DE102009043570A1 - Module for a laboratory robot and laboratory robot - Google Patents

Abstract

A module (1) for a laboratory robot with means for pipetting and gripping, with a vessel holder (10) for a liquid-absorbing vessel, wherein a measuring arrangement for detecting properties of liquid contained in the vessel is arranged on the module (1).

Description

The invention relates to a module for a laboratory robot with means for pipetting and gripping, with a vessel receiving a liquid receiving vessel. Furthermore, the invention relates to a laboratory robot with a module according to the invention.

For example, from the DE 10 2005 049 920 A1 Robot modules are known which have pipetting needles with which liquid samples can be removed from a vessel or can be discharged into a vessel. From the WO 2006/116964 A2 is a method for sample application in modules, especially in kits, known. The containers designated there as modules or kits can be supplied with liquid samples by means of pipetting stations. The liquid samples can be filtered, absorbed or eluted in the kits. The kits may have multiple adapters, allowing a syringe needle or pipetting needle to hold a fluid-tight receptacle. The adapter is fluid tight with the underlying kit and allows for continuous flow of samples through the adapter. A container with one or more adapters can also be called a kit.

When liquid samples are withdrawn or dispensed with known laboratory robots, the samples must subsequently be analyzed in downstream measuring equipment. This has several disadvantages. Sampling and transport of the samples to the measuring instruments takes place only at the end of a processing chain or with considerable effort and the loss of reproducibility within the processing chain. For different measurements differently suitable measuring instruments must be available. Such measuring devices require a large amount of space compared to integrated measuring devices. The production times and the availability of the measuring instruments must be constantly tuned. Process control is only possible with a considerable time offset compared to sampling. The control of a process is therefore only in a rough time frame.

Object of the present invention is to provide a module for a laboratory robot, with which the above-mentioned disadvantages can be avoided.

This object is achieved by a module of the aforementioned type, wherein on the module a measuring arrangement for detecting properties of liquid contained in the vessel is arranged. This means that according to the invention a module for a laboratory robot with integrated sensors is provided. As a result, an online measurement of the samples is possible. There is no sample transport to external, remote measuring devices. A separate handling task in and out of the robot system is eliminated if integrated measuring arrangements are used. The measurement results can be used promptly for process control. Furthermore, no expensive external measuring devices need to be provided. A miniaturization of the measuring arrangement is possible, so that space is saved.

A vessel according to the present invention is a device which is suitable for receiving liquid. In particular, liquid can be collected there. The vessel may have different recesses to receive several liquids separately. In particular, the vessel may be designed as a so-called microtiter plate (MTP) or deep well plate (DWP).

Particular advantages arise when the measuring arrangement has a transmitted-light measuring device. With such a measuring device, for example, a UV spectroscopy of the samples can be performed.

Further advantages result if the measuring arrangement has a scattered light measuring device. This makes it possible to perform fluorescence measurements and RIfS spectroscopy (reflectometric interference spectroscopy).

It is particularly preferred if the measuring arrangement has an ultrasonic measuring device. As a result, for example, the fill level of liquids in the recesses of the vessel can be determined. The level height can also be done by means of a transmitted light measurement, which is more complex than an ultrasonic measurement.

It is particularly preferred if all three above-mentioned measuring devices are realized or arranged on the module for a laboratory robot. This gives a user the opportunity to select a suitable measurement technology for his measurement task.

Particular advantages arise when a container receptacle arranged above the vessel receptacle is provided for a container. As a container can, for example, a in the WO 2006/116964 A2 used as a "kit" container are used. This container may be in the WO 2006/116964 A2 have described adapter or not. A vessel with adapter is often referred to as a "pillar plate". The most important property of the container is that liquid can flow through the container from top to bottom. In this case, the liquid can be filtered, for example, with the filter medium arranged in the adapter can be. The filtered liquid can then be collected below the container through the vessel. Therefore, it is necessary that the container receptacle is disposed on a plane above the receptacle.

According to one embodiment of the invention, a first transmitting and / or receiving device of the transmitted light measuring device, in particular above the vessel receptacle, may be provided. The transmitting and / or receiving device can be arranged in the region of the container receptacle. The transmitting and / or receiving device can be arranged stationary at least in a horizontal plane. A reflector may be provided below the vessel receptacle such that a signal emitted by the transmitting and / or receiving device, in particular a light signal, can first pass through a sample, can be reflected at the reflector, can pass through the sample a second time and then be transmitted by the transmitter. and / or receiving device can be received. Alternatively, it is conceivable that opposite the first transmitting and / or receiving device, in particular below the vessel receptacle, a second transmitting and / or receiving device of the transmitted light measuring device is arranged. Thus, one device can send out a signal which penetrates the sample and is then received by the other device. It is understood that the vessel for these measurements should be transparent to the light used in the measurements.

Furthermore, a measuring device for reflectometric interference spectroscopy can be provided below the vessel receptacle. While a transmitting and / or receiving device of the transmitted light measuring device is preferably arranged laterally next to the container receptacle, the measuring device can be arranged for reflectometric interference spectroscopy in the region of the receptacle, so that promptly, after or while a sample enters the vessel, this by the measuring device for reflectometric Interference spectroscopy can be analyzed.

Particular advantages arise when the container receptacle is formed like a frame and has a passage opening. A frame-like design ensures a good support and support of the container. Liquid samples may pass through the passageway into the underlying vessel.

It is also advantageous if a holding-down device for fixing the container to the container receptacle is provided. This will ensure that pipetting needles can be withdrawn without the container slipping or being lifted. This is particularly advantageous when the container has sealing means, such as sealing rings, which surround the pipetting needles.

If the container receptacle is vertically adjustable, its position can be adjusted to the height of the vessel arranged underneath.

A frame-like configuration of the vessel receptacle can also be provided, wherein the vessel receptacle can also have a passage opening. This will ensure that the vessel is safely received. At the same time, an analysis of the samples can be made from below, since a passage opening is provided. This is particularly advantageous in transmitted light measurements and in RIfS measurements from below the vessel.

According to one embodiment of the invention can be provided that the vessel receptacle is horizontally adjustable. This makes it possible to move the vessel horizontally, for example, to position it with respect to the container or to position it with respect to the transmitted light measuring device or the scattered light measuring device.

In this context, it is advantageous if a guide for the vessel receptacle is provided, along which the receptacle receptacle is horizontally adjustable. The guide can be arranged on a frame-like construction. Advantageously, the frame-like construction has a passage opening, so that the samples can be measured through the passage opening and analyzed.

Further advantages arise when the measuring device is horizontally adjustable for reflectometric interference spectroscopy. In particular, this can be moved together with means for pipetting. The movements can be coupled.

At least one drive can be provided on the module. As a result, the movements of the images, but also of the measuring devices, can be automated. For example, a drive for the container receptacle, a drive for the vessel receptacle and a drive for the measuring device for reflectometric interference spectroscopy can be provided.

In some applications it is necessary to prevent samples from entering a vessel. For this purpose, it is advantageous if a horizontally adjustable flushing plate is provided, which is displaceable under the container receptacle. This allows unused samples to be removed.

With the module according to the invention it is possible, in particular, absorption spectra means UV spectroscopy / to determine flash chromatography. Furthermore, it is possible to determine fluorescence spectra. RIfS spectra can also be determined. Furthermore, a level height detection is advantageously possible. The measuring device for RIfS spectroscopy preferably comprises a CCD camera with a telecentric objective and a telecentric objective with coaxial LED illumination.

The scope of the invention also includes a laboratory robot with means for pipetting (means for liquid handling) and means for gripping (means for handling, gripper), wherein a module according to the invention is provided. Preferably, at least one separate drive is provided on the module, which is coupled energy-technically with the laboratory robot.

Further features and advantages of the invention will become apparent from the following detailed description of an embodiment of the invention, with reference to the figures of the drawing, which shows essential to the invention, and from the claims. The features shown there are not necessarily to scale and presented in such a way that the features of the invention can be clearly visible. The various features may be implemented individually for themselves or for a plurality of combinations in variants of the invention.

In the schematic drawing embodiments of the invention are illustrated and explained in more detail in the following description.

Show it:

1 a perspective top view of a module according to the invention;

2 a front view of a module according to the invention;

3 a side view of the module according to the invention.

1 shows a perspective view of a module 1 , The module 1 includes a body 2 , on which a frame-like container receptacle 3 is arranged. The frame-like container holder 3 has a passage opening 4 on. On the frame-like container receptacle 3 a container, not shown here, can be placed in the liquid samples can be introduced, which flow through the container. Thus, the container from the container receptacle 3 does not lift off when pipetting needles are pulled off, is a hold down 5 intended.

The container pickup 3 is preferably stationary in the horizontal plane, but with respect to the body 2 vertically adjustable. The adjustment in the vertical direction can be done either manually or automatically, wherein for automated adjustment, preferably a not shown here drive is provided.

Furthermore, a flushing plate 6 provided horizontally movable so that they are below the container receptacle 3 can be arranged. The dishwashing plate 6 has a recess 7 on, from the over a drain 8th Liquid can be removed.

Below the container receptacle 3 is a frame-like vessel receptacle 10 intended. The frame-like vessel receptacle 10 also has a passage opening 11 on. Liquid samples taken on the container 3 flow through arranged containers, enter a vessel, which on the vessel receptacle 10 sitting. The vessel receptacle can be moved horizontally by means of a motor or a laboratory robot, at least in one direction. In particular, it may be relative to container receptacle 3 to be moved. The movement of the vessel receptacle 10 takes place along a guide 12 a frame-like construction 13 , Here again is a passage opening 14 intended.

At the module 1 is a first transmitting and / or receiving device 15 provided above the vessel receptacle 10 , Especially in the field of container receptacle 3 is arranged. Opposite and below the vessel 10 , in the embodiment even below the frame-like construction 13 , is a second transmitting and / or receiving device 16 arranged. The facilities 15 . 16 represent a measuring device for a transmitted light measurement. In particular, by means of the vessel receptacle 10 a vessel between the facilities 15 . 16 be moved so that a liquid sample, which is located in the vessel, can be measured and analyzed by means of a transmitted light measurement. In addition to one of the facilities 15 . 16 In addition, an ultrasound measuring device can be provided, for example, to determine the level of a liquid sample in a vessel on the vessel receptacle 10 to eat.

With the reference number 17 is a scattered light measuring device, in particular for the determination of RIfS spectra. The scattered light measuring device 17 is preferably movable via a drive. The movement can take place coupled with a pipetting device of the laboratory robot. This makes it possible, for example, to fill in a first row of liquid recesses of the container liquid samples which pass through the container and into underlying recesses of a Get vessel. The samples that have entered the vessel can be read immediately by means of the scattered light measuring device 17 to be analyzed. Subsequently, another line of the container can be pipetted, ie liquid samples are introduced into another line. Together with the pipetting device, the scattered light measuring device 17 be moved by one step, so that the next line of the vessel can be analyzed. This means that, on the one hand, a very rapid measurement of a sample can take place and that all the samples which have entered the vessel of the vessel receptacle 10 be measured with the same time offset. This would be different if a vessel is removed from the vessel 10 taken and analyzed externally. If this happens line by line, the vessel would always have to be taken from a line after pipetting, measured and returned to the vessel receptacle 10 be put on. Alternatively, a complete pipetting could be carried out first and only then the vessel can be removed. However, this would mean that the first line that was pipetted has a significantly longer life than the last line that was pipetted.

The 2 shows a front view of the module 1 , Here again it can be clearly seen that the transmitting and / or receiving device 16 the transmitted light measuring device and the scattered light measuring device 17 below the construction 13 are located and the transmitting and / or receiving device 15 the transmitted light measuring device above the vessel receptacle 10 located. Since different levels of vessels can be used, the container receptacle 3 be adjusted in height (vertical). It is beneficial to the container receptacle 3 to vary in height rather than the vessel intake 10 to vary in height, as a result of the scattered light measuring device 17 can be left at the same height and always the same distance between the vessel receptacle 10 or a vessel placed thereon and the scattered-light measuring device 17 is maintained. In the 2 is still recognizable that the flushing plate 6 moved to an out-of-action position is the transmitting and / or receiving devices 15 . 16 the transmitted light measuring device, the scattered light measuring device 17 as well as an ultrasonic measuring device can each individually individually or together as a measuring arrangement of the module 1 to be viewed as.

Of the 3 you can see that the module 1 has a substantially C-shaped shape. In the side view are the transmitting and / or receiving devices 15 . 16 , the body 2 , the container pickup 3 and the vessel intake 10 to see. Indicated by the reference number 20 a drive for the vessel receptacle 10 for a relative movement with respect to the construction 13 ,

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102005049920 A1 [0002]
• WO 2006/116964 A2 [0002, 0011, 0011]

Claims (19)

Module ( 1 ) for a laboratory robot with means for pipetting and gripping, with a vessel receptacle ( 10 ) for a liquid receiving vessel, characterized in that on the module ( 1 ) is arranged a measuring arrangement for detecting properties of liquid contained in the vessel. Module according to claim 1, characterized in that the measuring arrangement comprises a transmitted-light measuring device. Module according to one of the preceding claims, characterized in that the measuring arrangement comprises a scattered-light measuring device ( 17 ) having. Module according to one of the preceding claims, characterized in that the measuring arrangement comprises an ultrasonic measuring device. Module according to one of the preceding claims, characterized in that one above the vessel receptacle ( 10 ) arranged container receptacle ( 3 ) is provided for a container. Module according to one of the preceding claims, characterized in that a first transmitting and / or receiving device ( 15 ) of the transmitted-light measuring device, in particular above the receptacle ( 10 ), is provided. Module according to claim 6, characterized in that opposite the first transmitting and / or receiving device ( 15 ), in particular below the vessel receptacle ( 10 ), a second transmitting and / or receiving device ( 16 ) of the transmitted light measuring device is arranged. Module according to one of the preceding claims, characterized in that below the vessel receptacle ( 10 ) a measuring device ( 17 ) is provided for reflectometric interference spectroscopy. Module according to one of the preceding claims, characterized in that the container receptacle ( 3 ) is formed like a frame and a passage opening ( 4 ) having. Module according to one of the preceding claims, characterized in that a hold-down device ( 5 ) for fixing the container to the container receptacle ( 3 ) is provided. Module according to one of the preceding claims, characterized in that the container receptacle ( 3 ) is vertically adjustable. Module according to one of the preceding claims, characterized in that the vessel receptacle ( 10 ) is formed like a frame and a passage opening ( 11 ) having. Module according to one of the preceding claims, characterized in that the vessel receptacle ( 10 ) is horizontally adjustable. Module according to one of the preceding claims, characterized in that a guide ( 12 ) for the receptacle ( 10 ) is provided, along which the vessel receptacle ( 10 ) is horizontally adjustable. Module according to one of the preceding claims, characterized in that the measuring device ( 17 ) is horizontally adjustable for reflectometric interference spectroscopy. Module according to one of the preceding claims, characterized in that on the module ( 1 ) at least one drive ( 20 ) is provided. Module according to one of the preceding claims, characterized in that a horizontally adjustable flushing plate ( 6 ) provided under the container receptacle ( 3 ) is displaceable. Laboratory robot with means for pipetting and means for gripping, characterized in that a module ( 1 ) is provided according to one of the preceding claims. Laboratory robot according to claim 18, characterized in that on the module ( 1 ) at least one own drive ( 20 ) is provided, which is coupled energy-technically with the laboratory robot.

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