System and method for centering a circular object

Abstract

This disclosure describes systems and methods for centering a circular object, and discloses systems and methods for centering a circular object, such as a petri dish, among a plurality of pins. For example, in one embodiment, the method includes placing the circular object on a rotatable platform surrounded by three movable pins. To roughly center the circular object, the method further includes first moving all pins toward the circular object until at least two of the three pins are in direct contact with the circular object. To center the circular object more accurately, the method further includes: moving all pins away from the circular object so that it can rotate without substantial interference; rotating the platform approximately 60 degrees, wherein rotating the platform causes the circular object to also rotate approximately 60 degrees; and second moving all pins toward the circular object.

Description

[0001] This application is a divisional application of Chinese patent application 2019800462069 (PCT / EP2019 / 068588) entitled “System and method for centering a circular object”, filed on July 10, 2019. Technical Field

[0002] This disclosure describes systems and methods for centering a circular object, such as a petri dish, among a plurality of pins. Background Technology

[0003] With advancements in computer, network, and robotics technologies, automation has become a useful tool for streamlining various workflow processes. For example, automation has been adopted in laboratory settings to simplify the processes for preparing biological samples (e.g., patient samples, environmental samples, etc.) for laboratory analysis. Automating such tasks can: (a) reduce personnel costs, (b) reduce operator errors (e.g., human error) caused by factors such as operator fatigue, distraction, or inattention, and (c) reduce the time required to analyze samples and report results.

[0004] For example, U.S. Application No. 14 / 674,827 (“'827 Application”), filed March 31, 2015 and published as U.S. Publication No. 2015 / 0276566A1, describes an automated platform for inoculating various containers with biological samples for testing and analysis, the disclosure of which is incorporated herein by reference. In some embodiments, the automated platform includes an inoculation module and a streaking module. The inoculation module utilizes biological sample inoculation containers (e.g., petri dishes, plates, beef broth tubes, slides, etc.). This can be accomplished using pipette units, wire loops, swabs, etc. During inoculation of the petri dish, the inoculation module may also dispense magnetic beads into the petri dish. After inoculation, the petri dish can be transported along a delivery system to the streaking module. In some embodiments, the streaking module includes a magnet capable of causing the magnetic beads deposited in the petri dish to streak the inoculated culture medium (e.g., blood agar, chocolate agar, Maconji agar, etc.) according to a prescribed pattern using the sample. After streaking, the petri dish can be transported to an incubation system. Further details about the automation platform can be found in '827 application.

[0005] As another example, U.S. Application No. 14 / 687,400 (“400 Application”), filed April 15, 2015 and published as U.S. Publication No. 2015 / 0299639A1, describes an integrated incubator and an image capture module that regulates the incubator atmosphere and obtains high-resolution digital images of sample specimens, the disclosure of which is incorporated herein by reference. In some embodiments, the incubator has a cabinet-like enclosure capable of providing a controlled environment to the contents of the incubator. In some embodiments, the incubator contains a culture dish containing a nutrient medium that has been inoculated with a biological sample. If present in a sample in which the medium has been used for inoculation, the nutrient medium and controlled atmosphere provided to the incubator support the growth of at least some microorganisms in the medium. In some embodiments, the image capture module is a closed unit adjacent to the incubator. This allows the culture dish to be transferred directly from the incubator to the image capture module. Once in the image capture module, the lid of the culture dish can be removed, allowing the image capture unit to perform electronic imaging (e.g., digital imaging) of the culture dish. The lid can then be replaced and the culture dish can be transported back to the incubator. In some embodiments, images can be automatically analyzed using software programs that can determine whether microbial growth has occurred. Further details about the incubator and image capture module can be found in '400 application.

[0006] As another example, International Application No. PCT / US2016 / 034554 (“’554 Application”), filed and published on May 27, 2016 as International Publication No. WO2016 / 191646A2, describes an automated system for preparing biological samples for identification (e.g., matrix-assisted laser desorption / ionization time-of-flight mass spectrometry (“MALDI-TOF-MS”)) and antibiotic susceptibility testing (“AST”), the disclosure of which is incorporated herein by application. In some embodiments, the automated system may: locate and select microbial colonies on a petri dish; obtain a sample of the selected microbial colonies; prepare a suspension for the obtained sample; dispense a portion of the obtained sample onto a target plate and place the target plate in a device for performing MALDI for identification of the selected microbial colonies; and use or transfer another portion of the suspension for another test (such as, AST). AST may be Kirby-Baur / disk diffusion, disc dilution, broth and agar dilution, or other methods. Further details about the automated system can be found in application '554.

[0007] In all the aforementioned automated systems, the petri dish or other similar object may need to be precisely centered. For example, regarding application '827, the petri dish may need to be precisely centered before it can be inoculated with a biological sample. As another example, regarding application '400, the petri dish may need to be precisely centered in an image capture module so that digital images can be accurately compared to detect microbial growth. As yet another example, regarding application '554, the petri dish may need to be precisely centered before the sample can be accurately transferred from the petri dish to a common suspension.

[0008] Existing systems for centering circular objects such as petri dishes sometimes include three or more pins. During operation, the pins move toward the area where the petri dishes are clustered until the dishes are pressed between all the pins. However, in such systems, the pins may stop moving when only some (not all) of them are in contact with the petri dish. This can be caused by friction between the bottom or sides of the petri dish or the pins. In such cases, the petri dish may not be properly centered. Therefore, there is a need for systems and methods for robustly and accurately centering circular objects such as petri dishes. Summary of the Invention

[0009] This disclosure describes systems and methods for robustly and accurately centering a circular object, such as a petri dish, among a plurality of pins. For example, in one embodiment, the method includes placing the circular object on a rotatable platform surrounded by three movable pins. To roughly center the circular object, the method further includes first moving all pins toward the circular object until at least two of the three pins are in direct contact with the circular object. To center the circular object more accurately, the method further includes: moving all pins away from the circular object so that it can rotate without substantial interference; rotating the platform approximately 60 degrees, wherein rotating the platform causes the circular object to also rotate approximately 60 degrees; and secondly moving all pins toward the circular object.

[0010] One aspect of this disclosure relates to a method comprising: (a) placing a circular object between three or more pins on a platform, wherein the pins are positioned substantially equidistant from each other and wherein the pins are in a first open position; (b) first moving all the pins toward the circular object to a closed position, wherein when the pins are in the closed position, at least two of the pins are in contact with the circular object; (c) moving all the pins away from the circular object to a first open position or a second open position, wherein when the pins are in the first open position or the second open position, the circular object can rotate on the platform without interference from the pins; (d) rotating the circular object by approximately θ degrees or approximately θ degrees plus one or more full rotations of 360 degrees, wherein θ is equal to 360 degrees divided by twice the number of pins; and (e) second moving all the pins toward the circular object to a closed position, wherein after all the pins have been moved to the closed position for the second time, the circular object is substantially centered among all the pins.

[0011] In some embodiments, the platform is rotatable, and the circular object is rotated by rotating the platform. In some embodiments, the circular object is a petri dish. In some embodiments, the method further includes inoculating the petri dish with a biological sample after the petri dish is substantially centered between all the pins. In some embodiments, the method further includes capturing an image of the petri dish using a graphics capture module after the petri dish is substantially centered between all the pins. In some embodiments, the method further includes picking up one or more bacterial colonies from the petri dish after the petri dish is substantially centered between all the pins.

[0012] Another aspect of this disclosure relates to a method comprising: (a) placing a circular object on a rotatable platform positioned between three pins, wherein the pins are positioned substantially equidistant from each other and wherein the pins are in a first open position; (b) first moving all the pins toward the circular object to a closed position, wherein when the pins are in the closed position, at least two of the pins are in contact with the circular object; (c) first moving all the pins away from the circular object to a first open position or a second open position, wherein when the pins are in the first open position or the second open position, the circular object can rotate on the platform without interference from the pins; (d) rotating the platform by approximately 60 degrees or approximately 60 degrees plus one or more full rotations of 360 degrees, wherein rotating the platform causes the circular object to also rotate; and (e) second moving all the pins toward the circular object to a closed position, wherein after all the pins have been moved to the closed position for the second time, the circular object is substantially centered between all the pins.

[0013] In some embodiments, the circular object is a petri dish. In some embodiments, the method further includes removing a lid covering the petri dish from the petri dish. In some embodiments, the method further includes inoculating the petri dish with a biological sample after the petri dish has been substantially centered between all the pins. In some embodiments, the method further includes: (a) moving all the pins away from the circular object to a first open position or a second open position after the petri dish has been substantially centered between all the pins; and (b) orienting the petri dish by rotating it and aligning a label on the petri dish with a reader positioned near the platform. In some embodiments, the method further includes capturing an image of the petri dish using an image capture module after the petri dish has been substantially centered between all the pins and oriented. In some embodiments, the method further includes picking up one or more bacterial colonies from the petri dish after the petri dish has been substantially centered between all the pins and oriented.

[0014] Another aspect of this disclosure relates to a system comprising: (a) a rotatable platform having a top surface and a bottom surface; (b) a first idler wheel having a top surface and a bottom surface, wherein the top surface of the first idler wheel is fixed to the bottom surface of the platform; (c) a second idler wheel having a top surface and a bottom surface, wherein the second idler wheel is positioned below the bottom of the first idler wheel, and wherein three posts are fixed to the bottom of the second idler wheel; and (d) three pins positioned around the rotatable platform, wherein the pins are positioned approximately equidistant from each other, and wherein each of the pins is fixed to a baffle having an arm extending below the second idler wheel, and wherein each of the baffles is connected to and rotatable about a fixed shaft, and wherein each of the arms of the baffle has a hole around a different one of the posts fixed to the bottom of the second idler wheel, wherein the platform can be rotated by rotating the first idler wheel, and wherein the pins can be moved toward the platform by rotating the second idler wheel.

[0015] In some embodiments, the system further includes: (a) a first motor having a first drive pulley fixed to a shaft of the first motor; (b) a second motor having a second drive pulley fixed to a shaft of the second motor; (c) a first belt connected to a first idler pulley and a first drive pulley; and (d) a second belt connected to a second idler pulley and a second drive pulley, wherein rotational power of the first drive pulley is transmitted to the first idler pulley via the first belt, and wherein rotational power of the second drive pulley is transmitted to the second idler pulley via the second belt.

[0016] In some embodiments, the system further includes one or more processors configured to control the rotation of the first idler wheel and the second idler wheel by controlling the first motor and the second motor. In some embodiments, the one or more processors are configured to: (a) first move all pins toward the culture dish placed on the platform to a closed position, wherein at least two of the pins are in contact with the culture dish when the pins are in the closed position; (b) first move all pins away from the culture dish to a first open position or a second open position, wherein the culture dish can rotate on the platform without interference from the pins when the pins are in the first open position or the second open position; (c) rotate the platform by approximately 60 degrees or approximately 60 degrees plus one or more full rotations of 360 degrees; and (d) second move all pins toward the culture dish to a closed position, wherein after all the pins have been moved to the closed position for the second time, the circular object is approximately centered among all the pins.

[0017] In some embodiments, the system further includes a reader, and one or more processors are further configured to: (a) move all pins away from the culture dish to a first open position or a second open position after the culture dish has been substantially centered between all pins; and (b) orient the culture dish by rotating the platform and aligning a label on the culture dish with the reader. In some embodiments, the system further includes an image capture module, and one or more processors are further configured to capture an image of the culture dish using the image capture module after the culture dish has been substantially centered between all pins and oriented. In some embodiments, the system further includes an automated pipette, and one or more processors are further configured to pick up one or more bacterial colonies from the culture dish after the culture dish has been substantially centered between all pins and oriented. Attached Figure Description

[0018] Figure 1(a) shows a side view of an embodiment of a system for centering a circular object as described herein.

[0019] Figure 1(b) shows another side view of the system in Figure 1(a).

[0020] Figure 1(c) shows a side view of the system of Figure 1(a), in which the petri dish is placed on the platform of the system of Figure 1(a).

[0021] Figure 1(d) shows another side view of the system in Figure 1(c).

[0022] Figure 1(e) shows a bottom view of the system in Figure 1(a).

[0023] Figure 2(a) is an image of an embodiment of a system for centering a circular object as described herein.

[0024] Figure 2(b) shows another image of the system in Figure 2(a).

[0025] Figure 3 This is a block diagram of a method for centering a circular object as described in this article.

[0026] Figures 4(a) to 4(l) A method for centering a circular object as described herein is shown.

[0027] Figure 5 These are images of experiments performed to demonstrate the operation of the systems shown in Figures 2(a) and 2(b). Detailed Implementation

[0028] Embodiments of this disclosure are described in detail with reference to the accompanying drawings, wherein similar reference numerals identify similar or identical elements. It should be understood that the disclosed embodiments are merely examples of this disclosure and may be embodied in various forms. Well-known functions or structures have not been described in detail to avoid obscuring this disclosure with unnecessary detail. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but merely as the basis for the claims and as a representative basis for teaching those skilled in the art to apply this disclosure differently in any reasonably detailed structure.

[0029] Figures 1(a) to 1(e) An embodiment of a system for centering a circular object according to the present technology is shown. As shown, system 100 includes a platform 110, pins 122, 132, and 142, a sensor 150, a motor 160, and a motor 170. As shown in Figures 1(c) and 1(d), a petri dish 190 can be placed on platform 110. In some embodiments, a robotic arm can automatically place the petri dish 190 on platform 110. Once on platform 110, pins 122, 132, and 142 can be used to center the petri dish 190 on platform 110.

[0030] During the centering process, pins 122, 132, and 142 can be moved by motor 160. Motor 160 includes a shaft (not shown) fixed to drive pulley 164. As used herein, a pulley can be a rotatable structure for transmitting power via a belt, strip, rope, cord, chain, etc., passing through its rim. For example, a pulley can be a smooth wheel-like structure configured to transmit power via a rubber belt or strip. As another example, a pulley can be a gear-like structure configured to transmit power via a chain. During operation, drive pulley 164 rotates clockwise or counterclockwise via the shaft of motor 160. As shown, platform 110 can be positioned above idler pulley 112, separator 114, and idler pulley 116. Separator 114 separates idler pulley 112 and idler pulley 116. Although idler pulleys 112 and 116 can be connected via a common shaft (not shown), idler pulleys 112 and 116 rotate independently of each other. During operation, as the drive pulley 164 rotates via the motor 160, the rotational power of the drive pulley 164 is transmitted to the idler pulley 116 via the belt 184. The belt 184 can be any belt, strip, rope, cord, chain, etc., capable of transmitting the rotational power of the drive pulley 164 to the idler pulley 116. In other embodiments, the idler pulley 116 can be, for example, a separate structure positioned below the idler pulley 112. In such embodiments, the separator 114 can be eliminated.

[0031] As shown in the figure, the rotation of idler wheel 116 in a clockwise or counterclockwise direction causes pins 122, 132, and 142 to move relative to platform 110 in an inward or outward direction. Figures 1(a) to 1(d)As best shown, pins 122, 132, and 142 are secured to baffles 124, 134, and 144, respectively. Baffles 124, 134, and 144 are connected to shafts 126, 136, and 146, respectively, and are rotatable about them. Shafts 126, 136, and 146 may have a fixed position. For example, shafts 126, 136, and 146 may be secured to one or more objects (not shown). As best shown in FIG1(e), baffles 124, 134, and 144 may include arms 128, 138, and 148, respectively. Furthermore, arms 128, 138, and 148 may include holes 129, 139, and 149, respectively. Holes 129, 139, and 149 are sized and positioned such that posts 102, 103, and 104 are positioned within holes 129, 139, and 149, respectively. As shown, columns 102, 103, and 104 are fixed to idler wheel 116. Therefore, when idler wheel 116 rotates clockwise or counterclockwise, columns 102, 103, and 104 also move. In other embodiments, idler wheel 116 and columns 102, 103, and 104 may be formed as a single integrated object. As shown, when pulley 116 rotates via motor 160, the rotational power of idler wheel 116 is transmitted to baffles 124, 134, and 144 via columns 102, 103, and 104, and via arms 128, 138, and 148, respectively. Furthermore, when baffles 124, 134, and 144 move, pins 122, 132, and 142 can move relative to platform 110 in an inward or outward direction, respectively.

[0032] During the centering process, platform 110 can rotate clockwise or counterclockwise via motor 170. Motor 170 includes a shaft 172 fixed to drive pulley 174. During operation, drive pulley 174 rotates clockwise or counterclockwise via shaft 172. As shown, the lower side of platform 110 is fixed to the upper side of idler wheel 112. In other embodiments, platform 110 and idler wheel 112 may be formed as a single integrated object. Furthermore, as shown, idler wheel 112 is connected to drive pulley 174 via belt 182. During operation, as drive pulley 174 rotates via motor 170, the rotational power of drive pulley 174 is transmitted to idler wheel 112 via belt 182. Furthermore, when idler wheel 112 rotates clockwise or counterclockwise, platform 110 also rotates in the same direction because it is fixed to idler wheel 112. Similar to belt 184, belt 182 can also be any belt, strip, rope, cord, chain, etc., capable of transmitting the rotational power of drive pulley 174 to idler wheel 112.

[0033] In some embodiments, after the culture dish 190 has been centered, the culture dish 190 may be inoculated with a biological sample. In some embodiments, one or more of the systems and / or methods disclosed in application '827 may be used to inoculate the culture dish 190. For example, an automated pipette may be used to inoculate the culture dish 190. In some embodiments, a sensor 150 (e.g., an infrared (ID) sensor or an imaging device) may be used to orient the culture dish 190. For example, in some embodiments, the sensor 150 may be used to determine the start and end positions of a label (e.g., a barcode) on the culture dish 190. In some embodiments, after the culture dish 190 has been centered and oriented, a reader (not shown) (e.g., a barcode reader or an imaging device) may be used to read (e.g., scan) the label (e.g., a barcode) on the culture dish 190. In some embodiments, the reader (not shown) may also be used to further orient the culture dish 190. In some embodiments, after the culture dish 190 has been centered and oriented, one of the more images of the culture dish 190 may be captured by an image capture device (not shown), and / or one or more bacterial colonies may be picked up by a robot (not shown). In some embodiments, one or more of the systems and / or methods disclosed in application '400 may be used to capture images of culture dish 190. In some embodiments, one or more of the systems and / or methods disclosed in application '554 may be used to pick up one or more bacterial colonies in culture dish 190. For example, an automated pipette may be used to pick up one or more bacterial colonies in culture dish 190.

[0034] Figures 2(a) and 2(b) are photographs of an embodiment of a system for centering a circular object according to the present technology. As shown, system 200 includes platform 210, pins 220, 230, 240, cap 250, sensor 262, reader 264, robot 280, and automated pipette 290. Cap 250 includes slits 252, 254, and 256. Under cap 250, system 200 may include motors, pulleys, belts, and / or other components, much like... Figures 1(a) to 1(e) System 100.

[0035] As shown in Figures 2(a) and 2(b), slits 252, 254, and 256 are curved and sized such that the diameters of slits 252, 254, and 256 correspond to the diameters of pins 210, 220, and 230. Therefore, pins 220, 230, and 240 can extend approximately the entire length of slits 252, 254, and 256. Furthermore, in this embodiment, slits 252, 254, and 256 extend 15 mm away from platform 210. However, in other embodiments, the lengths of slits 252, 254, and 256 can be increased or decreased. For example, the lengths of slits 252, 254, and 256 can be selected to allow the petri dish to be placed on platform 210 and rotated without substantial interference from pins 220, 230, and 240. As another example, the lengths of slits 252, 254, and 256 may significantly exceed (e.g., two or more times) the lengths required to allow the petri dish to be placed on platform 210 and rotated without substantial interference from pins 220, 230, and 240.

[0036] During centering operation, slits 252, 254, and 256 guide pins 210, 220, and 230 as they advance toward platform 210. As shown, slits 252, 254, and 256 are curved and have a constant diameter corresponding to the diameters of pins 210, 220, and 230. In other embodiments, slits 252, 254, and 256 may have different shapes. For example, slits 252, 254, and 256 may be generally straight and have a constant diameter corresponding to the diameters of pins 210, 220, and 230. As another example, slits 252, 254, and 256 may have a conical shape with a variable diameter. In such embodiments, slits 252, 254, and 256 may have a narrow portion near platform 210, where the diameter corresponds to the diameters of pins 210, 220, and 230.

[0037] As shown in Figure 2(b), the petri dish 270 can be placed on the platform 210 by the robot 280. Once positioned on the platform 210, pins 220, 230, and 240 can be used to center the petri dish 270 on the platform 210. After the petri dish 270 has been centered, the sensor 262 can also be used to orient the petri dish 270. After the petri dish 270 has been centered and oriented, the reader 264 can be used to read the label on the petri dish 270. The reader 264 can also be used to further orient the petri dish 270. After the petri dish 270 has been centered and / or oriented, the automated pipette 290 can be used to inoculate the petri dish 270 with biological samples and / or pick up one or more bacterial colonies from the petri dish 270.

[0038] Figure 3 This is a block diagram of a method for centering a circular object according to the present technology. Method 300 can utilize systems (such as...) Figures 1(a) to 1(e)The system 100 or system 200 of Figures 2(a) and 2(b) is executed. In some embodiments, system 100 may include one or more processors configured to control sensor 150, motor 160, and motor 170. Similarly, in such embodiments, system 200 may include one or more processors configured to control sensor 262, reader 264, and / or one or more motors under cover 250, the motors being configured to move platform 210 and pins 220, 230, and 240. It should be understood that... Figure 3 The arrows in the diagram are intended to indicate a possible order of the various processes of executable method 300. However, in some embodiments, Figure 3 The boxes shown can be rearranged. Furthermore, in some embodiments, one or more boxes can be added and / or removed.

[0039] In block 310, the system comprising a rotatable platform surrounded by three movable pins is initialized by moving the pins away from the platform to an open position. For example, in an embodiment utilizing system 200, pins 220, 230, and 240 are movable to the open position shown in Figures 2(a) and 2(b). As shown, pins 220, 230, and 240 are moved 15 mm away from platform 210. As another example, in an embodiment utilizing system 200, pins 220, 230, and 240 are movable to an open position only 8 mm away from platform 210. In some embodiments, one or more processors may control the movement of the pins by controlling one or more motors connected to the pins.

[0040] In block 320, the petri dish is placed on the platform. For example, in an embodiment performed using system 200, robot 280 may place petri dish 270 on platform 210. As another example, in some embodiments, the petri dish may be transported to the platform using a conveyor system. In some embodiments, one or more processors may control a conveying mechanism (e.g., a robot or conveyor system) for placing the petri dish on the platform. Because the conveying mechanism may not be configured to precisely center the petri dish on the platform, the petri dish may initially be off-center.

[0041] In box 330, the petri dish is roughly centered by moving all the pins toward the closed position. As explained above, some prior art systems use similar techniques to center circular objects such as petri dishes. However, compared to these prior art systems, method 300 in the system described herein includes additional processes for centering circular objects such as petri dishes more accurately.

[0042] In box 340, the lid covering the petri dish is removed. In other embodiments, this box may be performed in a different location in the sequence shown, such as before box 310. In other embodiments, this box may be unnecessary and can be completely removed from method 300. For example, in some embodiments, the system may process one or more petri dishes without lids, or the system may have the ability to obtain an image through a transparent lid, in which case the lid will not need to be removed.

[0043] In box 350, all pins are moved away from the petri dish to the open position. For example, in an embodiment performed using system 200, pins 220, 230, and 240 may be moved to the positions shown in Figures 2(a) and 2(b). As shown, the pins are moved to their original open positions, but this is not mandatory. As another example, in some embodiments, the pins may be moved only far enough to allow the petri dish to rotate without substantial interference. For example, in an embodiment performed using system 200, pins 220, 230, and 240 may be moved to an open position only 8 mm from platform 210, instead of the 15 mm open position shown in Figures 2(a) and 2(b).

[0044] In block 360, the petri dish is rotated 60 degrees clockwise or counterclockwise. For example, in an embodiment performed using system 200, platform 210 may rotate 60 degrees clockwise or counterclockwise to rotate petri dish 270 60 degrees in the same direction. In some embodiments, one or more processors may control the movement of the platform by controlling one or more motors connected to a pin. While less time-efficient, those skilled in the art will readily understand that a similar result can be achieved by adding one or more full 360-degree rotations. For example, by rotating the petri dish 420 degrees clockwise or counterclockwise, the petri dish can be effectively rotated 60 degrees clockwise or counterclockwise.

[0045] Within box 370, precisely center the petri dish by moving all pins toward it. The following is about... Figures 4(a) to 4(l) In more detail, during box 330, at least two of the three pins should be in contact with the culture dish. Therefore, the edge of the culture dish furthest from the center of the platform lies between two contact pins. Thus, by rotating the culture dish, one of the pins in contact with the dish during box 330 can be used during box 370 to push the dish more accurately into the center of the platform.

[0046] In box 380, all pins are moved away from the culture dish. This box is optional. In some embodiments, it may be advantageous to move the pins away from the culture dish before performing one or more additional processes on the culture dish. For example, if the culture dish needs to be rotated again to be properly oriented, it may be advantageous to move the pins away from the culture dish before rotating it. In other embodiments, it may be more advantageous to keep the pins in a position close to the culture dish and the platform to prevent the culture dish from moving and becoming off-center.

[0047] In block 390, one or more processes are performed on a precisely centered petri dish. For example, in block 390, the petri dish may be inoculated with a biological sample. In some embodiments, one or more of the systems and / or methods disclosed in '827 application may be used to inoculate the petri dish. As another example, in block 390, one of more images of the petri dish may be captured by an image capture device. In some embodiments, one or more of the systems and / or methods disclosed in '400 application may be used to capture an image of the petri dish. As yet another example, in block 390, one or more bacterial colonies in the petri dish may be picked up by a robot. In some embodiments, one or more of the systems and / or methods disclosed in '554 application may be used to pick up one or more bacterial colonies in petri dish 190.

[0048] Figures 4(a) to 4(l) A method for centering a circular object according to this technique is shown. More specifically, refer to... Figure 3 Method 300 Figures 4(a) to 4(d) The process shown in Figure 4(e) corresponds to box 330, and the process shown in Figure 4(e) corresponds to box 350. Figures 4(f) to 4(g) The process shown corresponds to box 360. Figures 4(h) to 4(j) The process shown corresponds to box 370, and Figures 4(k) to 4(l) The process shown corresponds to box 380. As shown in the figure. Figures 4(a) to 4(l) A petri dish 410 is shown positioned between movable pins 420, 430, and 440. As shown in Figure 4(a), pins 420, 430, and 440 are in the open position.

[0049] exist Figures 4(b) to 4(d)In the process, pins 420, 430, and 440 move toward the closed position of the culture dish 410. As shown in Figure 4(c), during this process, pin 440 contacts the culture dish 410 before the other pins. Furthermore, as shown in Figure 4(d), pin 420 eventually contacts the culture dish 410, but pin 430 does not, because pin 430 has reached the limit of its trajectory through its corresponding slit (not shown) before contacting the culture dish 410. Therefore, the culture dish 410 is not precisely centered in Figure 4(d). More specifically, the edge of the culture dish furthest from the center of pins 420, 430, and 440 lies between pins 440 and 420. Furthermore, the edge of the culture dish closest to the center of pins 420, 430, and 440 is positioned by pin 430.

[0050] To more accurately center the culture dish 410, in Figure 4(e), pins 420, 430, and 440 are moved away from the culture dish 410 to the open position. Subsequently, Figures 4(f) to 4(g) In this case, petri dish 410 is rotated 60 degrees clockwise. Therefore, the edges of the petri dishes furthest from the centers of pins 420, 430, and 440 are now positioned by pin 420. Figures 4(h) to 4(j) In the process, pins 420, 430, and 440 move again toward the culture dish 410 to the closed position. As shown in Figure 4(i), during this process, pin 420 contacts the culture dish 410 before the other pins. Therefore, pin 420 is able to push the culture dish 410 to a more accurate centered position among all the pins. Finally, in Figures 4(k) to 4(l) In the middle, pins 420, 430, and 440 are moved away from petri dish 410 and moved to the open position.

[0051] Figure 5 These are photographs of a simple experiment performed using the system shown in Figures 2(a) and 2(b) to demonstrate some of the advantages of this technique. As shown, a piece of double-sided tape 510 is wrapped around the petri dish 270. Furthermore, at the time of image capture, the petri dish 270 is simply placed on the platform 210 (see, for example...). Figure 3 (The box 320), and pins 220, 230 and 240 move only once toward the petri dish (see example). Figure 3 (Box 330). As can be seen, there is a significant gap between pin 220 and petri dish 270 at this point, indicating that petri dish 270 is not accurately centered.

[0052] As described above, some prior art systems for centering a petri dish include three or more pins. During operation, the pins move toward the petri dish until it is pressed between all the pins. However, in few cases, these types of prior art systems may fail to accurately center the petri dish due to friction from the bottom or sides of the dish or from the pins. While petri dishes typically have a smooth, low-friction surface, various situations can arise that alter this. For example, some agar in the petri dish may overflow and make the sides of the dish sticky. As another example, a label printed onto the petri dish may begin to peel off, and some of the adhesive on the back of the label may become exposed. As yet another example, the label may be printed unevenly on the petri dish. Therefore, as... Figure 5 As shown, when only some (not all) of the pins are in contact with the culture dish, the pins may stop moving. Embodiments of this technology mitigate these risks.

[0053] Furthermore, despite some inaccuracies, this technology can achieve some advantages over existing technologies. For example, in Figure 3 In box 360, the petri dish is rotated 60 degrees clockwise or counterclockwise. However, relative to the position of the petri dish after box 330, the petri dish can be centered more accurately even if rotated only, for example, 55 degrees clockwise or counterclockwise. Similarly, relative to the position of the petri dish after box 330, the petri dish can be centered more accurately even if rotated, for example, 65 degrees clockwise or counterclockwise. Therefore, as used herein, "approximately 60 degrees" is equivalent to saying "60 degrees plus or minus 5 degrees". Thus, "approximately 60 degrees" is equivalent to, for example, 55 degrees, 56.7 degrees, 57.1 degrees, 59.021 degrees, 61.78 degrees, 62.35 degrees, and 64.99 degrees.

[0054] From the foregoing and with reference to the accompanying drawings, those skilled in the art will understand that certain modifications may be made to this disclosure without departing from its scope. For example, different mechanisms may be used to rotate a circular object. For instance, in some embodiments, a circular object, such as a petri dish, may be placed between multiple pins on a fixed platform. In such embodiments, a robot positioned above the circular object may grasp the petri dish and rotate it.

[0055] As another example, this technique can be easily adapted to systems with four or more pins. For instance, the system could include a rotatable platform surrounded by four movable pins. If the petri dish is rotated only about 45 degrees clockwise or counterclockwise within box 360, then... Figure 3 Such a system can be used in method 300. In fact, the amount of rotation performed in box 360 can be more generally expressed as:

[0056]

[0057] Where θ is the amount of rotation of the petri dish, and P is the number of pins surrounding the petri dish. Furthermore, those skilled in the art will readily understand that one or more full rotations of 360 degrees can be added to θ. As in the previous embodiment, "approximately 45 degrees" is equivalent to saying "45 degrees plus or minus 5 degrees".

[0058] Furthermore, while several embodiments of this disclosure have been shown in the accompanying drawings, they are not intended to be limited thereto, as the scope of this disclosure is intended to be as broad as will be permitted in the art, and the same applies to reading the specification. Therefore, the above description should not be construed as restrictive, but merely as illustrative of particular embodiments. Other modifications within the scope and spirit of the appended claims will be contemplated by those skilled in the art.

Claims

1. A system for centering a petri dish, comprising: A rotatable platform with a top surface and a bottom surface; A lid with three slits; A first idler wheel having a top surface and a bottom surface, wherein the top surface of the first idler wheel is fixed to the bottom surface of the platform; A second idler wheel having a top surface and a bottom surface, wherein the second idler wheel is positioned below the bottom of the first idler wheel, and wherein three posts are fixed to the bottom of the second idler wheel, and the first and second idler wheels are disposed under the cover; as well as Three pins are positioned around the rotatable platform, wherein the three pins are equidistant from each other, and each of the three pins is disposed in a corresponding slit, and wherein each of the three pins cooperates in engaging with the second idler wheel. Each of the three pins engages cooperatively with the second idler wheel by being fixed to a baffle having an arm extending below the second idler wheel, and each of the baffles is connected to a fixed shaft and is rotatable about the fixed shaft, and each of the arms of the baffle has a hole that surrounds a different one of the posts fixed to the bottom of the second idler wheel; The platform is rotatable by rotating the first idler wheel, and the three pins are advanced in their respective slits by rotating the second idler wheel, thus enabling the three pins to move toward the platform.

2. The system according to claim 1, further comprising: A first motor having a first drive pulley fixed to the shaft of the first motor; The second motor has a second drive pulley fixed to the shaft of the second motor; The first belt is connected to the first idler pulley and the first drive pulley; as well as The second belt connects to the second idler pulley and the second drive pulley. The rotational power of the first drive pulley is transmitted to the first idler wheel via the first belt, and the rotational power of the second drive pulley is transmitted to the second idler wheel via the second belt.

3. The system according to claim 2, further comprising: One or more processors are configured to control the rotation of the first idler wheel and the second idler wheel by controlling the first motor and the second motor.

4. The system of claim 3, wherein the one or more processors are configured to: The three pins are first moved from a first open position to a closed position toward the culture dish placed on the platform in their respective slits, wherein when the three pins are in the closed position, at least two of the three pins are in contact with the culture dish; The three pins are first moved away from the petri dish in their respective slits to either the first open position or the second open position, wherein when the three pins are in the first open position or the second open position, the petri dish can rotate on the platform without interference from the three pins; The rotatable platform is rotated 60 degrees or 60 degrees plus one or more complete 360-degree rotations. as well as The three pins are moved a second time toward the closed position in their respective slits toward the petri dish, wherein the petri dish is centered between the three pins after the three pins have been moved to the closed position for the second time.

5. The system according to claim 4, further comprising: Reader; and The one or more processors are further configured to: After the petri dish is centered between the three pins, the three pins are moved away from the petri dish to the first open position or the second open position for the second time. as well as The culture dish is oriented by rotating the platform and aligning the label on the dish with the reader.

6. The system according to claim 5, further comprising: Image capture module; and The one or more processors are further configured to: After the petri dish is centered between the three pins and oriented, an image of the petri dish is captured using the image capture module.

7. The system according to claim 5, further comprising: Automated pipettes; and The one or more processors are further configured to: After the petri dish has been centered between the three pins and oriented, one or more bacterial colonies in the petri dish are picked up.

Images