Automated storage module

Abstract

This invention provides a cryogenic storage system that enables automated storage and retrieval of samples in cryogenic environments, as well as automated transfer of individual samples between cryogenic environments. Stored samples are maintained below a cryogenic temperature threshold while remaining accessible. Samples can be organized and tracked by scanning their individual barcodes. Embodiments may also include multiple storage containers and provide transfer of individual samples between these containers and between the storage containers and a removable cryogenic storage device.

Description

[0001] This application is a divisional application of the invention patent application filed on July 12, 2016, with application number 201680042503.2 (international application number: PCT / US2016 / 041916) and entitled "Automated Storage Module".

[0002] Related applications

[0003] This application claims the benefit of U.S. Provisional Application No. 62 / 194,621, filed July 20, 2015. The entire contents of the aforementioned application are incorporated herein by reference. Background Technology

[0004] Cryopreservation is a process necessary to maintain the integrity of biological material during long-term storage. At sufficiently low temperatures, all chemical processes and biological functions of such material are effectively stopped, allowing them to be safely stored for virtually any length of time. Cryopreservation Dewars achieve this by providing an insulated and controlled cryogenic environment to hold numerous biological or other samples. In a typical storage Dewar, samples are loaded onto racks or trays, each holding several samples. The racks or trays are manually removed from the cryogenic environment of the Dewar and presented to the user for removal of or addition of samples to the storage Dewar. Summary of the Invention

[0005] Exemplary embodiments of the present invention provide automated storage and retrieval of samples in cryogenic environments, and automated transfer of individual samples between multiple cryogenic environments. Embodiments can provide the ability to maintain samples at a cryogenic temperature threshold (e.g., -134°C) while ensuring that samples are always accessible. Samples can be organized and tracked by scanning the barcodes of individual samples. Embodiments may also include multiple storage containers and provide transfer of individual samples between these storage containers and between storage containers and removable cryogenic storage devices.

[0006] In one embodiment, the cryogenic storage system includes one or more storage containers for storing multiple samples in a cryogenic environment. A sample handling module is configured to automatically transfer individual samples between the cryogenic environment of the storage container and another cryogenic environment, which may be contained in a removable storage device or further storage unit. The sample handling module can rapidly move samples through non-cryo environments while maintaining the samples below a cryogenic temperature threshold. Attached Figure Description

[0007] The above will become apparent from the following more detailed description of exemplary embodiments of the invention, as shown in the accompanying drawings, wherein the same reference numerals refer to the same parts throughout the different views. The drawings are not necessarily drawn to scale, but rather emphasize embodiments of the invention.

[0008] Figure 1A -C illustrates an automated cryogenic storage system in one embodiment.

[0009] Figure 2 yes Figure 1A -A schematic illustration of the cooling generated in the chamber within the embodiment of -C.

[0010] Figure 3 This is a block diagram of a cryogenic storage system including a controller in another embodiment.

[0011] Figure 4 This is a flowchart illustrating the process of transferring a single sample in one embodiment.

[0012] Figure 5A -B illustrates a cryogenic storage storage unit in one embodiment.

[0013] Figure 6 This is a block diagram of a storage rack adapted for supporting samples within a cryogenic storage storage unit.

[0014] Figure 7A -B illustrates a storage rack in another embodiment.

[0015] Figure 8A -B shows the shaft of the storage rack.

[0016] Figure 9 The storage tray that supports the sample inside the storage rack is shown.

[0017] Figure 10 A storage tray including kinematic pins was displayed.

[0018] Figure 11 A single sample from one embodiment is shown.

[0019] Figure 12 The arrangement of storage pallets on the shelves of the storage rack is shown.

[0020] Figure 13A -B illustrates a vertical reciprocating device in one embodiment for transferring storage trays within a storage storage unit.

[0021] Figure 14A -B provides a further detailed demonstration of the vertical reciprocating device.

[0022] Figure 15 The top of the storage repository is displayed.

[0023] Figure 16A The image shows a top-down view of the storage container with the lid removed, including the docking of the storage trays used for sample transfer.

[0024] Figure 16B This is a schematic side view of the docking trays.

[0025] Figure 17A -C illustrates the lid portion of the storage container in one embodiment.

[0026] Figure 18 The external top of the storage container in one embodiment is shown, including a motor, with the cover removed.

[0027] Figure 19 This is a flowchart of a process for retrieving samples from a storage repository in one embodiment.

[0028] Figure 20A -M is like Figure 19 The illustration shows a schematic representation of the process for retrieving the sample.

[0029] Figure 21 This is a schematic illustration of a refrigeration system in one embodiment.

[0030] Figure 22 The cooling provided by the refrigeration system within the storage facility was demonstrated.

[0031] Figure 23A -B is a schematic illustration of an automated cryogenic storage system according to one embodiment, which includes a sample handling module with a sample transfer robot.

[0032] Figure 24 This is a cross-sectional view of an automated cryogenic storage system according to several aspects of the disclosed exemplary embodiments, the cryogenic storage system including a sample handling module with a sample transfer robot configured to enter two cryogenic storage environments.

[0033] Figure 25 This is a schematic representation of a sample handling module according to several aspects of the disclosed exemplary embodiments, the sample handling module having an open external hatch to show internal details.

[0034] Figure 26A -B are perspective and cross-sectional views, respectively, of a gripper according to various aspects of the disclosed exemplary embodiments, the gripper being configured to attach to the end effector of a sample transfer robot.

[0035] Figure 27 It is a perspective view of the storage entrance and associated components according to various aspects of the disclosed embodiments.

[0036] Figure 28 This is a perspective view of the storage access cover and locking interface from various aspects of the disclosed embodiments.

[0037] Figure 29 These are images of a gripper according to various aspects of the disclosed embodiments, the gripper being configured for use with... Figure 28 The locking interface is connected to the entrance and exit of the storage unit.

[0038] Figure 30A -D is a cross-sectional view of a gripper according to various aspects of the disclosed embodiments, which removes individual sample tubes from a tray.

[0039] Figure 31A -B is an illustration of a removable cryogenic storage device according to various aspects of the disclosed embodiments.

[0040] Figure 32A -D is an illustration of the interface between the sample handling module and the removable cryogenic storage device according to various aspects of the disclosed embodiments.

[0041] Figure 33A -D is a representation of the interface between the sample handling module and the cryogenic storage unit according to various aspects of the disclosed embodiments.

[0042] Figure 34 This is an illustration of a sample transfer robot according to various aspects of the disclosed embodiments, the sample transfer robot being configured to transfer a single sample tray between two cryogenic storage bins.

[0043] Figure 35 This is a simplified diagram of the temperature control mechanism of an automated cryogenic storage system with a sample handling module, according to various aspects of the disclosed embodiments.

[0044] Figure 36A -B is an illustration of an automated cryogenic storage system according to several aspects of the disclosed embodiments, the cryogenic storage system having a sample handling module with an open maintenance hatch.

[0045] Figure 37A This is an illustration of an automated cryogenic storage system according to several aspects of the disclosed embodiments, the cryogenic storage system having a sample handling device with a cryogenic cold trap configured to control humidity levels in the same handling environment.

[0046] Figure 37B It relates to opening and closing in various aspects of the disclosed embodiments. Figure 32A Maintenance hatch and adding Figure 33A The effect of the cryogenic cold trap system is shown in the graph of dew point change over time.

[0047] Figure 38A -D is a flowchart of the four-stage disaster recovery method.

[0048] Figure 39 This is a schematic diagram of a camera module used in ultra-low temperature environments.

[0049] Figure 40 This is a demonstration of an alternative support embodiment.

[0050] Figure 41 It has Figure 40 The demonstration of alternative support structures for cryogenic storage storage.

[0051] Figure 42 It is a demonstration of disaster recovery operations, including the complete dismantling of the cryogenic storage warehouse. Detailed Implementation

[0052] Figure 1A -C illustrates an automated cryogenic storage system 100 in one embodiment. Figure 1A A top front view of system 100 is shown, which includes a first storage container 110A, a second storage container 110B, and a sample handling module (SHM) 120. SHM 120 further includes external ports 130A-B. Storage containers 110A-B are each used to store large quantities (e.g., 25,000 samples) of samples (e.g., biological or chemical samples contained in sealed vials) at a low temperature, thereby maintaining these samples below their respective glass transition temperatures T. G SHM 120 connects to the first and second storage containers 110A-B and external ports 130A-B, with devices accommodating removable cryogenic storage devices (e.g., portable cryogenic workstations described below) capable of interfacing with these external ports. SHM 120 also facilitates the transfer of samples between storage containers 110A-B or between external ports 130A-B. In alternative embodiments, system 100 may include a single storage container 110, more than two storage containers 110, or any number of external ports 130.

[0053] Figure 1B An isometric view of system 100 is shown. Here, the refrigerant ports 117A and 117B of storage tanks 110A and 110B are more clearly visible. Refrigerant ports 117A-B are connected to a refrigerant supply device (e.g., one or more nitrogen tanks, not shown) for directing incoming refrigerant to system 100. Additionally, SHM 120 includes a housing 122 that connects to storage tanks 110A-B and houses additional components of SHM 120, which are described in further detail below.

[0054] Figure 1CA top-down view of system 100 is provided with housing 122 removed, including components inside housing 122 of SHM 120. Specifically, samples are stored between any combination of storage containers 110A-B and devices (e.g., portable cryogenic workstations) docked at external ports 130A-B. A robotic arm 150 accesses storage containers 110A-B and external ports 130A-B via corresponding openings in the base plate of housing 122. Specifically, openings 135A-B allow the robotic arm to access devices docked at external ports 130A-B, respectively. Openings 135A-B can be secured and sealed with removable covers (not shown). Additionally, each storage container 110A-B is connected to housing 122 via a corresponding opening 170A-B, which are each secured and sealed with a corresponding cover 160A-B when not being moved. Outside the housing 122, each of the storage containers 110A-B includes a corresponding set of motors 115A-B for driving sample transfer within the storage container 110A-B. These motors 115A-B can be positioned outside the respective storage container 110A-B to isolate the temperature-sensitive components of the motors 115A-B from the cryogenic environment within the storage container 110A-B, and to allow for maintenance and replacement of the motors 115A-B without disturbing the cryogenic environment.

[0055] Figure 1C The image illustrates a system 100 during the transfer of sample 178. To achieve this transfer, the cover 160A of the storage container 110A has been removed and placed in the cover storage area 165. The storage container 110A raises the tray 175 containing the individual samples 178 to the opening 170A of the housing 122. Thus, the robotic arm 150 can select and remove individual samples from among these individual samples 178 and transfer the sample 178 to a device docked at one of the external ports 130A-B, or to another storage container 110B. Conversely, the robotic arm 150 can also transfer individual samples 178 from any of the external ports 130A-B or from another storage container 110B to the tray 175.

[0056] Figure 2This is a schematic illustration of an exemplary target cooling level within system 100. Storage tank 110A (and storage tank 110B, not shown) can maintain a cryogenic environment, such as a temperature of -150°C. In contrast, the housing 122 of SHM 120 can maintain a non-cryo-climate environment with a temperature comparable to ambient temperature and can be further controlled to reduce moisture within housing 122. Alternatively, the environment within housing 122 can be cooled below ambient temperature, less than about 5°C. External port 130A (and port 130B, not shown) can also maintain a non-cryo-climate environment (e.g., a temperature of about 20°C). However, a device docked to external port 130A (e.g., a portable cryogenic workstation 190) can maintain an internal cryogenic environment for storing sample 178.

[0057] Figure 3 This is a block diagram of a cryogenic storage system 300 in another embodiment. System 300 may include the features of the cryogenic storage system 100 described above with reference to Figures 1-2 (including SHM 120 and storage containers 110A-B), and also includes a controller 180. Controller 180 may be communicatively coupled to SHM 120 and storage containers 110A-B, and typically controls some or all of the operations of each. For example, controller 180 may control the movement of sample trays 175 within each of storage containers 110A-B to present a given sample 178 for retrieval. Controller 180 may also control SHM 120 to transfer sample 178 between storage containers 110A-B and external ports 130A-B. In addition to controlling the transfer of sample 178, controller 180 may monitor and control the cooling and humidity levels of SHM 120 and storage containers 110A-B, and may control other operations (such as calibrating mechanical components, identifying samples, and fault or disaster recovery). Additionally, controller 180 can maintain database 185, which stores information about the samples 178 stored in storage containers 110A-B, including the location of each sample 178 within the storage containers 110A-B. Controller 180 can update database 185 in response to samples 178 being moved into or out of storage containers 110A-B.

[0058] To provide such control operations, controller 180 may include suitable computer hardware and software resources, such as one or more computer workstations and interfaces configured to communicate with SHM 120 and storage repositories 110A-B. Controller 180 may also include an interface (e.g., a workstation) that allows a user to monitor system 300 and monitor and / or initiate the aforementioned operations of system 300.

[0059] Figure 4This is a flowchart illustrating the process 400 of transferring a single sample 178, which can be performed by any of the systems 100 and 300 described above with reference to Figures 1-3. (Reference) Figure 3 The controller 180 can receive the sample identifier (ID) and predetermined destination (410) of one or more samples 178 to be transferred. For each sample to be transferred, the controller 180 can access the database 185 to determine the current location (origin) of the sample 178, including whether the sample is in one of the storage storage units 110A-B or in the portable refrigerated workstation 190. Figure 2 The address (420) within the determined sample 178. Based on the determined origin and destination of the sample 178, the controller 180 can then determine the type of transfer to be performed (430): a transfer from the portable cryogenic workstation to the storage (440), a transfer from the storage to the portable cryogenic workstation (450), or a transfer from the storage to the storage (460). In an alternative embodiment, a transfer from the portable cryogenic workstation to the portable cryogenic workstation can also be performed.

[0060] For a transfer from a portable cryogenic workstation to a storage unit (440), the controller selects a destination address (442) within one of the storage units 110A-B. This address can indicate a given tray 175 and slot within a given storage unit 110A-B. For a transfer from a storage unit to a portable cryogenic workstation (450), the controller 180 can select a destination slot (452) within the portable cryogenic workstation 190. For a transfer from storage unit to storage unit (460), the controller selects an address (462) within the destination storage unit 110A-B. The controller 180 can update the database 185 to indicate the selection of a destination address within either the storage unit 110A-B or the portable cryogenic workstation 190.

[0061] For all sample transfers, the origin and destination undergo corresponding operations to prepare them for transfer (470). For reservoirs 110A-B, controller 180 can command reservoirs 110A-B to present trays 175 or sample slots containing samples 178 to SHM 120. Similarly, portable cryogenic workstations 190 can be raised within external ports 130A-B to expose their housing to SHM 120. Once the origin and destination are prepared, SHM 120 transfers individual samples 178 from the origin to the destination (480). During this process, SHM 120 can move samples 178 through non-cryogenic environments, specifically within the housing 122 of SHM 120. However, SHM 120 can move individual samples 178 rapidly (e.g., in less than 5 seconds) to prevent samples 178 from reaching temperatures above their glass transition temperature T. GThe temperature (described in further detail below). Controller 180 can also verify the identity of sample 178 before, during, and / or after transfer by scanning the identification mark (e.g., barcode) of sample 178 with sensors within storage bins 110A-B and / or SHM 120.

[0062] After sample 178 is transferred, controller 180 can determine whether additional samples 178 need to be transferred between the same origin and destination, specifically regarding presenting the same tray 175 to SHM 120. If so, additional transfers can be performed accordingly (480). For example, such transfers can be performed if multiple associated samples 178 are to be transferred simultaneously and stored in a common tray 175 for more efficient transfer. After all such transfers, the origin and destination return to their state before the transfer (490). For example, one or more storage unit covers 160A-B can be replaced, and the presented tray 175 can be returned to its initial position within storage units 110A-B. Similarly, the portable cryogenic workstation 190 can be sealed and prepared for removal from external ports 130A-B. After verifying successful transfer, controller 180 can update database 185 to indicate the location of newly added or removed samples 178.

[0063] Figure 5A -B illustrates a cryogenic storage unit 510 in one embodiment. The storage unit 510 can be implemented in the systems 100, 300 described above with reference to Figures 1-3. Figure 5A An external view of a storage container 510 is shown, which includes a freezer 512, such as a vacuum-insulated chamber (e.g., a Dewar flask), sealed at the top by a storage container lid 530. A refrigerant port 517 is located at the top of the storage container 510 and is connected to a refrigerant supply device (e.g., one or more nitrogen cylinders, not shown) for directing incoming refrigerant into the storage container 510. A motor 515 (also positioned at the top and outside the storage container 510) operates to actuate the movement of a sample 178 within the storage container 510. Additionally, an opening 570 allows external access to the sample 178 within the storage container 510 and is sealed by a storage container lid 560 when no sample 178 is being added to or removed from the storage container 510.

[0064] Figure 5BAn internal cross-sectional view of the storage chamber 510 is shown. Within the storage chamber 510, a storage compartment 580 is surrounded by a freezer wall 514 and a storage cover 530, thereby isolating the storage compartment 580 from external heat sources. A cooling coil 540 and a storage rack 550 are located within the storage compartment 580. Additionally, an extra motor 516 is positioned outside the storage chamber 510, which can be implemented to raise and lower the tray 175 of the sample 178 within the storage chamber 510.

[0065] The following is for reference Figure 6-22 This describes the components of the storage storage unit 510 and the operation of the storage storage unit 510.

[0066] Figure 6 This is a block diagram of storage rack 550, which can be implemented as described above. Figure 5A The storage unit 510 described in -B is used for storage. A storage rack 550 is adapted to support multiple samples 178, specifically multiple storage trays 175, each tray carrying multiple samples 178. The storage rack 550 includes multiple shelves divided into two sets of staggered shelves 621A-F and 622A-F. The first (or "odd-numbered") set of shelves 621A-F can be fastened to a common bracket 665 located at the outer periphery of the shelves 621A-F. This odd-numbered set is also connected to a motor 615A (e.g., a servo motor) via gears 625 and pinions 627. Thus, motor 615A can cause shelves 621A-F to rotate simultaneously. Similarly, the second (or "even-numbered") set of shelves 622A-F can be fixed to a central shaft 660, which is in turn connected to a motor 615B (e.g., a servo motor). Thus, motor 615B can cause shelves 622A-F to rotate simultaneously. Due to the above configuration, the two sets of staggered shelves 621A-F and 622A-F can rotate independently of each other. Motors 615A-B can both be positioned above the cover 630 of the storage compartment 510, for example... Figure 5A -B is shown.

[0067] Figure 7A -B shows the storage rack 550 in more detail, focusing on the attachment of the shelf to the central axis 660. (See image below.) Figure 7B As shown in the illustration, a single shelf 722 (compared to shelves 622A-F described above) can be fixed to the central shaft 660 via bolts 730.

[0068] Figure 8A -B shows the storage rack 550 in more detail, focusing on the configuration where the shelf is not attached to the central axis 660. Figure 8A Shelf 821 (as opposed to shelves 621A-F described above) is shown attached to support 840, allowing shelf 821 and bracket 821 to rotate about central axis 660. Figure 8B The support member 840 is shown in more detail. Here, the boss 834 is attached to the central shaft 660 and can be adapted to a generally cylindrical shape (a portion of which is extracted to accommodate the bearing 832). The bearing 832 can form a ring resting on top of the boss 834 and can be made of, for example, polytetrafluoroethylene (PTFE) plastic (e.g., The bell-shaped object 836 is machined from a low-friction material such as J. A larger ring, part of which is extracted to accommodate the bearing 832, is attached to the shelf 821. As a result, the bearing 832 provides a low-friction operating surface, allowing the shelf 821, which is fixed to the bell-shaped object 836, to rotate on top of the boss 834.

[0069] In one embodiment, bearing 832 may be adapted to enable support 550 to operate at low and ambient temperatures (i.e., to rotate shelf 821). For example, bearing 832 may be made of The dimensions of J are such that the corresponding surfaces of the bell 836 and the boss 834 are aligned in a temperature-dependent manner. Specifically, the size of the bearing 832 can expand at ambient temperature and contract at low temperature. Therefore, at ambient temperature, the bearing 832 can be press-fitted to the bell 836, thereby obtaining an operating surface on the boss 843. Therefore, at low temperature, the bearing 832 can be press-fitted to the boss 834, thereby obtaining an operating surface on the bell 836.

[0070] To assemble the support member, the bearing 832 can be cooled to a cryogenic temperature, causing it to shrink sufficiently to fit inside the bell-shaped member 836. The bearing 832 can then be brought to ambient temperature, causing it to expand and secure itself within the bell-shaped member 836. At ambient temperature, the bell-shaped member 836 and the bearing 832 have sufficient clearance to fit on top of the boss 834. After this assembly, the support member 840 can be brought to a cryogenic temperature within the storage compartment 510.

[0071] Figure 9A storage tray 900 supporting samples within a storage rack (e.g., rack 550) is shown. To maximize storage density within the storage rack 550, the tray 900 may be shaped generally as a triangle or “fan”, thereby maximizing the available storage space within the cylindrical storage container 510. The storage tray 900 forms a plurality of slots 910 arranged in several rows and columns, each of which is adapted to accommodate an individual sample 178 (not shown). In the illustrated embodiment, the storage tray 900 is adapted to accommodate up to 260 samples 178, each sample 178 being a 2 ml vial. In alternative embodiments, the storage tray 900 may be adapted to accommodate more or fewer samples 178 and may include options adapted to accommodate larger or smaller samples 178 (e.g., 2 ml). 1160 or 1.4 ml per tube Pipe 1150, see Figure 11 ) slot 910.

[0072] Figure 10 A bottom view of a storage tray 900 accommodating multiple samples 1050 is shown. Here, the bottom surface of the tray 900 is shown to include a plurality of kinematic pins 1020. These kinematic pins 1020 can be aligned with corresponding holes in a storage support (e.g., support 550), allowing the tray 900 to be precisely positioned and laterally secured on the storage support 550. Additionally, the kinematic pins 1020 allow the tray 900 to be lifted vertically from the storage support 550 without engaging a locking mechanism. A first subgroup of kinematic pins 1020 can be adapted to secure the tray 900 to the storage support 550, while separate or overlapping second subgroups of kinematic pins 1020 can be adapted to a vertical reciprocating device assembly 1300 (described below) for transferring the tray 900. In one instance, the first subgroup of kinematic pins 1020 may be configured to minimize any movement of the tray 900 while it is being stored on the storage rack 550, while the second subgroup of kinematic pins 1020 may be configured to allow some movement to properly seat the tray 900 during transfer.

[0073] Figure 11 Two exemplary individual samples, 1150 and 1160, are shown. The first sample, 1150, is 1.4 ml. A sealed sample vial includes a barcode 1170 located at the bottom of sample 1150. Barcode 1170 may include a unique code identifying sample 1150 and can be read by sensor components (e.g., a camera, barcode reader, etc.) of the storage system (e.g., system 100, 300) to verify the identity of sample 1150 before or during transfer. The second sample 1160 is 2 ml. A sealed sample vial may also include a barcode at its lower end (not shown) for identifying sample 1160.

[0074] Figure 12 An arrangement 1250 of storage trays (including, for example, multiple storage trays 900) on a top shelf 1210 of a storage rack 550 is shown. The top shelf 1210 and the shelf below it can be divided into multiple sections (e.g., eight sections), each of which can accommodate a single storage tray 900. The arrangement 1250 and the arrangement on the shelf below it may also include gaps such that, when the rack 550 is configured in a certain state, these gaps form a vertical axis 1230 through which a single tray 900 can move to the top of the storage units 110, 550 to be presented to the SHM 120. To perform such a transfer, a vertical reciprocating device assembly 1300 may occupy a portion of the vertical axis 1230. The vertical reciprocating device assembly 1300 in one embodiment is described below with reference to Figures 13-14.

[0075] Figure 13A -B illustrates a vertical reciprocating device assembly 1300 for transferring storage pallets 900 within storage units 110, 510. Assembly 1300 includes multiple tracks 1330 extending through the vertical dimension of the storage units. A trolley 1320 is adapted to be secured between these tracks 1330 and is capable of vertical movement along the length of the tracks 1320. The trolley 1320 further supports a platform 1310 fixed thereto, adapted for carrying the storage pallet (e.g., storage pallet 900). The platform 1310 may be specifically configured to support the storage pallet 900 in a stable position while avoiding contact with the portion of the storage rack 550 that supports the storage pallet 900 during storage. Figure 13A The image shows component 1300 when platform 1310 is lowered to the bottom of track 1330, while... Figure 13B The component 1300 shows the platform 1310 being raised to its highest position on the track 1330.

[0076] Figure 14A -B shows the vertical reciprocating device assembly 1300 in more detail. Figure 14A A front view of the vertical reciprocating device assembly 1300 is shown. In addition to the components described above, a lead screw 1340 is vertically positioned between these tracks 1330. Figure 14BA rear view of the vertical reciprocating device assembly 1300 is shown. A carriage 1320 can be connected to a lead screw 1340 via a threaded attachment nut 1360, such that the carriage 1320 is raised or lowered along a track 1330 when the lead screw 1340 rotates clockwise or counterclockwise. The carriage 1320 may further include wheels 1325 that contact the track 1330 to reduce friction during the raising and lowering of the carriage 1320. The lead screw can be, for example, referred to above. Figure 5B The described motor 516 and other motors (e.g., servo motors) drive.

[0077] Figure 15 The top of the storage container 510 is shown, including a lid 530 as previously described, a storage support 550, a motor 516, an opening 570, and a cover 560. Additionally, the opening 570 includes a chamber that extends through the entire depth of the lid 530 between the top of the storage container 510, thereby allowing access to the sample inside the storage container 510 from an external entity (e.g., a sample handling module). The cover 560 may include a portion that extends into part or all of this chamber when positioned to seal the opening 570 (as shown).

[0078] Figure 16A A top-down view of the upper part of the storage storage unit 510 is shown, including the mating of the storage tray 1620 for sample transfer. Here, it can be seen that the opening 570 can be formed to generally conform to the top-down shape of the storage tray 1620. Additionally, the bottom of the opening 570 may include a similarly shaped doorway 1670, thereby "framing" the tray when it is positioned at the bottom of the opening 570. Figure 16B The image shows a side view of this configuration, in which the upper corner of the storage tray 1620 is raised to contact the opening door 1670. In some embodiments, positioning the storage tray 1620 against the door 1670 can reduce heat and moisture leakage into the cryogenic environment of the storage container 510. Positioning the storage tray 1620 against the door 1670 also prevents improperly handled samples from falling into the storage container during sample picking from and placing into the sample slots. The storage tray 1620 and the door 1670 do not need to form a seal across the opening 570, but this may be possible in alternative embodiments.

[0079] return Figure 16AThe refrigerant coil 540 may extend in a circular pattern around the upper part of the cryogenic environment (excluding the portion occupied by the opening 570). The coil 540 may include a primary coil 1640 and a secondary coil 1642, which may be positioned vertically relative to each other (as shown) or in a common plane. The primary coil 1640 and the secondary coil 1642 may be connected to corresponding refrigerant lines and may operate independently of each other. For example, under normal operation, the storage tank 510 may operate only the primary coil 1640 to maintain the cryogenic environment, with the secondary coil 1642 serving as a backup coil in case of failure. Additionally, one or both coils 1640, 1642 may include one or more orifices or openings to allow a controlled amount of refrigerant gas (e.g., nitrogen) to be discharged into the storage chamber, for example, to keep the storage chamber dry. This is to maintain the samples in the storage tray 1620 at a cryogenic temperature (e.g., below the corresponding T). G When the storage tray 1620 is fully raised to the doorway 1670, the coils 1640 and 1642 can be positioned above the storage tray 1620, thereby ensuring that the storage tray 1620 is continuously exposed to the convective cooling and refrigerant gases generated by the coils 1640 and 1642. See below for reference. Figure 21-22 The operation of the refrigeration system is described in more detail.

[0080] Figure 17A -C provides a more detailed look at the lid 530. Figure 17A A side view of the top of the storage unit 510 is depicted, including the cover 530, opening 570, and cooling coil 540 as described above. Figure 17B A similar side view is depicted, but the rotation passes through the part not occupied by the opening 570 and rotates to the cut-off portion of the cover 530.

[0081] Figure 17CThe top and sides of the lid 530 are described in more detail. The upper skin 1710 may include a metal (e.g., stainless steel) layer covering the top and sides of the lid 530, thereby preventing moisture from diffusing through the lid 530 over a prolonged period. The lid 530 may be located on the freezer wall 514, and the joint between the lid 530 and the freezer wall 513 may be sealed with silicone sealant and / or cryogenic tape. The lower plate 1720 of the lid 530 may be made of stainless steel or other metal. In an alternative embodiment, the lower plate 1720 may be made of glass-reinforced plastic (GRP) molding. The lower plate 1720 may occupy the inner wall of the lid 530 that contacts the freezer wall, and / or may include the bottom surface of the lid 530 (as shown) and the wall forming the boundary of the opening 570. Alternatively, the wall forming the boundary of the opening may be made of GRP molding. The lower plate 1720 can also serve as a structural support for the refrigerant coils 540, which can be fixed to the bottom surface of the lower plate 1720. The cover core 1740 may include polyurethane foam.

[0082] Figure 18 The top exterior of storage unit 510 is shown, including motors 515 and 516 as previously described. Motor 515 can be positioned outside the cryogenic environment within storage unit 510 to isolate the temperature-sensitive components of motors 515 and 516 from the cryogenic environment, and to allow for maintenance and replacement of motors 515 and 516 without disturbing the cryogenic environment. A bracket 1820 extending above and across storage unit 510 supports motors 515 and 516 in the aforementioned position.

[0083] Figure 19 This is a flowchart of a process 1900 for retrieving samples from a storage repository (e.g., storage repository 510) in one embodiment. Reference is made below. Figure 20A -M further describes the process in 1900 in detail.

[0084] Figure 20A -M is like Figure 19 The illustration shows a schematic representation of the process for retrieving the sample. Figure 20AEach block diagram in -M depicts a simplified schematic of a storage unit 2000 on the right, which may be equivalent to the storage unit described above with reference to Figures 1-18. The storage unit 2000 includes a plurality of stacked shelves numbered 1 to 6, each shelf supporting a corresponding storage tray 175 containing a plurality of samples 178. The storage unit 2000 further includes a vertical reciprocating device assembly 1300 on the right. A top-down view of each shelf 1-3 and the vertical reciprocating device assembly 1300 relative to these shelves are shown on the left side of the storage unit 2000. The process 1900 described below is an exemplary process for retrieving a tray 175 from a shelf 3 and presenting the tray 175 to an SHM 120 (not shown) to transfer samples 178 to and / or from the tray.

[0085] Reference Figure 19 And as Figure 20A As shown, in the initial position, the vertical reciprocating device assembly 1300 is located on top of the storage bin 510, and all shelves are aligned to form a vertical column (“elevator shaft”) below the reciprocating device (1905). Figure 20B As shown, the reciprocating device is lowered to a position below the target shelf 3 (1910). Figure 20C As shown in -D, the target shelf is rotated until the target tray is directly above the vertical reciprocating device (1915). Since these shelves are linked in an interleaved manner via a common actuator, rotating the target shelf 3 also rotates all the "odd-numbered" shelves, including shelf 1. After the target tray is positioned, the vertical reciprocating device contacts the tray and lifts it above the height of the target tray 3 (i.e., the height of shelf 2), as shown in -D. Figure 20E -G as shown (1920). For example... Figure 20H As shown in -J, the target shelf (and all odd-numbered shelves) then rotates back to the starting position, thereby returning the clearance to the vertical reciprocating mechanism (1925). Finally, as... Figure 20K As shown in -M, the vertical reciprocating device can raise the tray to the doorway of the storage opening to access the sample contained in the tray (1930).

[0086] Figure 21-22 A refrigeration system that can be implemented in one embodiment is shown. For example... Figure 21As shown, the cryogenic storage system 100 may include a storage container 510 as described above and a sample handling module (SHM) 120 with an external port 130. A primary cooling coil 1640 and / or a secondary cooling coil 1642 circulate refrigerant (e.g., liquid nitrogen supplied to these coils from an external Dewar flask or small canister) to maintain the cryogenic environment within the storage container 510. In one embodiment, the primary coil 1640 includes one or more small orifices (e.g., openings less than 1 mm in diameter). These orifices allow some of the liquid refrigerant to evaporate, thereby forming a gas (e.g., nitrogen) within the top of the storage container. Figure 22 As shown, the gas gradually descends towards the bottom of the storage tank, providing a "cold / dry gas bath" effect to control the temperature and / or humidity within the low-temperature environment. The gas can provide positive pressure cold-dry gas to help prevent moisture from entering the storage tank. Gas may also be vented into the SHM 120 when the opening to the SHM 120 is exposed during transfer. The main coil 1640 also provides a constant pressure relief to the storage tank 510 while achieving this evaporation, thereby assisting in the removal of moisture from within the storage tank 510. The secondary coil 1642 may be a closed coil without such perforations, or in alternative embodiments, it may be similarly perforated.

[0087] Return to Figure 21 In some embodiments, solenoid valve 2130 can extend from coils 1640, 1642 into the chamber of SHM 120. Valve 2130 allows a controlled amount of refrigerant gas to be released into SHM 120, which can help control temperature and moisture within SHM 120. By positioning solenoid valve 2130 "downstream" of coils 1640, 1642, refrigerant consumption can be reduced because the addition of a heat load to the refrigerant by solenoid valve 2130 only occurs after the refrigerant has cooled the storage tank 510.

[0088] In some embodiments, the refrigeration system does not contain refrigeration coils, but instead introduces a certain amount of free refrigerant (e.g., liquid nitrogen) into the storage tank at periodic intervals. This refrigerant may form a pool below the sample storage area within the storage tank. In some embodiments, direct contact between the liquid nitrogen and the stored samples is prevented during its introduction into the storage tank.

[0089] Figure 23AThis is a front perspective view of an automated cryogenic storage system 2300 according to various aspects of the disclosed embodiments, including an SHM 2320 with a sample transfer robot 150. Embodiments of the automated cryogenic storage system 2300 include one or more cryogenic storage containers 110a-b connected to the SHM 2320, supported by a frame 2325 and the containers 110a-b. The SHM 2320 is connected to a cover 530 of the cryogenic storage container 110a to allow the sample transfer robot 150 access to the cryogenic storage containers 110a-b. The SHM 2320 has a housing 122 that accommodates a sealed environment and may include one or more maintenance and access hatches 2322. The SHM 2320 has one or more ports 130a-b configured to dock with a removable cryogenic storage device (such as a portable cryogenic workstation 190), enabling the sample transfer robot to deliver or remove samples from the docked portable cryogenic workstation 190. SHM 2320 can be connected to the refrigeration system 1 and receive exhaust flow from cryogenic storage containers 110a-b to reduce humidity within SHM 2320. The temperature inside SHM 2320 can be maintained, for example, approximately ambient temperature, or colder, such as below about 5°C. In some embodiments, the dew point within SHM is controlled using one or more of the following temperature controls: introducing dry gas from storage containers and / or refrigeration coils 1640, 1642 into SHM; and removing water from SHM by a dehumidifier. In some embodiments, the dew point of the air in SHM is controlled, for example, below about -50°C. Sample transfer robot 150 can be a standard 6-axis robot equipped with a gripper (not shown) to secure and protect the sample during transfer. The operation of sample transfer robot 150 and gripper is detailed in Figures 26-30. Transfer may include, for example, picking up a sample from inside a first cryogenic storage container 110a (maintained at -150°C) and rapidly moving it to a second cryogenic storage container 110b (also maintained at -150°C). The transfer may also include picking up a sample from inside a first cryogenic storage container 110a at -150°C and placing the sample inside a docked portable cryogenic workstation 190 (not shown), which is also at -150°C. Details and operation of the SHM 2320 and the portable cryogenic workstation 190 are illustrated in Figures 31 and 32.

[0090] Figure 23B This is a top-down perspective view of an automated cryogenic storage system 2301 including SHM 2320, according to various aspects of the disclosed embodiments, wherein the outer casing of SHM 2320 is removed to show internal details. Figure 23B The cryogenic storage system 2301 is shown, in which SHM ( Figure 23A The outer casing of (2320) Figure 23A122) was removed to show SHM ( Figure 23A The lower SHM assembly 2329 of the sample transfer robot 110a-b is attached around a storage opening 2337 to one or more cryogenic storage containers 110a-b. These openings provide access to a storage cover 160 and, when the cover 160 is removed, to a doorway 2313 of the cryogenic storage container 110. The lower SHM assembly 2329 may also include one or more portable cryogenic workstation docking positions 2311 (also referred to as cryogenic docks) that allow a sample transfer robot 150 to enter a docked portable cryogenic workstation 190 (not shown) and a storage cover storage position 165 for temporarily receiving a storage cover 160 removed by the sample transfer robot 150 during transfer into or out of the cryogenic storage containers 110a-b. The sample transfer robot 150 may be configured to connect to the storage cover 160 and place it on the storage cover storage position 165 during entry into the cryogenic storage containers 110a-b. The sample transfer robot 150 can be any commercially available 6-axis robot capable of transferring covers and samples using an attached gripper (not shown), such as the Staubli TX60L.

[0091] Figure 24 The disclosed exemplary embodiments include an automated cryogenic storage system 2400 comprising an SHM 2320 having a sample transfer robot 150 configured to access two cryogenic storage environments. Figure 24 A cross-section of an automated cryogenic storage system 2400 is shown, in which an SHM 2320 is attached to a cryogenic storage container 110. Additionally, a portable cryogenic workstation 190 is docked to the SHM 2320. Both the cryogenic storage container 110 and the portable cryogenic workstation 190 have environments maintained at or below -150°C. The housing 122 of the SHM 2320 houses an internal environment 2422 with appropriate temperature and humidity levels. A sample handling robot 150 in the sample handling module 2320 includes a gripper 2644 configured to hold individual samples (not shown) in either the cryogenic storage container 110 or the portable cryogenic workstation 190 and to transfer the samples between these two environments without raising the temperature of the samples above the glass transition temperature of water, i.e., -134°C. In some embodiments, this transfer is performed in less than 15 seconds, and in other embodiments, it is performed in less than 5 seconds.

[0092] The sample operation is as follows: (i) The operator places the portable cryogenic workstation 19 in the cryogenic dock ( Figure 23A (ii) Raise the portable cryogenic workstation 190 to connect with the SHM components below (135). Figure 23B(iii) The cryogenic storage container 110 positions the tray (not shown) at the top of the container, in the pick-up position within the doorway 2313. The sample transfer robot 150 removes the cryogenic port cover (not shown) and places it in the container cover storage position. Figure 23B (v) Sample transfer robot 150 removes the storage cover (165). Figure 23B 160) and place it in the storage cover storage location ( Figure 23B (vi) Sample handling robot 150 at the door (165). Figure 23B (vii) The sample handling robot 150 places the sample tubes (not shown) outside the tray. The first two steps can be repeated to transfer multiple sample tubes. (viii) The sample handling robot 150 replaces the storage cover. Figure 23B (160) to seal the cryogenic storage container 110. (ix) Sample handling robot 150 replaces the cryogenic port cover (not shown). (x) Portable cryogenic workstation 190 from the lower SHM assembly ( Figure 23B (2329) was reduced. And (xi), the operator removed the portable cryogenic workstation 190.

[0093] Figure 25 This is a schematic representation of the SHM 120 according to various aspects of the disclosed embodiments, which has an open external hatch to show internal details. Figure 25 A cross-section of an automated cryogenic storage system 2500 is shown, which has an SHM 120 attached to a cryogenic storage container 110. The SHM 120 includes two maintenance hatches 2322 with corresponding doors 2523 for sealing. Doors 2523 may include operator viewing windows for ease of use. Inside the SHM 120 is a sample transfer robot 150 and a glove port 2524 including a rubber glove 2525 (with a heated inner glove) that allows the user to access the upper section of the cryogenic storage container 110 (e.g., doorway 160), specifically a tray (not shown) referenced to doorway 2313, for easy retrieval of misplaced samples, etc. An external (interlocking) cover can be properly fitted onto the glove port 2524 to prevent moisture from entering the SHM 120 and to ensure operator safety.

[0094] Figure 26A -B are perspective and cross-sectional views, respectively, of a gripper 2644, which is configured to be attached to the end of a sample transfer robot 150, according to various aspects of the disclosed exemplary embodiments. Figure 26AA gripper 2644 is shown, which is adapted to engage with a sample transfer robot via a robot interface 2641. Figure 23A On (150). The gripper 2644 includes an extendable heat-insulating sleeve 2644 driven by a first servo motor 2642. The first servo motor 2642 drives sleeve guide screws 2647, which cause the extendable heat-insulating sleeve 2644 to translate. The extendable heat-insulating sleeve 2644 also includes one or more grooves 2645 for locking with a storage door cover mechanism (such as... Figure 27 The corresponding bolt (not shown) is connected on the (shown).

[0095] Figure 26B It shows Figure 26A The cross-section of the gripper 2644. The gripper 2644 includes parallel-action picking fingers 2646 within an extendable insulated sleeve 2644 to secure individual sample tubes (such as... Figure 30A -D shown). A second servo motor 2643 drives a gripper guide screw 2648, which opens and closes the picking fingers 2646 in the extendable thermal sleeve 2644. The extendable thermal sleeve 2644 can be adapted to protect the sample conduit (not shown) during transfer by extending to completely surround the sample tube, and to further extend the transfer window time by reducing heat immersion from the external environment of the extendable thermal sleeve 2644. The extendable thermal sleeve 2644 can be made of, for example, expanded polystyrene foam.

[0096] Figure 27 It is a perspective view of the storage entrance and associated components according to various aspects of the disclosed embodiments. Figure 27 A storage room access interface 2700 is shown, which includes a doorway 2313, a storage room cover door 160, an airtight seal 2715, a central rotating locking ring 2715 with a catch pin 2715, a locking pin 2718, and a corresponding locking latch 2717. When attached, the central rotating locking ring 2715 actuates the locking pins 2718 by sliding them in and out of their corresponding locking latches 2718. When the locking pin 2718 engages with the locking latch 2717, the storage room cover door 160 presses against the airtight seal 2715.

[0097] Figure 28 This is a perspective view of the storage access cover and locking interface from various aspects of the disclosed embodiments. Figure 28 A storage door 160 is shown, which has a central locking ring 2816 with a grab pin 2815 and a rotary lock 2817. When the central locking ring 2816 is rotated clockwise by the grab pin 2815, the rotary lock 2817 disengages from the storage door 160 and allows it to be lifted by the grab pin 2815.

[0098] Figure 29 These are images of a gripper 2644 according to various aspects of the disclosed embodiments, the gripper being configured to interact with... Figure 28 The locking interface is connected to the entrance and exit of the storage unit. Figure 29 A gripper 2644 attached to a sample transfer robot 150 is shown. The gripper 2644 has an extendable heat-insulating sleeve 2943, the sleeve having a groove 2645 configured to engage with a latch on a storage compartment door. Figure 28 (2815) connection. In operation, the sample transfer robot 150 lowers the extendable heat-insulating sleeve 2943 of the gripper to a position with a pin ( Figure 28 The center locking ring of (2815) Figure 28 In 2816). These pins ( Figure 28 The 2815) slides along the length of the groove 2645 and is then rotated by the sample transfer robot 150 to engage with one or more rotary locks. Figure 28 2817) disengages. When these rotary locks disengage, the catcher 2644 will release the bolt ( Figure 28 (2815) moves into the lifting groove 2948 so that the extendable insulating sleeve 2943 can lift the storage cover and transport it to, for example, the storage cover storage location (e.g. Figure 23B shown as 165).

[0099] Figure 30A -D is a cross-sectional view of a gripper according to various aspects of the disclosed embodiments, which removes individual sample tubes 3006 from tray 3005. Figure 30A A sample tray 3005 is shown, which holds sample tubes 3006 with caps 3007. Typically, the sample tray 3005 is in a cryogenic environment, and the samples it contains need to be kept below a certain cryogenic temperature, for example, during transfer. To reduce the exposure of samples to warm temperatures during transfer through non-cryo environments (e.g., the housing of the SHM 2320), the gripper 2644 has picking fingers 3045 and an extendable thermally insulated sleeve 3043 configured to extend and cover the picking fingers 3045. Figure 30B -D illustrates exemplary operation of the grabber 2644. In Figure 30B In the middle, the gripper 2644 descends toward the tray 3005 and aligns the picking fingers 3045 around the caps 3007 of the sample tubes 3006 on the tray 3005. Figure 30C In the middle, the picking fingers 3045 of the gripper 2644 grip the cap 3007 of the sample tube 3006 on the tray 2005. Figure 30D In the middle, the extendable heat-insulating sleeve 3043 extends and covers the picking fingers 3045 that hold the sample tube 3006. After completion... Figure 30DFollowing the operation, the sample transfer robot (not shown) can move the gripper 2644 and the sample tube 3006 contained therein through the non-cryogenic environment to a different cryogenic environment by transferring it under the protection of the extendable thermal insulation sleeve 3043.

[0100] Now let's discuss Figure 31A -B Portable Cryogenic Workstation 190 Operation and Figure 23A -B cryogenic dock 135. Cryogenic dock 135 is configured for use once a removable cryogenic storage device, i.e., a portable cryogenic workstation, is placed in the cryogenic port ( Figure 23A The container that accepts the removable cryogenic storage device in (130) and the sample transfer robot ( Figure 23A (150) provides access to the internal cryogenic storage environment of the portable cryogenic workstation. Figure 31A -B is an illustration of a removable cryogenic storage device according to various aspects of the disclosed embodiments. Figure 31A A removable cryogenic storage device 190 (also known as a portable cryogenic workstation) is shown, which has an insulated cover 3152 (also known as a portable cryogenic workstation cover), an insulated body 3151, and a handle 3156. Figure 31B It shows Figure 31A A cross-sectional view of a portable cryogenic workstation 190. The body 3151 of the portable cryogenic workstation includes an inner chamber 3157 with side-by-side (SBS) supports 3154, and an insulation layer 3153, which may be, for example, expanded polystyrene, surrounding a bottom chamber 3155. The SBS supports 3154 can accommodate, for example, 48 × 2 ml FluidX tubes or 96 × 1.4 ml Matri tubes. The bottom chamber 3155 can accommodate a sponge adapted to be filled with a nitrogen cryogenic agent (e.g., liquid nitrogen). The portable cryogenic workstation 190 can be configured to contain samples in the SBS supports 3154 at -150°C for up to 2 hours. The body 3151 of the portable cryogenic workstation is adapted to be placed at the cryogenic port ( Figure 23A In 130), and was elevated to a sample transfer robot ( Figure 23A 150) touched SHM ( Figure 23A 2320) cryogenic dock ( Figure 23B The sealing position of 135). Portable cryogenic workstations suitable for use with the present invention are described in U.S. Patent Application No. 14 / 600,751 entitled "Portable Cryogenic Workstation" and U.S. Patent Application No. 61 / 929,306 entitled "Sample Store", the entire contents of which are incorporated herein by reference.

[0101] Figure 32A-D is an illustration of the interface between the SHM 2320 and a removable cryogenic storage device (e.g., a portable cryogenic workstation 190) according to various aspects of the disclosed embodiments. Figure 32A A cryogenic docking station bracket 3231 is shown, which includes a bracket reference pin 3234, a bracket actuation pin 3233, and a cryogenic docking station seal 3232. The cryogenic docking station bracket 3231 is used with the portable cryogenic workstation 190 and SHM (…). Figure 23A The interface between cryogenic dock 135 and 120. During operation, it has been placed in the cryogenic port ( Figure 23A The portable cryogenic workstation 190 in (130) can automatically move vertically against the bracket reference pin 3234, the bracket actuation pin 3233, and the portable cryogenic workstation seal 3232 to allow the portable cryogenic workstation 190 to engage with the SHM ( Figure 23A 2320) docking. Docking may include the following four tasks in sequence: (i) alignment, (ii) clamping, (iii) sealing compression, and (iv) Z-movement prevention. Figure 32B The portable cryogenic workstation 190 is shown, including a floating support carrier 3257 with an SBS bracket 3254 and a reference pin interface 3255. When the cryogenic port door is closed... Figure 23A After 130) and raising the portable cryogenic workstation 190 to the pick-up position ( Figure 32D Prior to (as shown), the portable cryogenic workstation 190 and the automated cryogenic storage system ( Figure 23A Communication is established between the 2300 and the portable cryogenic workstation 190 to determine whether the temperature is suitable for sample input / output.

[0102] Figure 32C A portable cryogenic workstation 190 is shown being raised toward a cryogenic dock frame 3231. A reference pin 3234 engages with a reference pin interface 3255 to center a floating support carrier 3257 within the portable cryogenic workstation 190. The use of the floating support carrier 3257 separates the positional accuracy of the portable cryogenic workstation 190 from that of the cryogenic dock frame 3231, thereby simplifying the manufacture of the portable cryogenic workstation 190 while enabling reliable picking by the sample transfer robot 150. A support actuation pin 3233 contacts a lever 3256, which is adapted to align the SBS support 3254 with the cryogenic dock frame 3235, as... Figure 32D As shown. Figure 32DA portable cryogenic workstation 190 is shown being raised and abutting against a cryogenic dock seal 3232. A support actuation pin 3233 actuates a lever 3256, which in turn moves the SBS support 3254 to align it with the cryogenic dock frame 3235. A retaining lip 3236 is attached to the cryogenic dock frame 3235 to prevent the SBS support 3254 from being moved by the sample transfer robot. Figure 23A The sample tube 3260 is lifted during the process of picking up the sample tube it contains. Here, during the pick-up and place operations in and out of the portable cryogenic workstation 190, a feature (not shown) can monitor the level of liquid nitrogen in the portable cryogenic workstation 190 to provide advance warning of possible temperature rise during the transfer process. The portable cryogenic workstation 190 can also be automatically filled with more liquid nitrogen (or “filled up”) so that once the portable cryogenic workstation 190 is connected to the automated cryogenic storage system ( Figure 23A If the 2300 samples are removed together, it provides users with enhanced autonomy.

[0103] Now let's discuss SHM ( Figure 23A 2320) and cryogenic storage storage ( Figure 23A The sealing interface and assembly operation between 110a-b). Figure 33A -D is a representation of the interface between the SHM 2320 and the cryogenic storage unit 110 according to various aspects of the disclosed embodiments. Figure 33A This is a perspective view of the storage interface 3300. The storage interface 3300 is adapted for use with cryogenic storage containers ( Figure 23A 110) connected to SHM ( Figure 23A On (2320). The storage interface 3300 includes a substrate 3371, a compliance ring 3372 (e.g., an Armaflex LTD ring), and a top plate 3373. See now. Figure 33B The base plate 3371 of the storage interface 3000 is adapted to connect with the cover 530 of the cryogenic storage container 110. The base plate may be a storage cover seal. Figure 27 The top plate 3373 of the storage interface 3000 includes a seal 3374 (e.g., a Nitrile seal) configured to seal the top plate 3373 to the SHM 120. The seal 3374, together with the SHM 23020, provides an airtight seal between the storage cover 160 of the cryogenic storage container 110 and the housing 122 of the SHM 2320.

[0104] Now refer to Figure 33C and Figure 33D In automated low-temperature storage systems ( Figure 23ADuring the assembly of the cryogenic storage unit 110 (also known as the cryogenic storage unit 110), the storage interface 3700 is attached to the cover 530 of the cryogenic storage unit 110. Next, the upper plate 3373 of the storage interface 3700 is screwed down onto the lower plate 3371 via a series of fasteners in the through-hole 3376 to compress the compliance ring 3372. With the compliance ring 3372 compressed, the freezer (also known as the cryogenic storage unit 110) is positioned below the SHM 120. Next, the upper plate 3373 is unscrewed from the lower plate 3371, allowing the compliance ring 3372 to expand and positioning the top plate 3373 against the SHM 120. Finally, the upper plate 3373 is fastened to the SHM assembly below the SHM 120. Figure 23B The compression seal 3374 is used on 2329).

[0105] Figure 34 This is an illustration of a sample transfer robot according to various aspects of the disclosed embodiments, the sample transfer robot being configured to transfer a single sample tray between two cryogenic storage bins. Figure 34 An automated cryogenic storage system 3400 is shown, which has two cryogenic storage containers 110a-b and an SHM 122 with a sample transfer robot 150. The sample transfer robot 150 has a gripper 2440 configured to secure a tray 3499 and transfer the tray 3499 from the first cryogenic storage container 110a to the second cryogenic storage container 110b, as indicated by arrow 3401. The door ( Figure 23B Item 2313) is shown being removed to allow a single pallet to leave the cryogenic storage storage unit 110a. This operation enables the entire pallet to be moved within the controlled environment of the SHM 120, which can be used for emergency situations or preventative maintenance.

[0106] Figure 35 This is a simplified diagram of the temperature and humidity control mechanism of an automated cryogenic storage system 3500 with SHM 120, according to various aspects of the disclosed embodiments. Figure 35 An automated cryogenic storage system 3500 with three separate environments is shown: the interior 3519 of cryogenic storage tank 110, the interior 3522 of SHM 120, and the cryogenic dock 130 of SHM 120. The environment in cryogenic storage tank 3510 can be cooled to approximately -150°C, and a first refrigerant flow 3590 from cryogenic storage tank 3510 to SHM 120 can maintain the interior 3522 of SHM 120 at near-ambient temperature and suitable humidity. A second refrigerant flow 3591 from SHM 120 to cryogenic dock 130 can maintain appropriate temperature and humidity at cryogenic dock 130.

[0107] The refrigerant can be a refrigerant (e.g., liquid nitrogen) in the cryogenic storage tank 3510, which can then enter the SHM 120 as a gas (e.g., gaseous nitrogen (N2)). A first flow 3590 can be exhaust gas from the cooling coils in the cryogenic storage tank 3510 and can be controlled via a solenoid valve (not shown). Refrigerant flows 3590, 3591 can also control the dew point of the interior 3522 of the SHM 120 and the cryogenic dock 130 to as low as, for example, about -100°C, or about -75°C to about -80°C. In some embodiments, the dew point of the interior 3522 of the SHM 120 and the cryogenic dock 130 is maintained at about -50°C, or for example, about -40°C to about -50°C. In some embodiments, the interior 3522 of the SHM 120 is maintained below the dew point of the cryogenic dock 130.

[0108] Figure 36A This is an illustration of an automated cryogenic storage system 3500 according to various aspects of the disclosed embodiments, the cryogenic storage system having an SHM 120 with an open maintenance hatch 3622. Figure 36A An SHM 120 is shown, featuring an access hatch 3622 and a corresponding door 3623. The SHM 120 may include a second access hatch. If one or both of the access hatches 3622 of the SHM 120 are opened to provide access for preventative maintenance activities, the dew point temperature, which indicates the humidity level inside the SHM 120, rises significantly and rapidly, such as... Figure 36B As shown. Figure 36B It is related to opening and closing at a specific time 3691. Figure 32A The graph 3692 shows the dew point over time associated with the maintenance hatch 3622. Figure 36B It is shown that once the maintenance hatch 3622 has been closed again, it takes significantly more time to lower the dew point (humidity) to the value it was before the maintenance hatch 3622 was opened.

[0109] Figure 37A This is an illustration of an automated cryogenic storage system 3700 according to several aspects of the disclosed embodiments, the cryogenic storage system having an SHM 120 with a cryogenic drying system 3762 configured to control humidity levels in the same handling environment. Based on Figure 36B The slow response of the system identified in the text is a concern, and the goal is to determine a method to accelerate the humidity reduction process after entry in order to shorten maintenance intervals. Figure 37AA cross-section of an automated cryogenic storage system 3700 is shown, which includes an SHM 120 and a cryogenic storage tank 110. The SHM 120 includes a cryogenic drying system 3760 based on a "cryogenic pumping" technology commonly used in semiconductor manufacturing. The cryogenic drying system 3760 accelerates the return to an acceptable humidity control level after disturbance. The cryogenic drying system 3760 includes an output valve 3764, a fan 3763, a cryogenic cold trap grille (or plate) cooled to ultra-low temperatures (below -150°C), and an input valve 3761.

[0110] During operation, upon user touch, after the humidity inside SHM 120 increases, valves 3761 and 3764 open and fan 3763 engages to generate an airflow from SHM 120 through the cryogenic trap 3762 and back into SHM 120. Any moisture present in the air flowing through the cryogenic trap 3762 is captured on the surface of the cryogenic trap 3762. Forcing airflow through the cryogenic trap 3762 increases the likelihood that water molecules present in the airflow will be captured by the cold surface of the cryogenic trap 3762, thus accelerating drying.

[0111] Figure 37B It relates to opening and closing in various aspects of the disclosed embodiments. Figure 32A Maintenance hatch and adding Figure 37A The graph shows the dew point over time in relation to the effect of the cryogenic cold trap system 3760. Once the dew point in SHM 120 drops to the desired level (highlighted as 3794 in the graph), inlet valve 3761 and outlet valve 3764 can be closed, and fan 3763 is turned off. With fan 3763 off, air stops flowing through cryogenic cold trap 3762, and cryogenic drying system 3760 is isolated from SHM 120. Once cryogenic cold trap 3762 has warmed up, any water it contains can evaporate without returning to the low-humidity environment inside SHM 120.

[0112] The cryogenic cold trap system 3760 can be used in a wide variety of automated storage applications in refrigerated environments, where the temperature of the plates on the cryogenic cold trap 3762 will be adjusted to suit the storage temperature. For example, in a storage environment of -20°C, the cryogenic cold trap 3762 should be set to -40°C, and in a storage environment of -80°C, it will be set significantly lower than -80°C (e.g., -120°C). While the cryogenic dryer system can be used to accelerate dehumidification after entering the sample handling module 120, it can also be used to control humidity on a permanent basis by isolating the cryogenic cold trap 3762 and releasing the captured moisture at regular intervals.

[0113] Disaster Recovery

[0114] Figure 38A -D is the flowchart following the four-stage disaster recovery method. Figure 38A It is when the storage tray is detected ( Figure 9 910) was stuck in the automated cryogenic storage warehouse ( Figure 1A The two shelves of 110) Figure 6 The flowchart shows the first phase of the disaster recovery process that is initiated between 621 and 622.

[0115] Phase 1

[0116] The 3801 pallet was stuck between two shelves.

[0117] The 3802 firmware detected the jam via overcurrent detection on T1 and T2.

[0118] 3803 assesses whether reversing using the T8R cam is safe.

[0119] 3804 uses manual mode on FW to reverse the last rotation move (T1 or T2).

[0120] The 3805 uses the FW manual mode, employing a storage reciprocating device (VS) to lift the HD pallet.

[0121] 3806 uses FW manual mode to rotate the original shelf back to the neutral position.

[0122] Can shelf 3807 be reverted to the previous neutral V8? If not, proceed to stage 2 via step 3816.

[0123] Using the manual mode (FW), 3808 raises the HD pallet to the top of the storage compartment.

[0124] 3809 uses FW manual mode to transfer the pallet to the picking station TT using T8R.

[0125] 3810 Open the inspection port cover and transfer the faulty tray to the cryogenic vessel.

[0126] 3811 If the problem is with significant experimental equipment, correct it or transfer all tubes to a new tray.

[0127] 3812 Place the corrected tray on the OTT table.

[0128] 3813 Retry Pallet Storage

[0129] 3813 If the tray storage is successful, the recovery process ends at 3815.

[0130] 3813 If pallet storage fails, proceed to stage 2.

[0131] Figure 38BThis is a flowchart of the second phase of the disaster recovery process, which is initiated after it is determined that the stuck tray cannot be successfully replaced.

[0132] Phase 2

[0133] 3817 uses T8R to close the storage compartment lid

[0134] 3818 Remove SHM to manually enter the vault

[0135] 3819 Manually open the storage compartment lid

[0136] 3820 uses a low-temperature cam on the rod to check the condition.

[0137] 3821 Use manual tools to resolve the jam (reorganize the pallet).

[0138] 3822 If you can use manual tools to resolve the stuck issue.

[0139] 3823 uses manual mode on FW to reverse the last rotation move (T1 or T2).

[0140] 3824 uses FW manual mode to lift the HD pallet using the storage reciprocating device (V8).

[0141] 3825 uses FW manual mode to rotate the original shelf back to the neutral position.

[0142] 3826 uses FW manual mode to raise the HD pallet to the top of the storage compartment.

[0143] 3829 If retrying pallet storage (through the storage opening) is safe, proceed; if not, proceed to step 3837.

[0144] 3830 If retrying pallet storage is safe, then retry pallet storage.

[0145] 3831 If tray storage fails, proceed to stage 3.

[0146] 3832 If pallet storage is successful, manually close the storage lid.

[0147] 3833 Replace the SHM on the storage tank and reseal it.

[0148] 3834 Re-debug the system and end the recovery process in step 3834.

[0149] 3837 If retrying pallet storage is not safe, use the Manual Pallet Grab Tool (MTQ) to transfer the faulty pallet to a cryogenic vessel.

[0150] 3839 If there are significant problems with the experimental equipment, correct them or transfer all tubes to a new tray.

[0151] 3840 uses MTQ to place the corrected pallet on the storage reciprocating device.

[0152] 3841 Retry Pallet Storage

[0153] 3842 If pallet storage is successful, proceed to step 3832. 3843 If pallet storage fails, proceed to stage 3.

[0154] Figure 38C This is a flowchart of the third and fourth phases of the disaster recovery process, initiated after manually manipulating the tray and determining that the stuck tray cannot be successfully replaced.

[0155] Phase 3, Part 1

[0156] Is any rotation of the 3845 system possible? If not, proceed to stage 4.

[0157] 3846 If the system has staged rotations, use manual mode on the FW to reverse the previous rotation movement (T1 or T2).

[0158] 3847 used a long-distance socket to disconnect the aircraft from the VS.

[0159] 3848 Remove the storage reciprocating device components.

[0160] 3849 Remove the HD tray starting from the top layer.

[0161] 3850, manually or with a fan, rotate T1 and T2 together.

[0162] 3851 placed the recycled pallets in a temporary storage area.

[0163] 3852 Repeat steps 3849 to 3851 multiple times as needed, then proceed to part 2 of step 3.

[0164] Phase 4

[0165] 3853 Remove the storage lid and loosen the top bracket with the evaporator.

[0166] 3854 connects the evaporator to a recovery system with a flexible feeder.

[0167] 3855 Installation and recycling of heat shields, manual hoists, and winches

[0168] 3856 Manually retrieve all pallets and transfer them to temporary storage, then proceed to Part 2 of Phase 3.

[0169] Figure 38DThis is a flowchart of the final stage of the disaster recovery process, initiated after the lid on the cryogenic storage container is opened to fix the cause of the stuck tray.

[0170] Phase 3, Part 2

[0171] 3858 When appropriate: (i) refurbish the storage tank. (ii) remove one or more pipes from the bottom. (iii) install a new storage tank.

[0172] 3859 Use manual tools to place the pallet on the VS of the new / repaired storage unit.

[0173] The 3860 uses a Fireworks (FW) technology GUI to store tray data.

[0174] 3861 Repeat steps 3859 and 3860 multiple times as needed.

[0175] 3862 Manually close the storage lid.

[0176] 3863 Replace the SHM on the storage tank and reseal it.

[0177] 3864 Re-debug the system.

[0178] 3865 Review the tubes of each tray to confirm their position and end the recovery process in step 3866.

[0179] Figure 39 This is a schematic diagram of a camera module used in ultra-low temperature environments. Figure 39 A camera module 3900 adapted for use in low-temperature environments is shown. The camera module 3900 includes a body 3903 and a lens 3901 and an LED ring 3902 located at the distal end of the camera module 3900. The body 3903 houses a camera sensor, such as a CCD or CMOS, for receiving image data from the camera lens 3901. The LED ring 3902 provides illumination from the camera lens 3901 in an outward direction to allow the camera module 3900 to operate in dark or light-free environments. An image sensor (not shown) transmits raw image data to image processing electronics (not shown) via a data cable 3904. Typically, the image processing electronics are integrated with the camera body 3903, but their removal allows the camera module 3900 to operate in excessively cold environments, ensuring reliable operation of the electronics.

[0180] Figure 40 This is a demonstration of an alternative support embodiment. Figure 40A star-shaped support 4080 is shown, which has a storage reciprocating device profile 4084 and a plurality of tray profiles 4081. The tray profiles 4081 are open at their outer ends so that an attached tray (not shown) can be vertically removed from the star-shaped support 4080 by radially translating the tray away from the star-shaped support 4080 and moving it vertically.

[0181] Figure 41 It has Figure 40 The alternative support 4080 is shown in the cryogenic storage container 110.

[0182] Figure 42 It is a demonstration of disaster recovery operations including the complete dismantling of the cryogenic storage storage unit 110. Figure 42 A cryogenic storage container 110 is shown, which has a main shaft for a support 550 containing a tray and a heat shield 4201 placed on the cryogenic storage container 110. The heat shield 4201 forms a cavity 4203 above the cryogenic storage container 110 to allow the main shaft of the support 550 to be raised into the heat shield 4201 for repair or maintenance of the cryogenic storage container 110. Here, when the main shaft of the support 550 is housed in the heat shield 4201, a replacement cryogenic storage container (not shown) can be placed below the heat shield 4201 to transfer the main shaft of the support 550 to the replacement cryogenic storage container.

[0183] While the invention has been specifically shown and described with reference to exemplary embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made within the scope of the invention as covered by the appended claims without departing from the scope of the invention.

Claims

1. A cover for sealing the top of an insulated freezer, comprising: A metal upper skin extends to the top surface and outer side surfaces of the cover, these outer side surfaces extending to meet the outer sidewall of the insulated freezer; A metal lower plate extends to the bottom surface and inner side surface of the cover, at least a portion of which is in contact with the inner side wall of the insulated freezer; as well as A layer of insulating foam occupies the space between the upper metal skin and the lower metal plate; The lower metal plate is further configured to support at least one refrigerant coil, which is configured to discharge refrigerant gas into the insulated freezer through a plurality of orifices.

2. The lid as claimed in claim 1, wherein, The upper metal skin, the lower metal plate, and the insulating foam are adapted to form an opening extending between the upper metal skin and the lower metal plate.

3. The lid of claim 2, further comprising a glass-reinforced plastic (GRP) layer extending between the upper metal skin and the lower metal plate via the opening.

4. The lid as claimed in claim 2, wherein, The opening forms a top-to-bottom shape that conforms to the top-to-bottom shape of the storage tray.

5. The lid of claim 2, further comprising a doorway at the bottom of the opening, the doorway forming a top-to-bottom shape that frames a storage tray located at the bottom of the opening.

6. The lid as claimed in claim 1, wherein, The at least one refrigerant coil includes a primary refrigerant coil and a secondary refrigerant coil.

7. The lid as claimed in claim 6, wherein, The primary refrigerant coil can operate independently of the secondary refrigerant coil.

8. The lid as claimed in claim 1, wherein, The diameter of the plurality of orifices is less than 1 mm.

9. The cover of claim 1, further comprising at least one solenoid valve connected to a conduit adapted to deliver refrigerant downstream from the at least one refrigerant coil.

10. The lid as claimed in claim 9, wherein, The at least one solenoid valve is configured to allow a controlled amount of refrigerant gas to be released into the sample handling module.

11. A cryogenic storage container, comprising: Including a heat-insulated freezer with a lid as described in claim 1; as well as At least one refrigerant coil is located at the top inside the insulated freezer, and the at least one refrigerant coil is configured to discharge refrigerant gas into the insulated freezer through a plurality of orifices.

12. The storage unit of claim 11, further comprising at least one support configured for storing a plurality of trays, each tray storing a plurality of samples, the support being positioned below the at least one refrigerant coil.

13. The storage warehouse as claimed in claim 12, wherein, The at least one refrigerant coil is further configured to discharge the refrigerant gas through the bracket toward the bottom of the insulated freezer.

14. The storage warehouse as claimed in claim 11, wherein, The at least one refrigerant coil is further configured to discharge the refrigerant gas in a manner that maintains positive pressure within the insulated freezer.

15. The storage warehouse as claimed in claim 11, wherein, The insulated freezer is a Dewar flask.

16. The storage warehouse of claim 11, wherein, The at least one refrigerant coil includes a primary refrigerant coil and a secondary refrigerant coil.

17. The storage warehouse of claim 16, wherein, The primary refrigerant coil can operate independently of the secondary refrigerant coil.

18. The storage warehouse of claim 16, wherein, At least one of the primary refrigerant coil and the secondary refrigerant coil is configured to discharge refrigerant gas into the insulated freezer via a plurality of orifices.

19. The storage warehouse as claimed in claim 18, wherein, The diameter of the plurality of orifices is less than 1 mm.

20. The storage tank of claim 11, further comprising at least one solenoid valve connected to a conduit adapted to transport refrigerant downstream from the at least one refrigerant coil.

21. The storage warehouse of claim 20, wherein, The at least one solenoid valve is configured to allow a controlled amount of refrigerant gas to be released into the sample handling module.

22. A method for removing a sample storage holder from a cryogenic storage freezer, the cryogenic storage freezer comprising the lid of claim 1, the method comprising: Provide a low-temperature storage freezer with a support to accommodate multiple sample trays; Remove the lid of the cryogenic storage freezer; Cover the open top of the low-temperature storage freezer with a heat shield; and At least a portion of the plurality of sample tray supports is lifted into the volume enclosed by the heat shield.

23. The method of claim 22, wherein, The plurality of supports includes the main shaft of the support.

24. The method of claim 23, wherein, The step of lifting at least a portion of the plurality of supports includes lifting the main shaft of the support into the volume enclosed by the heat shield.

25. The method of claim 24, further comprising: Move the heat shield to a position higher than the replaced cryogenic storage freezer; as well as The main shaft of the bracket is lowered into the replacement low-temperature storage freezer.

Images