Automated tissue assay using standarized chemicals and packages

• US 5,875,286 A
• Filed: 12/05/1997
• Issued: 02/23/1999
• Est. Priority Date: 08/05/1991
• Status: Expired due to Term

• Current Assignee: Page A. Erickson, Stephen Barker, Steven A. Bernstein
• Original Assignee: Page A. Erickson, Stephen Barker, Steven A. Bernstein
• Inventors: Erickson, Page A., Barker, Stephen, Bernstein, Steven A.
• Primary Examiner(s): Downs, Robert W.
• Application Number:
  US08/985,604
• Time in Patent Office: 445 Days
• Field of Search: 395/81, 395/82, 395/670, 395/672
• US Class Current: 700/247
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: G01N 1/312 for samples mounted on planar substrates
• CPC Class Codes: G01N 2035/0093 random access not determined by physical position
• CPC Class Codes: G01N 2035/1093 Cylindrical, e.g. variable radius and angle
• CPC Class Codes: G01N 35/0092 Scheduling
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G05B 2219/40097 Select stations with mouse to create process steps
• CPC Class Codes: G05B 2219/40098 Show grid locations with symbols of workstations
• CPC Class Codes: G05B 2219/40099 Graphical user interface for robotics, visual robot user interface
• CPC Class Codes: G05B 2219/40108 Generating possible sequence of steps as function of timing and conflicts
• CPC Class Codes: G05B 2219/40113 Task planning
• CPC Class Codes: G05B 2219/40463 Shortest distance in time, or metric, time optimal
• CPC Class Codes: G05B 2219/45092 Analysing or chemical synthesis robot, moving samples from station to station
• CPC Class Codes: G05B 2219/45118 Endoscopic, laparoscopic manipulator
• CPC Class Codes: Y10T 436/11 Automated chemical analysis
• CPC Class Codes: Y10T 436/115831 Condition or time responsive

Abstract

A system which performs a plurality of independent analysis procedures simultaneously, possibly involving differing types of tissues and differing process steps, comprising a robotic arm, which moves the different tissue samples among a plurality of processing stations, and a processor, which selects the next tissue sample to move, when to move it, and where to move it to. The processor directs the robotic arm to interleave the differing process steps. The processing stations comprise workstations for performing individual steps of the tissue assay procedures, such as solution trays. The processor selects a tissue sample to be moved in response to timing information about the procedures. While the processor is directing the robotic arm to move, the processor monitors progress information and can alter the sequence of process steps in response to the progress information and information from an operator.

Claims

1. A method for performing a plurality of independent analysis procedures simultaneously, each said procedure having a sample and at least one process step for operating on that sample, said method comprising

selecting, at a plurality of times, a sample to be moved;

directing a robotic arm to move said sample to be moved by interleaving the process steps of said plurality of independent analysis procedures;

monitoring progress information for said procedures; and

altering a sequence of said process steps in response to said progress information and in response to information from an operator;

wherein said step of altering comprises the steps of (1) generating a possible new sequence of process steps from a time said altering occurs onward;

(2) examining said possible new sequence for possible conflicts; and

(3) altering said possible new sequence in response to said timing information and said possible conflicts;

wherein at least one of said process steps comprises a bioassay workstation;

a biomedical workstation;

a chemical process workstation;

a heat process workstation;

an irradiation process workstation;

a centrifuge, a diffusion device, a distillation device, a separation device;

a DNA crosslinking device;

an electroporator;

a laser device, an optical device;

a microwave device, a radioactive sample, a radiation source;

an incubation oven, a heating unit;

a refrigeration element, a cooling unit;

or a workstation in which a process is to be performed comprising at least one of the following substances;

an alcohol, an antibody, an antibody carrier, an antibody probe, benzene, cellulose nitrate, chloroform, a chromophore, a colored staining solution, a colormetric substrate, a counterstain, a dehydrating fluid, a DNA probe, an enzyme labeled detection system, eosin, epoxy resin, ester wax, ethanol, a fat solvent, a fixative for electron microscopy, a fixative for optical microscopy, a fluorescent chromagen, formaldehyde, formalin, glutaraldehyde, hematoxylin, a heavy metal salt, mercuric chloride, methacrylate, an organic reagent, osmium tetroxide, a paraffin type wax, picric acid, a plastic substance, a substance on which a selected enzyme is known to have a specified effect, a synthetic dye, toluene, a washing buffer, water, a water soluble dye, a wax, or a test suited to identify a specific chemical substance or enzyme within the tissue sample.

2. A method for performing a plurality of independent analysis procedures simultaneously, each said procedure having a sample and at least one process step for operating on that sample, said method comprising

selecting, at a plurality of times, a sample to be moved;

directing a robotic arm to move said sample to be moved by interleaving the process steps of said plurality of independent analysis procedures;

monitoring progress information for said procedures; and

altering a sequence of said process steps in response to said progress information and in response to information from an operator;

wherein said step of altering comprises the steps of (1) generating a possible new sequence of process steps from a time said altering occurs onward;

(2) examining said possible new sequence for timing conflicts occurring before a known time value, (3) advancing said known time value from the time said altering occurs to an end of said possible new sequence, (4) selecting an exact time to start said first process step when a first process step is found to have a timing conflict with a second process step and said first process step has a range of times at which it may be started, (5) backtracking said known time value and altering said possible new sequence starting from said backtracked known time value to avoid said timing conflict, when a first process step is found to have a timing conflict with a second process step and said first and second process steps have exact times at which they may be started, and (6) signalling an error when said known time value is backtracked beyond the time said altering occurs;

wherein at least one of said process steps comprises a bioassay workstation;

a biomedical workstation;

a chemical process workstation;

a heat process workstation;

an irradiation process workstation;

a centrifuge, a diffusion device, a distillation device, a separation device;

a DNA crosslinking device;

an electroporator;

a laser device, an optical device;

a microwave device, a radioactive sample, a radiation source;

an incubation oven, a heating unit;

a refrigeration element, a cooling unit;

or a workstation in which a process is to be performed comprising at least one of the following substances;

an alcohol, an antibody, an antibody carrier, an antibody probe, benzene, cellulose nitrate, chloroform, a chromophore, a colored staining solution, a colormetric substrate, a counterstain, a dehydrating fluid, a DNA probe, an enzyme labeled detection system, eosin, epoxy resin, ester wax, ethanol, a fat solvent, a fixative for electron microscopy, a fixative for optical microscopy, a fluorescent chromagen, formaldehyde, formalin, glutaraldehyde, hematoxylin, a heavy metal salt, mercuric chloride, methacrylate, an organic reagent, osmium tetroxide, a paraffin type wax, picric acid, a plastic substance, a substance on which a selected enzyme is known to have a specified effect, a synthetic dye, toluene, a washing buffer, water, a water soluble dye, a wax, or a test suited to identify a specific chemical substance or enzyme within the tissue sample.

3. A method for performing a plurality of independent analysis procedures simultaneously, each said procedure having a sample and at least one process step for operating on that sample, said method comprising the steps of

selecting, at a plurality of times, a sample to be moved, said step of selecting comprising the steps of (1) generating a plurality of possible sequences of process steps, less than all possible sequences, (2) determining statistical information about a time distribution of said plurality, (3) selecting a preferred one of said plurality with a desired total expected time, so as to substantially minimize a total time required to complete said procedures, and (4) selecting said sample to be moved in accordance with said preferred one of said plurality of possible sequences;

directing a robotic arm to move said sample to be moved by interleaving the process steps of said plurality of independent analysis procedures;

wherein at least one of said process steps comprises a bioassay workstation;

a biomedical workstation;

a chemical process workstation;

a heat process workstation;

an irradiation process workstation;

a centrifuge, a diffusion device, a distillation device, a separation device;

a DNA crosslinking device;

an electroporator;

a laser device, an optical device;

a microwave device, a radioactive sample, a radiation source;

an incubation oven, a heating unit;

a refrigeration element, a cooling unit;

or a workstation in which a process is to be performed comprising at least one of the following substances;

an alcohol, an antibody, an antibody carrier, an antibody probe, benzene, cellulose nitrate, chloroform, a chromophore, a colored staining solution, a colormetric substrate, a counterstain, a dehydrating fluid, a DNA probe, an enzyme labeled detection system, eosin, epoxy resin, ester wax, ethanol, a fat solvent, a fixative for electron microscopy, a fixative for optical microscopy, a fluorescent chromagen, formaldehyde, formalin, glutaraldehyde, hematoxylin, a heavy metal salt, mercuric chloride, methacrylate, an organic reagent, osmium tetroxide, a paraffin type wax, picric acid, a plastic substance, a substance on which a selected enzyme is known to have a specified effect, a synthetic dye, toluene, a washing buffer, water, a water soluble dye, a wax, or a test suited to identify a specific chemical substance or enzyme within the tissue sample.