Method and device for compensation for dimensional variations in low temperature sample group holders

• US 9,791,466 B2
• Filed: 07/23/2012
• Issued: 10/17/2017
• Est. Priority Date: 07/21/2011
• Status: Active Grant

• Current Assignee: Brooks Automation Incorporated (Azenta, Inc.)
• Original Assignee: Brooks Automation Incorporated (Azenta, Inc.)
• Inventors: Neeper, Robert K.
• Primary Examiner(s): Warden, Jill
• Assistant Examiner(s): Whatley, Benjamin R
• Application Number:
  US13/555,957
• Publication Number:
  US 20130028697A1
• Time in Patent Office: 1,912 Days
• Field of Search: None
• CPC Class Codes: G01N 2035/00435 Refrigerated reagent storage
• CPC Class Codes: G01N 35/0099 comprising robots or similar manipulators robots per se B25J
• CPC Class Codes: G01N 35/04 Details of the conveyor system G01N35/021 - G01N35/028 take precedence

Abstract

An apparatus includes a pick head configured to transfer sample containers to and from a sample group holder, at least one sensor connected to the pick head and configured to detect at least one predetermined feature of the sample group holder, and a controller configured to receive a detection signal from the at least one sensor corresponding to detection of the at least one predetermined feature, determine a change in a predetermined characteristic of the sample group holder based on a detected position of the at least one predetermined feature, and determine a location of one or more samples in the sample group holder to allow for the transfer of the one or more sample containers to and from the sample group holder based on the edge detection signal.

Claims

1. An apparatus comprising:

a pick head configured to transfer sample containers to and from a sample group holder;

at least one sensor connected to the pick head and configured to detect at least one predetermined feature of the sample group holder; and

a controller configured to

receive a detection signal from the at least one sensor corresponding to detection of the at least one predetermined feature,

determine a thermal growth or shrinkage change in a dimension of a predetermined physical characteristic intrinsic to the sample group holder based on a detected position of the at least one predetermined feature, and

determine a location of one or more sample containers in the sample group holder to allow for the transfer of the one or more sample containers to and from the sample group holder based on the detection signal and based on the determined thermal growth or shrinkage change.

2. The apparatus of claim 1, wherein the change in the predetermined physical characteristic intrinsic to the sample group holder is a change in length from a nominal length of the sample group holder.

3. The apparatus of claim 1, wherein the change in the predetermined physical characteristic intrinsic to the sample group holder is a change in width from a nominal width of the sample group holder.

4. The apparatus of claim 1, wherein the change in the predetermined physical characteristic intrinsic to the sample group holder is a change in position from a nominal position of the sample group holder on a pick table of the apparatus.

5. The apparatus of claim 1, wherein the change in the predetermined physical characteristic intrinsic to the sample group holder is a change in orientation from a nominal orientation of the sample group holder on a pick table of the apparatus.

6. The apparatus of claim 1, further comprising a gantry system wherein the pick head is mounted to a movable member of the gantry system.

7. The apparatus of claim 1, wherein the at least one predetermined feature is an edge of the sample group holder.

8. The apparatus of claim 7, wherein the sample group holder comprises a tray configured for holding a group of sample containers, and the edge is an edge of the tray.

9. The apparatus of claim 1, wherein the at least one predetermined feature is a boundary of a group of sample containers contained in the sample group holder.

10. A sample storage and retrieval system comprising:

a frame;

a pick table mounted to the frame and configured to hold at least one sample group holder thereon;

a movable pick head mounted to the frame, the movable pick head having at least one sensor connected thereto, the sensor being configured to detect one or more features of the at least one sample group holder; and

a controller operatively coupled to the movable pick head and the at least one sensor, the controller being configured to determine a physical thermal growth or shrinkage dimensional change intrinsic to the at least one sample group holder based on a detection signal from the at least one sensor, the detection signal corresponding to detection of the one or more features of the at least one sample group holder, and determine a location of at least one sample container in the at least one sample group holder based on the physical dimensional change.

11. The sample storage and retrieval system of claim 10, wherein the physical dimensional change in the at least one sample group holder is a temperature dependent physical dimensional change.

12. The sample storage and retrieval system of claim 10, wherein the frame forms a sample picking area maintained at a picking temperature, the sample storage and retrieval system further comprising a sample storage area communicably coupled to the picking area and maintained at a storage temperature that is lower than the picking temperate.

13. The sample storage and retrieval system of claim 10, wherein the controller is configured to determine the physical dimensional change in the at least one sample group holder at predetermined time intervals to account for physical dimensional changes in the at least one sample group holder as a temperature of the at least one sample group holder increases.

14. The sample storage and retrieval system of claim 10, wherein the controller is configured to determine the physical dimensional change in the at least one sample group holder when a pick of a sample container within the at least one sample group holder is missed.

15. The sample storage and retrieval system of claim 10, wherein the controller is further configured to determine a position of the at least one sample group holder relative to a nominal sample group holder position on the pick table based on the detected one or more features of the at least one sample group holder.

16. The sample storage and retrieval system of claim 10, wherein the controller is further configured to determine an orientation of the at least one sample group holder relative to a nominal sample group holder orientation on the pick table based on the detected one or more features of the at least one sample group holder.

17. The sample storage and retrieval system of claim 10, wherein the pick head is configured to cut a seal of the sample containers within the at least one sample group holder for separating the sample containers.

18. The sample storage and retrieval system of claim 10, wherein the one or more features of the at least one sample group holder include one or more edges of the sample group holder.

19. The sample storage and retrieval system of claim 10, wherein the controller is configured to compare a measured dimension of the at least one sample group holder with a nominal dimension of the at least one sample group holder and determine at least one dimensional offset and determine a location of at least one sample in the at least one sample group holder based on the at least one dimensional offset.

20. A sample storage and retrieval system comprising:

a frame;

a pick table mounted to the frame and configured to hold at least one sample group holder thereon;

a movable pick head mounted to the frame, the movable pick head having at least one sensor connected thereto, the sensor being configured to detect one or more features of the at least one sample group holder and produce a detection signal corresponding to the one or more features; and

a controller operatively coupled to the movable pick head and the at least one sensor, the controller being configured to determine a thermal growth or shrinkage change of a sample group holder measurement intrinsic to the at least one sample group holder based on the detection signal from the at least one sensor and determine based on the sample group holder measurement and based on the determined thermal growth or shrinkage change an effect in one or more of a spacing between samples within the sample group holder and locations of the sample centers within the sample group holder.