System for transporting and mixing samples

Abstract

A sample transport system has a carrier configured to hold a sample tube for a sample to be transported and mixed, a transporter configured to support the carrier, a guide portion configured to impart motion to the carrier on the transporter and deliver the carrier to a destination location, and a controller. The controller is configured to identify instructions associated with the sample, the instructions including a movement profile configured to cause mixing of the sample, communicate with the guide portion to cause the carrier to follow the movement profile on the transporter to cause mixing of the sample and deliver the sample to the destination location.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 980,942, filed February 24, 2020, entitled “SYSTEM FOR TRANSPORTING AND MIXINGSAMPLES,” the disclosure of which is incorporated herein by reference in its entirety for all purposes. Technical Field

[0003] The present invention generally relates to a mechanism for transporting samples for a diagnostic system, and more particularly to a combined transport and mixing system for sample tubes on a carrier. Background Technology

[0004] Sample testing systems, such as in vitro diagnostic (IVD) systems, enable the diagnosis of diseases based on assays performed on a patient's fluid sample. IVD can include a wide variety of analytical tests and assays related to patient diagnosis and treatment, which can be performed by analyzing fluid samples taken from the patient. Assays are typically performed using an automated clinical chemistry analyzer (analyzer) on which a fluid container (such as a tube or vial containing the patient's sample) has been loaded. In some systems, the container is loaded in an input / output module and transported to the analyzer via rail transport. The analyzer can then extract the fluid sample from the vial and combine it with various reagents in one or more specialized reaction tubes or tubes (i.e., reaction dishes).

[0005] Some sample tubes need to be mixed before analysis. The current solution offered by laboratory diagnostic companies is to remove the tube from the tube delivery system and place it in a mixing subassembly. For customers, this solution is expensive in terms of cost, impact on tube turn-around time (the time it takes for the solution to return the sample tube to the operator once it's placed on the solution), impact on result turn-around time (the time it takes for the solution to report results), and the laboratory space dedicated to the mixing subassembly.

[0006] One current solution for customers that do not purchase a mixing subassembly is to manually mix the samples. Customers that purchase laboratory analyzers that cannot easily interface directly or indirectly with a mixer can automate the mixing process, but must manually transport the samples to the analyzer. Each of these solutions increases labor costs and impacts tube turnaround time relative to fully integrated automated mixing. The latter solution (mixing subassembly that does not interface with an analyzer) also requires laboratory space dedicated to the mixing subassembly.

[0007] The present disclosure includes mechanisms for addressing these and other problems of the prior art. SUMMARY

[0008] In at least some embodiments, the present disclosure relates to a sample transport system. The sample transport system includes a carrier configured to hold a sample tube for a sample to be transported and mixed, a transporter configured to support the carrier, a guide portion configured to impart motion to the carrier on the transporter and deliver the carrier to a destination location, and a controller. The controller is configured to identify instructions associated with the sample, the instructions including a movement profile configured to cause mixing of the sample, communicate with the guide portion to cause the carrier to follow the movement profile on the transporter to cause mixing of the sample and deliver the sample to the destination location.

[0009] In at least some embodiments, the present disclosure relates to a computer-implemented method for transporting and mixing a sample in a sample tube, carried out by a processor executing instructions from a memory. The method includes receiving mixing instructions for the sample, the mixing instructions including a movement profile for a carrier holding the sample tube, and providing instructions to a guide element to cause the carrier to move on a transporter along a path defined by the movement profile. BRIEF DESCRIPTION OF DRAWINGS

[0010] The foregoing and other aspects of the present application are best understood from the following detailed description when read in connection with the accompanying drawings. For the purpose of illustrating the application, there is shown in the drawings embodiments which are presently preferred, it being understood, of course, that the application is not limited to the specific instrumentalities disclosed. Included in the drawings are the following figures:

[0011] Figure 1A is a block diagram of an exemplary sample transport and mixing system in accordance with the disclosed embodiments;

[0012] Figure 1B is a system block diagram of a control system including a transport controller that can be used with certain embodiments disclosed herein;

[0013] Figure 2is a top view of an exemplary sample testing system including orbit-based transport and mixing mechanisms;

[0014] Figure 3 is a top view of an exemplary sample testing system including open surface transport and mixing mechanisms;

[0015] Figure 4 is a top view of various steps for generating mixing by linear movement along a straight orbit;

[0016] Figure 5 is a top view of various steps for generating mixing by movement along a curved portion of an orbit;

[0017] Figure 6 is a top view of various steps for generating mixing by rotational motion on an open surface;

[0018] Figure 7 is a top view of various steps for generating mixing by two-dimensional motion on an open surface;

[0019] Figure 8 is a top view of an alternative embodiment for generating mixing by linear movement along a straight orbit; and

[0020] Figure 9 is a top view of various steps for generating mixing by linear movement along a straight orbit in another alternative embodiment. DETAILED DESCRIPTION

[0021] Embodiments of the invention include transport systems for delivering samples to components of a sample testing system. The transport systems include features that enable mixing of the samples through controlled movement of the samples during the transport phase. In some embodiments, the movement is controlled to mix the samples sufficiently so that a separate mixing mechanism is not needed to obtain a sufficiently mixed solution of the sample for testing.

[0022] In some embodiments, the transport system includes a transport controller that determines whether mixing is needed for a particular sample and provides instructions to a controlled transport element (e.g., a transport puck) for initiating movement that causes sufficient mixing. The instructed movement can depend on, for example, the configuration of the transport system. For example, some embodiments can include movement according to a one-dimensional orbit for transport. Other embodiments can include more open surface transport systems that enable more complex motion for generating mixing.

[0023] Figure 1Ais a block diagram of an exemplary sample testing system 100. The sample testing system 100 can include a transport system 110 and a station 120. The transport system 110 can include features that deliver sample tubes to the station 120. The station 120 can be any component of any system configured to receive a sample, such as a sample tube, for testing a mixed sample.

[0024] In exemplary embodiments, the transport system 110 includes a transporter 112, a carrier 114, a transport controller 116, and a power supply 118. The transporter 112 can be a feature for physically supporting and transporting the carrier 114. The carrier 114 can be, for example, a puck or other holder for a sample (e.g., a test tube). The transport controller 116 can be, for example, a processor configured to generate instructions for controlling movement (e.g., by electromagnetic control) of the carrier 114 on the transporter 112. The power supply 118 is configured to supply power to the functional elements of the transport system 110.

[0025] In exemplary embodiments, the station 120 includes a receiving feature 122, such as a robotic arm for picking up a sample from the carrier 114. The station 120 can also include a station controller 124, a storage area 126, and a power supply 128. It should be understood that the station 120 can include any components associated with the handling of samples received from the transport system 110. For example, the station 120 can simply include a storage area and not perform an analytical function.

[0026] Consistent with the disclosed embodiments, a sample testing system or other sample handling system can include a transport system 110 as a means for delivering samples to a station 120. In certain instances, a sample can be a solution of one or more constituents, such as a biological material and a dilution composition or a labeling solution to be mixed with the material. Any combination of materials to be mixed can be deposited into the sample at an originating station or manually by a technician and then placed in a carrier 114 of the transport system 110, either automatically or manually. The transport controller 116 can receive instructions for controlling movement of the carrier 114 in a selected manner to mix the constituents in a sample tube (or other container). In some embodiments, the movement of the carrier 114 can be based on the controller identifying a state or composition of the material in the sample tube.

[0027] The motion imparted by the controller on the carrier 114 can also depend on the transporter 112 and its configuration. For example, if the transporter 112 is a bounded track such that the carrier 114 is limited to bidirectional motion along the path of the track, the controller 116 can induce mixing with acceleration and deceleration in one or more of the two directions along the path. In another example, if the transporter 112 is an open surface, the controller 116 can perform more complex motions on the surface, such as curvilinear motion along a selected path or trajectory. In another example, the controller 116 can impart rotational motion on the carrier 114 to induce mixing of the samples.

[0028] Figure 1B A top-level system diagram showing an example configuration of an example transport system 200, such as the transport system 110. The transport system 200 can be controlled by a controller 201, which can be, for example, the transport controller 116, including sufficient processing power to handle navigation, maintenance, motion, and sensor activities required to operate the transport system 200. In some embodiments, the transport system 200 includes a power system 203, including, for example, a battery.

[0029] The controller 201 can be in communication with a system memory 204. The system memory 204 can include data and instruction memory. The instruction memory in the memory 204 includes sufficient programs, applications, or instructions to operate the transport system 200, such as to provide motion instructions to the controller 201. This can include navigation procedures as well as sensor handling applications. The data memory in the memory 204 can include data about current position, velocity, acceleration, payload contents, navigation plans, identification of the carrier or payload, or other state information. By including on-board memory in the transport system 200, the controller 201 can keep track of the current state and use the information to intelligently route the carrier around the track, or communicate the state information to the track or other carriers.

[0030] The controller 201 can also be responsible for operating a motion system 205, a mixing handler 212, a position decoder 213, a barcode reader 214, a communication system 215, a status display 216, and a sample sensor 217. These peripherals can be operated by the controller 201, for example, via a bus 210. The bus 210 can be any standard bus capable of communicating with multiple peripherals, such as a CAN bus, or can include individual signal paths to individual peripherals. The peripherals can utilize their own power source or the common power system 203.

[0031] The motion system 205 can include the control logic necessary to operate any of the motion systems described herein. For example, in embodiments that use driven wheels, the motion system 205 can include a motor controller. In other embodiments, the motion system 205 can include the necessary logic to communicate with any active track system necessary to provide motive force to the carriers of the transport system 200. In these embodiments, the motion system 205 can be a software component executed by the controller 201 and utilizing the communication system 215 to communicate with the handling surface (e.g., track) and / or the carriers on the handling surface. Devices controlled by the motion system 205, such as motors, actuators, electromagnets, etc., can be powered by the power system 203 in embodiments where these devices are on the carrier. In some embodiments, such as embodiments where the motive devices, such as linear synchronous motors (LSMs), provide motive force by exciting coils in the track, an external power source can also provide power. In some embodiments, the motion system 205 controls devices on or off the carrier to provide motive force. In some embodiments, the motion system 205 works with other controllers (e.g., controllers in the track) to coordinate motive force, such as by requesting nearby coils in the track to be excited or requesting movement of local rollers. In these embodiments, the motion system 205 can work with the communication system 215 to move the carriers.

[0032] The transport system 200 can include a mixing handler 212 with one or more sensors to detect motion and / or confirm mixing. The mixing handler 212 can include sensors in front of or behind the transport system 200 for determining motion of the carriers. Exemplary sensors can include IR range finding, magnetic sensors, microwave sensors, or optical detectors. In some embodiments, the mixing handler 212 can include features configured to induce or enhance mixing during transport.

[0033] In some embodiments, the mixing handler 212 can provide information to the controller 201 via the communication system 215. For example, in some embodiments, the mixing handler 212 observes the position and velocity of the carriers 114 on the handling surface 112 and assesses mixing conditions and provides feedback to the controller 201. In other embodiments, the mixing handler 212 can operate one or more mechanical features that induce or enhance mixing, such as contacting an obstacle, an agitator, or a switch for moving a carrier to a portion of the track designated for mixing.

[0034] The transport system 200 can also include a position decoder 213. This sensor can extrapolate the position of the carrier as described herein. For example, the position decoder 213 can include a camera or other optical means to identify landmarks in the track, or to observe optical encodings in the track. In some embodiments, the position decoder 213 can also include inertial sensors, magnetic sensors, or other sensors sufficient to determine the current position, orientation, velocity, acceleration, and / or jerk of the carrier.

[0035] The transport system 200 can optionally include a barcode reader 214. If equipped with a barcode reader 214, the transport system 200 can observe the barcode of its payload as the sample is loaded onto the carrier, or at any time thereafter. By reading and storing the identification of the sample tube, or transmitting this information to the overall system, the transport system 200 can more efficiently determine which samples need to be mixed and formulate mixing instructions for movement, while samples that do not need mixing can simply be delivered to the station 120.

[0036] The communication system 215 can include any mechanism sufficient to allow the carrier to communicate with the overall automated system. The communication system 215 can include a transceiver and antenna, as well as logic for operating an RF communication protocol. In some embodiments, the communication system 215 can also include near-field communication, optical communication, or electrical contact components.

[0037] In some embodiments, the transport system 200 can also include a status display module 216. The status display module 216 can include a controller and a rewritable electronic display, such as an LCD panel or an e-ink display. In some embodiments, the controller is considered an addressable portion of memory, such that the controller 201 can easily update the status display 216.

[0038] In some embodiments, the transport system 200 also includes a sample sensor 217. This sample sensor 217 can be used to indicate the presence or absence of a fluid container in the tube holder (which can also be referred to as a tube holder) of the carrier. In some embodiments, this is a momentary mechanical switch that is depressed by the presence of a tube, and is not depressed when the tube is not present. This information can be used to determine the status of the tube, which can aid in the display of status information by the status display module 216.

[0039] Figure 2One embodiment of a sample testing system 300 with a track system 305 is shown. The track 305 is a rectangular / elliptical / circular track on which a sample carrier 310 moves between stations 320 in a clockwise (or counterclockwise) direction. The track 305 can be unidirectional or bidirectional. The carrier 310 can carry any suitable payload within a sample environment, such as a fluid sample, a reagent, or waste. Fluids, such as patient samples, can be placed in a container or vessel (such as a test tube, vial, test tube, etc.) that can be carried by the carrier 310. The carrier 310, and by extension the payload such as a sample, can move on the main track 305 or be diverted via decision points. These decision points can be mechanical gates, or other mechanisms suitable to allow a sample to be diverted from the main track to a side track to reach one of the stations 320. When a reagent on the track 305 reaches an appropriate station 320, the module can utilize a mechanical system, such as an arm or feeder system, that takes the reagent off the track and places it in a reagent storage device for the station 320.

[0040] In some embodiments, the track system 305 can be designed to be bidirectional. This means that the sample carrier can traverse the outer path and / or any sub-paths in either direction. In this way, the carrier 310 can be accelerated and decelerated and change direction in order to induce mixing of the sample carried during transport.

[0041] The carrier 310 can be a puck or other holder. In different embodiments, the carrier 310 can hold different payloads. One payload can be a sample tube containing a fluid sample, such as blood or urine. Other payloads can include a tube rack or reagent cartridge, or any other suitable cartridge. The carrier 310 can include a main body that can house internal electronics. The main body can accept a payload. In some embodiments, this is a shallow hole designed to accept a fluid container, such as a sample tube, and hold it with a friction fit. In some embodiments, the friction fit can be made using a resilient hole or clamp that can be secured or energized with a spring to create a holding force. In some embodiments, the sample rack and reagent cartridge can be designed to also attach to the main body or an attached cradle, allowing the carrier 310 to act as a universal base for multiple payload types.

[0042] Figure 3is another embodiment of a sample testing system 400 having an open surface 405 for transport. The open surface 405 is a surface that does not have a confining track for the carriers 410, thereby enabling motion between stations 420 in at least two dimensions. In addition to the motion capabilities of the open surface 405 compared to the track 305, the components of the sample testing system 400 can be similar to those of the sample testing system 300.

[0043] Figure 4 is an example of a first transport control option for mixing during transport of a sample tube 500 in a carrier 310 in a linear portion of a track 305. The first transport control option for mixing includes control instructions to move the sample tube 500 back and forth over existing sections of the track 305, using sudden accelerations and decelerations to slosh and mix the fluid in the sample tube 500.

[0044] As Figure 4 As shown in FIG. 5, the track 305 can include a guide portion 505 on the track 305 that allows the carrier 310 to follow the path of the track 305. In some embodiments, the guide portion 505 is an element of the carrier 310. The guide portion 505 can include, for example, a slot to receive one or more rails on the track 305, providing lateral and / or vertical support. In some embodiments, the guide portion 505 allows the carrier 310 to be guided by a wall 510 in the track 305, such as a wall of a trough-shaped track. The guide portion 505 can also include one or more drive mechanisms, such as a friction wheel, that allow a motor in the carrier 310 to drive the carrier 310 forward or backward on the track 305. The guide portion 505 can include other drive components suitable for use with the embodiments described throughout this document, such as a magnet or an induction coil. Figure 5 FIG. 5 illustrates movement along a curved section of the track 305. On the curved section of the track 305, additional centripetal forces will be applied to the fluid, which results in a different mixing profile.

[0045] The controller 116 is configured to provide instructions to the guide portion 505 (e.g., on the carrier 310 and / or the track 305) to cause movement of the carrier 310 along the track 305 according to a desired movement profile for adequately mixing a sample in the sample tube 500. For example, the controller 116 can cause several acceleration-deceleration cycles in one or more directions along the track 305 to cause sloshing and mixing of the material in the tube 500. In some embodiments, the movement profile selected by the controller 116 can depend on one or more factors, such as state or profile information about the sample.

[0046] Figure 6 is an example of an alternative transport control option for mixing on a transporter having an open surface 405 as part of a transport mechanism that enables two- or three-dimensional movement of the carriers 410 (e.g., movement that is not limited to a specific path on a track). The carriers 410 can contain sample tubes 600 and have freedom to move in and / or around at least the X and Y axes via a guide portion 605 associated with the carriers 410 and / or the open space 405. For example, the guide portion 605 can be a magnetic element on the carrier 410 that is configured to interact with an electromagnetic control element on the open space 405.

[0047] The sample tubes 600 can be placed in the carriers 410 and pushed along tiles and follow a predetermined path. In some embodiments, a motion profile can be developed to move the tubes in a manner that will mix the sample tubes sufficiently. As shown in Figure 6 A first example, as shown in Figure 7 A second example, as shown in

[0048] The controller 116 can be configured to communicate with the carriers 410 and / or the open surface 405 in order to provide instructions for controlling the path of the carriers 410 on the open surface 405. The controller 116 can identify a desired level of mixing and select a movement profile to provide sufficient mixing of the sample in the tubes 600 while the tubes 600 are on their way to the station 120. It should be appreciated that Figure 6 the rotational path shown in Figure 7 the "figure 8" path shown in

[0049] Figure 8 and Figure 9is an example of yet another alternative transport control option for mixing, including a mixing element 705 configured to contact the sample tube 700 and / or the carrier 710 holding the sample tube 700, and / or otherwise interact therewith. In some embodiments, the mixing element 705 can be a set of obstacles configured to contact the sample tube 700 during transport. For example, the mixing element 705 can be a set of undulating curves configured to move and / or impact the sample tube 700 and cause jostling and / or mixing. In another embodiment, the mixing element 705 can be a stirrer, for example, configured to rock the track, carrier, and / or sample 700. As Figure 9 As shown in FIG. 6, the mixing element 705 can be selectively moved into position to selectively control mixing of certain samples that pass along the track. For example, the controller 116 can provide instructions to the mixing element 705 to move the obstacles into position when a particular sample needs to be mixed as it is transported by the sample transport system.

[0050] In an example embodiment, an operator or the initiation station or the sample transport system scans the barcode of the sample tube and places it in a carrier, the controller determines the identity of the carrier and matches it to the identity of the sample. The controller can then locate the record for that sample to determine the mixing instructions for that sample. The mixing instructions can include, for example, a determination of whether the sample needs to be mixed during transport (e.g., a "yes" or "no" answer to mixing). In another embodiment, the mixing instructions can include a motion profile that will induce a sufficient degree of mixing during transport. The controller can select from a plurality of stored movement profiles, for example, depending on the degree of mixing required.

[0051] Once the carrier is placed onto the transporter, the navigation and location acquisition system of the sample transport system enables the controller to determine where on the transporter (e.g., a location on the track) the carrier is and where it needs to go on the transporter. The controller can provide a movement profile to the relevant components to power, causing the carrier to move in a certain way on its way to the destination station. The movement profile can include and / or define, for example, acceleration and deceleration in one or more directions and / or along a curved path, rotational motion, curvilinear free motion on an open surface, interaction with one or more mixing elements, or other motion configured to induce mixing before the sample is delivered to the destination station. Thus, the sample transport system can also be a mixing mechanism that provides mixing in conjunction with delivery of the sample to a station, such as an analyzer. Thus, the sample handling system can not need to have a separate mixing dedicated station or system, improving efficiency and reducing the overall cost of such a system.

[0052] It should be understood that the disclosed embodiments are exemplary, and other embodiments can include other features for inducing motion that is a combination of transport and mixing of samples. For example, motive force can be provided to the carriers in many ways. In some embodiments, the track actively participates in providing individualized motive force to each carrier. In some embodiments, the motive force is provided by electromagnetic coils in the track that propel one or more magnets in the carriers. These conventional systems that utilize such magnetic motion systems include passive carriers that lack the integrated intelligence of the carriers described herein, and all wayfinding and decision making is made by a central controller without the need for active carriers that participate in the wayfinding and identification process.

[0053] In embodiments that utilize magnetic motion, the electromagnetic coils and magnets operate as LSMs to propel each individual carrier in a direction that is selected with precise control of velocity, acceleration, and jerk. Where each coil (or set of local coils) on the track can be independently operated, this allows for highly localized motive force to the individual carriers so that they can move at their own individually tailored acceleration and velocity. The coils local to a carrier can be activated at any given moment to provide precise control of direction, velocity, acceleration, and jerk to the individual carriers that pass near the coils.

[0054] In some embodiments, the track can be composed of many individually articulable rollers that act as locally customizable friction tracks. Because individual micro-sections of the track can be independently managed, the rollers immediately around a carrier can be controlled to provide individualized velocity, acceleration, and jerk. In some embodiments, other active track configurations that provide localized individual motive force to each carrier can be used.

[0055] In some embodiments, the track can be largely passive, providing a floor, wall, rail, or any other appropriate constraint on the motion of the carriers to guide them along a single dimension. In these embodiments, the motive force is provided by the carriers themselves. In some embodiments, each individual carrier has one or more on-board motors that drive wheels to provide a friction-based, self-propelled motive force between the track and the carrier. Unlike traditional friction tracks, in which the track is a conveyor belt, carriers with driven wheels can traverse the track independently and accelerate / decelerate individually. This allows each carrier to control its velocity, acceleration, and jerk at any given moment to control the forces exerted on its payload, as well as to traverse the track along an individually customized route. In some embodiments, permanent magnets can be provided in the track, and electromagnets in the carriers can be operated to propel the carriers forward, thereby acting as LSMs in cases where the carriers provide the driving magnetic force. Other passive track configurations are also contemplated, such as fluid tracks that allow carriers to autonomously float and move via water jets or the like, low-friction tracks that allow carriers to float on air pockets provided by the track (e.g., acting like a localized air hockey table), or any other configuration that allows individual carriers to experience individualized motive forces as they traverse the track.

[0056] Embodiments of the present application can be integrated with existing analyzers and automation systems. It should be appreciated that the carriers can be configured in many shapes and sizes, including layouts and physical configurations suitable for use with any contemplated analyzer or instrument. For example, in some embodiments, the carriers can include a plurality of slots for carrying a plurality of samples around an automation track. One embodiment, for example, can include a physical layout of a tube holding portion of a carrier having a plurality of slots in one or more transport racks. Each rack can include a plurality of slots (e.g., five or more slots), each slot configured to hold a tube (e.g., a sample tube).

[0057] While the application has been described with reference to example embodiments, it is not to be limited by what has been described herein. It is to be understood that various alterations and modifications can be made to the preferred embodiments without departing from the true spirit of the application. Therefore, it is intended that whatever is described herein is to be interpreted as an example only and is not a limitation on the true spirit and scope of the application.

Claims

1. A sample transport system comprising: a carrier configured to hold a sample tube for a sample to be transported and mixed on a track, the sample tube bearing a barcode; a transporter configured to support the carrier; a guide section comprising one or more drive mechanisms configured to impart motion to the carrier on the transporter and deliver the carrier to a destination location; a barcode reader configured to observe the barcode of the sample tube; and a controller configured to: determine, based on the observation of the barcode by the barcode reader, mixing instructions associated with the sample, the mixing instructions comprising a movement profile configured to cause mixing of the sample, communicate with the guide section to cause the carrier to: follow the movement profile on the transporter to cause mixing of the sample, and deliver the sample to a destination location, wherein the mixing instructions comprise a determination of whether the sample needs to be mixed during transport and comprise a movement profile comprising mixing to a sufficient degree, wherein the sample transport system further comprises a mixing element configured to interact with the carrier while the carrier is on the transporter to cause mixing, and wherein the controller is further configured to provide instructions to the mixing element, the mixing element being selectively movable into position in order to selectively control mixing of certain samples passing along the track.

2. The sample transport system of claim 1, wherein the transporter comprises a track defining a bounded path.

3. The sample transport system of claim 2, wherein the movement profile comprises acceleration and deceleration of the carrier along the bounded path.

4. The sample transport system of claim 3, wherein the movement profile comprises acceleration and deceleration of the carrier in both directions along the bounded path.

5. The sample transport system of claim 3, wherein the movement profile comprises acceleration and deceleration along a purely linear path.

6. The sample transport system of claim 2, wherein the bounded path comprises a curved portion for inducing centripetal force on the sample for mixing.

7. The sample transport system of claim 6, wherein the movement profile comprises movement in both directions along the curved portion of the bounded path.

8. The sample transport system of claim 1, wherein the transporter is an open surface such that the carrier is configured to move freely along a plurality of paths on the transporter.

9. The sample transport system of claim 8, wherein the movement profile comprises rotation of the carrier on the open surface transporter.

10. The sample transport system of claim 8, wherein the movement profile comprises a curvilinear path on the open surface transporter.

11. The sample transport system of claim 10, wherein the curvilinear path comprises a figure 8 path. ​ 12. A computer-implemented method for transporting and mixing a sample in a sample tube in a sample transport system according to claim 1, the method being carried out by a processor executing instructions from a memory, the method comprising: receiving mixing instructions for the sample, the mixing instructions comprising a movement profile for a carrier holding the sample tube; providing instructions to a guidance portion to move the carrier along a path on a transporter defined by the movement profile and / or to a mixing element to move into position when mixing is required while a particular sample is being transported by the sample transport system.

13. The method of claim 12, wherein receiving the hybrid instruction comprises: receiving information identifying the sample and selecting the mixing instructions by the processor based on the information identifying the sample.

14. The method of claim 13, wherein receiving information identifying the sample comprises: scanning a barcode on the sample tube.

15. The method of claim 13, wherein the transporter comprises a bounded path and the movement profile comprises acceleration and deceleration of the carrier along the bounded path.

16. The method of claim 15, wherein the acceleration and deceleration are in both directions along the path.

17. The method of claim 13, wherein the transporter is an open surface such that the carrier is configured to move freely along a plurality of paths on the transporter.

18. The method of claim 17, wherein the movement profile comprises rotation of the carrier.

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