Robotized sorter for blood classification using RFID tags

Abstract

Human errors in specimen identification and incorrect blood transfusions in hospitals cause economic losses for several million dollars and many adverse events each year, posing serious risks for patient health and carrying huge expenses for the health care system. This article presents the control of a 6 DOF (Degrees of Freedom) Mitsubishi's robot of the RV -Series to classify test tubes according to the sample's blood type (0, A or B) stored in the RFID (Radio Frequency IDentification) tag's memory. The automatization of processes using a robot, which is able to carry out repetitive and monotonous tasks, improves the standard of care and allows to reduce mortality among patients receiving transfusions with automatically classified blood. On each test tube a readable/writable MIFARE Ultralight® tag uniquely identified with a UID (Unique Identifier) has been applied. The classification is performed using the MFRC522 RFID IC (Integrated Circuit) reader connected to an Arduino UNO R3 board using a Serial Peripheral Interface bus. The execution of the task is performed only with linear trajectories and requires the development of two different levels of controllers. Moreover, additive manufacturing techniques have been used to shape both 3D printed screw cap of the test tubes and the Arduino case to hold the board.