Tube decapper apparatus and method therefor

Abstract

Apparatus for separating a cap from a sample container for use in a high throughput sample processing system. The apparatus has a movable engagement member configured to move from a first position to a second position so as to engage with a cap or a sample container, and a disengagement mechanism which disengages the cap from the sample container when the engagement member is in the second position. The engagement member is capable of engaging with a cap or a sample container within a range of cap or samples container widths or diameters.

Description

TUBE DECAPPER APPARATUS AND METHOD THEREFORFIELD

[0001] The present disclosure generally relates to sample processing, and more particularly, to decapping of sample containers.BACKGROUND

[0002] Biological samples to be analyzed are generally stored in sample containers, such as sample tubes. To perform analysis of the biological samples, automated biochemical analyzers or biological testing systems have been developed with respect to the biological sample testing required by health care facilities and other institutions, such as research facilities, that facilitate analysis of biological samples.

[0003] The sample tubes that store, hold, or otherwise contain the biological samples are generally capped. In order to access the biological sample, in any given sample tube, for analysis or testing, the cap must be cut, punctured, removed, manually detached, or otherwise breached. The automated biochemical analyzers or biological testing systems may include automated sample tube decappers; however, such automated sample tube decappers may have limitations. For example, automated cutting or puncturing processes often require additional cleaning operations to wash the blade, needle, and / or probe employed to breach the cap. Likewise, automated cap removal processes may have high degrees of system complexity and are often unable to accommodate multiple sample tube heights and sample tube diameters without using multiple automated sample tube decappers, where each of the multiple automated sample tube decappers is configured for a predetermined height and diameter sample tube.

[0004] The discussion of documents, acts, materials, devices, articles and the like is included in this specification solely for the purpose of providing a context for the present invention. It is not suggested or represented that any or all of these matters formed part of the prior art base or werecommon general knowledge in the field relevant to the present invention as it existed before the priority date of each provisional claim of this application.SUMMARY

[0005] In a first aspect there is provided an apparatus for separating a cap from a sample container, the apparatus comprising at least one movable engagement member configured to move from a first position to a second position so as to engage with the cap or the sample container, and a disengagement mechanism configured to disengage the cap from the sample container when the at least one movable engagement member is in the second position.

[0006] In one embodiment of the first aspect, the apparatus is configured such that the at least one movable engagement member is capable of engaging with a cap or a sample container within a range of cap or sample container widths or diameters.

[0007] In one embodiment of the first aspect, the at least one movable engagement member is biased toward the second position.

[0008] In one embodiment of the first aspect, the at least one movable engagement member is movable from the first position to the second position about a swing axis or a rotational axis.

[0009] In one embodiment of the first aspect, the apparatus comprises two or more movable engagement members each of which moves with a common motion.

[0010] In one embodiment of the first aspect, the at least one movable engagement member comprises a contact area configured to frictionally engage with an external surface of the tube or the sample container.

[0011] In one embodiment of the first aspect, the frictional engagement is provided by a non-slip material of the contact area, or by one or more projections or contours of the contact area configured to deform or embed into an external surface of the tube or the sample container.

[0012] In one embodiment of the first aspect, the at least one movable engagement member is locatable along an axis so as to be is capable of engaging with a cap disposed within a range or vertical levels, or a sample container having a height within a range of heights.

[0013] In one embodiment of the first aspect, the disengagement mechanism is configured to cause the at least one movable member to move the cap relative to the sample container and / or cause the at least one movable member to move the sample container relative to the cap.

[0014] In one embodiment of the first aspect, the movement is an axial rotation of the cap relative to sample container, and / or an axial rotation of the sample container relative to the cap.

[0015] In one embodiment of the first aspect, the disengagement mechanism is configured to spatially separate the cap and the sample container.

[0016] In one embodiment of the first aspect, the apparatus is configured to release or eject a cap spatially separated from the sample container by the disengagement mechanism.

[0017] In one embodiment of the first aspect, the apparatus comprises, or is associated with, a waste receptacle configured to receive a released or ejected cap.

[0018] In one embodiment of the first aspect, the apparatus comprises a holding portion configured to: (i) hold the sample container stationary while the cap is engaged with the at least one movable engagement member, or (ii) hold the cap stationary while the sample container is engaged with the at least one movable engagement member.

[0019] In one embodiment of the first aspect, the holding portion is configured to: (i) hold the sample container stationary while the cap is moved relative to the sample container by the least one movable engagement member, or hold the cap stationary while the sample container is moved relative to the cap by the at least one movable engagement member.

[0020] In one embodiment of the first aspect, the at least one movable engagement member is disposed within a head unit that is movable in the z-direction, and the at least one movable engagement member is moveable along the x,y plane.

[0021] In one embodiment of the first aspect, movement of the at least one movable engagement member is effected by an electric motor having an associated encoder, the encoder being calibrated by a controller of the apparatus to determine an encoder error for one or more rotational positions of the electric motor.

[0022] In one embodiment of the first aspect, movement of the at least one movable engagement member is effected by an electric motor having a rotating shaft and an associated encoder, wherein hysteresis of the motor is accounted for by reference to an encoder error determined at a plurality of rotational positions of the electric motor, the encoder error being determined in the course of clockwise and counter-clockwise rotation of the rotating shaft.

[0023] In a second aspect, the present invention provides a high throughput sample processing system comprising the apparatus of any embodiment of the first aspect.

[0024] In one embodiment of the second aspect, the system comprises a sample container transporter configured to transport a sample container from a sample container holding area to the apparatus and / or transport a sample container from the apparatus to a sample analyzer.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The foregoing aspects and other features of the present disclosure are explained in the following description, taken in connection with the accompanying drawings, wherein:

[0026] Fig. 1 is a schematic block diagram of a tube decapper apparatus, and a sample processing apparatus of which the tube decapper apparatus may be a part, incorporating aspects of the present disclosure;

[0027] Fig. 2 is an exemplary perspective illustration of a portion of the tube decapper apparatus of Fig. 1, in accordance with aspects of the present disclosure;

[0028] Fig. 3 A is an exemplary perspective illustration of a portion of the tube decapper apparatus of Fig. 1, in accordance with aspects of the present disclosure;

[0029] Fig. 3B is an exemplary bottom view of the portion of the tube decapper apparatus of Fig.3 A, in accordance with aspects of the present disclosure;

[0030] Fig. 3C is an exemplary bottom view of the portion of the tube decapper apparatus of Fig. 3 A, in accordance with aspects of the present disclosure;

[0031] Fig. 4A is an exemplary perspective illustration of a cap grip jaw of the tube decapper apparatus of Fig. 1, in accordance with aspects of the present disclosure;

[0032] Fig. 4B is an exemplary plan view of the cap grip jaw of the tube decapper apparatus of Fig. 4A, in accordance with aspects of the present disclosure;

[0033] Fig. 4C is an exemplary cap grip jaw to cap force diagram, in accordance with aspects of the present disclosure;

[0034] Fig. 4D is a schematic illustration of cap grip jaw alignment with respect to different sample tube caps, in accordance with aspects of the present disclosure;

[0035] Fig. 5 is an exemplary perspective illustration of a sample tube gripper of the tube decapper apparatus of Fig. 1, in accordance with aspects of the present disclosure;

[0036] Fig. 5A is an exemplary perspective illustration of a tube gripper jaw assembly, in accordance with aspects of the present disclosure;

[0037] Fig. 5B is an exemplary perspective illustration of a tube gripper jaw assembly of Fig. 5A, in accordance with aspects of the present disclosure;

[0038] Fig. 5C is a bottom view of a portion of the tube gripper jaw assembly of Fig. 5A, in accordance with aspects of the present disclosure;

[0039] Fig. 6 is an exemplary perspective illustration of a portion of the tube decapper apparatus of Fig. 1 in a sample tube engagement configuration, in accordance with aspects of the present disclosure;

[0040] Fig. 7 is an exemplary perspective illustration of a portion of the tube decapper apparatus of Fig. 1 in a cap dispensing configuration, in accordance with aspects of the present disclosure;

[0041] Fig. 8 is a flow diagram of an exemplary method for sample tube decapping, in accordance with aspects of the present disclosure;

[0042] Fig. 9 is a flow diagram of an exemplary method for encoder calibration, in accordance with aspects of the present disclosure;

[0043] Fig. 10 is a schematic illustration of encoder calibration positions with respect to the method of Fig. 9, in accordance with aspects of the disclosed embodiment;

[0044] Figs. 11A-11C are schematic illustrations showing sample tube cap diameter determinations, in accordance with aspects of the disclosed embodiment, and

[0045] Figs. 12, 13, and 14 are exemplary flow diagrams of methods, in accordance with aspects of the disclosed embodiment.DETAILED DESCRIPTION

[0046] After considering this description it will be apparent to one skilled in the art how the invention is implemented in various alternative embodiments and alternative applications. However, although various embodiments of the present invention will be described herein, it is understood that these embodiments are presented by way of example only, and not limitation. As such, this description of various alternative embodiments should not be construed to limit the scope or breadth of the present invention. Furthermore, statements of advantages or other aspects apply to specific exemplary embodiments, and not necessarily to all embodiments, or indeed any embodiment covered by the claims.

[0047] Throughout the description and the claims of this specification the word "comprise" and variations of the word, such as "comprising" and "comprises" is not intended to exclude other additives, components, integers or steps.

[0048] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment, but may.

[0049] Fig. 1 illustrates a schematic block diagram of a tube decapper apparatus or module 120, and a sample processing apparatus 100 of which the tube decapper apparatus 120 may be a part, in accordance with aspects of the present disclosure. Although the aspects of the present disclosure will be described with reference to the drawings, it should be understood that the aspects of the present disclosure can be embodied in many forms. In addition, any suitable size, shape or type of elements or materials could be used.

[0050] It should also be understood that while the aspects of the present disclosure are described herein with respect to biological sample processing, the aspects of the present disclosure could be applied to any apparatus for which decapping a tubular container is desired. Further, it should be understood that any directional terms used herein (e.g., bottom, lowered, etc.) are used for convenience of description only, and that any suitable directional descriptors may be applied to the aspects of the present disclosure.

[0051] The tube decapper apparatus 120 of the present disclosure provides for removal and dispensing of a cap from a sample tube. As described herein, the tube decapper apparatus 120 may provide for positive self-adjusting engagement of the cap for rotating the cap off the sample tube. The at least one movable gripper 133 of the tube decapper apparatus 120 includes at least one movable grip member or cap grip jaw 134 that engages and grips the tube cap 201 with the at least one movable gripper 133 in the gripping position (see, e.g., Figs. 11B and 11C). As described herein, the at least one movable grip member 133 has a movable joint RX2-RX5, and each of the at least one grip member 134 has more than one tube cap contact areas or tines 420A-420B offset from each other, relative to the movable joint RX2-RX5, so that for a common motion of the at least one movable gripper 133 each movable grip member 134 engages tube caps 201 of varying diameters (as described herein). The common motion of the at least one movable gripper 133 may be one or more of: a motion in a radial direction 399A-399C (see, e.g., Fig. 3C - as described herein); and a motion (e.g., a Z axis motion) along a twist axis RX5 or a longitudinal axis of a sample tube 200 held in the tube holding area 150.

[0052] As an example, the at least one movable grip member or cap grip jaw 134 that is / are configured to engage more than one size (e.g., diameter) cap (i.e., the same cap grip jaw(s) is / are configured to grip any suitable number of different diameter caps corresponding to different diameter DI, D2, ..., Dm sample tubes 200, where m is an integer denoting an upper range limit on the number of different sample tube diameters) so that different diameter sample tubes (and the respective caps) may be processed by the same tube decapper apparatus 120. The tube decapper apparatus 120 is also configured with a Z-axis drive 125 that raises and lowers a decapping heador section 130 of the tube decapper apparatus 120 to accommodate sample tubes having different heights (i.e., a single decapper apparatus processes sample tubes having differing heights Hl, H2, ... Hn, where n is an integer denoting an upper range limit on the number of different sample tube heights).

[0053] As can be seen in Fig. 1 , the tube decapper apparatus 120 generally includes a frame 120F, a decapping head or section 130, a sample tube gripper or tube holding area 150 (e.g., disposed on the frame and arranged for holding the sample tube therein rotationally stationary for cap removal), and a drive section 120D. The decapping section 130 is connected to the frame 120F and configured to engage a tube cap 201 and decap the sample tube 200 held in the tube holding area 150. As described herein, the tube holding area 150 and the decapping section are configured so as to move relative to each other (e.g., in one or more of directions 291, 398 - see Fig. 2). The decapping section 130 includes at least one movable gripper or grip housing 133, movable between a gripping position (see, e.g., Figs. 11B and 11C), wherein the at least one movable gripper 133 grips the tube cap 201, and an ungripping position (see, e.g., Fig. 11 A, wherein the at least one movable gripper 133 is disengaged from the tube cap 201.

[0054] The drive section 120D has at least one motor 125, 126, 132, 151 operably connected to at least one of the tube holding area 150 and the decapping section 130, as described herein. The drive section 120D defines more than one degrees of freedom (e.g., at least more than one of movement of the decapping section in direction 291, rotation of the at least one movable gripper 133 in direction 398, movement of movable grip members 134 in direction 399A-399C, movement of tube gripper jaws in direction 597, 598) that effect relative motion (e.g., in one or more of the directions 291, 398 - see Fig. 2) between the decapping section 130 and the tube holding area 150 so as to dispose a tube cap 201 within the decapping section 130 for gripper engagement (as described herein) with the tube cap 201.

[0055] The drive section 120D imparts a decap motion to the tube cap 201, as described herein, decapping the sample tube 200. The drive section 120D has at least one motor 132 (e.g., referredto herein as a decapper motor which may be a stepper motor or any other suitable motor) operably connected to the at least one movable gripper 133 so torque, from the at least one motor 132, moves the at least one movable gripper 133 between the ungripping position to the gripping position and continued torque imparted by the at least one motor 132 to the at least one movable gripper 133 effects one or more of: a decap rotation, relative to the tube 201, of the tube cap 201 gripped with the at least one movable gripper 133 (as described herein); and a rotation, relative to the sample tube 200, of the at least one movable gripper 133 gripping the tube cap 201 in a decap direction (as described herein).

[0056] A controller 199 is coupled to the tube decapper apparatus 120 and includes any suitable non-transitory program code configured to effect operation of the tube decapper apparatus 120 as described herein. The controller 199 may be coupled to the tube decapper apparatus 120 in any suitable manner, such as through a wired or wireless connection. In some aspects, the tube decapper apparatus 120 may include one or more of a Z-axis drive 125 for raising and lowering the decapping section 130 (i.e., to engage a capped sample tube 200C and to remove the cap 201) and a cap receptacle 160 for receiving caps removed by the decapping section 130.

[0057] Capped sample tubes 200C (see Fig. 2) are transported to the tube decapper apparatus 120 in any suitable manner, such as by any suitable sample tube conveyance 108, that is in some aspects, a part of the tube decapper apparatus 120, and in other aspects a part of a sample processing apparatus 100 of which the tube decapper apparatus 120 is a part; while in other aspects, an operator may place a capped sample tube 200C in a transport cart or vessel mover 108H (see Fig. 2, such as of the sample tube conveyance) at the tube decapper apparatus 120 or at any suitable sample intake 101 of the decapper apparatus 120 or sample processing apparatus 100. As described herein, the sample tube holder 108H of the sample tube conveyance 108 aligns the capped sample tube 200C with the decapping section 130 for removal of the cap 201 from the sample tube 200.

[0058] As noted above, in some aspects, the tube decapper apparatus 120 is integrated with or otherwise coupled to any suitable sample processing apparatus 100. The sample processing apparatus 100 may be under control of the controller 199 and be any suitable sample processing apparatus including, but not limited to an automated biochemical analyzer or automated biological testing system. As an example, the sample processing apparatus 100 includes the sample intake 101 and at least one downstream process 105. The sample intake 101 may be one or more of any suitable automated sample storage and retrieval system 102 A, a manual sample input station 102B, or any other automation configured to place capped sample tubes 200C on the sample tube conveyance 108. The automated sample storage and retrieval system 102 A is configured with any suitable automation that stores biological samples in a storage and transports the biological samples (e.g., in trays / carriers or individual sample tubes) between the storage and the sample tube conveyance 108. The manual sample input station 102B is configured for operator placement of samples (e.g., in trays / carriers or individual sample tubes) to the sample tube holder 108H of the sample tube conveyance 108. The downstream process 105 may be any suitable process for analyzing and / or testing the biological sample within the respective sample tubes 200.

[0059] Referring also to Fig. 2, the sample tube conveyance 108 includes the transport cart 108H and a conveyor 108T on and along which the transport cart 108H travels. The conveyor 108T may be any suitable conveyor configured to move the transport cart 108H along a travel direction 299 in any suitable manner. For example, the transport cart 108H and conveyor 108T may be configured for magnetically moving the transport cart 108H in the travel direction 299, carrying the transport cart 108H on a seating surface of the conveyor 108T in the travel direction 199, pushing or pulling the transport cart 108H in the travel direction, and / or configured in any other suitable manner for moving the transport cart 108H in the travel direction 299.

[0060] The transport cart 108H includes a frame 108HF forming at least one sample tube holding location / station 108S, each of which is disposed at a predetermined and known location with respect to the frame 108HF. Each tube holding location 108S includes a tube support 110 that provides for holding (e.g., in any suitable manner) of the different diameter sample tubes Dl-Dnin a common (i.e., the same) tube holding location 108S. In other aspects, there may be different tubes supports, each for holding a respective diameter sample tube. The different tube supports may be interchangeable with each other on the frame 108HF.

[0061] The sample tube conveyance 108 and / or the tube decapper apparatus 120 includes any suitable sample tube positioning sensor(s) 298 coupled to the controller for 199. The sample tube positioning sensor(s) 298 effects positioning and aligning each of the tube holding locations 108S (with the capped sample tube centered in the respective tube holding location 108S at the predetermined and known location) with respect to the decapping section 130 so that the cap 201 may be removed from the sample tube 200 in the manner described herein. As an example, the sample tube positioning sensors may be optical, electromagnetic, and / or sonic proximity sensors that sense one or more location determining features (e.g., edges, recesses, reflective indicia, etc.) of the transport cart 108H and / or a sample tube 200 held on the transport cart 108H, such that when the one or more location determining features are detected, the sample tube 200 held on the transport cart 108H is aligned with the decapping section 130 and the conveyor 108T is stopped (i.e., the movement of the transport cart 108H is stopped). In other aspects, the sample tube 200 may be aligned relative to the decapping section 130 by employing motor encoders of the sample tube conveyance 108 in any suitable manner.

[0062] Referring to Figs. 1, 2, and 6, as described above, the tube decapper apparatus 120 generally includes a frame 120F, a decapping section 130, a tube holding area 150, a Z-axis drive 125 for raising and lowering the decapping section 130 relative to the tube holding area 150, and a cap receptacle 160 for receiving caps removed by the decapping section 130. The decapping section 130 is coupled to the frame 120F by a movable carriage 220. The carriage 220 moves in at least direction 291 (the Z direction) along any suitable linear guides or bearings under impetus of the Z-axis drive 125. The Z-axis drive 125 may be any suitable drive including, but not limited to, stepper motor driven ball screw, magnetic linear actuator, chain / belt drive, pneumatic actuator, or other suitable linear actuator configured to move the carriage 220 in direction 291.

[0063] The carriage 220 includes a turn table or rotary drive 220Rto which the decapping section 130 is coupled for rotating the decapping head about rotary axis RX between a tube engagement position or configuration (as illustrated in Figs. 1 and 6) and a cap dispensing position or configuration (as illustrated in Fig. 7). The rotary drive 220R may be any suitable drive including, but not limited to, direct drive stepper motor, rack and pinion, or other suitable rotary actuator configured to rotate the decapping section 130 about the rotary axis RX. The tube engagement position substantially aligns a twist axis RX5 of the decapping section 130 with a longitudinal axis TAX of the sample tube 200. The cap dispensing position substantially aligns the twist axis RX5 with the cap receptacle 160 for depositing caps 201 within the cap receptacle 160.

[0064] The decapping section 130 includes a frame 130F that is coupled to the carriage 220 or to the rotary drive 220R (where rotation of the decapping section 130 about rotary axis RX is provided). A decapper motor 132, of the decapping section 130, is coupled to the frame 130F for effecting cap 201 removal as described herein. The at least one movable gripper 133 is also coupled to the frame 130F. While there is one movable gripper 133 illustrated in the figures it should be understood that there may be more than one movable gripper 133 arranged in a row or arrayed in a two-dimensional grid for substantially simultaneously decapping sample tubes 200 which are arranged in a corresponding row or two-dimensional grid. The at least one movable gripper 133 houses the at least one at least one movable grip member 134 and a plunger 135. The at least one at least one movable grip member 134 engage(s) a cap 201 for removal of the cap 201 from a sample tube 200. As described herein, the plunger 135 effects detection of a capped sample tube 200C within the decapping section 130.

[0065] Any suitable transmission 130T is housed within one or more of the frame 130F and the decapping section 130, where the transmission 130T couples one or more of the at least one movable gripper 133 and at least one movable grip member 134 to the decapper motor 132. Referring to Figs. 3 A-3C, the transmission 130T may include a gear train that has a drive gear 390 coupled to an output of the decapper motor 132, an idler gear 391 A-391C for each movable grip member 134A-134C (three movable grip members are illustrated for exemplary purposes and inother aspects there may be more or less than three movable grip members), and a driven gear 392A-392C for each movable grip member 134A-134C. Each movable grip member 134A-134C is coupled to a respective driven gear 392A-392C so as to rotate as a unit with the respective driven gear 392A-392C. Here, with rotation of the drive gear 390, the driven gears 392A-392C rotate the respective cap grip jaw 134A-134C in a respective direction 399A-399C about a respective axis of rotation or movable joint RX2-RX4 to open (with the drive gear 390 rotated in direction 398 A) and close (with the drive gear 390 rotated in direction 398B) the at least one movable grip member 134. Here, the movable joint RX2-RX4 imparts decapping torque from the at least one movable gripper 133 to the base portion 401 of the at least one grip member 134, the base portion 401 being movable in the decapping direction (e.g., direction 398B) relative to the sample tube 200.

[0066] The at least one movable gripper 134 is resiliently biased in the gripping position (see, e.g., Figs. 3A-3C, 4C, 11B, and 11C). For example, the frame 130F also houses any suitable biasing members 370 that are configured to bias the at least one movable grip member 134 in a normally closed orientation or configuration (e.g., the at least one movable grip member 134 are in the closed position unless opened by decapper motor 132 or manually in the manner described herein). Biasing the at least one movable grip member 134 in the normally closed orientation may maintain grip force on a cap 201 (see Fig. 2) held by the decapping section 130 until the cap 201 is released from the decapping section 130 by manual or automated actuation of the at least one movable grip member 134. The biasing members 370 may be, for example, torsion springs, coil springs, or any suitable resilient members that bias the at least one cap grip jaw 134 in the normally closed orientation.

[0067] As can be seen best in Fig. 3A, the at least one movable gripper 133 is rotatably coupled to the frame 130F in any suitable manner, including, but not limited to, any suitable bearing. Here, the at least one movable gripper 133 and its contents (e.g., at least part of the transmission 130T, the at least one movable grip member 134, plunger 135, biasing members 370, and any shafts, fasteners, etc. for coupling the at least part of the transmission 130T, the at least one movable gripmember 134, plunger 135, biasing members 370 to each other and the at least one movable gripper 133) rotate as a unit about cap twist axis RX5.

[0068] As described herein, the tube decapper apparatus 120 includes datums 142, 143 disposed on at least one of the decapping section 130 and frame 120F. The tube decapper apparatus 120 also includes a sensor 140 connected to the frame 120F so as to sense each datum 142, 143 and characterize therefrom, tube cap engagement by the at least one movable gripper 133 and tube cap removal with the at least one movable gripper 133. The tube cap engagement by the at least one movable gripper 133 and tube cap removal from the tube 200 with the at least one movable gripper 133 is characterized based on the relative position between the decapping section 130 and the tube holding area 150. For example, the tube decapper apparatus 120 includes sensor 140 (e.g., disposed on the frame 120F) that includes a detector or sensing element 141, a housing datum or flag 142, and plunger datum or flag 143. Each datum 142, 143 is configured (as described herein) so as to determine relative position, respective to each degree of freedom (e.g., at least in one or more of movement of the decapping section in direction 291, rotation of the at least one movable gripper 133 in direction 398, and movement of movable grip members 134 in direction 399A- 399C), between the decapping section 130 and the tube holding area 150.

[0069] The sensor 140 is a common sensor that commonly senses each datum 142, 143 with a respective datum presented in registry with the sensor 140. For example, the detector 141 is configured to sense the datums 142, 143 for detecting movement of the plunger 135 and rotation of the at least one movable gripper 133 for effecting operation of the decapping section 130. Here, the single detector 141 of the sensor 140 is configured to: with the controller 199, determine the at least one movable gripper 133 is empty (e.g., is not gripping a cap 201 or capped sample tube 200C and a cap 201 is not present within the at least one movable gripper 133) as described herein; establishes a rotational home position (see Fig. 3B) of the grip housing based on the physical spacing (e.g., angular spacing) between the housing datum 142 and plunger datum 143 as described herein; determines contact between the decapping head (e.g., via the plunger 135) and a capped sample tube 200C as described herein indicating the presence of a capped sample tube 200C withinthe at least one movable gripper 133; determines a rotational shift of the grip housing from the rotational home position that can be employed by the controller 199 to determine a diameter of the cap 201 as described herein; determine whether the cap 201 has dropped / fallen or otherwise escaped from the at least one movable gripper 133 as described herein; and determine the tube decapper apparatus 120 is ready for decapping a next sample tube 200 through detection of the plunger datum 143 and the rotational orientation of the at least one movable gripper 133 (e.g., a predetermined amount of rotation of the at least one movable gripper 133 from the rotational home position that indicates a cap 201 was removed from a sample tube 200) as described herein.

[0070] The decapping section 130 and the tube holding area 150 have a park position (see Figs. 2 and 3 A) in which the tube cap 201 of the sample tube 200 in the tube holding area 150 is outside the decapping section 130 and relative motion, between the decapping section 130 and the tube holding area 150, is freely initiated so as to receive the tube cap 201 inside the decapping section 130, and the park position is characterized from the sensor 140 sensing each datum 142, 143. For example, the at least one movable gripper 133, in the park position (see Fig. 3 A), has a rotational position disposed so that there is substantially no load on the decapper motor 132, the biasing members 370 are relaxed, and where the rotational orientation of the at least one movable gripper 133 relative to the frame 120F (and the tube holding area 150) is known to the controller 199 and is established by the sensor 140 sensing the housing datum 142 in registry with the detector 141. The park position may positon the housing datum 142 adjacent (e.g., in registry so as to be detected by) the detector 141. The park position of the at least one movable gripper 133 is determined by detection of one or more of the housing datum 142 and the plunger datum 143 (noting that where no cap is present in the decapping section (i.e., a cap is not being gripped), both the housing datum 142 and the plunger datum 143 are detectable by the detector 141 with rotation of the at least one movable gripper 133 about the axis RX5), where the housing datum 142 and plunger datum 143 may be disposed at a predetermined angle 0 relative to each other, and where the controller 199 receives detection signals from the detector 141 at each detection of the housing datum 142 and the plunger datum 143. Where the controller determines, from the detections of the housing datum142 and the plunger datum 143 (where the plunger datum 143 orientation, as determined by, e.g., counting steps of the stepper motor at the time of detection of the housing datum 142, is detected prior to the housing datum 142 rotational orientation, as detected by, e.g., counting steps of the stepper motor at the time of detection of the plunger datum 143) that the angle 0 between the housing datum 142 and plunger datum 143 is correct, the park position is established with the housing datum 142 disposed at the detector 141. Where the angle 0 is determined to be incorrect the controller 199 may send a message to an operator for investigation and remediation. Here, the decapper motor 132 (which for example is a stepper motor as noted herein) may also have a park position, as determined by, e.g., counting steps of the stepper motor or in any other suitable manner, where the park position of the decapper motor 132 substantially coincides with the at least one movable gripper 133 in the park position so that the at least one movable gripper 133 is rotated in direction 389A to the park position by the decapper motor 132 (e.g., with rotation of the decapper motor 132 drive gear 390 in direction 389A).

[0071] It is noted that further rotation of the decapper motor 132 (and the at least one movable gripper 133), past the park position, in direction 389A, moves the at least one movable gripper 133 against a hard stop HS. Here, a grip housing contact surface (see Fig. 3B) is disposed adjacent the hard stop HS of the decapping section 130 so that positive physical contact between the grip housing contact surface (coupled to the at least one movable gripper 133) and the hard stop HS (coupled to the frame 13 OF) prevents rotation of the grip housing in direction 398 A past the hard stop HS. The position of the at least one movable gripper 133, with the grip housing contact surface in substantial contact with (e.g., abutted against) the hard stop HS, may be referred to as the rotational home position of the at least one movable gripper 133 where the plunger datum 143 is disposed at the detector 144 and the at least one movable grip member 134 is / are fully open. The hard stop HS preventing rotation of the at least one movable gripper 133 in direction 398A causes rotation of the at least one movable grip member 134, via rotation of the gears 390, 391 A- 391C, 392A-392C by the decapper motor 132, to rotate against the bias of the respective biasing member 370 (with the at least one movable gripper 133 held rotationally stationary by the hardstop HS) so that the at least one movable grip member 134 are moved from the normally closed orientation to the fully open orientation illustrated in Figs. 3B, 3C, and 11 A (where the at least one cap grip jaw 134 is held in the open position by torque of the decapper motor 132). As may be realized, an amount of decapper motor 132 rotation (past the hard stop HS) to move the at least one movable grip member 134 to the fully open orientation may be a predetermined amount of rotation effected by counting steps of the stepper motor, where such step count is registered or otherwise stored in a memory of the controller 199.

[0072] Rotation of the decapper motor 132 drive gear 390 in direction 389B, from the at least one movable grip member 134 open orientation back to the rotational home position of the decapper motor 132, allows the biasing members 370 to relax or unwind, moving the at least one movable grip member 134 to the normally closed position. It is noted the at least one movable gripper 133 remains rotationally stationary until contact is made between the at least one movable grip member 134 and a cap 201, at which point the contact between the cap 201 and movable grip member 134 binds the gear train, and rotation of the grip housing and the at least one cap grip jaw as a unit commences to remove the cap 201 from the sample tube 200 as described herein.

[0073] A rotational shift of a respective datum, such as the housing datum 142, from the park position indicates an amount of displacement of the at least one movable gripper 133, relative to a reference location of the at least movable gripper 133, with the at least one movable gripper in the gripping position. The amount of displacement identifies a diameter DCl-DCp of the tube cap 201 gripped by the at least one movable gripper 133. For example, and as described above, and also referring to Figs. 11A-11C, the decapper motor 132 rotates in direction 398A past the rotational home position of the at least one movable gripper 133 by the predetermined amount to fully open the at least one movable grip member 134 (see Fig. 11 A). With the at least one movable grip member 134 fully open the housing datum 142 is disposed at a predetermine position (e.g., substantially equal to angle 0) relative to the park position. The predetermined amount of rotation of the decapper motor 132 past the rotational home position is also known to and stored in any suitable memory of the controller 199 (as noted above) and may be referred to as the fully opengrip decapper motor position. The position of the housing datum 142 may be employed by the controller 199 to determine a diameter of a cap 201 being gripped. For example, as can be seen in Fig. 1 IB the decapper motor 132 rotates a distance DCMR1 from the fully open position to close the at least one movable grip member 134 to a point where the movable gripper 133 begins to rotate in direction 398B (this point corresponds to the fully open housing datum position). Moving the decapper motor 132 a distance or angle DCMR1 from the fully open grip decapper motor position causes contact between the at least one movable grip member 134 (with the housing datum 142 at the fully open housing datum position) a cap 201 having a diameter of DC1. Here, the rotational shift of the housing datum 142 from the park position is substantially the same as the angle 0 and coincides with the gripping of the cap 201 having the diameter DC1. The controller 199 is configured with any suitable algorithm or look up table that correlates the rotational shift of the housing datum 142 (e.g., as determined by counting steps of the stepper motor or in any other suitable manner) from the park position of the housing datum 142 with the diameter DC1 for determining the cap 201 has a diameter of DC1. Similarly, as can be seen in Fig. 11 C the decapper motor 132 rotates a distance or angle DCMR2 from the fully open grip decapper motor position to grip a cap 201 having a diameter of DC2. The rotation of the decapper motor 132 by the distance DCMR2 positions the housing datum at angle 01 from the park position of the housing datum 142. The controller 199 determines, from the suitable algorithm or look up table, from the rotational shift of the housing datum (e.g., as determined by counting steps of the stepper motor or in any other suitable manner) the angle 01 of the housing datum 142 correlates to a cap 201 being gripped where the cap 201 has a cap diameter of DC2. While only two cap diameters are illustrated in Figs. 11A-11C it should be understood that the suitable algorithm or lookup table is configured with any suitable number of rotational distances from the fully open grip decapper motor position for determining a corresponding number of diameters of the caps 201.

[0074] Referring to Figs. 4 A and 4B each of the at least one movable grip member 134 is of unitary one-piece construction and includes a frame 400 that forms, or otherwise includes, a base portion 401, an arm portion 402, and a grip portion 403. Also referring to Fig. 3 A, the base portion 401includes a key slot 401 S that engages a key 392K of a respective driven gear 392A-392C so that the cap grip jaw 134A-134C rotates as a unit with the respective drive gear 392A-392C. As may be realized, the respective biasing member 370 is coupled to both the at least one movable gripper 133 and the respective drive gear 392A-392C (e.g., directly or by any suitable shafts) to impart rotational force to the respective drive gear 392A-392C (and the cap grip jaw 134A-134C coupled thereto) to bias the cap grip jaw 134A-134C in the normally closed position. The base portion 401 also includes an aperture 410 through which any suitable fastener passes to couple the cap grip jaw 134A-134C to the respective driven gear 392A-392C. The arm portion 401 extends from the base portion or base 401 where the grip portion 403 includes two or more tines 420A-420B that extend from the arm portion 401 so that each cap grip jaw 134A-134C has a substantial “U,” “V,” or generally arcuate shape.

[0075] As described herein, the at least one cap grip jaw 134 may be referred to as a multi-stage jaw (having at least two stages) where each stage is configured to engage and grip a different diameter DC1, DC2, ..., DCp cap 201 (where p is an integer denoting an upper range limit on the number of different cap diameters) than another stage of the multi-stage jaw. Here, for exemplary purposes only, the cap grip jaw 134 is illustrated with two tines 420 A, 420B (each of the two tines forming a stage of the multi-stage jaw), where one tine 420A, 420B engages a cap having one diameter and the other tine 420A, 420B engages a cap having a another different diameter; however, in other aspects there may be more than two tines, each tine being configured for gripping a different diameter cap 201. As an example, the tines 420A-420B are spaced apart or offset along the twist axis RX5 (and the respective axis of rotation RX2-RX4), e.g., in a direction along a longitudinal axis of a sample tube 200 held in the tube holding area 150, by a distance X2; and / or the tines 420A-420B are spaced apart or offset in a direction radial to the twist axis RX5 or sample tube 200 held in the tube holding area 150 where tine 420B extends further towards the twist axis RX5 (e.g., with the cap grip jaw 134 in the normally closed position) than the tine 420A by the distance XI , where tine 420A grips larger diameter caps than the tine 420B. The cap grip jaw 134is coupled to the at least one movable gripper 133 so that the tine 420A is lower than the tine 420B (e.g., relative to the Z axis).

[0076] Here, the decapping section 130 is lowered in stages (e.g., by at least one predetermined stepped amount (e.g., at least one selectable offset distance DZ - see Fig. 6), as will be described herein. In other aspects, the sample tube 200 may be lifted in stages in a manner substantially similar to, but in the opposite direction, that described herein with respect to lowering of the decapping section 130. For example, any suitable lift 120L (see Figs. 1, 2, and 5-7) may be coupled to one or more of the tube holding area and the sample tube conveyance for moving the sample tube 200 in direction 291 U in stages. The offset distance may be substantially equal to the distance X2 between tines 420A, 420B; the offset distance DZ may be greater (e.g., by a predetermined amount) than a height SH of a stepped portion of a cap 201; or any other suitable distance that places the appropriate tine 420 A, 420B at a height suitable for engaging the cap 201) depending on one or more of the different sized sampled tubes (e.g., different heights Hl -Hn and / or different diameters DI -Dm (see Fig. 1 ), the respective different diameter DC1 -DCp caps (see Fig. 4C)), and a type of cap configuration DF1, DF2 (see Fig. 4C).

[0077] Referring also to Fig. 4C, with the appropriate tine 420A, 420B (for a given cap diameter DCl-DCn) engaged with the cap 201, the arcuate shape of the cap grip jaw 134A-134C locates a point of contact between the cap grip jaw 134A-134C and the cap 201 at a location that is inside the respective pivot axis RX2-RX4 (e.g., close to the twist axis RX5) of the cap grip jaw 134A- 134C. For example, the axes of rotation RX2-RX4 define a virtual circle (see Fig. 4C and the circle defined by the axes of rotation RX2-RX4) that circumscribes the points of contact between the movable grip members 134A-134C and the cap 201. Rotation of the at least one movable gripper 133 by the decapper motor 132 (see Figs. 1 and 3C) in the direction 398B (e.g., to remove the cap 201 from the sample tube 200) applies a tangential force FT by the movable grip members 134A-134C to the cap 201. The resistance to rotation of the cap 201 against the force FT causes a torque T on the movable grip members 134A-134C that increases an amount of normal or radial force FR exerted on the cap 201 by the movable grip members 134A-134C so as to provideadditional gripping force (compared to the gripping force provided by the biasing members 370 alone) to remove the cap 201 from the sample tube 200. Here, the grip force applied to the cap 201 by the movable grip members 134A-134C is self-adjusting depending on the tightness of the cap 201 relative to the sample tube 200.

[0078] Referring to Figs. 2, 3A and 3B, the decapping section 130 includes one or more sensors for detecting one or more of a presence of a capped sampled tube 200C within the at least one movable gripper 133 and a rotation of the at least one movable gripper 133 relative to the frame 130F of the decapping section 130. The decapping section 130 includes a sensor module 277 that is coupled to the frame 13 OF and extends from the frame 13 OF towards the at least one movable gripper 133. Here, the sensor module 277 remains stationary relative to the rotation of the at least one movable gripper 133. The sensor module 277 includes a sensor head 277H that includes one or more sensors configured to detect one or more sensor flags of the at least one movable gripper 133. For exemplary purposes only, the at least one movable gripper 133 includes a housing datum 142 and a plunger datum 143. The sensor head 277H includes detector or sensing element 141 that is disposed on the sensor head 277H to detect both of the housing datum 142 and the plunger datum 143; however, in other aspects, there may be separate sensors configured and disposed to sense a respective one of the housing datum 142 and the plunger datum 143. The sensor may be any suitable magnetic, electromagnetic, optical, capacitive, mechanical, and / or sonic proximity sensor.

[0079] With the at least one movable gripper 133 in its rotational home position (see Fig. 3B) and without a capped sample tube 200C present within the at least one movable gripper 133, the plunger 135 is disposed at an initial position so that the plunger datum 143 (coupled to the plunger 135) is substantially aligned with the detector 141 and the detector 141 senses the plunger flag. The drive section 120D is configured (e.g., as described herein, such as with the Z-axis drive 125) to move the decapping section 130 towards the tube holding area 150 so as to insert the tube cap 201 into the decapping section 130. With contact between the decapping section 130 and the tube cap 201, the sensor 140 is configured to sense a respective datum (e.g., the plunger datum 143)moving out of registry with the sensor 140 (e.g., the detector 141 of the sensor 140) indicating a presence of the tube cap 201 within the decapping section 130. For example, the plunger datum 143 is coupled to a slide or carriage 135C that reciprocates within any suitable guide 367 (e.g., illustrated in Fig. 3 A as a circular channel but in other aspects the guide may be a rail, bearing, or any other suitable linear guide). The carriage 135C may be biased in direction 291D by any suitable biasing member such as a spring, air piston, gravity, etc. Here, for exemplary purposes, the at least one movable gripper 133 includes a slot or elongated aperture 135A (see Fig. 2) within which and through which the plunger datum 143 extends for interfacing with the detector 141. The plunger 135 is coupled to the carriage 135C (and hence the plunger datum 143) so as to be cantilevered from the carriage 135C towards the twist axis RX5. The plunger 135 includes a tube contact surface 135S that is engaged by a cap 201 of a capped sample tube 200C, where with movement of the decapping section 130 in direction 291D towards the capped sample tube 200C, the capped sample tube 200C contacts the tube contact surface 135S and effects relative movement between the plunger and the decapping section 130 (e.g., the plunger remains substantially stationary in direction 291 while the decapping section 130 moves in direction 291D causing the plunger 135, the carriage 135C, and the plunger datum 143 to move (e.g., relatively) in direction 291U relative to the decapping section 130 and detector 141. The relative movement between the plunger datum 143 and the detector 141 causes the plunger datum 143 to no longer be sensed by the detector 141 (e.g., the plunger flag 143 is moved out of registry with the detector 141) indicating the presence of a capped sample tube 200C within the at least one movable gripper 133. As may be realized, sensing of the plunger datum 143 by the detector 141 indicates an absence of the capped sample tube 200C or cap 201 from the at least one movable gripper 133. In other aspects, the plunger datum 143 may be positioned so that instead of being moved away from the detector 141, the plunger datum 143 may be positioned to move towards the detector 141 so that the detector 141 detecting the presence of the plunger datum 143 (instead of the absence of the plunger flag) indicates the presence of the capped sample tube 200C or cap 201 within the at least one movable gripper 133 and the detector 141 not detecting the presence of the plunger flagindicates an absence of the capped sample tube 200C or cap 201 from the at least one movable gripper 133.

[0080] The housing datum 142 is fixed to the at least one movable gripper 133 so as to rotate as a unit with the at least one movable gripper 133 about the twist axis RX5. The housing datum 142 is in the same plane (e.g., in direction 291) with the plunger datum 143, when the plunger datum 143 is positioned (e.g., biased) in its terminal location in direction 291D (e.g., in alignment with the detector 141). The housing datum 142 is positioned on the grip housing so as to be disposed at any suitable angle 0 (see Fig. 3B) from the rotational home position of the at least one movable gripper 133 (and the plunger datum 143). The angle 0 may be sized so that with rotation of the at least one movable gripper 133 in direction 398B the rotation of the at least one movable gripper 133 through the angle 0 effects the increased grip force of the at least one cap grip jaw 134 on the cap 201. With the at least one movable gripper 133 rotated from the rotational home position by an amount substantially equal to the angle 0, the housing datum 142 is aligned with the detector 141 so that the detector 141 detects the presence of the housing datum 142. As described herein, detection of the housing datum 142 initiates a compound movement (e.g., in rotation and in direction 291U) of the decapping section 130 for removal of the cap 201 from the sample tube 200.

[0081] Referring to Figs. 1, 2, and 5 the tube decapper apparatus 120 includes the tube holding area 150 that is configured to grip a sample tube 200 held on the transport cart 108H. The tube holding area 150 is configured to hold the sample tube 200 rotationally stationary and effect relative movement between the cap 201 and the sample tube 200 for removal of the cap 201 from the sample tube 200. The tube holding area 150 is coupled to the frame 120F in any suitable manner so that the capped sample tube 200C, held by tube gripper jaws 152 of the tube holding area 150, is in substantial alignment with the twist axis RX5. The tube holding area 150 includes opposing tube gripper jaws 152A, 152B that are opened and closed by a gripper motor 151 of the tube holding area 150. Each tube gripper jaw 152A, 152B is coupled to a frame 150F of the tube holding area 150 in any suitable manner, about a respective axis of rotation RX6, RX7. As anexample, each tube gripper jaw 152A, 152B is mounted to a respective shaft 501, 502 that rotates about the respective axis RX6, RX7. The rotation of the tube gripper jaws 152A, 152B about the respective axes RX6, RX7 is coupled so that rotation of one tube gripper jaw 152A, 152B causes rotation of the other tube gripper jaw 152A, 152B. For exemplary purposes, coupling of the tube gripper jaw rotation is effected by meshed gears 510 (one gear coupled to each shaft 501, 502 and meshed with each other); however, in other aspects any suitable coupling transmission may be employed such as belt / pulley, chain / sprocket, or any other suitable coupling transmission. Each tube gripper jaw 152A, 152B includes a tube engagement portion 511 configured to contact and grip a sample tube 200 for holding the sample tube 200 rotationally stationary.

[0082] The gripper motor 151 is coupled to the tube gripper jaws 152A, 152B by any suitable transmission. For exemplary purposes only, a disc, plate, or other drive member 550 is coupled to an output of the gripper motor 151 for rotation about motor rotational axis RX8. A bearing 555 (e.g., roller bearing, pin, rod, etc.) is coupled to the drive member 550 at an eccentric position relative to the motor rotational axis RX8. One of the tube gripper jaws 152 A, 152B includes a slot 152S in which the bearing 555 reciprocates with reciprocating rotation of the drive member 550 in direction 599 about the motor rotational axis RX8. Here, the slot 152A is on an opposite end of the one of the tube gripper jaws 152A, 152B relative to the tube engagement portion 511, with the axis of rotation RX6, RX7 disposed therebetween.

[0083] The slot 152S has a wall(s) 152SW that define a cam surface 152SC that the bearing 555 contacts and follows as the gripper jaws 152A, 152B are opened and closed. The tube gripper jaw 152 closing force is a function of the normal contact force from the bearing 555 (driven by gripper motor 151) against the cam surface 152SC and the distance (i.e., varying distance) of the bearingcam surface contact point from the axis of rotation RX7 (see Fig. 5C). As may be realized, the varying distance of the bearing-cam surface contact point varies or changes as the gripper jaw 150A rotates between the fully open and fully closed positions. The shape of the cam surface 152SC, along which the bearing 555 moves, defines the normal contact force and is configured to maximize the tube gripper jaw 152 force (e.g., against the sample tube 200) only in an expectedgrip range (e.g., a range of rotation of the gripper jaws 152A, 152B about their respective axis RX6, RX7 of rotation) for gripping sample tubes having diameters ranging from about 12 mm to about 16 mm, while minimizing the normal contact force and increase gripper jaw rotational speed (e.g., about the respective axis RX6, RX7) of rotation with the gripper jaws 152A, 152B outside of the expected grip range (i.e., where there is no contact between the gripper jaws 152A, 152B and the sample tube 200).

[0084] To open the tube gripper jaws 152A, 152B, the gripper motor 151 rotates the drive member 550 in direction 599B (with rotation of the one of the tube gripper jaws being effected through sliding engagement of the bearing 555 with the slot 152S) so that tube gripper jaw 152A rotates in direction 598B about axis RX7. Since rotation of the tube gripper jaws 152A, 152B is coupled, rotation of the tube gripper jaw 152A in direction 598B causes rotation of the tube gripper jaw 152B in direction 597A about axis RX6. The tube gripper jaws 152A, 152B have a range of motion such that with the tube gripper jaws 152A, 152B in an open position / configuration, the transport cart 108H with a sample tube 200 held thereon moves along the conveyor 108T free from interference by the tube gripper jaws 152A, 152B (e.g., the tube gripper jaws 152A, 152B and free and clear of a path of motion of the sample tube 200 held on the transport cart 108H and moving along the conveyor 108T).

[0085] To close the tube gripper jaws 152A, 152B and grip a sample tube 200, the gripper motor 151 is moved in direction 599A so that the tube gripper jaw 152A rotates in direction 598A about axis RX7 to contact and grip the sample tube 200. As noted above, the coupled rotation effects, with rotation of the tube gripper jaw 152A in direction 598A, a rotation of tube gripper jaw 152B in direction 597B about axis RX6 so that the tube gripper jaw 152B contacts and opposingly grips (relative to tube gripper jaw 152A) the sample tube 200.

[0086] The gripper motor 151 may be a stepper motor having any suitable encoder(s) 151E that effect, with the controller 199, reciprocating motion of the drive member 550 for opening and closing the tube gripper jaws 152A, 152B. It is noted that while exemplary operation and structureof the tube holding area 150 are provided, in other aspects, the sample tube gripper may have any suitable structure and operate in any suitable manner for gripping and releasing a sample tube held on the transport cart 108H.

[0087] Referring to Figs. 5, 9 and 10, the gripper motor 151 includes encoder(s) 151E where the controller 199 employs a closed loop control to drive the gripper motor 151 to a predetermined torque to grip the sample tube 200 held on the transport cart 108H. It is noted that the closed position of the gripper jaws 152 may be different depending on a diameter of the sample tube 200, where the controller 199 may employ the encoder 15 IE to determine the diameter of a gripped sample tube 200 with the gripper motor 151 at the predetermined torque. The encoders 151 E may be calibrated by the controller 199 in any suitable manner to reduce encoder error. For example, the gripper motor 151 may be driven / rotated (e.g., the gripper motor output, such as a drive shaft or rotor to which an encoder track of the encoder(s) 132E is coupled, is rotated) in a first direction (such as direction 599B), under control of controller 199, to a number of evenly spaced rotational positions 1-8 (while eight positions are illustrated there may be more or less than eight positions) within a revolution of the gripper motor 151 (Fig. 9, Block 900). At each of the evenly spaced rotational positions 1-8 of the gripper motor 151, the controller 199 obtains the encoder data (i.e., actual encoder data) from the encoder(s) 15 IE (Fig. 9, Block 905). For each of the rotational positions 1-8, the controller 199 compares the actual encoder data with corresponding expected encoder data (for example, the actual encoder data for rotational position 1 is compared with the expected encoder data for rotational position 1, the actual encoder data for rotational position 2 is compared with the expected encoder data for rotational position 2, etc.) to determine a first encoder error for the given rotational position 1-8 (Fig. 9, Block 910) with the gripper motor 151 rotated in the first direction 599B.

[0088] To account for hysteresis in the gripper motor 151 position, the direction of motor rotation is reversed so the gripper motor 151 rotates in a second direction opposite the first direction (such as direction 599 A) to each of the rotational positions 1 -8 (Fig. 9, Block 915). At each of the evenly spaced rotational positions 1-8 of the gripper motor 151, the controller 199 again obtains theencoder data (i.e., actual encoder data) from the encoder(s) 151E (Fig. 9, Block 920). For each of the rotational positions 1-8, the controller 199 compares the actual encoder data with corresponding expected encoder data (for example, the actual encoder data for rotational position 1 is compared with the expected encoder data for rotational position 1, the actual encoder data for rotational position 2 is compared with the expected encoder data for rotational position 2, etc.) to determine a second encoder error for the given rotational position 1-8 (Fig. 9, Block 925) with the gripper motor 151 rotated in the second direction 299 A. For each of the rotational positions 1-8, the controller 199 averages the respective first and second encoder error (Fig. 9, Block 930), where the average encoder errors for the rotational positions 1 -8 form a list including the average encoder error (e.g., encoder correction factor) for each of the rotational positions 1-8, which average encoder errors are employed for correcting positioning the gripper motor 151 when operating the gripper motor 151 to open and close the tube gripper jaws 152 such as when removing a cap 201 from a sample tube 200. The controller 199 is configured to approximate the encoder error at gripper motor 151 positions other than the rotational positions 1-8 by employing any suitable interpolation, such as a linear interpolation between two rotational positions 1-8 that are adjacent one another. Here, the encoder calibration provides a non-linear encoder correction factor based on angular orientation of the gripper motor 151 within one revolution of the gripper motor 151. In some aspects, the decapper motor 132 may include an encoder 132E for determining the rotational position of the decapper motor 132, where the encoder 132E may be calibrated in a manner substantially similar to that noted above with respect to encoder 15 IE.

[0089] The controller 199 is configured to determine a loss of integrity of the sample in a sample tube 200. For example, the controller 199 is configured to employ the encoder data from the encoder(s) 15 IE to monitor the rotational position of the gripper motor 151. With a sample tube 200 gripped by the tube gripper jaws 152, the controller 199 may determine one or more of a rate of change in position of the gripper motor 151 and an absolute change in position, where such rate of change in position or absolute change in position is indicative of failure or other defect of the sample tube 200 (e.g., in at least a gripped region of the sample tube) that may affect the integrityof the sample therein. Where such loss of integrity is detected, the controller 199 may notify an operator or direct (with any suitable automation, such as of the sample tube conveyance 108) the affected sample tube 200 to an inspection station for operator remediation.

[0090] Referring to Figs. 1-7 and 8, an exemplary decapping operation of the tube decapper apparatus 120 will be described. It is noted that prior to transport of a capped sample tube 200C to the tube decapper apparatus 120, the decapping section 130 is located in a park or home position (as illustrated in Fig. 2) with the decapping head positioned at a predetermined Z axis location (e.g., in direction 291) and with the at least one movable gripper 133 in the rotational home position. With the decapping section 130 in the park position, a capped sample tube 200C is positioned relative to the decapping section 130 (Fig. 8, Block 800) by the sample tube conveyance 108 in the manner described herein.

[0091] The controller 199 sends a command to decap (i.e., remove the cap 201 from the sample tube 200) the capped sample tube 200C to the tube decapper apparatus 120. With the capped sample tube 200C positioned relative to the decapping section 130, the tube holding area 150 grips the sample tube 200 with the tube gripper jaws 152 (Fig. 8, Block 810, see also Figs. 2, 5, 6, and 7). The movable grip members 134A-134C are opened (Fig. 8, Block 820) with rotation of the decapper motor 132 output in direction 398A so as to rotate each cap grip jaw 134A-134C against the biasing force of the respective biasing member 370 (see Figs. 1, 2, and 3C). The decapping section 130 is moved in direction 291D towards the capped sample tube 200C (Fig. 8, Block 830) under impetus of the Z-axis drive 125 (or in other aspects, the capped sample tube 200C is moved toward the decapping section 130 by the lift 120L). With movement of the decapping section 130 in direction 291D (or in other aspects, with the lift 120L moving the capped sample tube 200C in direction 291U), plunger movement (e.g., relative to the detector 141) is detected (Fig. 8, Block 840) indicating the presence of the capped sample tube 200C within the at least one movable gripper 133 (see the “Z position at capped sample tube detection” in Fig. 6). In some aspects, the Z-axis drive 125 is a stepper motor where the Z position of the decapping section 130 is determined by the controller 199 such as by counting steps of the stepper motor relative to a home position;while in other aspects, the Z-axis drive is any suitable motor where the Z position of the decapping section 130 is determined by the controller 199 in any suitable manner, such as with any suitable motor encoders.

[0092] With detection of the capped sample tube, the decapping section 130 continues to move in direction 29 ID (from the “Z position at capped sample tube detection”) towards the capped sample tube 200C (or in other aspects, the lift 120L continues to move the capped sample tube 200C in direction 291U towards and into the decapping section 130) by any suitable predetermined offset amount or distance DZ as described herein (Fig. 8, Block 850, see Fig. 6). The predetermined offset distance DZ may be a selectable distance that is selectable from a number of different offset distances depending on one or more of the different sized sampled tubes (e.g., different heights Hl-Hn and / or different diameters DI -Dm (see Fig. 1), the respective different diameter DCl-DCp caps (see Fig. 4C)), and a type of cap configuration DF1, DF2 (see Fig. 4C).

[0093] Referring also to Figs. 4C and 4D, as an example of an offset move accommodating different types of cap configurations DF1, DF2, the cap DF2 may be referred to as a stepped cap (an example of which can be found on the S-Monovette® family of products produced by Starstedt of Numbrecht, Germany) that has a tube engagement portion 201 T and another portion 201N extending from the tube engagement portion 201 T by a distance or height SH. The other portion 201N has a smaller diameter than the tube engagement portion 201T. Here, the decapping section 130 moves in direction 29 ID until the plunger 135 contacts the capped sample tube 200C and the controller 199 detects the capped sample tube through movement of the plunger datum 143 as described herein. After contact with the capped sample tube is detected, the controller 199 effects further movement of the decapping head in direction 29 ID (or in other aspects, further movement of the capped sample tube 200C in direction 291U by the lift 120L) by the offset distance DZ. For capped sampled tubes having the same height HC, the offset distance DZ places the tine 420A inline with the tube engagement portion 201 T of the stepped cap DF2 for gripping the tube engagement portion 20 IT (where when the cap DF2 is gripped by the at least one movable grip member 134 the distance between the tines 420B and the other portion 20 IN is such that the tines420B do not contact the other portion 201 N of the stepped cap DF2); and the same offset distance DZ places the tine 420B in line with the cap DF1 for gripping the cap DF1 (where when the cap DF1 is gripped by the at least one movable grip member 134 the distance between the tines 420A and the sample tube 200 is such that the tines 420A do not contact the sample tube 200).

[0094] The offset distances DZ may be stored in any suitable memory accessible by the controller 199, where the controller 199 selects the offset distance DZ based on the size characteristics of the capped sample tube 200C present within the at least one movable gripper 133. In some aspects, the capped sample tube 200C is identified (e.g., in any suitable manner such as by scanning indicia of the sample tube, sensing dimensions of the sample tube, etc.) with placement of the capped sample tube 200C on, or during transport of the sample tube on, the sample tube conveyance 108, where such sample tube identification is communicated to the controller 199 for selection of the offset distance DZ. The movement of the decapping section 130 through the distance DZ in direction 29 ID may be effected by the Z-axis drive 125; while in other aspects a dedicated offset drive 126 may be provided (e.g., such as on the movable carriage 220) that moves the decapping section 130 the offset distance DZ with the Z-axis drive remaining stationary. As described herein, movement of the decapping section 130 (or in other aspects, the capped sampled tube 200C) by the offset distance DZ aligns the appropriate tine 420 A, 420B in direction 291 with the cap 201.

[0095] With the appropriate tine 420 A, 420B of the at least one movable grip member 134 aligned with the cap 201, the at least one movable grip member 134 are closed (Fig. 8, Block 860) so that the at least one movable grip member 134 engage the cap 201 as described herein. As noted herein, closing of the at least one movable grip member 134 is effected with rotation of the decapper motor 132 output in direction 398B so as to rotate each cap grip jaw 134A-134C so as to relax the biasing force of the respective biasing member 370 (see Figs. 1 , 2, and 3C). With the at least one movable grip member 134 engaged with the cap 201, the output of the decapper motor 132 may continue to rotate in direction 398B so that at least one movable gripper 133 rotates about the twist axis RX5 and the detector 141 detects the housing datum 142 in the manner described herein (with detection of the housing datum 142, the controller 199 knows the at least one movable grip member134 is closed and the movable grippers 133 have begun to rotate as a unit about axis RX5). With detection of the housing datum 142, the decapping head operates with a compound movement to remove the cap 201 from the sample tube 200 (Fig. 8, Block 870). For example, with continued rotation of the at least one movable gripper 133 (e.g., under impetus of the decapper motor 132 after the housing datum 142 is detected) and with the self-adjusting grip force applied by the at least one movable grip member 134 against the cap 201, the decapping section 130 is moved in direction 291U away from the sample tube 200 (or in other aspects, the sample tube 200 is moved by the lift 120L in direction 291 D away from the decapping section 130). The rate of movement of the decapping section 130 in direction 291U (or in other aspects, rate of movement of the sample tube 200 in direction 29 ID) may be timed with the rotation of the at least one movable gripper 133 (and of the gripped cap) in direction 298B to coincide with the pitch of threaded engagement between the cap 201 and sample tube 200. Here, rotation of the at least one movable gripper 133 in direction 298B to remove the cap 201 may be the same amount of rotation for each cap 201, regardless of cap diameter DCl-DCp and sample tube size (e.g., height and diameter). For example, rotation of the at least one movable gripper 133 in direction 298B to remove the cap 201 may be about a 360 degree rotation, while in other aspects the rotation may be more or less than about 360 degrees.

[0096] With the cap 201 removed from the sample tube 200, the decapping section 130 is positioned to dispense the removed cap 201 (Fig. 8, Block 880). For example, the decapping section 130 continues to move, e.g., under impetus of the Z-axis drive 125, in direction 291U to a predetermined Z height, such as a height of the decapping head park position (see Fig. 2) or any other suitable height. In other aspects, where the sample tube 200 is raised and lowered relative to the decapping section 130, the decapping section may remain stationary in direction 291 throughout the decapping operation and may pivot about axis RX (see Fig. 2) to dispense the cap into the cap receptacle 160 as described below. The rotary drive 220R of the carriage 220 rotates the decapping section 130 about axis RX from the tube engagement position or configuration (as illustrated in Figs. 1 and 6) and the cap dispensing position or configuration (as illustrated in Fig.7), where the cap 201 is ejected or otherwise dispense to waste (e.g., into any suitable waste receptacle such as the cap receptacle 160). As described below, the sensor 140 effects a determination of tube cap ejection to waste based on a rotational position of one of the datums (e.g., the housing datum 142) with the at least one movable gripper 133 in the ungripping position and a registry of another of the datums (e.g., the plunger datum 143) with the detector 141 of the sensor 140.

[0097] The sensor 140 effects a determination of a rotational position of a respective datum (e.g., one or more of the housing datum 142 and plunger datum 143) with the at least one movable gripper 133 in the gripping position, and a determination of a deviation of the respective datum (e.g., the one or more of the housing datum 142 and the plunger datum 143) from the rotation position, the deviation indicating escapement of the tube cap 201 from the decapping section 130. Upon determination of the deviation by the controller 199, the controller 199 effects notification of the deviation to a user of the tube decapper apparatus 120 for remediation. For example, with the decapping section 130 in the cap dispensing position, the decapper motor 132 rotates the at least one movable gripper 133 in direction 298A (see Fig. 7) to the rotational home position (see Fig. 3B as determined by sensing the housing datum 142 and plunger datum 143 as described herein), where the detector 141 is employed to determine whether the cap 201 remains held by the movable grip members 134A-134C. For example, where the cap 201 remains held by the movable grip members 134A-134C, and with the at least one movable gripper 133 disposed at the angle 0 from the rotational home position, the detector 141 detects the housing datum 142 (where the initial detection of the housing datum during gripping of the cap 201 is correlated to a position of the decapper motor 132 by counting steps of the decapper motor 132 and the detection of the housing datum 142 during release of the cap 201 occurs at the correlated position of the decapper motor 132). Where the cap 201 is not held by the movable grip members 134A-134C (e.g., the cap has dropped / fallen or otherwise escaped from) of the at least one movable gripper 133, the position of the housing datum 142 is skewed relative to the correlated position of the decapper motor 132 (e.g., by the biasing effect of the biasing members 370 on the driven gears 392A-392C) so that thehousing datum 142 detection by the detector 141 occurs at an unexpected rotational position (i.e., not the expected correlated position ) of the at least one movable gripper 133 (i.e., the number of steps the decapper motor 132 moves to close the movable grip members 134A-134C on the cap 201 and to detect the housing datum 142 with the detector 141 is recorded (such as by the controller 199 or any other suitable controller) and compared to the number of steps the decapper motor 132 moves to return the movable grip members 134A-134C to the fully open position, where if the number of steps to open the movable grip members is greater than the number of steps to close the movable grip members the difference is identified and the controller 199 reports a lost / dropped cap.

[0098] Where the controller 199 determines (e.g., based on detector 141 detecting the housing datum 142) the cap 201 remains gripped by the movable grip members 134A-134C, the controller 199 commands further rotation of the decapper motor 132 output (e.g., drive gear 390) to rotate each cap grip jaw 134A-134C against the biasing force of the respective biasing member 370 to open the movable grip members 134A-134C relative to each other and release the cap 201 into the cap receptacle 160 for disposal of the cap 201. With release of the cap 201 by the movable grip members 134A-134C, the plunger 135 is moved to its initial position (e.g., under impetus of any suitable biasing member as described herein). Movement of the plunger 135 may effect ejection of the cap 201 (rather than a mere movement of the cap by gravity) from the at least one movable gripper 133 to the cap receptacle 160. With the plunger 135 positioned at its initial position, the detector 141 detects the plunger datum 143, where such detection provides an indication to the controller 199 that the cap 201 has been released and removed from the at least one movable gripper 133.

[0099] Where the controller 199 determines (e.g., based on detector 141 detecting the housing datum 142) the cap 201 is not gripped by the movable grip members 134A-134C (e.g., has fallen or otherwise escaped) the controller 199 may notify an operator of the tube decapper apparatus 120 or sample processing apparatus 100 (e.g., in any suitable manner, such as with any suitableaural and / or visual indicator provided by any suitable electronic and / or mechanical device) for remediation of the fallen cap 201.

[0100] With the cap 201 released from the at least one movable gripper 133 (as indicated by detection of the plunger datum 143 by the detector 141) and with the rotational orientation of the at least one movable gripper 133 being a predetermined rotational distance from the rotation home position (as determined by counting steps of the decapper motor 132), the controller 199 determines the tube decapper apparatus 120 is ready for a next decapping operation. Here, the controller 199 effects movement of the decapping head to the park position illustrated in Fig. 2 for the removal of a next cap 201 from a next sample tube 200.

[0101] In some aspects, the decapping section 130 is provided with manual release of the cap 201 from the grip housing. For example, a cap eject knob 131 is provided on a housing of the decapper motor 132 where the cap eject knob 131 is coupled to the output (e.g., drive shaft / drive gear 390 or motor rotor) of the decapper motor 132 so that the cap eject knob 131 and output rotate as a unit with each other. As may be realized, manual rotation of the cap eject knob 131 in direction 298A with the at least one movable gripper 133 at the rotational home position (see Fig. 3B) rotates the drive gear 390, so that the drive gear 390 rotates the at least one movable grip member 134 against the bias of the respective biasing member 370 to open the at least one movable grip member 134 and release the cap 201 from the at least one movable grip member 134 in a manner substantially similar to that described above via operation of the decapper motor 132.

[0102] It is noted, with respect to the method steps provided in Fig. 8, that the blocks of the method could be performed in any suitable sequence and not necessarily the sequence shown in Fig. 8. For exemplary purposes only, blocks 810-830 may occur sequentially in any order or substantially simultaneously with each other; while in other aspects, blocks 800 and 820-830 may occur sequentially in any order or substantially simultaneously with each other.

[0103] Referring to Figs. 1-7, 11A-11C, and 12 an exemplary tube decapping method will be described. In accordance with the method, the tube decapper apparatus 120 is provided and includes a frame 120F (Fig. 12, Block 1200). A sample tube 200 is held in the tube holding area 150, which is disposed on the frame 120F (Fig. 12, Block 1210). The tube cap 201 is engaged with the decapping section 130, connected to the frame, and the sample tube 200 held in the tube holding area 150 is decapped Fig. 12, Block 1220), where the decapping section 130 includes the at least one movable gripper 133, movable between the gripping position (see, e.g., Figs. 1 IB and 11C), wherein the at least one movable gripper grips the tube cap 201, and an ungripping position (see, e.g., Fig. 11 A), wherein the at least one movable gripper is disengaged from the tube cap 201. The at least one movable gripper 133 is moved between the ungripping position to the gripping position, with torque from the at least one motor 132 of the drive section 120D operably coupled to the at least one movable gripper 133, and continued torque imparted by the at least one motor 132 to the at least one movable gripper 133 effects decap rotation, relative to the sample tube 200, of the tube cap 201 gripped with the at least one movable gripper 133 (Fig. 12, Block 1230).

[0104] Referring to Figs. 1-7, 11A-11C, and 13 an exemplary tube decapping method will be described. In accordance with the method, the tube decapper apparatus 120 is provided and includes a frame 120F (Fig. 13, Block 1300). A sample tube 200 is held in the tube holding area 150, which is disposed on the frame 120F (Fig. 13, Block 1310). The tube cap 201 is engaged with the decapping section 130, connected to the frame, and the sample tube 200 held in the tube holding area 150 is decapped Fig. 13, Block 1320), where the decapping section 130 includes the at least one movable gripper 133, movable between the gripping position (see, e.g., Figs. 1 IB and 11C), wherein the at least one movable gripper 133 grips the tube cap 201, and an ungripping position (see, e.g., Fig. 11 A), wherein the gripper is disengaged from the tube cap 201. The at least one movable gripper 133 is moved between the ungripping position to the gripping position, with torque from the at least one motor 132 of the drive section 120D operably connected to the at least one movable gripper 133, and continued torque imparted by the at least one motor 132 to the at least one movable gripper 133 effects rotation, relative to the sample tube 200, of the at leastone movable gripper 133 gripping the tube cap 201 in a decap direction 398B (Fig. 13, Block 1330).

[0105] Referring to Figs. 1-7, 11A-11C, and 14 an exemplary tube decapping method will be described. In accordance with the method, the tube decapper apparatus 120 is provided and includes a frame 120F (Fig. 14, Block 1400). A sample tube 200 is held in the tube holding area 150, which is disposed on the frame 120F (Fig. 14, Block 1410). The tube cap 201 is engaged with the decapping section 130, connected to the frame, and the sample tube 200 held in the tube holding area 150 is decapped Fig. 14, Block 1420), where the tube holding area 150 and decapping section 130 move relative to each other, and the decapping section 130 includes the at least one movable gripper 133, movable between a gripping position, wherein the at least one movable gripper 133 grips the tube cap 201, and an ungripping position, wherein the at least one movable gripper 133 is disengaged from the tube cap 201. The relative motion between the decapping section 130 and the tube holding area 150 is effected (Fig. 14, Block 1430), with the drive section 120D that defines more than one degrees of freedom, so as to dispose the tube cap 201 within the decapping section 130 for gripper engagement with the tube cap 201 , where the drive section 120D has at least one motor 125, 126, 132, 151 operably connected to at least one of the tube holding area 150 and the decapping section 130. A decap motion is imparted by the drive section to the tube cap 201 decapping the sample tube 200 (Fig. 14, Block 1440).

[0106] In accordance with one or more aspects of the present disclosure a tube decapper apparatus comprises: a frame; a tube holding area disposed on the frame and arranged for holding a tube therein; a decapping section connected to the frame and configured to engage a tube cap and decap the tube held in the tube holding area, where the decapping section includes at least one movable gripper, movable between a gripping position, wherein the at least one movable gripper grips the tube cap, and an ungripping position, wherein the at least one movable gripper is disengaged from the tube cap; and a drive section with at least one motor operably connected to the at least one movable gripper so torque, from the at least one motor, moves the at least one movable gripper between the ungripping position to the gripping position and continued torque imparted by the atleast one motor to the at least one movable gripper effects decap rotation, relative to the tube, of the tube cap gripped with the at least one movable gripper.

[0107] In accordance with one or more aspects of the present disclosure the at least one movable gripper has at least one movable grip member that engages and grips the tube cap with the at least one movable gripper in the gripping position, the at least one movable grip member having a movable joint, and each of the at least one grip member has more than one tube cap contact areas offset from each other, relative to the movable joint, so that for a common motion of the at least one movable gripper each movable grip member engages tube caps of varying diameters.

[0108] In accordance with one or more aspects of the present disclosure the offset is in a direction radial to the tube.

[0109] In accordance with one or more aspects of the present disclosure the offset is in a direction along a longitudinal axis of the tube.

[0110] In accordance with one or more aspects of the present disclosure the common motion is in a radial direction.

[0111] In accordance with one or more aspects of the present disclosure the common motion is in along a longitudinal axis of the tube.

[0112] In accordance with one or more aspects of the present disclosure the movable joint imparts decapping torque from the at least one movable gripper to a base of the at least one grip member, the base being movable in the decapping direction relative to the tube.

[0113] In accordance with one or more aspects of the present disclosure the at least one movable gripper is resiliently biased in the gripping position.

[0114] In accordance with one or more aspects of the present disclosure a tube decapper apparatus comprises: a frame; a tube holding area disposed on the frame and arranged for holding a tubetherein; a decapping section connected to the frame and configured to engage a tube cap and decap the tube held in the tube holding area, the decapping section includes at least one movable gripper, movable between a gripping position, wherein the at least one movable gripper grips the tube cap, and an ungripping position, wherein the at least one movable gripper is disengaged from the tube cap; and a drive section with at least one motor operably connected to the at least one movable gripper so torque, from the at least one motor, moves the at least one movable gripper between the ungripping position to the gripping position and continued torque imparted by the at least one motor to the at least one movable gripper effects rotation, relative to the tube, of the at least one movable gripper gripping the tube cap in a decap direction.

[0115] In accordance with one or more aspects of the present disclosure the at least one movable gripper has at least one movable grip member that engages and grips the tube cap with the at least one movable gripper in the gripping position, the at least one movable grip member having a movable joint, and each of the at least one grip member has more than one tube cap contact areas offset from each other, relative to the movable joint, so that for a common motion of the at least one movable gripper each movable grip member engages tube caps of varying diameters.

[0116] In accordance with one or more aspects of the present disclosure the offset is in a direction radial to the tube.

[0117] In accordance with one or more aspects of the present disclosure the offset is in a direction along a longitudinal axis of the tube.

[0118] In accordance with one or more aspects of the present disclosure the common motion is in a radial direction.

[0119] In accordance with one or more aspects of the present disclosure the common motion is in along a longitudinal axis of the tube.

[0120] In accordance with one or more aspects of the present disclosure the movable joint imparts decapping torque from the at least one movable gripper to a base of the at least one grip member, the base being movable in the decapping direction relative to the tube.

[0121] In accordance with one or more aspects of the present disclosure the at least one movable gripper is resiliently biased in the gripping position.

[0122] In accordance with one or more aspects of the present disclosure a tube decapping method comprises: providing a tube decapper apparatus with a frame; holding a tube in a tube holding area disposed on the frame; engaging a tube cap with a decapping section connected to the frame, and decapping the tube held in the tube holding area, where the decapping section includes at least one movable gripper, movable between a gripping position, wherein the at least one movable gripper grips the tube cap, and an ungripping position, wherein the at least one movable gripper is disengaged from the tube cap; and moving the at least one movable gripper between the ungripping position to the gripping position, with torque from at least one motor of a drive section operably coupled to the at least one movable gripper, and continued torque imparted by the at least one motor to the at least one movable gripper effects decap rotation, relative to the tube, of the tube cap gripped with the at least one movable gripper.

[0123] In accordance with one or more aspects of the present disclosure the tube cap is engaged and gripped by at least one movable grip member of the at least one movable gripper with the at least one movable gripper in the gripping position, where the at least one movable grip member has a movable joint, and each of the at least one grip member has more than one tube cap contact areas offset from each other, relative to the movable joint, so that for a common motion of the at least one movable gripper each movable grip member engages tube caps of varying diameters.

[0124] In accordance with one or more aspects of the present disclosure the offset is in a direction radial to the tube.

[0125] In accordance with one or more aspects of the present disclosure the offset is in a direction along a longitudinal axis of the tube.

[0126] In accordance with one or more aspects of the present disclosure the common motion is in a radial direction.

[0127] In accordance with one or more aspects of the present disclosure the common motion is in along a longitudinal axis of the tube.

[0128] In accordance with one or more aspects of the present disclosure the movable joint imparts decapping torque from the at least one movable gripper to a base of the at least one grip member, the base being movable in the decapping direction relative to the tube.

[0129] In accordance with one or more aspects of the present disclosure the at least one movable gripper is resiliently biased in the gripping position.

[0130] In accordance with one or more aspects of the present disclosure a tube decapping method comprises: providing a tube decapper apparatus with a frame; holding a tube in a tube holding area disposed on the frame; engaging a tube cap with a decapping section connected to the frame, and decapping the tube held in the tube holding area, where the decapping section includes at least one movable gripper, movable between a gripping position, wherein the at least one movable gripper grips the tube cap, and an ungripping position, wherein the at least one movable gripper is disengaged from the tube cap; and moving the at least one movable gripper between the ungripping position to the gripping position, with torque from at least one motor of a drive section operably connected to the at least one movable gripper, and continued torque imparted by the at least one motor to the at least one movable gripper effects rotation, relative to the tube, of the at least one movable gripper gripping the tube cap in a decap direction.

[0131] In accordance with one or more aspects of the present disclosure the tube cap is engaged and gripped by at least one movable grip member of the at least one movable gripper with the atleast one movable gripper in the gripping position, where the at least one movable grip member has a movable joint, and each of the at least one grip member has more than one tube cap contact areas offset from each other, relative to the movable joint, so that for a common motion of the at least one movable gripper each movable grip member engages tube caps of varying diameters.

[0132] In accordance with one or more aspects of the present disclosure the offset is in a direction radial to the tube.

[0133] In accordance with one or more aspects of the present disclosure the offset is in a direction along a longitudinal axis of the tube.

[0134] In accordance with one or more aspects of the present disclosure the common motion is in a radial direction.

[0135] In accordance with one or more aspects of the present disclosure the common motion is in along a longitudinal axis of the tube.

[0136] In accordance with one or more aspects of the present disclosure the movable joint imparts decapping torque from the at least one movable gripper to a base of the at least one grip member, the base being movable in the decapping direction relative to the tube.

[0137] In accordance with one or more aspects of the present disclosure the at least one movable gripper is resiliently biased in the gripping position.

[0138] In accordance with one or more aspects of the present disclosure a tube decapper apparatus comprises: a frame; a tube holding area disposed on the frame and arranged for holding a tube therein; a decapping section connected to the frame and configured to engage a tube cap and decap the tube held in the tube holding area, where: the tube holding area and decapping section being configured so as to move relative to each other, and the decapping section includes at least one movable gripper, movable between a gripping position, wherein the at least one movable gripper grips the tube cap, and an ungripping position, wherein the at least one movable gripper isdisengaged from the tube cap; and a drive section with at least one motor operably connected to at least one of the tube holding area and the decapping section, the drive section: defines more than one degrees of freedom that effect the relative motion between the decapping section and the tube holding area so as to dispose the tube cap within the decapping section for gripper engagement with the tube cap, and imparts decap motion to the tube cap decapping the tube.

[0139] In accordance with one or more aspects of the present disclosure the tube decapper apparatus further comprises datums, disposed on at least one of the decapping section and frame, each datum: being configured so as to determine relative position, respective to each degree of freedom, between the decapping section and the tube holding area, and comprising a sensor connected to the frame so as to sense each datum and characterize therefrom, tube cap engagement by the at least one movable gripper and tube cap removal from the tube with the at least one movable gripper.

[0140] In accordance with one or more aspects of the present disclosure tube cap engagement by the at least one movable gripper and tube cap removal from the tube with the at least one movable gripper is characterized based on the relative position between the decapping section and the tube holding area.

[0141] In accordance with one or more aspects of the present disclosure the decapping section and the tube holding area have a park position in which the tube cap of the tube in the tube holding area is outside the decapping section and the relative motion, between the decapping section and the tube holding area, is freely initiated so as to receive the tube cap inside the decapping section, and the park position is characterized from the sensor sensing each datum.

[0142] In accordance with one or more aspects of the present disclosure a rotational shift of a respective datum from the park position indicates an amount of displacement of the at least one movable gripper, relative to a reference location of the at least movable gripper, with the at leastone movable gripper in the gripping position; and the amount of displacement identifies a diameter of the tube cap gripped by the at least one movable gripper.

[0143] In accordance with one or more aspects of the present disclosure the sensor is a common sensor that commonly senses each datum with a respective datum presented in registry with the sensor.

[0144] In accordance with one or more aspects of the present disclosure the drive section is configured to move the decapping section towards the tube holding area so as to insert the tube cap into the decapping section; and with contact between the decapping section and the tube cap, the sensor is configured to sense a respective datum moving out of registry with the sensor indicating a presence of the tube cap within the decapping section.

[0145] In accordance with one or more aspects of the present disclosure the sensor effects: a determination of a rotational position of a respective datum with the at least one movable gripper in the gripping position; and a determination of a deviation of the respective datum from the rotation position, the deviation indicating escapement of the tube cap from the decapping section.

[0146] In accordance with one or more aspects of the present disclosure the tube decapper apparatus further comprises a controller coupled to the sensor, where upon determination of the deviation, the controller effects notification of the deviation to a user of the tube decapper apparatus.

[0147] In accordance with one or more aspects of the present disclosure the sensor effects a determination of tube cap ejection to waste based on a rotational position of one of the datums with the at least one movable gripper in the ungripping position and a registry of another of the datums with the sensor.

[0148] In accordance with one or more aspects of the present disclosure a tube decapping method comprises: providing a tube decapper apparatus with a frame; holding a tube in a tube holding areadisposed on the frame; engaging a tube cap with a decapping section connected to the frame, and decapping the tube held in the tube holding area, where: the tube holding area and decapping section move relative to each other, and the decapping section includes at least one movable gripper, movable between a gripping position, wherein the at least one movable gripper grips the tube cap, and an ungripping position, wherein the at least one movable gripper is disengaged from the tube cap; effecting the relative motion between the decapping section and the tube holding area, with a drive section that defines more than one degrees of freedom, so as to dispose the tube cap within the decapping section for gripper engagement with the tube cap, where the drive section has at least one motor operably connected to at least one of the tube holding area and the decapping section; and imparting, with the drive section, decap motion to the tube cap decapping the tube.

[0149] In accordance with one or more aspects of the present disclosure the method further comprises: being configured so as to determining, with each of at least two datums disposed on at least one of the decapping section and frame, relative position, respective to each degree of freedom, between the decapping section and the tube holding area, and sensing, with a sensor connected to the frame, each datum and characterizing therefrom, tube cap engagement by the at least one movable gripper and tube cap removal from the tube with the at least one movable gripper.

[0150] In accordance with one or more aspects of the present disclosure tube cap engagement by the at least one movable gripper and tube cap removal from the tube with the at least one movable gripper is characterized based on the relative position between the decapping section and the tube holding area.

[0151] In accordance with one or more aspects of the present disclosure the decapping section and the tube holding area have a park position in which the tube cap of the tube in the tube holding area is outside the decapping section and the relative motion, between the decapping section and the tube holding area, is freely initiated so as to receive the tube cap inside the decapping section, and the park position is characterized from the sensor sensing each datum.

[0152] In accordance with one or more aspects of the present disclosure a rotational shift of a respective datum from the park position indicates an amount of displacement of the at least one movable gripper, relative to a reference location of the at least movable gripper, with the at least one movable gripper in the gripping position; and the amount of displacement identifies a diameter of the tube cap gripped by the at least one movable gripper.

[0153] In accordance with one or more aspects of the present disclosure the sensor is a common sensor that commonly senses each datum with a respective datum presented in registry with the sensor.

[0154] In accordance with one or more aspects of the present disclosure the method further comprises: moving, with the drive section, the decapping section towards the tube holding area so as to insert the tube cap into the decapping section; and determining contact between the decapping section and the tube cap by sensing, with the sensor, a respective datum moving out of registry with the sensor indicating a presence of the tube cap within the decapping section.

[0155] In accordance with one or more aspects of the present disclosure the method further comprises, with the sensor: determining a rotational position of a respective datum with the at least one movable gripper in the gripping position; and determining a deviation of the respective datum from the rotation position, the deviation indicating escapement of the tube cap from the decapping section.

[0156] In accordance with one or more aspects of the present disclosure the method further comprises upon determination of the deviation, effecting, with a controller coupled to the sensor, a notification of the deviation to a user of the tube decapper apparatus.

[0157] In accordance with one or more aspects of the present disclosure the method further comprises, effecting, with the sensor, a determination of tube cap ejection to waste based on a rotational position of one of the datums with the at least one movable gripper in the ungripping position and a registry of another of the datums with the sensor.

[0158] It should be understood that the foregoing description is only illustrative of the aspects of the present disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the aspects of the present disclosure. Accordingly, the aspects of the present disclosure are intended to embrace all such alternatives, modifications and variances that fall within the scope of any claims appended hereto. Further, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be advantageously used, such a combination remaining within the scope of the aspects of the present disclosure.

Claims

CLAIMS:

1. Apparatus for separating a cap from a sample container, the apparatus comprising at least one movable engagement member configured to move from a first position to a second position so as to engage with the cap or the sample container, and a disengagement mechanism configured to disengage the cap from the sample container when the at least one movable engagement member is in the second position.

2. The apparatus of claim 1 configured such that the at least one movable engagement member is capable of engaging with a cap or a sample container within a range of cap or sample container widths or diameters.

3. The apparatus of claim 1 or claim 2, wherein the at least one movable engagement member is biased toward the second position.

4. The apparatus of any one of claims 1 to 3, wherein the at least one movable engagement member is movable from the first position to the second position about a swing axis or a rotational axis.

5. The apparatus of any one of claims 1 to 4 comprising two or more movable engagement members each of which moves with a common motion.

6. The apparatus of any one of claims 1 to 5, wherein the at least one movable engagement member comprises a contact area configured to frictionally engage with an external surface of the tube or the sample container.

7. The apparatus of claim 6, wherein the frictional engagement is provided by a non-slip material of the contact area, or by one or more projections or contours of the contact area configured to deform or embed into an external surface of the tube or the sample container.

8. The apparatus of any one of claims 1 to 7, wherein the at least one movable engagement member is locatable along an axis so as to be is capable of engaging with a cap disposed within a range or vertical levels, or a sample container having a height within a range of heights.

9. The apparatus of any one of claims 1 to 8, wherein the disengagement mechanism is configured to cause the at least one movable member to move the cap relative to the sample container and / or cause the at least one movable member to move the sample container relative to the cap.

10. The apparatus of claim 9, wherein the movement is an axial rotation of the cap relative to sample container, and / or an axial rotation of the sample container relative to the cap.

11. The apparatus of claim 9 or claim 10, wherein the disengagement mechanism is configured to spatially separate the cap and the sample container.

12. The apparatus of claim 11, configured to release or eject a cap spatially separated from the sample container by the disengagement mechanism.

13. The apparatus of claim 12 comprising, or associated with, a waste receptacle configured to receive a released or ejected cap.

14. The apparatus of any one of claims 1 to 13 comprising a holding portion configured to: (i) hold the sample container stationary while the cap is engaged with the at least one movable engagement member, or (ii) hold the cap stationary while the sample container is engaged with the at least one movable engagement member.

15. The apparatus of claim 14, wherein the holding portion is configured to: (i) hold the sample container stationary while the cap is moved relative to the sample container by the least one movable engagement member, or hold the cap stationary while the sample container is moved relative to the cap by the at least one movable engagement member.

16. The apparatus of any one of claims 1 to 15, wherein the at least one movable engagement member is disposed within a head unit that is movable in the z-direction, and the at least one movable engagement member is moveable along the x,y plane.

17. The apparatus of any one of claims 1 to 16, wherein movement of the at least one movable engagement member is effected by an electric motor having an associated encoder, the encoder being calibrated by a controller of the apparatus to determine an encoder error for one or more rotational positions of the electric motor.

18. The apparatus of any one of claims 1 to 17, wherein movement of the at least one movable engagement member is effected by an electric motor having a rotating shaft and an associated encoder, wherein hysteresis of the motor is accounted for by reference to an encoder error determined at a plurality of rotational positions of the electric motor, the encoder error being determined in the course of clockwise and counter-clockwise rotation of the rotating shaft.

19. A high throughput sample processing system comprising the apparatus of any one of claims 1 to 18.

20. The system of claim 19, comprising a sample container transporter configured to transport a sample container from a sample container holding area to the apparatus and / or transport a sample container from the apparatus to a sample analyzer.

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