Method for handling a sample tube and handling device

Abstract

A method and a device for handling sample tubes are presented. A position of the sample tube is identified and the sample tube is handled depending thereon.

We claim: 
     
         1 . A device for handling sample tubes, the device comprising:
 a gripper apparatus;   an image acquisition apparatus;   a holding apparatus; and   a control apparatus configured to:
 determine a position and alignment of a sample tube in the holding apparatus based on 3D spatial geometric data of the sample tube acquired by the image acquisition apparatus under control of the control apparatus, and 
 handling the sample tube by the gripper apparatus under control of the control apparatus, wherein the handling is based on the 3D spatial geometric sample tube position and alignment data acquired by the image acquisition apparatus and conveyed to the control apparatus and wherein upon determination by the image acquisition apparatus that the alignment of the sample tube deviates obliquely from a longitudinal bearing axis standard such that a vertical axis of the sample tube is not parallel to the longitudinal bearing axis, the control apparatus spatially manipulates the gripper apparatus based on the 3D spatial geometric sample tube position and alignment data acquired by the image acquisition apparatus so that the gripper apparatus adjusts itself spatially in order to grip the sample tube obliquely at the same non-parallel deviation from the longitudinal bearing axis standard as the sample tube. 
   
     
     
         2 . The device according to  claim 1 , wherein the image acquisition apparatus comprises a stereo camera or a 3D camera arranged stationary in space and wherein the image acquisition apparatus further comprises a 2D camera arranged at the gripper apparatus and displaced from the 3D camera. 
     
     
         3 . The device according to  claim 1 , wherein the gripper apparatus is displaceable in two dimensions by being fastened to an XY-positioner. 
     
     
         4 . The device according to  claim 1 , wherein the gripper apparatus is displaceable in three dimensions by being fastened to a robotic arm. 
     
     
         5 . The device according to  claim 1 , wherein the gripper apparatus comprises a gripper configured to grip the sample tube in the holding apparatus. 
     
     
         6 . The device according to  claim 5 , wherein the gripper comprises a pair of pliers configured to grip the sample tube in the holding apparatus. 
     
     
         7 . The device according to  claim 5 , wherein the gripper comprises magnets configured to grip the sample tube in the holding apparatus. 
     
     
         8 . The device according to  claim 5 , wherein the gripper comprises an opening to which negative pressure is applied in order to suction the sample tube in the holding apparatus. 
     
     
         9 . The device according to  claim 1 , wherein the holding apparatus comprises a rack having a number of positions for receiving and holding sample tubes. 
     
     
         10 . The device according to  claim 1 , further comprising,
 an image database configured to store images of sample tubes.   
     
     
         11 . The device according to  claim 10 , wherein the image database is configured to store images of states during handling of the sample tube. 
     
     
         12 . The device according to  claim 1 , wherein the control apparatus comprises a processor and storage. 
     
     
         13 . The device according to  claim 1 , further comprising,
 a set down area comprising a number of position sensors and holding devices, wherein the number of position sensors are configured to determine a position of the holding apparatus in the device and wherein the holding devices are configured to hold the holding apparatus in place on the set down area.   
     
     
         14 . The device according to  claim 13 , wherein the holding device is a magnet. 
     
     
         15 . The device according to  claim 13 , wherein the holding device is a negative pressure pump. 
     
     
         16 . The device according to  claim 13 , wherein the number of position sensors are optical sensors. 
     
     
         17 . The device according to  claim 13 , wherein the number of position sensors are magnetic sensors. 
     
     
         18 . The device according to  claim 1 , wherein the sample tube is a liquid container configured to contain biological fluids. 
     
     
         19 . A device for handling sample tubes, the device comprising:
 a gripper apparatus;   an image acquisition apparatus, wherein the image acquisition apparatus comprises a stereo camera or a 3D camera and wherein the image acquisition apparatus further comprises a 2D camera arranged at the gripper apparatus and displaced from the 3D camera;   a holding apparatus; and   a control apparatus configured to:
 determine a position and alignment of a sample tube in the holding apparatus based on 3D spatial geometric data of the sample tube acquired by the image acquisition apparatus under control of the control apparatus, and 
 handling the sample tube by the gripper apparatus under control of the control apparatus, wherein the handling is based on the 3D spatial geometric sample tube position and alignment data acquired by the image acquisition apparatus and conveyed to the control apparatus and wherein upon determination by the image acquisition apparatus that the alignment of the sample tube deviates obliquely from a longitudinal bearing axis standard such that a vertical axis of the sample tube is not parallel to the longitudinal bearing axis, the control apparatus spatially manipulates the gripper apparatus based on the 3D spatial geometric sample tube position and alignment data acquired by the image acquisition apparatus so that the gripper apparatus adjusts itself spatially in order to grip the sample tube obliquely at the same non-parallel deviation from the longitudinal bearing axis standard as the sample tube. 
   
     
     
         20 . The device according to  claim 19 , wherein the 3D camera is arranged stationary in space.