Robotic end effector for frozen aliquotter and methods of taking a frozen aliquot from biological samples

• US 9,528,916 B2
• Filed: 08/14/2015
• Issued: 12/27/2016
• Est. Priority Date: 01/26/2012
• Status: Active Grant

• Current Assignee: President and Fellows of Harvard College (Harvard Corporation)
• Original Assignee: CryoXtract Instruments, LLC
• Inventors: Bruehwiler, Michel, Sokhanvar, Saeed, Constantineau, Cole, Rosen, Melissa, Basque, Todd
• Primary Examiner(s): WEST, PAUL M
• Application Number:
  US14/826,954
• Publication Number:
  US 20160041071A1
• Time in Patent Office: 501 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: G01F 17/00 Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies measuring linear dimensions to determine volume G01B
• CPC Class Codes: G01N 1/08 involving an extracting tool, e.g. core bit
• CPC Class Codes: G01N 1/42 Low-temperature sample treatment, e.g. cryofixation
• CPC Class Codes: G01N 2035/1025 Fluid level sensing
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/10 Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices G01N35/0099 takes precedence
• CPC Class Codes: Y10S 901/41 Tool

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.

Claims

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.

2. A robotic end effector as set forth in claim 1 wherein the frozen sample core extraction system comprises a motor configured to rotate the coring bit.

3. A robotic end effector as set forth in claim 1 wherein the coring bit has a longitudinal axis and the frozen sample core extraction system comprises a motor configured to move the coring bit axially into the frozen samples after the ejector has been moved to the retracted position.

4. A robotic end effector as set forth in claim 3 wherein the frozen sample core extraction system comprises a second motor configured to rotate the coring bit as it is moved axially into the frozen samples.

5. A robotic end effector as set forth in claim 1 wherein the sensor is configured to detect a change in an electrical property, wherein the change is associated with contact between the ejector and the frozen sample.

6. A robotic end effector as set forth in claim 1 wherein the sensor is configured to detect movement of the ejector upward relative to the coring bit as the ejector contacts the surfaces of the frozen samples.

7. A robotic end effector as set forth in claim 1 wherein the processor is configured to interrupt the frozen sample core extraction system before the coring bit has reached the bottom of the container.

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:

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.

9. A method as set forth in claim 8 further comprising determining the amount of material contained in the frozen sample core using information about the distance the coring bit is moved into the sample relative to the location of the surface of the sample.

10. A method as set forth in claim 8 wherein detecting contact between the ejector and the surface of the frozen sample comprises detecting relative movement between the ejector and the coring bit following contact between the ejector and the surface of the frozen sample.

11. A method as set forth in claim 8 wherein moving the coring bit relative to the frozen sample in a manner that extracts a frozen sample core from the frozen sample comprises moving the coring bit axially into the sample while rotating the coring bit relative to the sample.

12. A method as set forth in claim 8 wherein moving the coring bit relative to the frozen sample in a manner that extracts a frozen sample core from the frozen sample further comprises stopping the axial movement of the coring bit before the coring bit reaches the bottom of the container.

13. A method as set forth in claim 8 wherein detecting contact between the ejector and the surface of the frozen sample comprises detecting a change in an electrical property associated with contact between the ejector and the frozen sample.

14. A method as set forth in claim 8 wherein detecting contact between the ejector and the surface of the frozen sample comprises detecting movement of the ejector upward relative to the coring bit as the ejector contacts the surfaces of the frozen sample.

15. A method as set forth in claim 8 wherein moving the ejector to the extended position to eject the frozen sample core from the coring bit comprises depositing the frozen sample core into a sample-receiving container.

16. A method as set forth in claim 15 wherein the frozen sample core is a first frozen sample core, the method further comprising:

after depositing the first frozen sample core into the sample-receiving container, using the coring bit to obtain a second frozen sample core and moving the ejector to the extended position to eject the second frozen sample core into the sample-receiving container.

17. A method as set forth in claim 16 further comprising performing an analytical test on an aliquot formed by combining the first and second frozen sample cores.

18. A method as set forth in claim 16 wherein the first and second frozen sample core are obtained from a single frozen sample contained in a single container.