CN-122029010-A - System and method for grasping containers in a diagnostic laboratory system

Abstract

A method of grasping a container in a diagnostic laboratory system using a robot includes capturing one or more images of the container in the diagnostic laboratory system, wherein each captured image includes image data. The image data is analyzed to identify one or more surface properties of the container. Responsive to the analysis, a gripping position of a gripper of a robot in the diagnostic laboratory system on the container is determined. The container may then be grasped by the gripper at the grasping location. Other methods and systems are disclosed.

Inventors

• R. PRASAD
• ZHANG YAOREN
• A. CAPEL
• N thanks to noy
• B.S. Pollack

Assignees

• 美国西门子医学诊断股份有限公司

Dates

Publication Date

20260512

Application Date

20240722

Priority Date

20230828

Claims (20)

1. 1. A method of gripping containers in a diagnostic laboratory system using a robot, the method comprising: Capturing one or more images of a container in a diagnostic laboratory system, wherein each captured image comprises image data; Analyzing the image data to identify one or more surface properties of the container; determining a gripping position on the container for gripping by a gripper of a robot in the diagnostic laboratory system in response to the analysis, and Gripping the container at the gripping location using the gripping clip.
2. 2. The method of claim 1, further comprising generating instructions to instruct the gripper to grasp the container at the grasp location.
3. 3. The method of claim 1, wherein the container is a sample container configured to hold a biological sample.
4. 4. The method of claim 1, wherein the container is configured to hold chemicals consumed in the diagnostic laboratory system.
5. 5. The method according to claim 1, wherein: the gripping clamp has at least one degree of freedom, and The determining a grip position includes determining a grip position of the grip clamp in response to the at least one degree of freedom.
6. 6. The method of claim 1, wherein the container has one or more geometric properties, and wherein the determining a grasp location comprises determining a grasp location of the grasper in response to the one or more geometric properties.
7. 7. The method of claim 1, further comprising determining a material of the container, wherein the determining a grasp location comprises determining a grasp location of the grasper in response to the determining the material of the container.
8. 8. The method of claim 1, wherein the analyzing comprises identifying a location of a marker on the container, wherein the determining a grasp location comprises determining a grasp location of the grasper in response to the determining the location of the marker.
9. 9. The method of claim 8, wherein the grasp location is not on the marker.
10. 10. The method of claim 1, wherein the analyzing comprises identifying an anomaly on the container, and wherein the determining a grasp location comprises determining a grasp location of the grasper in response to the identifying the anomaly.
11. 11. The method of claim 10, wherein the grasp location is not on the anomaly.
12. 12. The method of claim 10, wherein the anomaly is a liquid.
13. 13. The method of claim 10, wherein the anomaly is part of a label attached to the container.
14. 14. The method of claim 1, wherein the analyzing comprises identifying a pose of the container, and further comprising adjusting the pose of the capture clip in response to identifying the pose of the container.
15. 15. The method of claim 1, wherein the analyzing determines whether the container has a lid.
16. 16. The method of claim 1, wherein at least one of the analyzing the image data or the determining a grabbing position comprises using a deep neural network.
17. 17. The method of claim 1, wherein the determining a gripping position of a gripper of a robot on the container comprises determining a height of the gripper gripping the container on the container.
18. 18. A diagnostic laboratory system, comprising: an imaging device configured to capture an image of a container; a robot including a gripper configured to grip the container and move the container within the diagnostic laboratory system, and The computer program product is used for the computer, the computer is configured to: receiving image data generated by the imaging device; Analyzing the image data to identify one or more surface properties of the container; determining a gripping position of the gripper on the container in response to the analysis, and Instructions are generated to instruct the gripper to grip the container at the gripping location.
19. 19. The diagnostic laboratory system of claim 18, wherein the container is a sample container configured to hold a biological sample.
20. 20. A method of grasping a sample container in a diagnostic laboratory system using a robot, the method comprising: capturing one or more images of a sample container in a diagnostic laboratory system, wherein each captured image comprises image data, and wherein the sample container is configured to hold a biological sample; Analyzing the image data to identify one or more surface properties of the sample container, the one or more surface properties including at least one of a marker, a liquid, and an anomaly on a surface of the sample container; Determining a gripping position on the sample container for gripping by a gripper of a robot in the diagnostic laboratory system, the gripping position avoiding the one or more surface properties, and Gripping the sample container at the gripping location using the gripping clip.

Description

System and method for grasping containers in a diagnostic laboratory system Cross application of related applications The present application claims the benefit of U.S. provisional application No. 63/579,292 filed on 28 of 8 th year 2023 in accordance with 35 USC ≡119 (e). The entire contents of the above-referenced patent application are hereby expressly incorporated by reference herein. Technical Field The present disclosure relates to systems and methods for grasping containers in diagnostic laboratory systems. Background Diagnostic laboratory systems conduct clinical chemistry tests that identify analytes or other components in biological samples or specimens (such as serum, plasma, urine, interstitial fluid, cerebrospinal fluid, etc.). The biological sample is collected in a sample container, such as a sample tube, and transported to a laboratory system, which may be located in a laboratory. After receiving the sample containers at the laboratory system, the sample containers are loaded into one or more sample container carriers (e.g., test tube carriers or test tube racks). The sample container carrier is then loaded into a sample handler of a laboratory system. The sample handler is an input/output module of the laboratory system that enables the laboratory system to receive and expel sample containers. The robot may transfer sample containers between various locations and components within the laboratory system. The sample container may carry a bar code label or other indicia that contains patient information and should not be compromised during testing. The location of the bar code label varies from sample container to sample container, depending on the location where the bar code label is placed. If the robot for transferring the sample container uses the same gripping position with respect to the bottom of the sample container, the gripping may contact and damage the bar code label. Sample containers may also carry anomalies that the robotic gripper or end effector should not contact. Thus, laboratory systems with robots capable of gripping sample containers while avoiding markers and anomalies are sought. Disclosure of Invention According to a first aspect, a method of gripping containers in a diagnostic laboratory system using a robot is provided. The method includes capturing one or more images of a container in a diagnostic laboratory system, wherein each captured image includes image data, analyzing the image data to identify one or more surface properties of the container, determining a gripping location on the container for gripping by a gripper of a robot in the diagnostic laboratory system in response to the analysis, and gripping the container at the gripping location using the gripper. In another aspect, a diagnostic laboratory system is provided. The diagnostic laboratory system includes an imaging device configured to capture an image of a container, and a robot including a gripper configured to grasp the container and move the container within the diagnostic laboratory system. In addition, the diagnostic laboratory system includes a computer configured to receive the image data generated by the imaging device, analyze the image data to identify one or more surface properties of the container, determine a grasp location of the grasp clip on the container in response to the analysis, and generate instructions to instruct the grasp clip to grasp the container at the grasp location. In a further aspect, a method of grasping a sample container in a diagnostic laboratory system using a robot is provided. The method includes capturing one or more images of a sample container in a diagnostic laboratory system, wherein each captured image includes image data, and wherein the sample container is configured to hold a biological sample, analyzing the image data to identify one or more surface properties of the sample container, the one or more surface properties including at least one of a marker, a liquid, and an anomaly on a surface of the sample container, determining a grasp location on the sample container for grasping by a grasp of a robot in the diagnostic laboratory system, the grasp location avoiding the one or more surface properties, and grasping the sample container at the grasp location using the grasp location. Still other aspects, features, and advantages of the present disclosure will become readily apparent from the following description and illustration of various example embodiments, including the best mode contemplated for carrying out the present disclosure. The disclosure is also capable of other and different embodiments and its several details are capable of modification in various respects, all without departing from the scope of the present disclosure. Drawings The drawings described below are provided for illustrative purposes and are not necessarily drawn to scale. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restr