Robotic sample processing system

Abstract

In one aspect, the application relates to a robotic sample handling system comprising a controller and a robot arm, the robot arm being controllable to be positioned within a horizontal XY plane parallel to a work area and along a vertical Z axis perpendicular to the work area. The work area comprises a module provided with a movable element (550) for interacting with a sample container (170). The module is equipped with a mechanism comprising: - a first linear element (210) and a second linear element (220), the first and second linear elements extending along the vertical direction Z and being mounted to the module in such a way that each linear element is movable in a downward and upward direction between a raised position and a lowered position; and - at least one rotor element (230) engaged with each of the first and second linear elements, such that when one of the first and second linear elements is in the raised position, exerting a downward force on this linear element results in: displacement of this linear element in the downward direction; rotation of the at least one rotor element; and, displacement of the other linear element in the upward direction. The movable element (550) is mounted in connection with the rotor element and is displaceable between a first position and a second position. The controller is configured to control the robot arm to displace the movable element by pushing against one of the first and second linear elements in the Z direction downward when this linear element is in the raised position.

Description

Technical Field

[0001] This invention relates to a robotic sample processing system for performing sample processing tasks in a laboratory environment, and to a computer-implemented method for controlling a robotic arm of the robotic sample processing system. The invention further relates to a computer-readable medium comprising data representing a computer program for performing the computer-implemented method, and to a module comprising a mechanism actuable by a robotic arm. Background Technology

[0002] Robotic sample handling systems are well-known in the field of laboratory automation. Such systems can be used for automated sample handling tasks, including actions such as handling sample containers (e.g., by picking up and placing them on a workbench) and interacting with the samples contained in the containers (e.g., by dispensing liquid into the containers or by pipetting).

[0003] One embodiment of a robotic sample handling system is an automated pipetting system, such as that described in US20150251315. Such an automated pipetting system (which can also be simply referred to as a "pipette robot") typically includes a three-axis robotic arm with pipette tips to which pipette tips can be attached for aspirating and dispensing liquid samples. The robotic arm is positioned at a designated location under the control of a controller to perform specific actions at that location.

[0004] Depending on the number of different sample processing actions to be performed and the different types of sample containers to be processed, robotic sample processing systems are typically equipped with a first three-axis robotic arm and a second three-axis robotic arm. The second three-axis arm can be configured to pick up and position sample containers, such as microplates. The second arm may include a gripper that allows the microplate to be held between two clamping members and rotated to a specific orientation. The presence of the second three-axis arm increases the system cost and the complexity of controlling the movement of the two arms.

[0005] Sample containers can also be formed from microfluidic devices. Such devices may include rotary valves or caps that are rotatable between a closed position and an open position, in which the open position one or more inlet ports containing the sample become available for liquid dispensing by a pipette tip. A robotic arm equipped with a separate rotary actuator can be used to rotate the valve or cap, but this also has the disadvantages of increased cost and complexity.

[0006] To perform other automated sample handling tasks using a simple pipetting robot, a module for interacting with a sample container can be used, wherein the module is equipped with a mechanism actuated by a downward force applied by a robotic arm. An embodiment of such a robotic handling system is disclosed in WO2022010489. The system includes at least one robotic arm that can be controlled to be positioned in an XY plane parallel to the working area and along a Z-axis perpendicular to the working area. The system's controller is configured to control the robotic arm to position and manipulate the robotic arm as part of a sample handling task, and is also configured to control the robotic arm to actuate the mechanism by pushing downward along the Z-direction. The module may be a base for the sample container, the base including a push-push mechanism. This mechanism is operated by the robotic arm to bring the sample in the sample container into or out of the vicinity of an effector (such as a magnet or heat source).

[0007] There is still room for improvement in providing a module for a robotic sample processing system that can perform a variety of actions in an automated manner using a simple robotic arm. Summary of the Invention

[0008] A first aspect of the present invention provides a robotic sample processing system for performing sample processing tasks in a laboratory environment, comprising: - Working area, used to hold samples; - A robotic arm that can be controlled to position itself in an XY plane parallel to the work area and along a vertical Z-axis perpendicular to the work area; - A controller configured to control the robotic arm to locate and manipulate the robotic arm as part of a sample processing task; The working area includes a module having movable elements for interacting with a sample container or sample processing device, and the module includes a mechanism capable of being actuated by a downward force.

[0009] This organization includes: - A first linear element and a second linear element, the first linear element and the second linear element extending in the vertical direction Z, and the first linear element and the second linear element being mounted to the module in a manner that allows each linear element to be displaced in the downward and upward directions between a raised position and a lowered position; and - A rotor element, which engages with each of the first linear element and the second linear element such that when one of the first linear element and the second linear element is in an elevated position, applying a downward force to that linear element causes that linear element to displace in a downward direction, the rotor element to rotate in one rotational direction, and the other linear element to displace in an upward direction.

[0010] The movable element is connected to and grounded to the rotor element, and the controller is configured to control the robot arm to actuate the mechanism by pushing the linear element downward in the Z direction when one of the first and second linear elements is in an elevated position, so as to achieve displacement of the movable element.

[0011] The mechanism is suitably configured such that when one of the first and second linear elements is in its uppermost fully raised position, the other linear element is in its lowermost fully lowered position. The controller is suitably configured to control a robot arm to move downwards to apply a downward force to one of the linear elements when it is in its raised position (preferably fully raised), causing the rotor element to rotate in one rotational direction. To achieve rotation in the opposite direction, the robot arm is positioned and controlled to apply a downward force to the other linear element. Therefore, the rotor element can rotate between a first angular position and a second angular position, in which, for example, the first linear element is in its fully raised position, and in the second angular position, the first linear element is in its fully lowered position.

[0012] A movable element of a module grounded and connected to a rotor element is thus capable of displacement between a first position and a second position. The movable element can be rotatably mounted to the module, thereby rotatable between a first angular position and a second angular position, wherein the mechanism is configured such that rotation of the rotor element causes angular displacement of the movable element. In some embodiments, the movable element is rotatable about a vertical axis of rotation. In other embodiments, the movable element is rotatable about an axis extending along a horizontal direction Y between a first linear element and a second linear element. In still other embodiments, the movable element is an additional linear element capable of displacement in a horizontal direction between the first and second positions, wherein the additional linear element is connected to the rotor element by an arrangement for converting rotation of the rotor element into linear displacement.

[0013] In some embodiments, the movable element includes a surface for receiving a sample container (such as, for example, a microplate). Therefore, the module according to the invention can be used to tilt the microplate, rotate the microplate between a first angular position and a second angular position, or move the microplate between a first horizontal position and a second horizontal position by applying a downward actuating force.

[0014] In other embodiments, the movable element includes a fitting for interacting with the sample processing device. When the fitting is a rotating fitting, the module can be used to apply torque to a rotatable portion of the device, for example, by applying a downward force to, for example, a first linear element to move the rotatable portion from a closed position to an open position, and by applying a downward force to a second linear element to return the rotatable portion to a closed position. When the fitting is capable of displacement along a linear direction, the module can be used to apply a horizontal force to an actuable portion of the sample processing device, such as by operating a button.

[0015] Therefore, the sample processing system including the module according to the invention can perform a variety of operations in an automated manner by applying downward actuation force through a simple robotic arm.

[0016] In one embodiment, the rotor element of the mechanism is a toothed pinion arranged between the first and second linear elements and mounted to the module for rotatability about an axis extending along a horizontal direction Y perpendicular to the vertical direction Z. Each of the first and second linear elements is suitably provided with a rack extending along the vertical direction Z, which meshes with teeth on the outer circumference of the pinion.

[0017] In one embodiment of this implementation, the mechanism further includes a first bevel gear coupled to a pinion, and a second bevel gear arranged to be rotatable about an axis extending in the vertical direction Z and meshing with the first bevel gear. The movable element is coupled to the second bevel gear and is therefore adjustable about the vertical axis of rotation between a first angular position and a second angular position.

[0018] In another embodiment, the rotor element of the mechanism is formed of a cylindrical component, which is mounted to the module to be rotatable about a vertical axis of rotation. The cylindrical component includes: - A first slot, the first slot being disposed on the outer circumference of the cylindrical component, the first slot extending in an angular direction and a vertical direction, wherein the first linear element includes a protrusion slidably engaged in the first slot; and - A second slot, the second slot being disposed on the outer circumference, the second slot extending in an angular direction and a vertical direction, wherein the second linear element includes a protrusion slidably engaged in the second slot.

[0019] The movable element is connected to the cylindrical component and is therefore adjustable between a first angular position and a second angular position about a vertical axis of rotation.

[0020] In yet another embodiment, the module is equipped with a sprocket arrangement for converting a downward actuation force applied to one of the first and second linear elements into displacement of the movable element about a vertical rotation axis extending along the Z direction. In this case, the mechanism suitably includes: - A first sprocket, the first sprocket being mounted on the module to make it rotatable about a vertical axis of rotation, wherein the movable element is coupled to the first sprocket; - A second sprocket and a third sprocket, the second sprocket and the third sprocket being arranged relative to the horizontal direction Y between the first sprocket and the first linear element and the second linear element, and the second sprocket and the third sprocket being mounted to the module so as to be rotatable about a rotation axis extending in a horizontal direction X perpendicular to the Y and Z directions; and - A chain, wherein one end of the chain is connected to the first linear element, the opposite end is connected to the second linear element, and wherein the chain is arranged to engage with a portion of the outer circumference of each of the first sprocket, the second sprocket, and the third sprocket.

[0021] In embodiments where the movable element is rotatable about a vertical axis of rotation and includes a surface for supporting or receiving a sample carrier, the module can be used to change the orientation of the microplate. The microplate is typically rectangular in shape and may have, for example, four rows of six microwells or eight rows of twelve microwells. Therefore, the microplate can be arranged in a longitudinal or "horizontal" orientation, or a transverse or "vertical" orientation, on the work area. In some applications, it may be necessary to change the orientation of the microplate so that it can interact with another device. This other device may be, for example, a microplate reader for measuring the optical properties of the sample in the microplate wells. Using such a module in a robotic sample handling system eliminates the need for a second robotic arm equipped with a gripping unit and a rotary table for changing the microplate orientation.

[0022] In other embodiments where the movable element is rotatable about a vertical axis of rotation, the movable element may include a rotating fitting shaped to engage a rotatable cap of a microfluidic device (such as a DNA sequencing chip) disposed on the working area of ​​the sample processing system. This cap is rotatable from a closed position to an open position, in which at least one inlet port of the chip containing the sample is uncovered. In a subsequent pipetting action, a droplet can be dispensed into said at least one inlet port. Therefore, using this module according to the invention, automatic opening of the cap of the microfluidic device is achieved without a separate rotary actuator. After the dispensing action, the module can also be used to return the cap to the closed position.

[0023] In the application described above, where the module is used to change the orientation of the microplate or to open and close the cover of the DNA sequencing chip, the required angular rotation between the first and second positions is 90 degrees. The mechanism of the module is suitably configured such that displacement of either the first or second linear element from the fully raised position to the fully lowered position causes a 90-degree rotation of the movable element. The controller of the system is suitably configured to position the robotic arm above the linear element in the fully raised position and to move the arm downwards to bring the linear element to the fully lowered position by a certain amount. It will be understood that, depending on the application requirements, the mechanism may be configured to achieve different maximum angular displacements, and / or the controller may be configured to displace the raised linear element in a downward direction to achieve a certain amount of rotation of the required movable element.

[0024] The movable element can also be rotatable about a horizontal axis of rotation. In another embodiment where the mechanism includes a pinion rotatable about a horizontal axis and arranged to mesh with a rack disposed on a first and second linear element, the movable element is coupled to the pinion and is therefore adjustable between a first angular position and a second angular position. When the movable element includes a surface for receiving a sample container (such as a microplate), the module can therefore be used to tilt that surface about the axis of rotation of the pinion. This can be advantageous during pipetting operations. For microplates with large-diameter pores (such as 24-well microplates), tilting of the supporting surface can be applied to reduce “dead” volume in the pores.

[0025] As previously mentioned, the movable element can also be an additional linear element, which is mounted to the module to be displaceable back and forth in the horizontal direction. In another embodiment where the mechanism includes a pinion rotatable about an axis extending in the horizontal direction Y, the mechanism includes a second pinion coupled to the first pinion, and the additional linear element is provided with a rack extending in a direction X perpendicular to the vertical direction Z and the axis of rotation Y, which meshes with the teeth of the second pinion. Thus, a module equipped with such an additional linear element can be used to apply force in the direction Y to, for example, actuate a button on another device.

[0026] Therefore, the mechanism can include a variety of different, simple and straightforward mechanical arrangements for converting the downward actuation force applied by the robotic arm into a horizontal force or rotational torque as needed. Advantageously, the liquid handling system according to the invention can include two or more displaceable modules configured for different applications (such as those described above), thereby enabling the robotic arm to perform a variety of different operations in an automated manner.

[0027] Another aspect of the present invention provides a computer-implemented method for controlling a robotic arm of a robotic sample processing system, the robotic sample processing system including modules according to any of the embodiments described above. The method includes: controlling the controller of the robotic sample processing system... - Receive position data indicating the position of the module in the working area of ​​the robotic sample processing system; - The robot arm is positioned above the module and, when one of the first and second linear elements is in an elevated position, it is pushed downwards along the Z direction to displace the movable element from the first position to the second position; and - Control the robot arm to push down on the other of the first and second linear elements to displace the movable element from the second position to the first position.

[0028] The above measures provide a controller, configured, for example, by software, to control a robotic arm to actuate a mechanism of a module to be used in a sample processing task by pushing downward along the Z-direction. For example, this may include: the controller being configured to identify and track the position of the module in the work area, identify the type of the module, and suitably position the robotic arm above the module before controlling the mechanism to move the robotic arm downward along the Z-direction to displace one of its linear elements from a raised position to a lowered position and actuate the module. This control can be triggered as part of a series of actions the robotic arm is about to perform. In embodiments where the robotic arm includes a gripping unit, the controller may be additionally configured to pick up the module from a first position in the work area and place it in a second position. The gripping unit can also be used to apply downward actuation force to the mechanism.

[0029] In a preferred embodiment, the controller of the sample processing system is configured to apply a downward actuation force to an elevated linear element when the pipette tip is attached to the robotic arm. The pipette tip has a connector for attaching a disposable pipette tip, and the arm is controlled in a vertical direction Z such that the downward actuation force is applied via this connector. Suitably, the upper surface of each of the first and second linear elements may be provided with a recess shaped to receive the lower end of the connector.

[0030] Another aspect of the present invention provides a computer-readable medium comprising temporary or non-temporary data representing a computer program, the computer program comprising instructions for causing a processor system to perform the computer-implemented method.

[0031] Another aspect of the invention provides a module for use in a robotic sample handling system, wherein the module includes a movable element configured to interact with a sample container or sample handling device. The module further includes a mechanism capable of being actuated by applying a downward force in the vertical direction Z to displace the movable element. The mechanism includes: - A first linear element and a second linear element, the first linear element and the second linear element extending along the vertical direction Z, and the first linear element and the second linear element being mounted to the module in a manner that allows each element to move in the upward and downward directions between a raised position and a lowered position; and - A rotor element, which engages with each of the first linear element and the second linear element such that when one of the first linear element and the second linear element is in a raised position, applying a downward actuating force to that linear element results in: - The linear element is displaced in the downward direction; - The rotor element rotates; and - Another linear element is displaced in the upward direction. The movable element is connected to and grounded to the rotor element, and is capable of being displaced from a first position to a second position by actuating one of the first linear element and the second linear element, and is capable of being displaced from the second position to the first position by actuating the other of the first linear element and the second linear element.

[0032] Advantageously, the above measures allow for the automation of additional types of actions in sample processing tasks that previously might have required human intervention, or the use of specialized actuators or a second three-axis robotic arm.

[0033] Based on this specification, those skilled in the art can make modifications and variations to any of the robot sample processing systems, modules, computer implementation (CI) methods, and / or computer programs corresponding to the modifications and variations described in another of these systems, modules, computer implementation methods, and / or computer programs, and vice versa. Attached Figure Description

[0034] These and other aspects of the invention will be apparent from the embodiments described below with reference to the accompanying drawings, which will be illustrated with reference to these embodiments, wherein: Figure 1a A schematic overview of a robotic sample handling system is shown, which is configured to operate one or more modules having mechanisms capable of being actuated by downward force. Figure 1bA pipette tip is shown, which can be operated by a robotic liquid handling system using a module having a mechanism capable of being actuated by a downward force; Figure 1c An embodiment of the paddle gripper is shown; Figure 2a A first embodiment of a module according to the invention is shown, the module including a mechanism actuated by a downward force; Figure 2b It shows Figure 2a The structure of the module described in the text; Figure 3 A second embodiment of a mechanism that can be incorporated into a module according to the invention is shown; Figure 4 A third embodiment of a mechanism that can be incorporated into a module according to the invention is shown; Figure 5a A second embodiment of the module according to the present invention is shown; Figure 5b It shows Figure 5a The structure of the module described in the text; Figure 6a A third embodiment of the module according to the present invention is shown; Figure 6b It shows Figure 6a The structure of the module described in the text; Figure 7a A fourth embodiment of the module according to the invention is shown; and Figure 7b It shows Figure 7a The structure of the module described in the text.

[0035] It should be noted that items with the same reference numerals in different figures have the same structural features and the same function. If the function and / or structure of such an item has already been explained, it is not necessary to repeat the explanation in the detailed description. Detailed Implementation

[0036] Figure 1aA schematic overview of one embodiment of a robotic sample processing system 100 is shown, which includes a robotic sample processing instrument 110 and a controller 180. The robotic sample processing instrument 110, and thus the robotic sample processing system 100, includes a work area 120 for receiving samples. One embodiment of the work area is a worktable. The robotic sample processing instrument 110 also includes a robotic arm capable of being controlled by the controller 180 to be positioned in a horizontal plane parallel to the work area and along a vertical axis perpendicular to the work area. For ease of reference, this horizontal plane will be referred to as the XY plane when considering points in physical space above the work area 120 and defining them in an XYZ coordinate system, where the vertical axis or Z-axis of the coordinate system is aligned with the direction of gravity. It will be understood that while this plane may be referred to as the XY plane elsewhere, the actual control and movement of the robotic arm may occur in a different coordinate system, such as a cylindrical coordinate system. The controller 180 may be physically integrated into the robotic sample processing instrument 110, but may also be an external controller (e.g., Figure 1a (as shown), such as personal computers.

[0037] exist Figure 1a In the embodiment depicted, instrument 110 includes a pipetting robot having a channel arm 140 extending above the work area in the Y direction and mounted to the instrument frame 130 to allow displacement in the X direction. The channel arm 140 is equipped with a first pipetting channel and a second pipetting channel, each including a Z-bar 155 displaceable along a vertical Z-axis and mounted to the channel arm to allow displacement in the Y direction. For performing pipetting operations, such as... Figure 1b The pipette tip 150 shown can be attached to the Z-bar. Therefore, the Z-bar 155 of each pipetting channel can be regarded as a robotic arm, wherein the controller 180 is suitably configured to position the robotic arm 155 in the XY plane and along the Z-axis and operate the associated pipetting channel.

[0038] It will be understood that other installation configurations are possible. For example, the channel arm 140 can be positioned in both the X and Y directions within the XY plane (thus having two degrees of freedom relative to the XY plane), and the robotic sample processing system may include robotic arms configured to perform other sample processing tasks.

[0039] Robotic arms are typically equipped with end effectors for performing specific tasks. Figure 1a In this embodiment, each robotic arm 155 of the robotic sample processing instrument 110 is provided with an end effector in the form of a pipette tip. Each head includes a pipette with a connector 154 for attaching a disposable pipette tip. Figure 1aA disposable pipette tip 156 is shown mounted to one of two pipettes. To mount the pipette tip, a robotic arm 155 with the attached pipette tip 150 can be positioned above, for example, a tray containing at least one disposable pipette tip, and then lowered so that a connector 154 is inserted into the opening of the pipette tip to achieve attachment. Pipetting actions such as those commonly known in the art can then be performed.

[0040] A robotic arm 155 with an attached pipette tip 150 can also be controlled to pick up a so-called paddle gripper, which is arranged, for example, on a support (not shown) placed on the work area. Figure 1c An embodiment of a paddle gripper 160 is shown. The paddle gripper 160 has a body 162 that includes a through channel extending along a vertical Z-axis. An upper opening 164 of the through channel is adapted to receive a connector 154 of a pipette tip so that the gripper 160 can be attached when the connector 154 is pressed into the opening 164. The gripper is also provided with a gripping paddle 166 having a clamping surface 168. To facilitate support of the item during pickup, a horizontal portion 169 may be provided on the underside of the gripping paddle 166. It will be understood that the Z-bar 155 (with the attached pipette tip) of each of the first and second pipette channels can be controlled to pick up such a paddle gripper 160, and further controlled to move the paddle blades closer to and further away from each other to pick up and release an item arranged on a work area 120. The item may be a porous microplate 170, such as Figure 1a As depicted in [reference to a document]. After the gripping action, the gripping paddles can return to their supports, allowing the pipette tips to be controlled to pick up disposable pipette tips 156 for performing pipetting tasks. An embodiment of a robotic sample handling instrument including a pipetting system is described in US 111473185, the pipetting system being configured to perform pipetting and gripping actions.

[0041] Typically, upward and downward movement along the Z-axis allows a robotic arm to handle sample containers and interact with the samples within them. Depending on the task at hand and / or the sample containers being handled, additional operations may be required, such as repositioning the sample containers around the Z-axis or applying a horizontal torque or linear force to another device used in the sample handling task. These additional operations can be performed automatically using dedicated actuators and robotic arms with multiple degrees of freedom, but this increases equipment costs and the complexity of controlling various motions. Therefore, where possible, it is beneficial to use a “simple” robotic arm, such as the one described above, to perform these additional operations, but if the operation requires the robotic arm to apply force in a non-vertical direction (e.g., horizontally) to, for example, press a button or turn a handle, such operations may be difficult for the robotic arm.

[0042] The robotic sample handling system according to the invention includes a module having a movable element for interacting with a sample container or sample handling device, wherein displacement of the movable element is achieved via a mechanism actuated by applying a downward force via a robotic arm. This mechanism is configured to convert the downward force into a horizontal force or torque, and to enable the movable element to move back and forth between a first position and a second position. Figure 1a In one embodiment, the system includes three such modules 200, 500, and 600, which will be described in more detail in later paragraphs.

[0043] In some applications, the sample container may be a microfluidic device (such as a DNA sequencing chip), which is arranged on the working area 120. Typically, the chip is arranged on a support 280 placed on the working area (see [reference]). Figure 1a Importantly, this chip does not dry out, and it can be fitted with a cap that needs to be rotated from a closed position to an open position to expose the inlet port and enable droplet dispensing during automated pipetting. Figure 1a In one embodiment, module 200, shown as being arranged on work area 120, is configured to open and close such a cover. Module 200 in Figure 2a The mechanism of this module is shown in more detail below. Figure 2b As shown in the image.

[0044] The module has a frame 205 to which mechanisms and movable elements are mounted. The movable element is a rotating fitting 250, mounted to the frame for rotation about a rotation axis 255 extending in a vertical direction Z. Suitably, fitting 250 is coupled to the lower end of a vertically extending shaft 252, which is rotatably supported on the module frame 205 by bearings. The module is configured to be positioned above a microfluidic device such that the rotating fitting 250 engages with a cap of the device, which is rotatable between a closed and an open position. The underside (not visible) of the rotating fitting may include a protrusion shaped to fit into a corresponding recess in the rotatable cap. Alternatively, fitting 250 may include a recess 251 that fits over the protrusion on the rotatable cap. In one embodiment of such a microfluidic device, rotation by 90 degrees moves the cap from a closed position to an open position. It is also important to close the cap again after dispensing droplets, and the module's mechanism achieves this as well.

[0045] The mechanism includes a first linear element 210 and a second linear element 220, each mounted to a frame 205 to allow displacement along the vertical direction Z between a raised position and a lowered position. These linear elements 210, 220 may be rod-like elements extending through corresponding upper guides 261 and lower guides 262, which are fixed to the frame 205 and guide each rod along the vertical direction Z. Suitably, the upper end of each linear element may include a lip or other type of stop that prevents it from passing through the corresponding upper guide, thereby limiting the stroke of each linear element. Furthermore, the first linear element is provided with a rack 212 extending along the vertical direction Z, and the second linear element is provided with a corresponding rack (not visible). The mechanism also includes a rotor element functioning as a pinion 230, mounted to the frame 205 to rotate about a rotation axis 235 extending along the horizontal direction Y. Suitably, the pinion 230 is coupled to a horizontally extending shaft 232, which is rotatably supported on the frame by bearings. A pinion is arranged between a first linear element 210 and a second linear element 220 such that the linear teeth of a corresponding rack 212 mesh with the teeth of a pinion 230 on its outer circumference, wherein the rack is exposed in the region between a corresponding upper guide 261 and a lower guide 262.

[0046] Suitably, linear elements 210, 220 and the first pinion 230 are further arranged such that when one of the first and second linear elements is in a fully raised position, the other is in a fully lowered position. Therefore, when one of these linear elements is in the raised position, applying a downward force to it causes displacement of that linear element in the downward direction, which in turn causes rotation of the pinion 230 and displacement of the other linear element in the upward direction. To convert the rotation of the pinion 230 about an axis 235 extending in the Y direction into rotation of the fitting 250 about an axis 255 extending in the Z direction, the mechanism further includes a first bevel gear and a second bevel gear arranged perpendicularly to each other. The first bevel gear 241 is coupled to a horizontal shaft 232, and the second bevel gear 242 is coupled to a vertical shaft 252, such that the teeth of each bevel gear mesh with each other. Thus, by actuating one of the linear elements in the raised position, the rotating fitting 250 can be rotated from a first angular position to a second angular position, and by actuating the other linear element, rotated back from the second angular position to the first angular position. In the depicted embodiment, the mechanism is configured such that any linear element displaces from the fully raised position to the fully lowered position, causing the fitting 250 to rotate 90 degrees, thereby enabling the opening and closing of the microfluidic device's cover as described above. It will be understood that in applications requiring smaller or larger angular displacements, the engagement length of the rack 212 and / or the number of teeth on the pinion 230 can be adjusted accordingly.

[0047] exist Figure 2a and Figure 2b In the diagram, the module and mechanism are shown in such a configuration that the second linear element 220 is in a raised position and can be pressed down to rotate the fitting 250. Preferably, as Figure 2a and Figure 2b As shown, this is accomplished using a pipette tip 150 of a robotic arm attached to the system. Advantageously, the top surface of each linear element may be provided with a recess 215 (as seen for the first linear element 210), wherein the recess 215 is shaped to receive the lower end of the connector 154 of the pipette, thereby enhancing the stability of force transmission.

[0048] In the applications described above, pipette tip 150 can also be used to pick up the pipette tip, aspirate liquid, and then dispense droplets into the uncovered inlet port of the microfluidic device. Therefore, Figure 2a In the embodiments depicted, the module 200 for automatically opening and closing the cap needs to be placed above the microfluidic device, operated to open and close the cap, and needs to be removed from the device to enable the dispensing action.

[0049] After the microfluidic device has been placed on the work area 120, the controller 180 of the robotic sample processing system 100 is configured to control and position the robotic arm so that the following steps can be performed: - Pick-up module 200 is placed above the microfluidic device such that rotating fitting 250 engages with rotatable cap, wherein the cap is in the closed position; - Pressing one of the first linear element 210 and the second linear element 220, which are arranged in the raised position, downwards via the pipette tip connector 154 causes the fitting 250 and the cap to rotate to the open position; - Pick up the module and place it at the location where it has been removed from the microfluidic device; - Dispense droplets into the inlet port of the microfluidic device; - Pick up the module from its removed location and reposition it above the device so that accessory 250 engages with the cover; and - Press down the other of the first and second linear elements, which are now in the raised position, to rotate the cover back to the closed position.

[0050] Therefore, the system equipped with module 200 enables the automation of the described sample processing tasks, thereby improving accuracy and repeatability. Furthermore, the operation of opening and closing the rotatable cap of the microfluidic device can be performed by controlling the position of the robotic arm along the Z-axis, without requiring a separate rotary actuator.

[0051] In the described embodiments, such as Figure 1aThe illustrated robotic sample processing system is equipped with a channel arm 140 having a first pipetting channel and a second pipetting channel, wherein when a paddle gripper 160 is attached to each end effector acting as a pipetting tip 150, the Z-bar 155 of each channel is controlled to pick up and place the module 200. To perform a pipetting action, at least one gripper is released and a disposable pipette tip 156 is picked up. It will be understood that the channel arm 140 may be equipped with a plurality of pipetting channels, wherein the gripping action is performed, for example, by controlling and positioning two pipette tips with attached grippers 160, while a third pipette tip is controlled and positioned to operate the mechanism, and a fourth pipette tip is controlled and positioned to pick up a disposable pipette tip and perform a pipetting action. Several different configurations are possible. The channel arm may also be equipped with a dedicated gripping unit. In other embodiments, the sample processing system may be equipped with a second three-axis robotic arm having gripping units controlled to pick up and place modules.

[0052] For ease of pickup, the upper end of the module frame 205 may suitably include opposing flat surfaces 206 oriented in the X direction based on the depicted XYZ coordinate system, said opposing flat surfaces 206 being disposed on the support rod 207. Advantageously, the support rod 207 may have a bottom side facing the working area for receiving, such as Figure 1c The horizontal portion 169 of the paddle gripper shown.

[0053] exist Figure 2a In the depicted embodiment, the lower surface of the module frame 205 has extensions 208 (only one of which is visible) on opposite sides along the X direction. For example... Figure 1a As shown, the bracket 280 may include an opening for receiving each extension 208, such that the module 200 is securely positioned on the working area 120 and cannot slide, for example, in the XY plane.

[0054] The mechanism of the module according to the invention can be equipped with other types of mechanical arrangements for converting downward actuation force into rotation of movable elements. Figure 3 An alternative arrangement is shown, in which the movable element is again a rotating fitting for opening and closing the cover of the microfluidic device as described above.

[0055] Mechanism 300 includes a first linear element 310 and a second linear element 320, which are mounted to a module frame (not shown) to allow displacement along the vertical direction Z between a raised position and a lowered position. The rotor element in the depicted arrangement is a cylindrical component 330, which is mounted to the frame to rotate about a vertical axis of rotation 255 extending along the Z direction. A rotating accessory 250 is coupled to the cylindrical component and rotates with it.

[0056] Component 330 has an outer cylindrical surface 335 in which a first angular slot and a second angular slot are provided. The first slot 331 extends from the upper region of the cylindrical surface 335 in a downward direction and a first angular direction to its lower region. The second slot 332 is provided on the opposite circumferential side and extends from the upper region of the cylindrical surface 335 in a downward direction and a second angular direction to its lower region.

[0057] To achieve rotation of the cylindrical component 300, the lower end of the first linear element 310 is provided with a protrusion 311 that slidably engages in the first slot 331, and the lower end of the second linear element 320 is provided with a protrusion 322 that slidably engages in the second slot 332. In the figure, the first linear element is in an elevated position, and its protrusion is located at the upper end of the first slot 331, corresponding to a first angular position of the cylindrical component 330. The second linear element 320 is in a lowered position, and its protrusion 322 is located at the lower end of the second slot 332 at this first angular position. A downward actuating force applied to the first linear element 310 (indicated by arrow 315) causes the first linear element to move downwards, which causes the cylindrical component 330 to rotate toward a second angular position as its protrusion 311 moves toward its lower end along the path of the first slot 331. Furthermore, the rotation of the cylindrical component causes the protrusion 322 of the second linear element 320 to move upwards along the path of the second slot 332, and thus toward the upper end of the second slot. When the cylindrical component is in the second angular position, it can be returned to the first angular position by applying a downward actuating force to the second linear element 320 (as indicated by arrow 325).

[0058] Therefore, the cylindrical component and the rotating fitting can rotate back and forth between a first angular position and a second angular position, as indicated by arrow 345. In the depicted arrangement, displacement of either linear element from the raised position to the lowered position causes the cylindrical component to rotate within a 90-degree angular range, allowing fitting 250 to open and close the cap of the microfluidic device in the applications described above. In other applications requiring smaller or larger rotation angles, the angular ranges of the first and second slots can be adjusted as needed.

[0059] As previously mentioned, the linear elements can be rod-shaped components that can slide within the upper guide 261 and lower guide 262 fixed to the frame. Since it is not necessary to provide racks for these linear elements to mesh with pinions, the frame may also include tubes or cylindrical openings for receiving and guiding the respective linear elements.

[0060] Figure 4 Another embodiment of a mechanism that can be applied to convert a downward force into rotation of a movable element about a vertical axis of rotation is shown. The movable element of this module is again used for opening and closing, such as a reference... Figure 2a and Figure 2b Rotating fitting 250 for the cap of the described microfluidic device.

[0061] Mechanism 400 includes a first linear element 410 and a second linear element 420, which are mounted to a module frame (not shown) to allow displacement between a raised position and a lowered position. The mechanism also includes a sprocket arrangement and a first sprocket 430, which is mounted to the module frame (not shown) to be rotatable about a vertical axis of rotation 255 extending in the Z direction. A rotating accessory 250 is coupled to and rotates with the first sprocket 430. The arrangement also includes a second sprocket 432 and a third sprocket 433, which are mounted to the frame to be rotatable about a horizontal axis of rotation 435 extending in the X direction. In the depicted coordinate system, the second and third sprockets are arranged between the first sprocket and the first and second linear elements relative to the Y direction.

[0062] The chain 440 with sprockets arranged can be a ball chain as depicted in the illustrated embodiment, or a link chain. One end of the chain 440 is fixed to the lower end of a first linear element 410. The opposite end of the chain is fixed to the lower end of a second linear element 420. The lower end of each linear element may include corresponding feet 412, 422 extending slightly in the Y direction, to which the corresponding end of the chain is attached. Each sprocket has a recess on its outer circumference to receive balls of the depicted ball chain. In other embodiments, the sprockets may be provided with teeth or protrusions for receiving links of the link chain. The chain wraps around the first sprocket 430 and around the second and third sprockets, such that... Figure 4 As shown, when the second linear element 420 is in the raised position, applying a downward actuating force (as indicated by arrow 325) causes the first sprocket 430 and the rotating accessory 250 to rotate from the first angular position to the second angular position. The first linear element 410 is pulled upward from its lowered position to its raised position, and applying a downward actuating force to the first linear element (as indicated by arrow 315) enables the rotating accessory 250 to return to the first angular position.

[0063] Therefore, the rotatable cap of the microfluidic device described above can be moved from the closed position to the open position and back to the closed position.

[0064] In other embodiments, the movable element of the module includes a surface for receiving a sample container (such as, for example, a microplate), thereby enabling the sample container to be moved between a first position and a second position by applying a downward actuating force. One embodiment of such a module is depicted in... Figure 5a and Figure 5b Among them Figure 5a The module is shown as a whole actuated by the pipette head connector 154, and Figure 5b The module with the housing portion removed is shown so that the mechanism is visible.

[0065] Module 500 includes a base 505, which can be placed in a robotic sample handling system (such as...) Figure 1a The module also includes a platform 550 mounted to a base, which is pivotable about an axis 235 extending along a horizontal direction Y perpendicular to the vertical direction Z. In the depicted embodiment, the platform 550 is configured to support or receive a porous microplate 170 used in pipetting operations and is pivotable between a first position and a second position. The mechanism for converting downward actuation force into rotation about axis 235 includes a rack and pinion arrangement similar to the reference design. Figure 2a and Figure 2b The mechanism is described. The first linear element 210 and the second linear element 220 are provided with corresponding racks 212 and 222, which mesh with the teeth of a pinion 230. The pinion 230 is suitably mounted on a shaft 552, which is rotatably supported on the module by bearings, wherein a platform 550 is coupled to and rotates with the shaft 552. It will be understood that the module also includes a housing portion 507 to which upper and lower guides are fixed for receiving and guiding each linear element 210, 220 between a raised position and a lowered position.

[0066] Therefore, as Figure 5a The depicted module can tilt to receive a microplate 570 on a pivotable platform 550 by applying a downward force to one of the first and second linear elements when the first and second linear elements are in an elevated position. The system's robotic arm (e.g., with an attached pipette tip) is suitably controlled to tilt the elevated linear element (e.g., ...) Figure 5b The first linear element 510 shown is displaced downwards by a certain amount, causing the platform to pivot about axis 235, for example, by 20-45 degrees. This helps reduce so-called dead volume, which refers to the residual volume of liquid remaining in the wells of the microplate, or wasted volume, which cannot be used in the application due to the risk of air intake. High dead volume may be undesirable when handling valuable liquids such as enzyme or antibody solutions. Typically, the microplate is supported on the working area in a horizontal XY plane. The geometry of the wells is a major factor affecting dead volume. Relatively deep and tapered wells may have relatively low dead volume. In applications where the microplate wells are shallow and have relatively large diameters, such as in 24-well microplates, the dead volume will be greater. Therefore, tilting such a microplate increases the usable liquid depth and reduces dead volume. After automated pipetting is complete, by adjusting another linear element (in... Figure 5bIn one embodiment, the second element 220 applies a downward force, and the platform 550 is suitably restored to a horizontal position so that the microplate 170 can be reliably picked up, for example, by a clamping paddle.

[0067] In another embodiment of the module according to the invention, the movable element is a platform for receiving a sample container (such as a microplate), and the mechanism is configured to allow rotation of the platform about a vertical axis of rotation. One embodiment of such a module is depicted in... Figure 6a In the middle, the institution is shown in Figure 6b middle.

[0068] Module 600 includes a base 605, which can be placed on the working area of ​​a robotic sample processing system (such as...). Figure 1a (As shown). A platform 550 for receiving, for example, a microplate 170, is rotatably supported on a base 605 so that it is rotatable about a vertical axis of rotation 255. The mechanism of module 600 is in accordance with reference to... Figure 2a and Figure 2b The same principle of operation is described, and includes the arrangement of a first linear element 210 and a second linear element 220 with corresponding racks 212 and 222, a pinion 230, and a first bevel gear and a second bevel gear. The first bevel gear 241 and the pinion 230 are mounted to a base 605 so that they are rotatable about a horizontal axis 235 perpendicular to the vertical direction Z. A platform 550 is connected to a second bevel gear 242, which is mounted to the base so that it is rotatable about a vertical axis 255, wherein the teeth of the second bevel gear mesh with the teeth of the first bevel gear.

[0069] exist Figure 6b In the diagram, platform 550 is shown at a first angular position, with the first linear element 210 in an elevated position and the second linear element 220 in a lowered position. Applying a downward actuation force to the first linear element 210 displaces it to the lowered position, causing platform 550 to rotate to a second angular position and causing the second linear element 220 to displace from the lowered position to the elevated position. Suitably, the mechanism is configured such that displacement of either linear element from the elevated position to the lowered position causes platform 550 to rotate by 90 degrees. This allows for alteration of the orientation of the microporous plate 170.

[0070] Microplates used in pipetting operations are typically rectangular in shape. In the depicted embodiment, microplate 570 is a 96-well plate comprising 8 rows and 12 columns of wells. In some applications, the sample processing system can be configured to perform pipetting operations when the microplate is longitudinally oriented in the working area. This is referred to as horizontal orientation. For the microplate to interact with another device, it may be necessary to change the orientation of the microplate to vertical orientation by rotating it 90 degrees. Another embodiment of the device is a microplate reader for detecting the optical properties of fluids, which is arranged sideways relative to the robotic sample processing instrument.

[0071] A known method for automating this process is to use a gripper that can rotate about a vertical axis. However, in many systems, the robotic arm is not equipped with a rotary table. Therefore, the receiving position can be changed by applying a downward actuation force, for example, through a connector 154 attached to a pipette tip of a "simple" robotic arm. Figure 6a The angular position of a microplate or other laboratory equipment item on platform 550 of module 600 is shown. It will be understood that the mechanism used in such a module may alternatively include cylindrical components with angular slots or sprocket arrangements, such as those referenced respectively. Figure 3 and Figure 4 As described.

[0072] In yet another embodiment, the module according to the invention is equipped with a movable element capable of displacement between a first position and a second position in a horizontal direction. An embodiment of such a module is shown in… Figure 7a In the middle, the relevant institutions showed in Figure 7b middle.

[0073] The module in the depicted embodiment has a frame 705, which is similar in shape to the reference frame. Figure 2a and Figure 2b The implementation described is similar to the framework and also includes a first linear element 210 and a second linear element 220 mounted to the frame 705 in a similar manner. The mechanism includes a first pinion 730 arranged to mesh with a corresponding rack 212 of the linear element, such that displacement of either element in the vertical direction Z causes rotation of the first pinion 730 and the shaft 733 on which it is mounted. The mechanism also includes a second pinion 732 mounted on the same shaft 733 and rotating therewith about a rotation axis 235 extending in the horizontal direction Y. A movable element is an additional linear element 750 mounted to the frame 705 to allow displacement in the horizontal direction X, perpendicular to the rotation axis 735. This additional linear element is slidably received in a first guide 761 and a second guide 762 spaced apart from each other in the X direction and suitably provided with a rack 752 that meshes with the teeth of the second pinion 732.

[0074] As shown in the figure, the pipette tip connector 154 can be used to apply a downward actuating force to the second linear element 220 in the raised position, which causes the additional linear element 750 to move in the direction indicated by arrow 770. Therefore, a horizontal force can be applied to a button on a device, for example, arranged next to module 700 in the work area, thereby activating the device.

[0075] Therefore, the module according to the invention enables the execution of various movements by controlling the downward movement of a simple robotic arm.

[0076] Generally, a controller can be configured, for example through hardware design or software, to perform the operations related to the control of the robotic arm described in this specification. The controller may be implemented by an external computer (e.g., a PC, laptop computer, or workstation) connected to the robotic sample processing instrument via a communication interface (such as a USB interface or any other serial or parallel interface, local network interface, or personal network interface), to which the robotic arm is attached. Here, the adjective "external" may mean that the controller is not part of the robotic sample processing instrument. In some other embodiments, the controller may be implemented by an embedded computer, which may be part of the robotic sample processing instrument.

[0077] Generally, a controller may include one or more (micro)processors that execute appropriate software, such as one or more x86- or ARM-based processors (CPUs), but may also include combinations or systems of such processors and / or other types of processing units. The software implementing the controller's functionality may already be stored in appropriate memory (e.g., in volatile memory such as RAM) or in non-volatile memory such as Flash. Alternatively, the controller's functionality may be implemented in the form of programmable logic, such as in a field-programmable gate array (FPGA). Generally, a controller may be implemented as a single circuit or a combination of circuits. Generally, a controller may be implemented in a distributed manner, for example, distributed across different servers or according to a client-server model. A controller may also be implemented remotely, for example, by control software running on one or more cloud-based servers.

[0078] Note that any computer-implemented method described in this specification (e.g., in any claim) may be implemented as software, dedicated hardware, or a combination of both. Computer instructions (e.g., executable code) may be stored on a computer-readable medium, for example, as a series of machine-readable physical symbols and / or as a series of elements having different electrical (e.g., magnetic) or optical properties or values. Executable code may be stored in a transient or non-transient manner. Embodiments of computer-readable media include memory devices, optical storage devices, integrated circuits, etc.

[0079] It should be noted that the embodiments mentioned above are illustrative and not limiting of the invention, and those skilled in the art can devise many alternative embodiments.

Claims

1. A robotic sample processing system (100) for performing sample processing tasks in a laboratory environment, comprising: - Working area (120) for accommodating samples; - Robotic arm (155), which can be controlled to be positioned in the XY horizontal plane parallel to the working area and along the vertical Z axis perpendicular to the working area; - Controller (180), the controller being configured to control the robotic arm to locate and manipulate the robotic arm as part of a sample processing task; The working area includes modules (200, 500, 600) equipped with movable elements (250, 550, 750) for interacting with a sample container (170) or a sample processing device, and the modules include mechanisms actuated by a downward force. The mechanism is characterized in that it comprises: - A first linear element (210, 310, 410) and a second linear element (220, 320, 420), the first and second linear elements extending in the vertical direction Z, and the first and second linear elements being mounted to the module in a manner that allows each linear element to move in the downward and upward directions between a raised and a lowered position; and - At least one rotor element (230, 330, 430, 730), said at least one rotor element engaging with each of the first linear element and the second linear element, such that when one of the first linear element and the second linear element is in a raised position, a downward force is applied to that linear element, resulting in: - The linear element is displaced in the downward direction; - The at least one rotor element rotates; and - Another linear element is displaced in the upward direction. The movable element (250, 550, 750) is grounded and connected to the rotor element and mounted to the module to enable it to displace between a first position and a second position, and the controller (180) is configured to control the robot arm (155) to actuate the mechanism and displace the movable element by pushing the linear element downward in the Z direction when one of the first linear element and the second linear element is in the raised position.

2. The robotic sample processing system (100) according to claim 1, wherein the movable element (250, 550) is mounted to the module to rotate about a vertical rotation axis (255) extending in the vertical direction Z.

3. The robotic sample processing system (100) according to claim 1, wherein the movable element (550) is mounted to the module to rotate about a rotation axis (235) extending along the horizontal direction Y between the first linear element and the second linear element.

4. The robotic sample processing system according to any one of the preceding claims, wherein: - The rotor element of the mechanism is a toothed pinion (230, 730), which is mounted to the module (200, 500, 600) to rotate about an axis (235) extending along a horizontal direction Y perpendicular to the vertical direction Z; and - Each of the first linear element and the second linear element is provided with a rack (212, 222) extending in the vertical direction Z, the rack meshing with the teeth on the outer circumference of the pinion.

5. The robotic sample processing system (100) according to claim 4 of claim 2, wherein the mechanism further comprises: - First bevel gear (241), which is connected to the pinion (230); - and a second bevel gear (242), which is arranged to rotate about an axis (255) extending in the vertical direction Z, and is further arranged to mesh with the first bevel gear; And the movable element (250, 550) is connected to the second bevel gear.

6. The robotic sample processing system (100) according to claim 2, wherein the rotor element of the mechanism (300) is formed of a cylindrical component (330), the cylindrical component being mounted to the module to rotate it about a vertical axis of rotation (255), and wherein the cylindrical component comprises: - A first slot (331), the first slot being disposed on the outer circumference (235) of the cylindrical component, the first slot extending in an angular direction and a vertical direction, wherein the first linear element (310) includes a protrusion (311) slidably engaged in the first slot; and - A second slot (332) is disposed on the outer circumference and extends in the angular and vertical directions, wherein the second linear element (320) includes a protrusion (322) slidably engaged in the second slot. - And wherein the movable element (250) is connected to the cylindrical component (330).

7. The robotic sample processing system (100) according to claim 2, wherein the mechanism (400) comprises: - A first sprocket (430), the first sprocket being mounted to the module to rotate about a vertical axis of rotation (255), wherein the movable element (250) is coupled to the first sprocket; - A second sprocket and a third sprocket (432, 433), the second sprocket and the third sprocket being arranged relative to the horizontal direction Y between the first sprocket and the first linear element and the second linear element (410, 420), and the second sprocket and the third sprocket being mounted to the module to rotate about a rotation axis (435) extending along a horizontal direction X perpendicular to the Y and Z directions; and - A chain (440), wherein one end of the chain is connected to the first linear element (410) and the opposite end is connected to the second linear element (420), and wherein the chain is arranged to engage with a portion of the outer circumference of each of the first sprocket, the second sprocket and the third sprocket.

8. The robotic sample handling system (100) according to claim 4 of claim 3, wherein the movable element (550) is rotatably coupled to the pinion (230).

9. The robotic sample processing system (100) according to any one of the preceding claims, wherein the movable element (550) of the module (200, 500, 600) is a platform for supporting or receiving a sample container such as a microplate (170).

10. The robotic sample processing system according to any one of claims 1 to 8, wherein the movable element is a rotating fitting (250) shaped to engage with a rotatable portion of the sample processing device.

11. The robot processing system according to claim 4 of claim 1, wherein the movable element is an additional linear element (750) mounted to the module to enable it to move back and forth in the horizontal direction X, and wherein: - The mechanism further includes a second pinion (732) connected to the first pinion (730); and - The additional linear element (750) is provided with a rack (752) extending in the direction X, the rack meshing with the teeth of the second pinion (732).

12. The robotic sample processing system (100) according to any one of the preceding claims, wherein the robotic arm (155) includes a pipette tip (150) having a connector (154) for attaching a disposable pipette tip, and wherein the controller (180) is configured to control the robotic arm (155) to actuate the modules (200, 500, 600) via the connector.

13. A computer-implemented method for controlling a robotic arm (155) of a robotic sample processing system (100) according to any one of claims 1 to 12, the method comprising: Through the controller (180) of the robot sample processing system. - Receive position data indicating the position of the modules (200, 500, 600) in the working area (120) of the robotic sample processing system; - Control the robotic arm (155) to position the robotic arm above the module, and push the linear element downward in the Z direction when one of the first linear element and the second linear element (110, 210, 310; 220, 320, 420) is in the raised position, so that the movable element (250, 550, 750) is displaced from the first position to the second position; as well as - Control the robot arm to push down on the other of the first linear element and the second linear element, so that the movable element is displaced from the second position to the first position.

14. A computer-readable medium comprising temporary or non-temporary data representing a computer program, the computer program comprising instructions for causing a processor system to perform the method of claim 13.

15. A module (200, 500, 600) for use in a robotic sample handling system (100), wherein the module includes movable elements (250, 550, 750) configured to interact with a sample container (170) or a sample handling device, the module further comprising a mechanism capable of being actuated by applying a force downward in the vertical direction Z to achieve displacement of the movable elements, characterized in that, The institutions include: - A first linear element (210, 310, 410) and a second linear element (220, 320, 420), the first and second linear elements extending in the vertical direction Z, and the first and second linear elements being mounted to the module in a manner that allows each element to move in the upward and downward directions between a raised position and a lowered position; and - Rotor elements (230, 330, 430, 730), said rotor elements engaging with each of the first linear element and the second linear element such that when one of the first linear element and the second linear element is in a raised position, a downward actuating force is applied to that linear element, resulting in: - The linear element is displaced in the downward direction; - The rotor element rotates; and - Another linear element is displaced in the upward direction. The movable element is connected to and grounded to the rotor element, and is capable of being displaced from a first position to a second position by actuating one of the first linear element and the second linear element, and is capable of being displaced from the second position to the first position by actuating the other of the first linear element and the second linear element.

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