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1. (WO2018013345) METHODS AND APPARATUS FOR DYNAMIC POSITION ADJUSTMENTS OF A ROBOT GRIPPER BASED ON SAMPLE RACK IMAGING DATA

Pub. No.:    WO/2018/013345    International Application No.:    PCT/US2017/039586
Publication Date: Fri Jan 19 00:59:59 CET 2018 International Filing Date: Wed Jun 28 01:59:59 CEST 2017
IPC: B25J 5/02
B25J 9/16
B25J 13/00
B25J 15/08
G01N 35/00
G01N 35/04
Applicants: SIEMENS HEALTHCARE DIAGNOSTICS INC.
Inventors: POLLACK, Benjamin S.
POLLACK, Steven
Title: METHODS AND APPARATUS FOR DYNAMIC POSITION ADJUSTMENTS OF A ROBOT GRIPPER BASED ON SAMPLE RACK IMAGING DATA
Abstract:
Methods of positioning a gripper to pick or place a specimen container from a sample rack. One method includes providing a robot including the gripper, the gripper moveable in a coordinate system by the robot and including gripper fingers, providing a sample rack including receptacles containing specimen containers, providing data, obtained by imaging, regarding the specimen containers in the sample rack, and dynamically orienting the gripper based upon the data. The data may include population and/or configuration data and the dynamic orientation may include gripper finger opening distance, gripper finger rotational position, and/or gripper offset distance. Gripper positioning apparatus for carrying out the method are disclosed, as are other aspects.