Apparatus and method for transferring samples from a source to a target

• US 20060269385A1
• Filed: 05/24/2005
• Published: 11/30/2006
• Est. Priority Date: 05/24/2005
• Status: Active Grant

• Current Assignee: Festo GmbH & Company KG
• Original Assignee: Festo GmbH & Company KG
• Inventors: Porat, Amir, Leeman, Gerard William, Gombinsky, Moshe, Zobel, Hans-Jorg
• Granted Patent: US 7,534,081 B2
• Time in Patent Office: Days
• US Class Current: 414/403
• CPC Class Codes: B01L 2200/0657 Pipetting powder
• CPC Class Codes: B01L 2300/0829 Multi-well plates; Microtitration plates
• CPC Class Codes: B01L 2400/043 magnetic forces
• CPC Class Codes: B01L 3/0217 of the plunger pump type medical syringes A61M
• CPC Class Codes: B03C 1/0332 using permanent magnets
• CPC Class Codes: B03C 1/284 with associated cleaning means, e.g. retractable non-magnetic sleeve
• CPC Class Codes: B03C 1/286 disposed at the inner circumference of a recipient, e.g. magnetic drain bolt
• CPC Class Codes: B03C 1/288 disposed at the outer circumference of a recipient
• CPC Class Codes: B03C 1/30 Combinations with other devices, not otherwise provided for
• CPC Class Codes: B03C 2201/18 Magnetic separation whereby the particles are suspended in a liquid
• CPC Class Codes: B03C 2201/26 for use in medical applications
• CPC Class Codes: G01N 2035/0474 Details of actuating means for conveyors or pipettes
• CPC Class Codes: G01N 35/109 with two horizontal degrees of freedom

Abstract

A control system for transferring a sample from a source vessel to a target vessel generally includes a vessel unit, a primary transfer unit, an x-drive, a y-drive, a z-drive and a control unit for controlling the drives. The vessel unit includes a support plate for supporting the source vessel and the target vessel thereon and the transfer unit includes at least one transfer device for transferring the sample from the source vessel to the target vessel. The x-, y- and z-drives reciprocally translate one of the support plate and the transfer device in a respective x-direction, y-direction and z-direction, wherein the x, y and z directions define a three axis Cartesian coordinate system.

Claims

1. A control system for transferring a sample from a source vessel to a target vessel, the control system comprising:

a vessel unit including a support plate for supporting the source vessel and the target vessel thereon;

a primary transfer unit including at least one transfer device for transferring the sample from the source vessel to the target vessel;

an x-axis drive adapted to reciprocally translate one of said support plate and said transfer device in an x-direction;

a y-axis drive adapted to reciprocally translate one of said support plate and said transfer device in a y-direction;

a z-axis drive adapted to reciprocally translate one of said support plate and said transfer device in a z-direction, said x, y and z directions defining a three axis Cartesian coordinate system; and

a control unit for controlling said x, y and z drives.

2. A control system as defined in claim 1, wherein said primary transfer unit comprises:

an array of said transfer devices; and

an actuator system for selectively activating at least one transfer device of said array.

3. A control system as defined in claim 1, wherein said primary transfer unit comprises a primary magnet unit and said transfer device uses a magnetic force to attract the sample thereto.

4. A control system as defined in claim 3, wherein said pin further comprises a hollow pin body terminating at a tip and a magnet slidably disposed within said hollow pin body, and said primary magnet unit further comprises a magnet actuator system for driving said magnet to move from a first position adjacent said tip, wherein said magnet applies said magnetic force through said tip, to a second position away from said tip, wherein said magnetic force is removed from said tip.

5. A control system as defined in claim 4, wherein said magnet actuator system comprises:

an actuator plate having at least one individually activated electromagnet disposed thereon;

an actuator plate drive for reciprocally translating said actuator plate; and

an actuator rod having a distal end connected to said magnet in said hollow pin body, said actuator rod including a ferromagnetic piston portion engageable with said electromagnet when said electromagnetic is activated for moving said magnet from said first position to said second position upon translation of said actuator plate.

6. A control system as defined in claim 5, wherein said primary magnet unit comprises an array of said pins and wherein said actuator system includes an array of electromagnets and actuator rods matching in number and arrangement with said pin array and wherein each pin of said pin array includes a magnet slidably disposed in a hollow pin body thereof and connected with a respective actuator rod.

7. A control system as defined in claim 5, wherein said actuator rod comprises a flexible cable.

8. A control system as defined in claim 5, wherein said actuator system further comprises a piston housing spaced from said actuator plate, said piston housing including a tension spring connected to said ferromagnetic piston portion of said actuator rod, for biasing said piston portion toward said piston housing.

9. A control system as defined in claim 4, wherein said magnet actuator system comprises:

an actuator rod having a proximal end and a distal end, said distal end being connected to said magnet in said hollow pin body; and

an individually activated rod drive connected to said proximal end of said actuator rod for moving said magnet from said first position to said second position.

10. A control system as defined in claim 9, wherein said actuator rod comprises a flexible cable.

11. A control system as defined in claim 1, further comprising a secondary magnet unit including at least one secondary magnet element supported on a secondary magnet plate, said support plate of said vessel drive unit being disposed between said transfer device of said primary transfer unit and said secondary magnet element of said secondary magnet unit.

12. A control system as defined in claim 11, wherein said secondary magnet unit further comprises a y-axis secondary magnet plate drive for reciprocally translating said secondary magnet plate in the y-direction and a z-axis secondary magnet plate drive for reciprocally translating said secondary magnet plate in the z-direction.

13. A control system as defined in claim 11, wherein said secondary magnet element is adapted to be selectively activated and de-activated for alternately applying and removing a magnetic field at a bottom of at least one of the source vessel and the target vessel.

14. A control system as defined in claim 13, wherein said secondary magnet unit further comprises:

an array of secondary magnet elements; and

a secondary magnet actuator system for selectively activating and de-activating at least one secondary magnet element of said array.

15. A control system as defined in claim 13, wherein said secondary magnet element comprises a magnet slidably disposed in a bore of said secondary magnet plate, and wherein said secondary magnet unit further comprises a secondary magnet actuator system for driving said magnet to move from a first position adjacent said vessel support plate for applying a magnetic force to at least one of the source vessel and the target vessel, to a second position away from said vessel support plate for removing said magnetic force from said at least one of the source vessel and the target vessel.

16. A control system as defined in claim 15, wherein said secondary magnet actuator system comprises:

an actuator plate having at least one individually activated electromagnet disposed thereon;

an actuator plate drive for reciprocally translating said actuator plate; and

a magnet rod having a distal end connected to said magnet in said secondary magnet plate, said magnet rod including a ferromagnetic piston portion engageable with said electromagnet when said electromagnet is activated for moving said magnet from said first position to said second position upon translation of said actuator plate.

17. A control system as defined in claim 16, wherein said actuator system includes an array of electromagnets and magnet rods matching in number and arrangement with said secondary magnet element array, and wherein each secondary magnet element of said array includes a magnet slidably disposed in a bore of said secondary magnet plate and connected with a respective magnet rod.

18. A control system as defined in claim 16, wherein said magnet rod comprises a flexible cable.

19. A control system as defined in claim 16, wherein said secondary actuator system further comprises a piston housing spaced from said actuator plate, said piston housing including a tension spring connected to said ferromagnetic piston portion of said magnet rod, for biasing said piston portion toward said piston housing.

20. A control system as defined in claim 15, wherein said secondary magnet actuator system comprises:

a magnet rod having a proximal end and a distal end, said distal end being connected to said magnet in said bore of said secondary magnet plate; and

an individually activated magnet rod drive connected to said proximal end of said magnet rod for moving said magnet from said first position to said second position.

21. A control system as defined in claim 1, further comprising a tip insertion unit for applying a disposable tip to said at least one transfer device of said primary transfer unit.

22. A control system as defined in claim 21, wherein said tip insertion unit comprises:

a block having a bore formed therein, said bore having a proximal end and a distal end, said proximal end being sized to receive a disposable tip for application to said transfer device; and

a pressure source connected to said distal end of said bore for applying a pressure in said bore for forcing the disposable tip out of said bore.

23. A control system as defined in claim 22, wherein said block further includes a piston slidably received within said bore, said piston being driven by said pressure applied by said pressure source to force the disposable tip out of said bore.

24. A control system as defined in claim 1, further comprising a tip removal unit for removing a disposable tip from said at least one transfer device of said primary transfer unit.

25. A control system as defined in claim 24, wherein said tip removal unit comprises a fork defined by at least one channel having a width corresponding to a diameter of said transfer device, said channel being adapted to engage a disposable tip of said transfer device when said transfer device is brought into said channel.

26. A control system as defined in claim 1, wherein said vessel drive unit is adapted for supporting at least one micro-well tray having at least one of the source vessel and the target vessel defined therein.

27. A method for transporting a sample from a source vessel to a target vessel, the method comprising the steps of:

supporting said source vessel and said target vessel on a support plate;

translating one of said support plate and a transfer device of a primary transfer unit in an x-direction to position said source vessel below said transfer device;

translating said transfer device in a y-direction to position said transfer device above said source vessel;

translating said transfer device in a z-direction to lower said transfer device into said source vessel, said x, y and z directions defining a three axis Cartesian coordinate system;

activating said transfer device to collect said sample contained in said source vessel;

translating said transfer device in said z-direction to raise said transfer device out of said source vessel;

translating said transfer device in said y-direction to position said transfer device above said target vessel;

translating one of said support plate and said transfer device in said x-direction to position said target vessel below said transfer device of said primary transfer unit;

translating said transfer device in said z-direction to lower said transfer device into said target vessel; and

deactivating said transfer device to release said sample from said transfer device into said target vessel.

28. A method as defined in claim 27, wherein said transfer device is part of an array of transfer devices, each of said transfer devices being selectively activatable.

29. A method as defined in claim 27, wherein said primary transfer unit comprises a primary magnet unit and said transfer device comprises a pin having a tip, and wherein said activating step comprises the step of applying a magnetic force at said tip to attract magnet particles of said sample contained in said source vessel and said deactivating step comprises the step of removing said magnetic force from said tip to release said magnet particles from said tip into said target vessel.

30. A method as defined in claim 29, wherein said magnetic force is applied at said tip by moving a magnet within a hollow body of said pin to a first position adjacent said tip of said pin and wherein said magnetic force is removed from said tip by moving said magnet to a second position away from said pin tip.

31. A method as defined in claim 30, wherein said step of moving said magnet to said first position comprises the steps of:

engaging a ferromagnetic piston portion of a magnet rod connected to said magnet with an electromagnet fixed on an actuator plate; and

translating said actuator plate.

32. A method as defined in claim 31, further comprising the step of biasing said piston against movement with a tension spring.

33. A method as defined in claim 27, further comprising the step of providing a secondary magnet unit below said translatable support plate opposite said primary transfer unit, said secondary magnet unit including at least one secondary magnet element supported on a secondary magnet plate.

34. A method as defined in claim 33, further comprising the step of translating said secondary magnet unit in said y-direction and said z-direction to position said secondary magnet element under said transfer device of said primary transfer unit.

35. A method as defined in claim 33, further comprising the step of selectively activating and de-activating said secondary magnet element for alternately applying and removing a magnetic field at a bottom of at least one of said source vessel and said target vessel.

36. A method as defined in claim 35, wherein said step of selectively activating and de-activating said secondary magnet element comprises the step of moving a magnet disposed within a bore of said secondary magnet plate between a first position adjacent said translatable micro-well support plate and a second position away from said translatable micro-well support plate.

37. A method as defined in claim 36, wherein said step of moving said magnet to said first position comprises the steps of:

engaging a ferromagnetic piston portion of a magnet rod connected to said magnet with an electromagnet fixed on an actuator plate; and

translating said actuator plate.

38. A method as defined in claim 37, further comprising the step of biasing said piston against movement with a tension spring.

39. A method as defined in claim 27, further comprising the steps of:

translating said primary transfer unit in said y-direction and said z-direction to position said transfer device adjacent a tip insertion unit; and

applying a disposable tip on said transfer device with said tip insertion unit.

40. A method as defined in claim 39, wherein said disposable tip applying step comprises the step of applying a pressure within a bore having said disposable tip seated therein, said pressure forcing said tip out of said bore and onto said transfer device.

41. A method as defined in claim 27, further comprising the steps of:

translating said primary transfer unit in said y-direction and said z-direction to position said transfer device adjacent a tip removal unit; and

removing a disposable tip from said transfer device with said tip removal unit.

42. A method as defined in claim 41, wherein said disposable tip removal step comprises the steps of:

positioning said transfer device within a channel of a fork of said tip removal unit; and

lifting said transfer device wherein said disposable tip engages said fork and is removed from said transfer device.

43. A system for transferring a sample from a source vessel to a target vessel, the system comprising:

a transfer device having a hollow body and an actuating element movably disposed in said hollow body between a first and a second position, said movement of said actuating element causing a sample in proximity to said transfer device to be alternately collected and released from said transfer device;

an actuator plate having at least one individually activated electromagnet disposed thereon;

an actuator plate drive for reciprocally translating said actuator plate; and

an actuator rod having a distal end connected to said actuating element in said hollow body of said transfer device, said actuator rod including a ferromagnetic piston portion engageable with said electromagnet when said electromagnetic is activated for moving said actuating element from said first position to said second position upon translation of said actuator plate.

44. A system as defined in claim 43, wherein said actuating element of said transfer device is a magnet slidably disposed within said hollow body between said first position adjacent a tip of said transfer device, wherein a magnetic force is applied at said tip, and said second position away from said tip, wherein said magnetic force is removed from said tip for alternately collecting and releasing samples from said transfer device.

45. A system as defined in claim 43, wherein said actuator rod comprises a flexible cable.

46. A system as defined in claim 43, further comprising a piston housing spaced from said actuator plate, said piston housing including a tension spring connected to said ferromagnetic piston portion of said actuator rod, for biasing said piston portion toward said piston housing.