JP2020051961A - Sample transfer mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a sample container from being held in an inclined state when transferring a sample container having a small diameter by a sample transfer mechanism. SOLUTION: Each of the gripping arms 301a to 301d of the chuck mechanism used when transferring a sample container has protrusions 302a to 302d and protrusions 304a to 304d which are contact portions at the tip and the center thereof, respectively. A flexible portion having flexibility is formed on the surface of the protrusion. Then, by making the flexibility of the protrusion at the central portion larger than the flexibility of the protrusion at the tip portion, the posture of the sample container having a different diameter is corrected. [Selection diagram] Fig. 3

Description

  The present invention relates to a sample test automation system, and more particularly to a sample container transfer mechanism.

  As a sample transfer mechanism for handling a sample container in the sample test automation system, a sample container holding unit, a transfer mechanism such as an XYZ mechanism for moving the holding unit to a desired position, and a control unit for controlling these Are often used. As a countermeasure for the case where the inclination of the sample container held by the holder is large, a mechanism capable of correcting the attitude of the sample container by attaching a cover serving as a guide to the sample transfer mechanism as described in Patent Document 1 has been considered. I have.

  In recent years, the types of sample containers handled by the sample test automation system have been diversified with the diversification of test items, and sample containers having various lengths and diameters are mixed. In particular, large-scale hospitals and test centers into which a sample test automation system is introduced are required to support various sample containers. For this reason, the pre-processing device performs pre-processing, and the transfer mechanism that transfers the sample containers carried by the holder to the rack for transport to the analyzer also supports various sample containers with different lengths and diameters. It is essential to do.

International Publication Number WO2012 / 029834

  In the sample test automation system, the sample transfer mechanism provided with the above-described cover may not be able to sufficiently absorb the tilt in the cover for a sample container having a small diameter. When a sample is gripped and transferred without being able to correct the tilt of the sample container, there is a possibility that a problem may occur such that the sample container comes into contact with a rack or a holder and malfunctions. As described above, if the operation shifts to the holding and transferring operation while the sample container is tilted, the transfer may fail at the transfer destination holder. In particular, since the sample container that has been opened by the opening processing unit may spill the sample due to the impact of contact with the rack or holder, correct the position of the sample container straightly during the transfer operation. Is an important issue.

  An object of the present invention is to solve the above-described problem and to provide a sample transfer mechanism that can correct and transfer the posture of sample containers having different diameters.

  In order to achieve the above object, the present invention provides a sample transfer mechanism, comprising: a chuck mechanism having a plurality of gripping arms gripping from a side surface of a sample container; and a base unit connecting the chuck mechanisms. Provided is a sample transfer mechanism in which each arm has a flexible contact portion that contacts the sample container at two points in the longitudinal direction of the sample container.

  Further, in order to achieve the above object, in the present invention, the sample transfer mechanism, a chuck mechanism having a plurality of gripping arms gripping from the side of the sample container, and a base portion connecting the chuck mechanism Each of the grip arms has a contact portion, and the contact portion contacts two points in the circumferential direction of the large-diameter sample container at both ends of the contact portion, and has a smaller diameter than the large-diameter sample container at the center of the contact portion. And a sample container transfer mechanism configured to come into contact with one circumferential point of the sample container.

  According to the present invention, the sample container can be held in a state where the tilt is corrected, and the operation of transferring the sample can be performed smoothly.

FIG. 2 is an external view of a holder used in the sample test automation system according to the first embodiment. FIG. 2 is a configuration diagram of a sample transfer mechanism according to the first embodiment. FIG. 4 is a perspective view of a configuration example of a chuck mechanism of the sample transfer mechanism according to the first embodiment. FIG. 5 is an explanatory diagram of a flow of gripping the sample container by the chuck mechanism according to the first embodiment. FIG. 9 is a perspective view of a configuration example of a chuck mechanism of a sample transfer mechanism according to a second embodiment. FIG. 13 is a perspective view of a configuration example of a chuck mechanism of a sample transfer mechanism according to a third embodiment. FIG. 13 is an explanatory diagram of a flow of gripping a sample container by a chuck mechanism according to the third embodiment. FIG. 11 is a diagram illustrating an example of mounting a sample test automation system that mounts the sample transfer mechanism described in each embodiment.

Hereinafter, embodiments of the present invention will be sequentially described with reference to the drawings.

  Example 1 is an example of a sample transfer mechanism of a sample container. That is, the first embodiment includes a chuck mechanism having a plurality of gripping arms gripping from the side surface of the sample container, and a base unit connecting the chuck mechanisms, and each of the gripping arms is at two points in the longitudinal direction of the sample container. 9 is an embodiment of a sample transfer mechanism having a configuration having a flexible contact portion that comes into contact with a sample container. Hereinafter, the sample transfer mechanism of the present embodiment will be described with reference to FIGS.

  FIG. 1 is a diagram showing one configuration example of a holder for holding a sample container. As shown in the perspective view of the entire holder in FIG. 1A, the holder 101 is composed of a housing part 102 and a base part 103. The housing part 102 includes a holder arm 104 inside the plurality of protrusions. The housing part 102 has a central portion cut out for inserting the sample container 105, and the tip of the holder arm 104 is designed to be arranged on a circumference having a diameter slightly smaller than the diameter of the sample container 105. ing. As shown in FIG. 4B, in the case of the sample container 105b having a large diameter, the holding force of the holder arm 104 with respect to the sample container 105b is high because the holder arm 104 is largely bent. On the other hand, as shown in FIG. 3C, in the case of the sample container 105c having a small diameter, the bending of the holder arm 104 is small and the holding force on the sample container 105c is weak.

  The holder arm 104 only needs to be capable of holding the sample container 105 by contact, and may be formed of a spring structure or an elastic body such as rubber. This includes all those having a function of holding the sample container 105 in the sample test automation system. Although four holder arms 104 of the holder 101 are shown, any number such as three may be used as long as the sample container 105 can be held.

  FIG. 2 is a perspective view of a configuration example of a holder transfer mechanism for holding a sample container according to the present embodiment. The transfer mechanism 200 includes a base 202 that connects a chuck mechanism 201, a transfer mechanism that moves the sample container in the XYZ directions, and a cover 203 that covers the outside of the chuck mechanism 201. However, the cover 203 may not be provided.

  FIG. 3 is a perspective view of a configuration example of the chuck mechanism according to the first embodiment. The chuck mechanism 300 shown in the figure includes a plurality of, for example, four gripping arms 301a to 301d, all four gripping arms 301a to 301d, a fixing bracket 204 for connecting the base 202, a linear cam 205, It comprises a plurality of springs 206a-206b. The base unit 202 of the transfer mechanism 200 shown in FIG. 2 includes an actuator for opening and closing the chuck of the chuck mechanism 300. The linear motion cam 205 is operated via the actuator to operate the chuck mechanism 300. Open / close operation. The chuck opening / closing operation using this actuator is described in Patent Document 1.

  As shown in FIG. 3, protrusions 302a to 302d, which are flexible contact portions for gripping the sample container 105, are formed at the distal ends of the grip arms 301a to 301d of the chuck mechanism 300 of the present embodiment. ing. On the surfaces of the projections 302a to 302d at the tip portions, members 303a to 303d such as flexible resin or rubber are attached as flexible contact portions so that the sample container 105 can be securely gripped and not damaged. ing. Further, projections 304a to 304d, which are second flexible contact portions for gripping the sample container 105, are attached to the center of the four gripping arms 301a to 301d of the chuck mechanism of this embodiment. . The protrusions 304a to 304d, which are flexible contact portions, have a flexible member attached to the upper surface of the protrusion, similarly to the protrusions 302a to 302d at the distal end. In other words, the contact portions formed on each of the grip arms 301a to 301d are provided at the tip and the center of each of the grip arms, and the contact portion at the tip is a protrusion and has a flexible portion on the surface. The central contact portion is a projection and has a flexible portion on the surface.

  With reference to FIG. 4, a method of gripping the tilted sample container 105 by the chuck mechanism 300 including a plurality of gripping arms having a contact portion and a flexible portion of the sample transfer mechanism of the present embodiment will be described. The sample containers held by the sample transfer mechanism include sample containers having different diameters. The diameter of the sample container 105a shown in the figure is smaller than the diameter of the sample container 105b.

  In the order of states I to V shown in FIG. 4, a flow of straightly holding the sample container 105a having a small diameter inclined in the holder 101 will be described. Each plan view in the upper part of FIG. 4 shows a cross section AA of the cross-sectional view in the lower part of FIG. As shown in states IV in FIG. 4, the diameter of the sample container 105a is small, and therefore, the sample container 105a may be inclined in the holder.

State I: The chuck mechanism 300 moves directly above the sample container 105a to grip the sample container 105a.
State II: The chuck mechanism 300 descends with the gripping arms 301a to 301d opened and moves to the gripping position.

State III: The chuck mechanism 300 is closed, and chucking of the sample container 105a is started. At the time of the chuck closing operation of the chuck mechanism 300, the central projection 304a, which is the contact portion of the grip arm 301a, comes into contact with the sample container 105a first as shown by the mark 〇. At this time, the projections 304b to 304d at the center of the remaining gripping arms are not in contact with the sample container 105a. Therefore, the sample container 105a is pushed to the center in the direction of the arrow by the projection 304a at the center of the gripping arm 301a, the inclination is corrected, and the sample container 105a is straightened.
State IV: All the gripping arms 301a to 301d of the chuck mechanism 300 come into contact with the sample container 105a, and the sample container 105a is in a vertical state, and the chuck is completed.

  State V: State V indicates a case where the small-diameter sample container 105a is inclined between the two gripping arms 301a and 301b. In this case, when the chuck closing operation is started, the projections 304a and 304b at the center, which are the contact portions of the grip arms 301a and 301b, come into contact with the sample container 105 first. At this time, since the projections 304c and 304d at the center of the opposite gripping arms 301c and 301d are not in contact with the sample container 105, the sample container 105a is indicated by arrows at the center of the gripping arms 301a and 301b by the projections 304a and 304b. The center of the sample container 105 is pushed in the direction, and the posture of the sample container 105 is corrected.

  The material of the flexible portion on the surface of the projections 304a to 304d at the center of the gripping arm is a member that is sufficiently soft and flexible with respect to the members 303a to 303d at the tip of the gripping arm that is the flexible portion. Is desirable. That is, it is desirable that the contact portion provided at the center has greater flexibility than the contact portion provided at the tip, and the flexible portion of the projection at the center is more flexible than the flexible portion of the projection at the tip. It is preferable to adopt a configuration in which flexibility is increased.

  State VI in the figure is a diagram when the sample container 105b having a large diameter is gripped. If the diameter of the projection 304 at the center of the gripping arm is hard when the diameter is large as in the case of the sample container 105b, the projection 304 becomes sharp and the tip of the gripping arm may not contact the sample container 105b. It is. Therefore, the projections 304a to 304d at the center, which are the contact portions of the gripping arms of the chuck mechanism of the present embodiment, have a configuration in which a flexible portion having a sufficient flexibility is provided as compared with the projections 302a to 302d at the distal end.

  According to the sample transfer mechanism of the present embodiment, the sample container can be held in a state where the inclination is corrected by the chuck mechanism, and the sample transfer operation can be performed smoothly.

  The second embodiment is a modified embodiment of the sample transfer mechanism of the sample container of the first embodiment. Hereinafter, only portions different from the configuration of the sample transfer mechanism according to the first embodiment will be described. FIG. 5 shows a configuration example of the chuck mechanism of the sample transfer mechanism of the present embodiment.

  The difference between the chuck mechanism 500 in FIG. 5 and the chuck mechanism 300 in FIG. 3 is the shape of the grip arm 501 of the chuck mechanism 500. The chuck mechanism 500 is different from the gripping arms 501a to 501d in that spring portions 504a to 504d having flexibility are provided as contact portions instead of the projections 304a and 304b as contact portions at the center of the grip arms 501a to 501d. The spring portions 504a to 504d function as contact portions and flexible portions, similarly to the protrusions 304b to 304d of the first embodiment. As in the first embodiment, the spring portions 504a to 504d at the center of the grip arms 501a to 501d have sufficiently soft flexibility with respect to the members 503a to 503d, which are the flexible portions of the projections 502a to 502d at the distal ends. Is desirable.

  With the chuck mechanism having the configuration shown in FIG. 5, the sample container 105 is chucked through the same process as the flow shown in FIG. 4, and the sample container can be held straight in a state where the inclination is corrected, and the sample transfer operation is performed. Can be provided smoothly.

  Example 3 is an example of another configuration of the chuck mechanism of the sample container transfer mechanism. That is, a chuck mechanism having a plurality of gripping arms gripping from the side surface of the sample container and a base portion connecting the chuck mechanisms are provided. Each gripping arm has a contact portion, and the contact portion is large at both ends thereof. In the embodiment of the sample container transfer mechanism having a configuration in which it comes into contact with two points in the circumferential direction of the sample container having a diameter and makes contact at the center of the contact portion with one point in the circumferential direction of a sample container having a smaller diameter than the sample container having a larger diameter is there.

  FIG. 6 shows a configuration example of the chuck mechanism of the third embodiment. As shown in FIG. 7A, the chuck mechanism 600 of the present embodiment includes two gripping arms 601a and 601b, a gripping arm 601a and 601b, and a fixing bracket 204 that connects the base section 202 of FIG. , A linear cam 205 and a plurality of springs 206a, 206b. As described in the first embodiment, the base unit 202 of the transfer mechanism is provided with an actuator for opening and closing the chuck, and the linear motion cam is operated via the actuator to open and close the chuck mechanism. Do.

  The gripping arms 601a and 601b of this embodiment are arranged at symmetric positions about the center of the chuck mechanism 600. Projecting members 602a and 602b having a cross-sectional configuration shown in FIG. 3B are attached to the distal ends of the gripping arms 601a and 601b as contact portions. The protrusion member 602 attached to the distal ends of the gripping arms 601a and 601b has a concave central portion and forms a slope having an angle toward both ends. Due to this inclined shape, the two ends of the protruding member 602 come into contact with each other at two points in the circumferential direction of the large-diameter sample container. Contact can be made at one point in the direction.

  FIG. 7 shows a method of gripping the tilted sample container 105 using the chuck mechanism 600 of the present embodiment. The flow of gripping the sample container 105 is shown in the order of states I to V. The plan view at the top of the figure shows a section AA at the bottom of the figure. As shown in FIG. 7, if the diameter of the sample container 105a is small, the sample container 105a may be inclined in the holder 101.

State I: The chuck mechanism 600 moves directly above the sample container 105 to grip the small-diameter sample container 105a.
State II: The chuck mechanism 600 descends with the gripping arm 601 opened, and moves to the gripping position.

  State III: The chuck mechanism 600 is closed and chucking of the sample container 105a is started. At the time of the closing operation of the chuck mechanism 600, the member 602a of the protrusion, which is the contact portion of the grip arm 601a, comes in contact with the sample container 105a first. At this time, the protrusion member 602b of the grip arm 601b is not in contact. Therefore, the sample container 105a is pushed to the center in the direction of the arrow by the grip arm 601a, and the inclination is corrected.

  State IV: The two gripping arms 601a and 601b of the chuck mechanism 600 are all in contact with the small-diameter sample container 105a, and the chuck is completed. At this time, the sample container 105a and the members 602a and 602b of the protrusions at the tip of the gripping arm come into contact with one point in the circumferential direction of the small-diameter sample container 105a at the center of the members 602a and 602b of the protrusions.

  State V: State V indicates a case where the sample container 105 is tilted in a direction perpendicular to the grip arm 601. In this case, when the chuck closing operation is started, the members 602a and 602b of the protrusions at the tips of the gripping arms having an angle come into contact with the sample container 105a, and the sample containers 105a are closed with the operation of closing the gripping arms 601a and 601b. It is centered in the direction of the arrow and chucked.

  State VI shows a case where the sample container 105b has a large diameter. In the case of the sample container 105b having a large diameter, the two ends of the sample container 105b come into contact with both ends of the members 602a and 602b of the protrusion having a slope having an angle shown in FIG. Hold 105b. On the other hand, in the case of the sample container 105a having a small diameter, the concave portions of the central portions of the members 602a and 602b of the protruding portions can contact the sample container 105a at one point, thereby gripping the sample container 105a.

  As described above, by giving an angle to the member 602 of the protruding portion at the distal end, which is the contact portion of the gripping arms 601a and 601b of the present embodiment, the sample containers 105a and 105b having different diameters are chucked by the same gripping arm. It is possible to hold the sample in a vertical state in which the inclination has been corrected, and it is possible to smoothly perform a transfer operation of a sample having a different diameter.

  A configuration example of a sample test automation system in which the sample transfer mechanism of each embodiment described above is mounted will be described with reference to FIG. FIG. 8 is a diagram showing the overall configuration of the sample test automation system.

  The sample test automation system performs various pre-processing operations on the sample stored in the sample container 105. The pre-processing device 800 enclosed by a dotted line and the sample in the sample container 105 that has been pre-processed by the pre-processing device 800 A plurality of analyzers 801 for performing an analysis process, a transport path 802 for transporting the holder 101 on which the sample container 105 is mounted between the preprocessing device 800 and the analyzer 801, a plurality of sample transfer units 803, The control unit 804 controls the operation of the entire processing system.

  The analyzer 801 is a unit for performing qualitative / quantitative analysis of the components of the transferred sample. As the analyzer 801, various automatic analyzers for analyzing components of a pretreated sample, such as a biochemical analyzer, an immunoanalyzer, and a coagulation analyzer, can be used depending on the application.

  The sample transfer unit 803 is provided between the transport path 802 and each of the plurality of analyzers 801, and the holder 101 transported by the transport path 802 using the sample transport mechanism described in the embodiment 1-3. The sample container 105 is transferred between the analyzer and the rack used to mount and transport the sample container 105 in each analyzer 801. Although two analyzers 801 and two sample transfer units 803 are shown in FIG. 8, the number is not limited to two.

  The control unit 804 includes an operation control unit that controls the operation of the entire sample processing system, sample information such as analysis items and priority information of the sample stored in the sample container 105 to be put into the sample processing system, and a sample of each identifier. And a storage unit for storing the relationship between the two. The control unit 804 controls the operation of each unit in the sample test automation system and each mechanism in each unit, and analyzes the measurement data in the analyzer 801. The control unit 804 communicates with the above-described units and mechanisms, and can confirm the location of the sample in the sample test automation system from the ID information of the holder 203.

  The pre-processing device 800 is configured by connecting a plurality of units having various functions. For example, a sample input unit 800a, a sample storage unit 800b, a centrifugal separation unit 800c, a liquid volume measurement processing unit 800d, an opening processing unit 800e, a child sample container generation processing unit 800f, a dispensing processing unit 800g, and a plug processing unit 800h are provided. .

  The sample loading unit 800a is a unit for loading the sample container 105 containing a sample into the sample test automation system. A sample recognition unit (not shown), a plug body detection unit, and a sample holder recognition unit (not shown) are provided in the sample insertion unit 800a. The container type of the sample container 105 to be conveyed, the shape of the container plug, and the sample The ID information given to the holder 101 on which the container 105 is installed is recognized, and information for specifying the sample container 105 to be conveyed is obtained. Note that sample holder recognition units (not shown) are provided at various locations in the sample test automation system, and the location of the sample container 105 can be confirmed by the sample holder recognition units at each location.

  The centrifugal separation unit 800c is a unit for performing centrifugal separation on the loaded sample container 105. The liquid amount measurement processing unit 800d is a unit for measuring and determining the amount and color of the sample filled in the transferred sample container 105 by a laser light source unit and an image recognition unit (not shown).

  The plug opening processing unit 800e is a unit for opening the plug from the sample container 105 that has been loaded. The child sample container generation processing unit 800f prepares another sample container 105 necessary for dispensing the sample contained in the inserted sample container 105 in the next dispensing processing unit 800g, and prepares a barcode and the like. It is a unit for pasting.

  The dispensing processing unit 800g transfers the uncentrifuged or centrifuged sample in the centrifugal separation unit 800c to another sample container 105 prepared in the child sample container 105 generation processing unit 800f for analysis by the analyzer 801 or the like. This is a unit for subdividing samples.

  The plugging processing unit 800h is a unit for plugging the plug in the sample container 105 in which the plug is opened or the sample container 105 divided into small parts. It should be noted that, depending on the type of plug used to plug the sample container 105, a sample test automation system including two or more plug processing units 800h is also possible. The sample storage unit 800b is a unit that stores the sample container 105 plugged by the plug processing unit 800h.

  The transport path 802 is used to transfer the sample container 105 input from the sample input unit 800a or the sample container 105 dispensed in the dispensing processing unit 800g into the centrifugal separation unit 800c, the dispensing processing unit 800g, the analyzer 801 and the like. This is a mechanism to transfer to each part in the sample test automation system. The transport path 802 is also used for transport to each mechanism unit performing a predetermined operation in each unit such as the centrifugal separation unit 800c, the dispensing unit 800g, and the analyzer 801.

  Note that the sample test automation system configuration shown in FIG. 8 is merely an example, and another functional unit may be provided in the preprocessing system 800. The units of the pretreatment device 800 are connected by a transport path 802, and the specimen path 105 mounted on the holder is transported by the transport path 802.

  In such a sample test automation system, by using the sample transfer mechanism described in each embodiment, it is possible to hold the sample container in a state where the inclination is corrected even for sample containers of different diameters, The transfer operation can be performed smoothly.

  Each of the above embodiments has been described in detail for a better understanding of the present invention, and the present invention is not limited to the above embodiments, and includes various modifications.

101 Holder 102 Housing part 103 Base part 104 Holder arm 105 Sample container 200 Transfer mechanism 201, 300, 500, 600 Chuck mechanism 202 Base part 203 of transfer mechanism Cover 204 Fixture 205 Linear cam 206 Spring 301, 501, 601 Gripping arms 302, 304 protrusion 303 member 504 spring portion 602 protrusion member 800 pretreatment device 800a sample input unit 800b sample storage unit 800c centrifugal separation unit 801 analyzer 802 transport path 803 sample transfer unit 804 control unit

Claims (14)

A sample transfer mechanism,
A chuck mechanism having a plurality of gripping arms gripping from the side of the sample container,
A base portion for connecting the chuck mechanism,
Each of the gripping arms has a flexible contact portion that contacts the sample container at two points in the longitudinal direction of the sample container,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 1,
The sample container includes a plurality of types having different diameters,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 2, wherein
The contact portion is provided at a tip portion and a center portion of each of the gripping arms,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 3, wherein
The contact portion provided at the central portion is more flexible than the contact portion provided at the tip portion,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 3, wherein
The contact portion of the tip is a protrusion, the protrusion has a flexible portion on the surface,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 3, wherein
The contact portion of the central portion is a protrusion, the protrusion has a flexible portion on the surface,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 3, wherein
The contact portion is a protrusion, the protrusion has a flexible portion on the surface, and the flexible portion of the protrusion at the central portion is more flexible than the flexible portion of the protrusion at the tip portion. ,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 3, wherein
The contact portion of the central portion is a flexible spring portion,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 8, wherein
The contact portion of the tip is a protrusion, the protrusion has a flexible portion on the surface, and the spring portion is more flexible than the flexible portion of the protrusion of the tip.
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 3, wherein
The number of the gripping arms is at least three;
A sample transfer mechanism, characterized in that: A sample transfer mechanism,
A chuck mechanism having a plurality of gripping arms gripping from the side of the sample container,
A base portion for connecting the chuck mechanism,
Each of the gripping arms has a contact portion, and the contact portion comes into contact at two ends in the circumferential direction of the large-diameter sample container at both ends of the contact portion, and the peripheral portion of the sample container having a smaller diameter than the large-diameter sample container. Contact at one point in the direction,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 11, wherein
The plurality of gripping arms are two gripping arms that face the contact portion,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 12, wherein
The contact portion is a protrusion formed at the tip of each of the gripping arms,
A sample transfer mechanism, characterized in that: The sample transfer mechanism according to claim 13, wherein
The projection has an inclined surface from both ends of the projection toward the center recess.
A sample transfer mechanism, characterized in that:

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