  The paper develops a robotic manipulation system to treat the pressing needs
for handling a large number of test tubes in clinical examination and replace
or reduce human labor. It presents the technical details of the system, which
separates and arranges test tubes in racks with the help of 3D vision and
artificial intelligence (AI) reasoning/planning. The developed system only
requires a person to put a rack with mixed and non-arranged tubes in front of a
robot. The robot autonomously performs recognition, reasoning, planning,
manipulation, etc., and returns a rack with separated and arranged tubes. The
system is simple-to-use, and there are no requests for expert knowledge in
robotics. We expect such a system to play an important role in helping managing
public health and hope similar systems could be extended to other clinical
manipulation like handling mixers and pipettes in the future.
