the respective pipetting channels of the pipetting device 10.
    The pipette tips 28 extend along a pipette tip axis P, which is preferably also an axis of rotational symmetry.
    Areas on the coupling-side longitudinal end 28b of the pipette tips 28, such as the end face 32 of the coupling formations 30 of the pipette tips 28, which point to the camera 22 in the ready state of FIG. For example, some pipette tips 28 can carry paint, while other pipette tips 28 have no paint application or have a different color application. As an alternative or in addition, some pipette tips 28 can have a different surface structure than other pipette tips 28 on surfaces pointing towards the camera 22 and can thus be optically differentiated from the latter.
    As indicative of the camera 22 is any area whose normal vector, when provided as intended in the work area 18, has an extension component in the direction of the camera 22, that is, in the example presented, an extension component in the z-direction.
    The pipette tips 28 are all functionally identical. They differ from one another only optically, with exactly two types of optically distinguishable pipette tips 28 being provided in the example shown. These are shown in FIG.
    FIG. 5 shows an example of a recording as it could have been recorded by camera 22 in FIGS. 1 and 4. FIGS. 5a and 5b differ only in the orientation of the recorded pipette tip carriers 26. The views of FIGS.
    To facilitate the explanation in Figure 5a, the arrangement of the pipette tips 28 as an arrangement in twelve lines and eight columns and the individual pipette tip 28 picked up is addressed with (line number; column number), the pipette tip 28 in Figure 5a at the top left should have the address (1; 1), then the following pipette tips 28 belong to a first type 34 of pipette tips: (1; 1) to (2; 8), (3; 1), (3; 4) to (3; 6), (4; 2), (4; 4), (4; 5), (4; 7), (5; 1), (5; 4), (5; 5), (5; 7) , (6; 1), (6; 2), (6; 4), (6; 5), (6; 8), (7; 1), (7; 7), (7; 8), ( 8; 2), (8; 4), (8; 5), (8; 7), (9; 2), (9; 4), (9; 5), (9; 7), (10; 1), (10; 3) to (10; 6), (10,8) and (11; 1) to (12; 8).
    The following pipette tips 28 instead belong to a second type 36 of pipette tips that can be optically distinguished from the first type 34 by the camera 22: (3; 2), (3; 3), (3; 7), (3; 8) , (4; 1), (4; 3), (4; 6), (4; 8), (5; 2), (5; 3), (5; 6), (5; 8), ( 6; 3), (6; 6), (6; 7), (7; 2) to (7; 6), (8; 1), (8; 3), (8; 6), (8; 8), (9; 1), (9; 3), (9; 6), (9; 8), (10; 2) and (10; 7).
    The following pipette tips 28 in FIG. 5b belong to the first type 34 of pipette tips: (1; 1) to (1; 3), (1; 7), (1; 8), (1; 11), (2 ; 1), (2; 2), (2; 4), (2; 5), (2; 7), (2; 9), (2; 11), (3; 1) to (3; 3 ), (3; 7), (3; 9), (3; 11), (3; 12), (4; 1) to (4; 5), (4; 7), (4; 9), (4; 11), (5; 1) to (5; 3), (5; 10) to (5; 12), (6; 1), (6; 2), (6; 4), (6 ; 5), (6; 7), (6; 9) to (6; 12), (7; 1) to (7; 3), (7; 6), (7; 7), (7; 9 ), (7; 11), (7; 12), (8; 1) to (8; 8) and (8; 10) to (8; 12).
    The following pipette tips 28 in FIG. 5b belong to the second type 36 of pipette tips, which can be optically distinguished from the first type 34 by the camera 22: (1; 4) to (1; 6), (2; 3), (2 ; 6), (2; 8), (2; 10), (2; 12), (3; 4) to (3; 6), (3; 8), (3; 10), (4; 6 ), (4; 8), (4; 10), (4; 12), (5; 4) to (5; 9), (6; 3), (6; 6), (6; 8), (7; 4), (7; 5); (7; 8), (7; 10) and (8; 9).
    In this case, for example, the pipette tips 28 of the types 34 and 36 in the orientation according to FIG. 5a in lines 3 to 10 form a pattern which a processing device, which is preferably part of the control device 15, compares with a predetermined pattern. The control device 15 controls the further operation of the pipetting device 10 on the basis of the comparison result.
    Likewise, in the orientation of FIG. 5b, the different types 34 and 36 of pipette tips 28 in columns 3 to 10 form a pattern that the processing device compares with a predetermined pattern. Again, the control device 15 controls the further operation of the pipetting device 10 depending on the comparison result.
    The processing device can search the entirety of the pipette tips 28 in a pipette tip holder 26 for the predetermined reference pattern and the control device 15 can, depending on whether the processing device finds the predetermined reference pattern in the image of the provided pipette tip holder 26 recorded by the camera 22 or not , initiate further measures or control the operation of the pipetting device 10.
    In the arrangement of pipette tips 28 according to FIG. 5b, the eight pipette tips 28 in column 12 are used to code, for example, the maximum pipetting volume that can be taken with the pipette tips or the material of the pipette tips 28. The pipette tips 28 of the first type 34 can represent a “0”, for example, and the pipette tips 28 of the second type 36 can represent a “1”. The preparation positions in lines 1 to 8 can represent exponents 0 to 7 of powers of two from top to bottom in column 12 of the pipette tip holder 26 of FIG. 5b. In a binary number code, the pipette tips 28 arranged in column 12 can thus represent the number “11”. In this way, by arranging two different types of pipette tips 28 in a column or row with eight arrangement locations 255 different states or information about the pipette tips 28 provided in the respective pipette tip carrier 26 can be coded.
    The processing device, d. H. In the present case, the control device 15 can be designed to then refuse to accept a pipette tip 28 from a pipette tip carrier 26 provided, for example, to continue operating the pipetting device 10, preferably by issuing a warning or sending an e-mail to a predetermined one Address to prevent if the predetermined reference pattern is not found in an image recorded by the camera 22 of the coupling-side longitudinal ends 28b of the pipette tips 28 provided in a pipette tip carrier 26. This can mean, for example, that the pipette tips do not come from a predetermined manufacturer and have not passed through their quality control. The processing device or the control device 15 can initiate the same if the evaluation of a binary coding of a line and / or a column of pipetting tips 28 formed by the pipetting tips 28 by image processing in the processing device results in a value other than the one expected for the respective pipetting task, i.e. if It is thus determined that pipette tips 28 which are incorrectly unsuitable for a pipetting task to be carried out have been provided.
    权利要求:
    Claims (10)
    [1]
    1. Pipetting device (10) with- At least one motor-driven pipetting channel for aspiration and / or dispensing of a liquid, which is movable relative to a frame (12) of the pipetting device (10), the at least one pipetting channel being designed for the detachable coupling of a pipetting tip (28) formed separately from the pipetting device (10) ,- A plurality of pipette tips (28) provided in a pipette tip carrier (26) for coupling to the at least one pipette channel at the ready location, and with- a control device (15) for controlling the operation of the pipetting device (10),wherein the pipetting device (10)- has a camera (22) which is designed to optically capture at least a section of a work area (18) of the pipetting device (10), and- has a processing device which is designed to process images captured by the camera (22),wherein the camera (22) is designed to optically capture at least a section of a provision location for the plurality of pipette tips (28) provided for coupling to the at least one pipetting channel, and wherein the processing device is designed to take an image recorded by the camera (22) to compare at least the section of the provision location with a predetermined reference image and / or a predetermined reference pattern,characterized in that the pipette tips (28) received in the pipette tip carrier (26) have at least two optically different types (34, 36) of pipette tips (28), the processing device being designed to generate an image recorded by the camera (22) to compare the plurality of pipette tips (28) provided in the pipette tip carrier (26) with the predetermined reference image and / or the predetermined reference pattern.
    [2]
    2. Pipetting device (10) according to claim 1,characterized in that the camera (22) is arranged in such a way that at the ready location for each pipette tip (28) from the plurality of provided pipette tips (28) it can at least one section, preferably at least one coupling section (30), particularly preferably at least one in the direction of a The pipette tip axis P is captured by the surface (32) pointing away from a pipette opening (28a).
    [3]
    3. Pipetting device (10) according to one of the preceding claims,characterized in that the at least one pipette tip (28) of one type (34;) differs from the at least one pipette tip (28) of another type (36) due to at least partially applied color and / or due to at least partially formed optically effective surface texture .
    [4]
    4. pipetting device (10) according to one of the preceding claims,characterized in that the processing device is designed to determine by the comparison whether an arrangement of optically distinguishable pipette tips (28) in the pipette tip carrier (26) corresponds to a predetermined relative arrangement or not relative to one another, the control device (15) preferably depending on the comparison-based determination result executes an action, such as outputting a message or sending a message to a predetermined address, for example by email.
    [5]
    5. Pipetting device (10) according to one of the preceding claims,characterized in that the processing device is in communication with the control device (15), preferably part of the control device (15), the control device (15) controlling the operation of the pipetting device (10) depending on the comparison-based determination result, in particular then at least a coupling one, preferably all, pipette tips (28) of the pipette tip holder (26) prevents if the comparison-based determination result shows that the actual relative arrangement of optically distinguishable pipette tips (28) does not match the predetermined relative arrangement sufficiently.
    [6]
    6. Pipetting device (10) according to one of the preceding claims,characterized in that the processing device is designed to recognize whether a pipette tip carrier (26) provided at the ready location has been exchanged for another pipette tip carrier (26).
    [7]
    7. pipetting device (10) according to one of the preceding claims,characterized in that the at least two optically different types (34, 36) of pipette tips (28) received in the pipette tip carrier (26) are functionally identical and only differ optically from one another.
    [8]
    8. Pipette tip carrier (26) with a plurality of pipette tips (28) received therein for a pipetting device according to claim 1,characterized in that the pipette tips (28) received in the pipette tip holder (26) have at least two functionally identical and only visually different types (34, 36) of pipette tips (28), the at least one pipette tip (28) of one type (34 ) differs from the at least one pipette tip (28) of a different type (36) due to the color applied at least in sections and / and due to the optically effective surface texture formed at least in sections.
    [9]
    9. pipette tip carrier (26) with the plurality of pipette tips (28) received therein according to claim 8,characterized in that each of the pipette tips (28) extend along a respective pipette tip axis P, the at least one pipette tip (28) of one type (34) extending from the at least one pipette tip (28) of another type (36) due to optically different Differentiates between surface areas (32) which enclose an angle with the respective pipetting axis P, preferably an angle of greater than 60 °, particularly preferably a right angle.
    [10]
    10. pipette tip carrier (26) with the plurality of pipette tips (28) received therein according to claim 9,characterized in that the at least one pipette tip (28) of one type (34) differs from the at least one pipette tip (28) of another type (36) due to at least a portion of its end face (32) pointing away in the axial direction, preferably from a pipetting opening, preferably at the coupling-side longitudinal end (28b).
    类似技术:
    公开号 | 公开日 | 专利标题
    EP1496365B1|2014-06-04|Device and method for transporting objects
    EP2144067B1|2012-04-25|Laboratory robot assembly
    DE60318498T2|2008-12-11|Robot for treating containers for biological samples
    EP0292899B1|1993-07-14|Process for microinjection into cells, possibly for suction out of isolated cells or entire cells out of cell cultures
    DE60115860T2|2006-08-24|MICROARRAY DOSING DEVICES WITH SENSORS
    DE102013013114A1|2014-02-20|Device for the automated removal of workpieces arranged in a container
    EP2027926B1|2017-07-26|Apparatus for processing biological material
    EP3030359B1|2020-06-17|Bending press
    DE102004049109C5|2018-12-13|A cutter or gripper with means for detecting the completion of work
    DE10254229B4|2004-10-28|Positioning device for positioning a collecting device of a laser microdissection system
    EP1489425B1|2007-02-14|Device and method for positioning functional elements and/or vessels on the work space of a laboratory manipulator by the help of two crossing light barriers
    CH712782B1|2020-07-31|Pipetting device with image processing
    EP3372338B1|2019-10-16|Processing device for a dental workpiece
    EP2350676B1|2015-03-18|Automated analytical device comprising an automatic pipetting device and a pipetting arm having a crash sensor
    EP3226918A1|2017-10-11|Preparation system for cleaning and/or disinfecting medical devices, and method for operating same
    DE102018212531B4|2020-09-10|Article transfer device
    EP3453486A1|2019-03-13|Device for treating a workpiece with a tool
    DE3933195C2|2001-09-20|Bevel cut processing device in a wire cutting machine with electrical discharges
    EP3080614A1|2016-10-19|Sample-manipulating device
    WO2017125598A1|2017-07-27|Centrifuge
    EP3563941A1|2019-11-06|Bottle cleaning machine
    DE202017101007U1|2018-05-24|Replaceable piston-cylinder unit for a dispenser, dispenser and system for receiving and dispensing fluid volumes
    DE102017204629A1|2018-09-20|SYSTEM WITH A TOOL AND METHOD FOR LEADING A USER OF A TOOL WHEN TREATING AT LEAST ONE WORKPIECE
    EP3742171A1|2020-11-25|Control device for automatic pipetting devices
    EP2329329B1|2016-04-13|Work and service station and system for operating a handling device
    同族专利:
    公开号 | 公开日
    DE102015212457A1|2017-01-05|
    WO2017001676A1|2017-01-05|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN105203780B|2010-11-23|2018-05-01|安德鲁联合有限公司|Method for liquid level contained by volume-calibrated, treatment fluid and definite container|
    US9884318B2|2012-02-10|2018-02-06|Adam Perry Tow|Multi-axis, multi-purpose robotics automation and quality adaptive additive manufacturing|EP3944144A1|2016-10-28|2022-01-26|Beckman Coulter, Inc.|Substance preparation evaluation system|
    DE102020104422A1|2020-02-19|2021-08-19|Hamilton Bonaduz Ag|Method for assigning a pipette tip to a pipette tip class based on its pneumatic behavior|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015212457.6A|DE102015212457A1|2015-07-02|2015-07-02|Pipetting device with image processing|
    PCT/EP2016/065557|WO2017001676A1|2015-07-02|2016-07-01|Pipetting apparatus with image processing|
    [返回顶部]