System Integration and Verification of Reagent Preparation Robots for in Vitro Diagnosis

• Published in: International Conference on Automation, Control and Robotics Engineering (Online) pp. 80 - 85
• Main Authors: Li, Guanru, He, Yiwei, He, Kangming, Chao, Jiaxing, Lu, Qi
• Format: Conference Proceeding
• Language: English
• Published: IEEE 16.07.2025
• Subjects: Accuracy; Automation; Drugs; Freeze dried bottle; In vitro; Liquids; Mechanical design; Medical diagnostic imaging; Reagent preparation; Robots; Spraying; System integration; Transportation
• ISSN: 2997-6278
• DOI: 10.1109/CACRE66141.2025.11119601

In order to relieve the pressure of manual drug dispensing in hospitals and address the problem of medical powder spraying due to the negative pressure inside the bottles during manual dispensing. This conference paper presents a robotic system used to accomplish the task of in vitro diagnostic (IVD) dispensing for medical freeze dried bottles which is sealed with rubber stopper. This device is mainly composed of four modules: the cap-processing module, the transportation module, the needle-puncturing module, and the injection module. The function of the robotics system is to open the cap of the freeze-dried bottle, insert the needle, inject the corresponding reagent, and tighten the cap, thereby completing the drug preparation process. It is expected that the reagent preparation time will be shortened within two minutes per bottle of medicine, while the accuracy of reagent preparation is controlled within 5% of the error. Experiments are conducted for the performance evaluation of the proposed robot. Results show that, with the liquid injection accuracy reaching 97.6% and the reagent preparation time reaching about 51 seconds.