Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples
First Claim
1. A robotic end effector for collecting frozen aliquots from an array of frozen samples, the frozen samples being contained in a plurality of containers, each frozen sample having a surface spaced from a bottom of the container, the robotic end effector comprising:
- a coring bit for taking frozen sample cores from the frozen samples;
a frozen sample core extraction system configured to move the coring bit relative to the frozen samples in a manner that extracts frozen sample cores from the frozen samples;
a fill level detection system adapted to detect the positions of the surfaces of the frozen samples;
an ejector adapted to eject a frozen sample core taken by the coring bit from the coring bit, the ejector being moveable between an extended position in which the ejector extends beyond a distal end of the coring bit and a retracted position in which the ejector does not extend to the distal end of the coring bit; and
a processor configured to receive signals from the fill level detection system and use the signals and information concerning operation of the frozen sample core extraction system to determine the amount of material contained in a frozen sample core in the coring bit obtained by moving the coring bit a particular distance into a respective one of the samples,wherein the fill level detection system comprises a sensor configured to detect contact between the ejector and the surfaces of the frozen samples and wherein the processor is configured to move the ejector to the retracted position after the ejector contacts the frozen sample surfaces and before the frozen sample core extraction system moves the coring bit into the frozen samples.
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Accused Products
Abstract
A robotic end effector for collecting frozen aliquots from an array of frozen samples in a plurality of containers has a coring bit for taking frozen sample cores from the frozen samples and a frozen sample core extraction system adapted to extract frozen sample cores from the frozen samples. A fill level detection system is adapted to detect the positions of the surfaces of the frozen samples. A processor is adapted to receive signals from the fill level detection system and use the signals and information concerning operation of the frozen sample core extraction system to determine at least one of the following: (a) the amount of material contained in a frozen sample core obtained by the coring bit; and (b) the number of frozen sample cores needed from a particular frozen sample to obtain a predetermined amount of material from that frozen sample.
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Citations
18 Claims
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1. A robotic end effector for collecting frozen aliquots from an array of frozen samples, the frozen samples being contained in a plurality of containers, each frozen sample having a surface spaced from a bottom of the container, the robotic end effector comprising:
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a coring bit for taking frozen sample cores from the frozen samples; a frozen sample core extraction system configured to move the coring bit relative to the frozen samples in a manner that extracts frozen sample cores from the frozen samples; a fill level detection system adapted to detect the positions of the surfaces of the frozen samples; an ejector adapted to eject a frozen sample core taken by the coring bit from the coring bit, the ejector being moveable between an extended position in which the ejector extends beyond a distal end of the coring bit and a retracted position in which the ejector does not extend to the distal end of the coring bit; and a processor configured to receive signals from the fill level detection system and use the signals and information concerning operation of the frozen sample core extraction system to determine the amount of material contained in a frozen sample core in the coring bit obtained by moving the coring bit a particular distance into a respective one of the samples, wherein the fill level detection system comprises a sensor configured to detect contact between the ejector and the surfaces of the frozen samples and wherein the processor is configured to move the ejector to the retracted position after the ejector contacts the frozen sample surfaces and before the frozen sample core extraction system moves the coring bit into the frozen samples. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of collecting a frozen aliquot from a frozen sample in an array of frozen samples, the frozen samples being contained in a plurality of containers, each frozen sample having a surface spaced from a bottom of the respective container, the method comprising:
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moving an ejector that extends into a coring bit to an extended position in which the ejector extends beyond a distal end of the coring bit; moving the ejector and coring bit toward the frozen sample until the ejector contacts the surface of the frozen sample; locating the surface of the frozen sample by detecting contact between the ejector and the surface of the frozen sample; moving the ejector to a retracted position in which the ejector does not extend to the distal end of the coring bit after locating the surface of the frozen sample; after the ejector has been moved to the retracted position, moving the coring bit relative to the frozen sample in a manner that extracts a frozen sample core from the frozen sample; and moving the ejector to the extended position to eject the frozen sample core from the coring bit, wherein moving the ejector to the retracted position comprises separating the ejector from the surface of the frozen sample. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification