Autosampler system with dual rotational axis uncapping

Abstract

This invention describes a system and method for automatically removing a cap using an automated sampler system. In one embodiment, an automated sampler system includes (but is not limited to) a sample holder; a sample container stabilizer configured to transition the sample holder between a loading / unloading state and a locked state; a cap opener supported by a first z-axis support; and a sample probe supported by a second z-axis support, wherein the cap opener is configured to remove a cap from a sample container held by the sample holder when the sample holder is in the locked state, and wherein the cap opener is configured to change the position of the removed cap to allow the sample probe to access the interior of one of the sample containers without removing the sample container from the sample holder.

Description

[Previous Technology]

[0001] In many laboratory settings, it is often necessary to analyze large numbers of chemical or biochemical samples at once. To streamline these procedures, sample handling has been mechanized. This mechanized sample introduction usually refers to autosampler, which is performed using an autosampler or autosampler device. [Summary of the Invention]

[0002] This invention describes a system and method for automatically removing a cap using an autosampler system. In one embodiment, an autosampler system includes (but is not limited to) a sample holder; a sample container stabilizer configured to transition the sample holder between a loading / unloading state and a locked state; a cap opener supported by a first z-axis support; and a sample probe supported by a second z-axis support, wherein the cap opener is configured to remove a cap from a sample container held by the sample holder when the sample holder is in the locked state, and wherein the cap opener is configured to change the position of the removed cap to allow the sample probe to access the interior of one of the sample containers without removing the sample container from the sample holder.

[0003] In one embodiment, an automated sampler system includes (but is not limited to): a sample holder; a sample container stabilizer configured to transition the sample holder between a loading / unloading state and a locked state; a cap opener supported by a first z-axis support; the cap opener including a cap opener body and a cap interface rotatably coupled to the cap opener body, the cap opener body being coupled to the first z-axis support; a sample probe supported by a second z-axis support; and a motor system configured to... At least rotational and translational motions are provided to each of the first and second z-axis supports, wherein the cap opener is configured to remove a cap from a sample container held by the sample holder via an interaction between the cap interface and the cap when the sample holder is in the locked state, and wherein the cap opener is configured to change the position of the removed cap via rotational motion of the cap opener body to allow the sample probe to access the interior of one of the sample containers without removing the sample container from the sample holder.

[0004] This [Summary] provides a simplified description of one of the concepts that will be further described in the following [Implementations]. This [Summary] is not intended to identify key or essential features of the claimed object, nor is it intended to be used as an aid in determining the scope of the claimed object.

Implementation Method

[0016] Cross-Reference to Related Applications This application claims a claim under 35 USC §119(e) to U.S. Provisional Application No. 63 / 208,302, filed June 8, 2021, entitled “AUTOSAMPLER SYSTEM WITH DUAL ROTATIONAL AXIS UNCAPPING”. The entire contents of U.S. Provisional Application No. 63 / 208,302 are incorporated herein by reference.

[0017] Overview: An autosampler or autosampler may support a sample probe relative to a vertically oriented rod that can move the sample probe along or across one or more directions of movement. For example, the sample probe may be connected by a probe support arm or other means to a vertically movable portion of the rod to move the probe in a vertical direction, such as positioning the probe in a sample container (e.g., a tube or other container), rinsing container, standard chemical container, dilution container, or the like, on a cover of the autosampler. In other cases, the rod may be rotated to facilitate movement of the probe about a horizontal plane, such as positioning the probe above other sample containers and other containers on a cover.

[0018] The sample container positioned on the cover can be supported by a sample rack or sample holder to position the sample container in discrete locations for retrieval by a sample probe. The sample container can be covered by a lid, cover, partition, or other structure to prevent external contamination of the sample held within the sample container, to prevent partial evaporation or other removal of the sample from the sample container, to provide isolation between nearby individuals (e.g., laboratory staff) and potentially hazardous materials contained in the sample container, and the like. To allow the sample probe to interact with the sample contained within the sealed sample container, the sample probe can remove or puncture the sealing device (e.g., lid, cover, partition, etc.). For example, an automated lid removal system removes a sealed sample container from a sample rack and repositions the sealed sample container at a lid-opening station away from the sample rack to remove the lid or other seal. The exposed sample container can then be returned to the sample rack or a different sample rack to add or remove material from the sample container. Each time a sealed or unsealed sample container is moved, the risk of analytical errors or safety issues increases. For example, a sample container may be moved to an incorrect sample rack, may be mislabeled, may be contaminated by an incorrect substance added to the sample container, may be contaminated by an environmental pollutant, or may expose potentially hazardous materials to nearby individuals and similar persons.

[0019] Therefore, a system and method for automatically removing a cap using an autosampler system are disclosed. In one embodiment, an autosampler system includes a sample container support structure having a sample container stabilizer having a locking state to lock the sample container in place at the autosampler system and a loading / unloading state to allow the sample container to be introduced or removed from the sample container support structure. The autosampler system also includes a cap opener and a sample probe support positioned to receive the sample container held in the sample container support structure. The cap opener is configured to remove a cap, cover, or other seal from the sample container when the sample container stabilizer is in the locked state to remove the cap without removing the sample container for transport to a separate cap opening station. When the cap is removed, the sample probe support can move a sample probe to a position inside or above the sample container to add material to or remove material from the sample container (e.g., when the sample container is held in the same position in the sample container support as when the cap opener interacts with the sample container). In one embodiment, the cap opener and sample probe support are coupled to a separate vertical support that provides one or more of the rotational, lateral, and vertical movement of their respective structures. In another embodiment, the separate vertical support is moved via a separate motor bracket that moves the vertical support through a common track system formed by a cover plate of an autosampler system.

[0020] Referring to Figures 1A to 7B, an autosampler system ("System 100") for automatically removing caps and introducing sample probes according to an exemplary embodiment of the present invention is illustrated. System 100 typically includes a sample holder 102, a sample container stabilizer 104, a cap opener 106, a sample probe 108, and a system controller 110. The sample holder 102 defines a plurality of apertures 112 (e.g., shown in Figures 6A and 6B) to receive a plurality of sample containers 114 into their respective apertures 112. The sample holder 102 provides a stabilizing platform to support the sample containers 114 on a cover plate 116 of System 100 that can receive the cap opener 106 and the sample probe 108. The sample containers 114 may include (but are not limited to) test tubes, vials, bottles, and other containers to hold solid, liquid, fluid, and other sample materials. For example, sample container 114 is shown in FIG1 as a sample bottle having a corresponding cap 118 rotatably fixed to the bottle (such as through complementary threads or other fixing structures). However, system 100 is not limited to the cap and bottle configuration of sample container 114 and can support various configurations of sample container 114.

[0021] The cap opener 106 typically includes a z-axis support 120, a cap opener body 122, and a cap interface 124. The z-axis support 120 provides rotational, translational, and vertical movement of the cap opener body 122 relative to the cap plate 116 of the system 100. In an embodiment, the z-axis support 120 is driven by a first bracket 126 that provides vertical and rotational movement of the z-axis support 120 and also provides translational movement of the z-axis support 120 through a channel 128 formed through the cap plate 116 of the system 100. The cap opener body 122 is coupled to each of the z-axis support 120 and the cap interface 124 such that the movement of the z-axis support 120 translates to each of the cap opener body 122 and the cap interface 124 to position the cap interface 124 relative to the cap 118 of the sample container 114 held by the sample holder 102. Sample probe 108 typically includes a z-axis support 130, a probe support arm 132, and a probe 134. In an embodiment, the z-axis support 130 is driven by a second bracket 136 that provides vertical and rotational movement of the z-axis support 130 and also provides translational movement of the z-axis support 130 through a channel 128 formed by the cover plate 116 of the system 100. The probe support arm 132 is coupled to each of the z-axis support 130 and the probe 134 such that movement of the z-axis support 130 is transferred to each of the probe support arm 132 and the probe 134 to position the probe 134 relative to the sample container 114 held by the sample holder 102 (e.g., once the cover 118 is removed by the opener 106, to introduce or remove fluid from one of the sample containers 114) to position the probe 134 in a rinsing station or other part of the system 100 and the like. U.S. Patent Applications Nos. 14 / 525,531 and 17 / 208,136 provide exemplary embodiments of bracket-driven z-axis supports 120 and 130, the entire contents of which are incorporated herein by reference.

[0022] Referring to Figures 3 to 5, the figures illustrate a procedure for removing a cap 118 from a sample container 114 via a cap opener 106 according to an exemplary embodiment. System 100 positions the z-axis support 120 such that the cap interface 124 is positioned above the desired sample container 114 and lowers the cap interface 124 (e.g., via lowering the cap opener body 122 along the z-axis support 120) to bring it close to the cap 118 of the desired sample container 114. For example, system controller 110 may access a sampling schedule to determine which bottle contains the next sample for analysis and position the cap interface 124 above the sample container 114 holding the next sample (e.g., via an indicator or other positioning system). In an embodiment, the cap interface 124 defines at least a portion of the cap 118 that mates therein to provide a physical interaction between an inner surface 302 of the inner region 300 and an outer surface of the cap 118. For example, the cover interface 124 may include one or more protrusions, ridges, surface features or similar features extending from or forming a portion of the inner surface 302 corresponding to or interacting with an outer surface of the cover 118, one or more protrusions, ridges, surface features or similar features or combinations thereof of the cover 118. For example, FIG3 shows an inner surface 302 of the cover interface 124 including a protrusion 304 positioned to contact a protrusion 306 on an outer surface of the cover 118, such that rotation of the cover interface 124 causes the protrusion 304 to physically contact the protrusion 306 to correspondingly rotate the cover 118.

[0023] In one embodiment, the cap opener body 122 houses a motor to provide rotation of the cap interface 124, wherein rotation of the cap interface 124 provides a corresponding rotation of the cap 118 to loosen or tighten the cap 118 relative to the sample container 114. A user can set a maximum torque value to be applied to the cap 118 (e.g., via a user interface communicatively coupled to the system controller 110) to prevent the cap 118 from rotating after a torque is reached or exceeded. For example, the system 100 may include a torque sensor (e.g., coupled to the cap opener 106) to monitor the torque applied to the cap 118, wherein after sensing a torque that meets or exceeds the maximum torque value, the system 100 stops the rotation of the cap interface 124 (e.g., to prevent damage to the sample container 114, the cap 118, etc.).

[0024] In one embodiment, the cap opener 102 includes a vacuum structure 138 positioned within the cap interface 124 to create a vacuum on the cap 118 to hold the loose cap 118 within the cap interface 124. For example, the vacuum structure 138 may hold a loose cap 118 within the cap interface 124 during an upward movement of the cap opener 106 (e.g., as shown in FIG. 5) to remove the cap 118 from the sample container 114. The cap opener 106 may then position the removed cap 118 away from the sample container 114 for access by the sample probe 108 to the interior of the sample container 114. For example, the z-axis support 120 can rotate the cap opener body 122 away from the vertical axis of one of the sample containers 114 so that the removed cap 118 is away from one of the openings in the sample container 114 to allow the sample probe 108 to be introduced into one of the sample containers 114 without being obstructed by the cap 118.

[0025] In one embodiment, the cap opener 106 includes a vacuum sensor configured to record the presence of cap 118 relative to cap interface 124, the absence of cap 118 relative to cap interface 124, or combinations thereof. The vacuum sensor may generate a sensing signal to indicate the presence or absence of cap 118 to provide information to system 100 regarding a state of cap 118 (e.g., tightened, loosened, properly positioned on sample container 114, vertically positioned above sample container 114, rotated, or otherwise positioned away from sample container 114, etc.). For example, the sensing signal may be sent to system controller 110 to control the state of system 100 based on the state of cap 118, such as triggering movement of sample probe 108 after the interior of sample container 114 becomes available. In one embodiment, the vacuum sensor is integrated with vacuum structure 138 to detect whether cap interface 124 is properly positioned above cap 118, whether it is in contact with cap 118, whether a vacuum is drawn over cap 118, or the like.

[0026] System 100 includes a sample container stabilizer 104 to control the loading, unloading, and locking of sample containers 114 within a sample rack 102. In an embodiment, the sample rack includes the sample container stabilizer 104 to allow the sample rack to transition between a locked state (locking the sample container 114 in the proper position within the aperture 112 of the sample rack 102) and a loading / unloading state (allowing the sample container 114 to be introduced or removed from the sample rack 102). For example, when in the locked state, the sample container 114 is secured within the sample rack 102 such that the cap opener 106 can rotate the cap interface 124 to release the cap 118 from the locked sample container 114 and remove the cap 118 (e.g., substantial rotation of the sample container 114 within the aperture 112). In an embodiment, the sample container stabilizer 104 includes a mechanism for actuation between the locked state and the loading / unloading state, such as operation via a pneumatic piston, an electric drive, or other power mechanism.

[0027] An embodiment of the sample container stabilizer 104 is shown in Figures 6A to 7B. The sample container stabilizer 104 may include a slidable support structure 140 that slides between a first position (e.g., shown in Figure 6A) for providing a loading / unloading state of the sample container stabilizer 104 and a second position (e.g., shown in Figure 6B) for providing a locked state of the sample container stabilizer 104. The slidable support structure 140 may slide laterally across a width of the sample container stabilizer 104, slide longitudinally across a length of the sample container stabilizer 104, slide through a different orientation, or a combination thereof. In an embodiment, the slidable support structure 140 includes a plurality of apertures corresponding to apertures 112 in the sample holder 102 such that when in the first position, the apertures of the slidable support structure 140 overlap with the apertures 112 in the sample holder 102 to provide vertical access to the sample container 114 through the apertures for introduction or removal of the sample container 114 from the sample holder 102. When in the second position, the aperture of the sliding support structure 140 is partially offset from the aperture 112 in the sample holder 102 to limit the vertical and rotational movement of the sample container 114 through frictional interference between the sliding support structure 140, the sample container 114, and the sample holder 102. For example, the sliding support structure 140 can push the sample container 114 onto the sample holder 102 to provide frictional interference.

[0028] In an embodiment, the sample rack 102 may include a single slidable support structure 140 to transition the entire sample rack 102 between a loaded / unloaded state and a locked state, or a plurality of slidable support structures 140 to transition one or more sections of the sample rack 102 between a loaded / unloaded state and a locked state (e.g., as shown in Figures 6A and 6B). For example, the plurality of slidable support structures 140 may control the state of the sample rack 102 to provide locking or access to a single row, multiple rows, single line, multiple rows, or other configuration of the aperture 112 of the sample rack 102.

[0029] In one embodiment, the sample holder 102 includes one or more pistons 142 (e.g., pneumatic pistons, electric pistons, etc.) (as shown in, for example, Figures 7A and 7B) to push the slidable support structure 140 or individual components of the slidable support structure 140 relative to the sample holder 102 to transition the sample holder 102 between a loading / unloading state and a locked state. For example, the sample holder 102 may include a first piston 142 to push the slidable support structure 140 or individual components of the slidable support structure 140 in a first direction and may include a second piston 142 to push the slidable support structure 140 or individual components of the slidable support structure 140 in a second direction (e.g., opposite to the first direction) to control the positioning of the slidable support structure 140 relative to the sample holder 102. Although system 100 is shown as having a piston 142 for manipulating the operation of sample container stabilizer 104, system 100 is not limited to using a piston and may include other structures (e.g., mechanical, electromechanical, magnetic, or other) to provide stability to sample container 114 during removal or addition of cap 118 without departing from the scope of the invention.

[0030] Electromechanical devices (e.g., electric motors, servo devices, actuators, or the like) may be coupled to or embedded in components of system 100 to facilitate automated operation by driving the control logic of system 100 within or outside system 100. The electromechanical devices may be configured to cause movement of devices and fluids according to various programs (such as those described herein). System 100 may include a computing system having a processor or other controller, configured to execute computer-readable program instructions (i.e., control logic) from or be controlled by a non-transitory carrier medium (e.g., storage media, such as a flash drive, hard disk drive, solid-state drive, SD card, optical disc, or the like). The computing system may be connected to various components of system 100 by direct connection or through one or more network connections (e.g., local area network (LAN), wireless local area network (WAN or WLAN), one or more hub connections (e.g., USB hubs), etc.). For example, the computing system may be communicatively coupled to system controller 110, first bracket 126, second bracket 136, fluid handling system (e.g., valves, pumps, etc.), other components described herein, components that direct its control, or combinations thereof. As described herein, when executed by a processor or other controller, program instructions may cause the computing system to control system 100 according to one or more operating modes (e.g., controlling the positioning of cap opener 106 and sample probe 108, controlling fluid movement via the sample probe, etc.).

[0031] It should be recognized that all the various functions, control operations, processing blocks, or steps described in this invention can be implemented by any combination of hardware, software, or firmware. In some embodiments, the various steps or functions are implemented by one or more of the following: electronic circuit systems, logic gates, multiplexers, a programmable logic device, application-specific integrated circuits (ASICs), a controller / microcontroller, or a computing system. A computing system may include (but is not limited to) a human computing system, a mobile computing device, a host computing system, a workstation, a video computer, a parallel processor, or any other device known in the art. Generally, the term "computing system" is broadly defined to encompass any device having one or more processors or other controllers that execute instructions from a carrier medium.

[0032] Program instructions (such as those presented in the embodiments described herein) that implement functions, control operations, process blocks, or steps may be transmitted or stored on a carrier medium. The carrier medium may be a transmission medium, such as (but not limited to) a wired, cable, or wireless transmission link. The carrier medium may also include a non-transitory signal-bearing medium or storage medium, such as (but not limited to) a read-only memory, a random access memory, a magnetic disk or optical disk, a solid-state or flash memory device, or a magnetic tape.

[0033] Conclusion Although language specific to structural features and / or procedural operations has been used to describe the subject matter, it should be understood that the subject matter defined in the claims is not necessarily limited to the aforementioned specific features or behaviors. Rather, the aforementioned specific features and behaviors are disclosed as instances of implementing the claims. [Simplified Explanation of the Diagram]

[0005] Refer to the accompanying drawings for description [Implementation Scheme]. The use of the same element symbols in different examples in the description and drawings may indicate similar or identical items.

[0006] Figure 1 is a diagram of an autosampler system for automatically removing a cap using a dual-rotation axis for cap opening and sample preparation, according to an example embodiment of the present invention.

[0007] Figure 2A is an isometric view of an autosampler system for automatically removing a cap using a dual-rotation axis for cap opening and sample preparation, according to an example embodiment of the present invention.

[0008] Figure 2B is a top view of a part of the autosampler system in Figure 2A.

[0009] Figure 3 is a partial side view of one of the cap openers of the autosampler system of Figure 2A, which interacts with one of the caps of a sample container.

[0010] FIG4 is a partial side view of the cap opener of an autosampler system of FIG2A in a rotating sample holder according to an example embodiment of the present invention.

[0011] Figure 5 is a partial side view of one of the cap openers of the autosampler system of Figure 2A, which shows the lifting cap of the sample container in the sample holder.

[0012] FIG6A is an isometric view of a sample rack having a sample container stabilizer in a loading / unloading orientation according to an example embodiment of the present invention.

[0013] FIG6B is an isometric view of a sample rack with a sample container stabilizer of FIG6A in a locked orientation, according to an example embodiment of the present invention.

[0014] Figure 7A is a bottom view of a portion of the sample holder with the sample container stabilizer of Figure 6A, which is a pneumatic actuator used to slide a portion of the sample holder between the loading / unloading orientation and the locking orientation.

[0015] Figure 7B is a partial end view of a sample rack having the sample container stabilizer of Figure 6A.

Claims

1. An autosampler system, comprising: A sample rack; a sample container stabilizer configured to transition the sample rack between a loading / unloading state and a locked state; a uncapper supported by a first z-axis support; a sample probe supported by a second z-axis support, wherein the uncapper is configured to remove a lid from a sample container held by the sample rack when the sample rack is in the locked state, and wherein the uncapper is configured to change the position of the removed lid to allow the sample probe to access the interior of a sample container without removing the sample container from the sample rack; a motor system configured to provide at least rotational and translational motion to each of the first z-axis support and the second z-axis support; and a deck configured to support at least a portion of the sample rack on the deck, the deck defining at least one channel through which the first z-axis support and the second z-axis support are configured to pass during translational motion.

2. The autosampler system of claim 1, wherein the motor system includes a first bracket coupled to the first z-axis support and configured to provide rotational and translational motion to the first z-axis support to move one of the cap openers.

3. The autosampler system of claim 2, wherein the motor system includes a second carrier coupled to the second z-axis support and configured to provide rotational and translational motion to the second z-axis support to move one of the sample probes.

4. The autosampler system of claim 1, wherein the cover defines a common passage through which both the first z-axis support and the second z-axis support are configured to pass during translational motion.

5. The autosampler system of claim 1, wherein the cap opener includes a cap opener body and a cap interface rotatably coupled to the cap opener body, wherein the cap opener body is coupled to the first z-axis support, and wherein the cap interface is configured to rotate about a rotation axis that is separate from the first z-axis support.

6. The autosampler system of claim 5, wherein the cap opener body supports a motor configured to rotate the cap interface relative to the cap opener body to impart motion to the cap.

7. The autosampler system of claim 5, wherein the cap interface includes a vacuum structure configured to evacuate a vacuum from the removed cap when the cap interface receives at least a portion of the cap into an internal region of the cap interface.

8. The autosampler system of claim 7, wherein the vacuum structure includes at least one vacuum sensor configured to record the presence or absence of the cap relative to the cap interface.

9. The autosampler system of claim 8, wherein the vacuum sensor is configured to generate a signal indicating a state of the cap, and wherein the autosampler system is configured to move the sample probe in response to the signal.

10. The autosampler system of claim 1, wherein the sample holder includes a sample container being received into one of a first plurality of apertures, and wherein the sample container stabilizer includes a second plurality of apertures for receiving the sample container.

11. The autosampler system of claim 10, wherein when the sample container stabilizer is in the loading / unloading state, the first plurality of apertures are aligned with the second plurality of apertures, and when the sample container stabilizer is in the locked state, the first plurality of apertures are partially offset from the second plurality of apertures.

12. An automated sampler system, comprising: A sample holder; a sample container stabilizer configured to transition the sample holder between a loading / unloading state and a locked state; a cap opener supported by a first z-axis support, the cap opener including a cap opener body and a cap interface rotatably coupled to the cap opener body, the cap opener body being coupled to the first z-axis support; a sample probe supported by a second z-axis support; a motor system configured to provide at least rotational and translational motion to each of the first z-axis support and the second z-axis support, wherein the cap opener is configured to remove a cap from a sample container held by the sample holder via an interaction between the cap interface and a cap when the sample holder is in the locked state, and wherein the cap opener is configured to change the position of the removed cap via rotational movement of the cap opener body to allow the sample probe to access the interior of the sample container without removing the sample container from the sample holder; A cover plate configured to support at least a portion of the sample holder on the cover plate, the cover plate defining at least one channel through which the first z-axis support and the second z-axis support are configured to pass during translational movement, wherein the cover interface is configured to rotate about a rotation axis that is separate from the first z-axis support.

13. The autosampler system of claim 12, wherein the motor system includes a first bracket coupled to the first z-axis support and configured to provide rotational and translational motion to the first z-axis support to move a first bracket of the cap opener, and wherein the motor system includes a second bracket coupled to the second z-axis support and configured to provide rotational and translational motion to the second z-axis support to move a second bracket of the sample probe.

14. The autosampler system of claim 12, wherein the cover defines a common passage through which the first z-axis support and the second z-axis support are configured to pass during translational motion.

15. The autosampler system of claim 12, wherein the cap opener body supports a motor configured to rotate the cap interface relative to the cap opener body to impart motion to the cap.

16. The autosampler system of claim 12, wherein the cap interface includes a vacuum structure configured to evacuate a vacuum from the removed cap when the cap interface receives at least a portion of the cap into an internal region of the cap interface.

17. The autosampler system of claim 16, wherein the vacuum structure includes a vacuum sensor configured to record at least one of the presence or absence of the cap relative to the cap interface, wherein the vacuum sensor is configured to generate a signal indicating a state of the cap, and wherein the autosampler system is configured to move the sample probe in response to the signal.

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