Sample operating system and method

Abstract

Systems and methods for receiving batches of sample containers (e.g., blood culture flasks), classifying sample containers, and discarding negative sample containers in a safe, reliable, and consistent manner are disclosed. In addition, systems and methods for accurately and precisely determining an amount of a sample inoculated into a container are disclosed. For example, a device determines the amount of blood inoculated into a blood culture flask by weighing a blood culture flask inoculated with a blood sample and / or obtaining an image of a blood culture flask inoculated with a blood sample. This approach facilitates automation because the user does not need to visually inspect each bottle.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Application No. 63 / 390,535 filed on July 19, 2022, U.S. Provisional Application No. 63 / 432,533 filed on December 14, 2022, and U.S. Design Application No. 29 / 890,968 filed on April 28, 2023, all of which are incorporated herein by reference. This application is also related to International Application No. PCT / US2022 / 019424 filed on March 9, 2022, which claims priority to U.S. Provisional Application No. 63 / 159,269 filed on March 10, 2021, both of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to sample handling systems and methods.For example, in some embodiments, the system can be configured to automatically process multiple blood culture bottles. Background Art

[0004] The presence of bacteria in biologically active agents such as body fluids of a patient, especially blood, is typically cultured using culture bottles such as the BD BACTEC manufactured and sold by Becton, Dickinson and Company. TM The culture bottle can hold blood culture medium, such as BD BACTEC TM Peds Plus TM Culture medium, BD BACTEC TM Plus aerobic medium, BD BACTEC TM Plus anaerobic medium, BD BACTEC TM Lytic anaerobic medium, BD BACTEC TM Standard aerobic culture medium, BD BACTEC TM Standard anaerobic culture medium, BD BACTEC TM Myco medium, BD BACTEC TM Fungal Disease Culture Medium, BD BACTEC TM Aerobic Platelet Culture Medium or BD BACTEC TMAnaerobic platelet culture media, all of which are manufactured and sold by Becton Dickinson. To test for the presence of a bioactive agent, a small amount of blood or other body fluid is injected through a closed rubber septum into a sterile culture bottle containing the culture medium, which is then incubated at about 35-37°C (e.g., 36.5°C) and monitored for microbial growth. Microbial growth can be detected by changes in blood culture over time. Changes in parameters indicative of microbial growth over time, such as changes in the concentration of carbon dioxide or oxygen or pH in the headspace of the culture bottle, can be monitored.

[0005] Because it is of utmost importance to know whether a patient has a bacterial infection, hospitals and laboratories have automated equipment that can process multiple blood culture bottles simultaneously. An example of such equipment is the BD BACTEC manufactured and sold by Becton Dickinson TM FX blood culture system. U.S. Patent No. 5,817,508, entitled "Blood Culture Apparatus having an Auto-Unloading and Sorting Device," describes a prior art blood culture apparatus and is incorporated herein by reference. Additional descriptions of blood culture apparatus are provided in U.S. Patent Nos. 5,516,692, entitled "Compact Blood Culture Apparatus," and 5,498,543, entitled "Sub-Compact Blood Culture Apparatus," both of which are incorporated herein by reference.

[0006] It is critical to ensure that the presence or absence of a bloodstream infection (BSI) is correctly determined. If a BSI is not detected, the patient and his or her caregivers are at risk. It is well known that overfilling a blood culture bottle with a blood sample may result in a false positive. It is also well known that underfilling a blood culture bottle with a blood sample may result in a false negative. This is because the sample removed from the patient has a certain, but unknown concentration of bacteria (if bacteria are present at all). Therefore, in the case of underfilling, there is a lower bacterial count in the blood culture bottle at time zero compared to the case where the culture bottle is filled with a target sample amount. Then it follows that in the case of overfilling, there is a higher bacterial count in the blood culture bottle at time zero compared to the case where the culture bottle is filled with a target sample (e.g., blood) amount. If the bottle is overfilled or underfilled, an algorithm can be applied to the measured changes in carbon dioxide or oxygen concentration or pH to adjust for the underfilling or overfilling. If the underfilling or overfilling exceeds a certain specification, the blood culture bottle is discarded. This is described in U.S. Patent No. 9,365,814, entitled "System and Method for Determining Fill Volume in a Container," which is incorporated herein by reference.

[0007] Therefore, when processing blood culture bottles in a laboratory environment that processes a large number of blood culture bottles, it is necessary to be able to accurately monitor the fill status of each bottle. It may also be necessary to collect other information about the blood cultures, such as label information. Therefore, methods and devices that can accurately obtain fill information and label information from blood culture bottles continue to be sought.

[0008] In addition, even with existing automated equipment, it is still laborious and time-consuming for operators to handle blood culture bottles. For example, operators may need to load and unload blood culture bottles separately from automated blood culture equipment. Operators may also need to manually separate blood culture bottles that are positive for the test from blood culture bottles that are negative for the test, discard negative blood culture bottles into waste receivers (receptacles), and prepare positive blood culture bottles for additional microbiological inspections. Due to manual operation and delays in handling samples, such laboratory environments cannot achieve the highest efficiency. These delays can cause unnecessary delays in diagnosing and treating patients. In addition, when the operator is tired, distracted, or otherwise inattentive, operator errors (e.g., human errors) will occur, and processing errors will result, which may result in incorrect diagnosis, delayed diagnosis, and loss or destruction of samples. Such errors may have an adverse effect on patients and waste resources.

[0009] Therefore, there is a need in the art for a laboratory automation system that is capable of receiving batches of blood culture bottles, separating positive blood culture bottles from negative blood culture bottles, and discarding negative blood culture bottles in a safe, reliable and consistent manner at any time of the day with minimal intervention by a small number of laboratory operators. Summary of the invention

[0010] Described herein are systems and methods for receiving batches of sample containers (e.g., blood culture bottles), sorting sample containers, and discarding negative sample containers in a safe, reliable, and consistent manner. In addition, described herein are systems and methods for accurately and precisely determining the amount of a sample inoculated into a container. For example, described herein is a device that determines the amount of blood inoculated into a blood culture bottle by weighing a blood culture bottle inoculated with a blood sample and / or obtaining an image of a blood culture bottle inoculated with a blood sample. This method promotes automation because the user does not need to visually inspect each bottle.

[0011] One aspect of the present disclosure relates to a sample operation module, which includes a user interface subsystem, an imaging subsystem, a waste management subsystem, and a robotic subsystem. The user interface subsystem can be configured to receive a plurality of untested sample containers and output a plurality of sample containers that tested positive for microbial growth. The imaging subsystem can be configured to scan label information of the sample containers. The waste management subsystem can be configured to receive a plurality of sample containers that tested negative for microbial growth. The robotic subsystem can be configured to (a) transfer each of the plurality of untested sample containers from the user interface subsystem to the imaging subsystem for scanning, (b) transfer each of the plurality of untested sample containers from the imaging subsystem to an incubation module, the incubation module being configured to incubate each of the plurality of untested sample containers and measure microbial growth, (c) transfer each of the plurality of positive sample containers from the incubation module to the imaging subsystem for scanning, (d) transfer each of the plurality of positive sample containers from the imaging subsystem to the user interface subsystem for output, (e) transfer each of the plurality of negative sample containers from the incubation module to the imaging subsystem for scanning, and (f) transfer each of the plurality of negative sample containers from the imaging subsystem to the waste management subsystem for disposal.

[0012] In some embodiments, the user interface subsystem includes one or more compartments, each compartment is configured to receive a single untested sample container or a rack of untested sample containers. In some embodiments, the user interface subsystem includes one or more compartments, each compartment is configured to output a single positive sample container or a rack of positive sample containers. In some embodiments, the user interface subsystem includes one or more compartments, each compartment is configured to (a) receive a single untested sample container or a rack of untested sample containers, and (b) output a single positive sample container or a rack of positive sample containers.

[0013] In some embodiments, the user interface subsystem includes one or more compartments, each compartment having a guide frame (liner), the guide frame having one or more sections (sections), wherein each of the one or more sections includes (a) a plurality of receivers configured to directly accept sample containers, and (b) a pair of grooves configured to accept sample containers of a shelf. In some embodiments, the user interface subsystem also includes a sliding door, which is configured to prevent a user from loading one or more untested sample containers into at least one of the compartments while the robot subsystem loads one or more positive sample containers to the at least one compartment. In some embodiments, the user interface subsystem also includes one or more output chutes (chutes), each output chutes being configured to output a separate sample container. In some embodiments, the user interface subsystem also includes a display having a graphical user interface (GUI), through which the one or more compartments and the one or more output chutes can be selected to output positive sample containers.

[0014] In some embodiments where the user interface subsystem includes one or more compartments, the user interface subsystem may further include one or more illuminators, each of which is configured to change color based on the type of sample container positioned in at least one of the compartments. In some embodiments, each of the illuminators is configured to (a) change to a first color when at least one of the compartments accommodates one or more untested sample containers, and (b) change to a second color when the at least one compartment accommodates one or more positive sample containers. In some embodiments, the one or more illuminators are positioned above the guide frame of at least one compartment.

[0015] In some embodiments where the user interface subsystem includes one or more compartments, at least one of the compartments may include a scale, and the sample manipulation module may further include one or more processors configured to determine whether the untested sample container is overfilled or underfilled based on a weight measurement received from the scale. For example, in some embodiments, the one or more processors may be configured to (a) receive a first measured weight of a plurality of untested sample containers in the at least one compartment from the scale, (b) control the robotic subsystem to transfer one of the untested sample containers from the at least one compartment to the imaging subsystem, (c) receive a second measured weight of an untested sample container from the at least one compartment with the one untested sample container removed from the scale, (d) determine a difference between the first measured weight and the second measured weight, and (e) store the difference in a memory as the weight of the one untested sample container.

[0016] In some embodiments, the user interface subsystem further includes (a) a reader configured to scan an identifier on a sample container, and (b) a display configured to provide information of the sample container scanned by the reader. In some embodiments, the user interface subsystem further includes a reader configured to scan an identifier on a user identification card to initiate automatic login or automatic adjustment of one or more system settings.

[0017] In some embodiments, each of the plurality of untested sample containers is received at the user interface subsystem in an upright position, and each of the plurality of untested sample containers is transferred from the imaging subsystem to the incubation module in a horizontal position. In some embodiments, each of the plurality of positive sample containers is transferred from the incubation module to the imaging subsystem in a horizontal position, and each of the plurality of positive sample containers is transferred from the imaging subsystem to the user interface subsystem in an upright position. In some embodiments, the imaging subsystem includes (a) a camera for scanning a sample container or capturing one or more images of a sample container, (b) one or more light sources for illuminating a sample container, (c) a slide configured to redirect the sample container from an upright position to a horizontal position, and (d) a flip table configured to redirect the sample container from a horizontal position to an upright position.

[0018] In some embodiments, the imaging subsystem is further configured to capture one or more images of the sample container, and the sample manipulation module further includes one or more processors configured to determine whether the sample container is overfilled or underfilled based on the captured images. For example, in some embodiments, the one or more processors may be configured to (a) identify the location of a fill line on the sample container in the one or more images, (b) identify the location of a reference surface on the sample container in the one or more images, (c) determine a distance between the fill line and the reference surface, (d) determine a correction factor based on a comparison between the determined distance and a predetermined distance, (e) adjust a predetermined tare weight using the correction factor, and (f) determine whether the sample container is overfilled or underfilled based on a comparison between the adjusted predetermined tare weight and a measured weight of the sample container obtained using a scale. In some embodiments, the scale is coupled to a chute of the imaging subsystem, and wherein the measured weight is obtained when the sample container is positioned in the chute.

[0019] In some embodiments, the waste management subsystem includes a waste receptacle and one or more chutes through which the robotic subsystem can transfer the plurality of negative sample containers to the waste receptacle. In some embodiments, the waste management subsystem includes a force gauge configured to (a) detect whether the waste receptacle is full, (b) detect whether the waste receptacle is positioned on the base, or (c) detect the addition of a sample container to the waste receptacle.

[0020] Another aspect of the present disclosure relates to an automated system, which includes a sample operation module and a cultivation module. The sample operation module may include a user interface subsystem, an imaging subsystem, a waste management subsystem, and a robotic subsystem. The user interface subsystem may be configured to receive a plurality of untested sample containers and output a plurality of sample containers that tested positive for microbial growth. The imaging subsystem may be configured to scan label information of the sample containers. The waste management subsystem may be configured to receive a plurality of sample containers that tested negative for microbial growth. The robotic subsystem may be configured to (a) transfer each of the plurality of untested sample containers from the user interface subsystem to the imaging subsystem for scanning, (b) transfer each of the plurality of untested sample containers from the imaging subsystem to an incubation module, the incubation module being configured to incubate each of the plurality of untested sample containers and measure microbial growth, (c) transfer each of the plurality of positive sample containers from the incubation module to the imaging subsystem for scanning, (d) transfer each of the plurality of positive sample containers from the imaging subsystem to the user interface subsystem for output, (e) transfer each of the plurality of negative sample containers from the incubation module to the imaging subsystem for scanning, and (f) transfer each of the plurality of negative sample containers from the imaging subsystem to the waste management subsystem for disposal. The incubation module may be configured to incubate each of the plurality of untested sample containers and measure microbial growth.

[0021] In some embodiments, the cultivation module includes a motor and a drum with multiple receivers, wherein each receiver is configured to receive a sample container in a horizontal position, and wherein the motor is configured to rotate the drum. In some embodiments, the robot subsystem is also configured to distribute and redistribute sample containers around the circumference of the drum to balance the load of the drum. In some embodiments, the robot subsystem is also configured to redistribute sample containers to a specific area of ​​the drum that can be fully viewed when the door leading to the cultivation module is opened.

[0022] Yet another aspect of the present disclosure relates to a robotic system comprising (a) a gripper assembly configured to grasp and release a sample container, (b) an r-axis robot configured to move the gripper assembly forward and backward, (c) a θ-axis robot configured to simultaneously rotate the r-axis robot and the gripper assembly, and (d) a z-axis robot configured to simultaneously move the θ-axis robot, the r-axis robot, and the gripper assembly upward and downward.

[0023] In some embodiments, the gripper assembly includes a motor and two grippers, wherein the motor is configured to move the two grippers closer together to grasp a sample container and to move the two grippers farther apart to release the sample container, and wherein each gripper includes (a) a curvilinear body configured to grasp a bottom end of a sample container in a horizontal position, and (b) a curvilinear groove in the curvilinear body configured to grasp a neck of the sample container in an upright position. In some embodiments, the curvilinear body is configured to grasp a bottom end of a blood culture bottle in a horizontal position, and the curvilinear groove is configured to grasp a neck of the blood culture bottle in an upright position.

[0024] In some embodiments, the gripper assembly includes a motor and two grippers, wherein the motor is configured to move the two grippers closer together to grasp a sample container and move the two grippers farther apart to release the sample container, and wherein each gripper includes (a) a plurality of fingers configured to grasp a bottom end of a sample container in a horizontal position, and (b) a curvilinear groove in a body of the gripper configured to grasp a neck of a sample container in an upright position. In some embodiments, the fingers are configured to grasp a bottom end of a blood culture bottle in a horizontal position, and the curvilinear groove is configured to grasp a neck of a blood culture bottle in an upright position.

[0025] In some embodiments, the r-axis robot includes (a) a first arm coupled to the θ-axis robot, (b) a second arm coupled to a gripper assembly, wherein the second arm is slidably engaged with the first arm and is configured to move forward and backward, (c) a plurality of guide wheels, (d) a motor coupled to the first arm and positioned between at least two of the guide wheels, (e) a drive pulley coupled to a shaft of the motor, (f) a belt contacting each of the guide wheels and the drive pulley, and (g) a gripper coupled to the belt and the second arm. In some embodiments, the r-axis robot also includes a belt tensioner configured to apply tension to the belt. In some embodiments, the belt tensioner includes (a) a guide wheel contacting the belt, (b) an arm rotatably coupled to the guide wheel and the coupling, and (c) a screw configured to apply a force to the arm when tightened, wherein the force from the screw causes (i) the arm to rotate about an axis extending through the coupling, and causes (ii) the guide wheel to apply additional tension to the belt.

[0026] In some embodiments, the θ-axis robot includes (a) a platform coupled to the z-axis robot, (b) a guide wheel coupled to the r-axis robot, (c) a motor coupled to the platform, (d) a drive pulley coupled to a shaft of the motor, and (e) a belt contacting the guide wheel and the drive pulley, wherein rotation of the drive pulley caused by the motor causes the guide wheel, the r-axis robot, and the gripper assembly to rotate simultaneously.

[0027] In some embodiments, the z-axis robot includes a track that is slidably engaged with the theta-axis robot. In some embodiments, the z-axis robot also includes a counterweight system that includes (a) a counterweight, (b) one or more pulleys, and (c) at least one cable that contacts the one or more pulleys and is coupled to both the counterweight and the theta-axis robot.

[0028] Yet another aspect of the present disclosure relates to a robotic system comprising (a) a gripper assembly configured to grasp and release a sample container, (b) an r-axis robot configured to move the gripper assembly forward and backward, (c) a z-axis robot configured to move the r-axis robot and the gripper assembly up and down simultaneously, and (d) a θ-axis robot configured to rotate the z-axis robot, the r-axis robot, and the gripper assembly simultaneously.

[0029] Another aspect of the present disclosure relates to a gripper assembly, which includes a motor, a first gripper, and a second gripper. The motor is configured to move the first gripper and the second gripper closer together to grab a sample container and move the first gripper and the second gripper farther apart to release the sample container. Each gripper includes: a first engagement feature configured to grasp a bottom end of the sample container in a horizontal position; and a second engagement feature configured to grasp a neck of the sample container in an upright position.

[0030] In some embodiments, the first engagement feature is a curvilinear portion of the body of each gripper. In some embodiments, the second engagement feature is a curvilinear groove in the curvilinear portion of the body of each gripper. In some embodiments, the first engagement feature is a plurality of fingers. In some embodiments, the second engagement feature is a curvilinear groove in the body of each gripper.

[0031] In some embodiments, the gripper assembly further comprises a non-contact sensor configured to verify movement of the robotic subsystem. In some embodiments, the non-contact sensor is positioned between the two grippers. In some embodiments, the non-contact sensor does not extend above or below the two grippers.

[0032] In some embodiments, the clamp assembly further includes (a) a first block, the first block including a first rack, wherein the first block is coupled to the first clamp, wherein the first block is slidably coupled to the first track, wherein when the first block slides along the first track in a first direction, the first clamp moves farther away from the second clamp, and wherein when the first block slides along the first track in a second direction opposite to the first direction, the first clamp moves closer to the second clamp; (b) a second block, the second block including a second rack, wherein the second block is coupled to the second clamp, wherein The second slider is slidably coupled to the second track, wherein when the second slider slides in the second direction along the second track, the second clamp moves farther away from the first clamp, and wherein when the second slider slides in the first direction along the second track, the second clamp moves closer to the first clamp; and (c) a pinion coupled to the shaft of the motor, wherein the pinion engages with the first rack and the second rack, wherein the motor is also configured to rotate the shaft, wherein the rotation of the shaft rotates the pinion, and wherein the rotation of the pinion causes the first slider and the second slider to slide in opposite directions along the first track and the second track, respectively.

[0033] In some embodiments, the gripper assembly further comprises (a) a housing; (b) a base, wherein the motor is further configured to move the base forward and backward along a first axis perpendicular to the second axis, the motor moving the first gripper and the second gripper along the second axis, wherein the forward movement of the base moves the first gripper and the second gripper further apart, and wherein the backward movement of the base moves the first gripper and the second gripper closer together; (c) a first plurality of members rotatably coupled to the first gripper and the housing; (d) a second plurality of members rotatably coupled to the second gripper and the housing; (e) a third member rotatably coupled to one of the first plurality of members and the base; and (f) a fourth member rotatably coupled to one of the second plurality of members and the base. In some embodiments, one of the first plurality of members, one of the second plurality of members, the third member, and the fourth member are curved.

[0034] In some embodiments, the clamp assembly further comprises (a) a flanged nut in threaded engagement with the shaft of the motor, wherein the flanged nut extends through the opening of the base; (b) a spring plate in sliding engagement with the shaft of the motor, wherein the spring plate is coupled to the base; and (c) a spring, wherein a first end of the spring contacts the spring plate, and wherein a second end of the spring opposite the first end contacts the flanged nut. In some embodiments, the motor is further configured to rotate the shaft, wherein rotation of the shaft causes the flanged nut to move forward or backward along the first axis, wherein when the flanged nut moves forward, the flanged nut pushes the base forward, and wherein when the flanged nut moves backward, the flanged nut pushes against the spring.

[0035] Yet another aspect of the present disclosure relates to a method comprising (a) obtaining a measured weight of a sample container with one or more processors, wherein the measured weight is measured with a scale, (b) selecting a predetermined unfilled tare weight with the one or more processors, wherein the predetermined unfilled tare weight is selected based on the contents of the sample container or the lot number or batch from which the sample container was manufactured, (c) comparing the measured weight with the predetermined unfilled tare weight with the one or more processors to calculate the weight of a sample in the sample container, and (d) converting the weight of the sample into a volume measurement based on a predetermined density value with the one or more processors.

[0036] Yet another aspect of the present disclosure relates to a method comprising (a) obtaining, with one or more processors, a measured weight of a sample container, wherein the measured weight is measured with a scale, (b) obtaining, with the one or more processors, one or more images of the sample container, wherein the one or more images are captured with a camera, (c) identifying, with the one or more processors, a location of a fill line on the sample container in the one or more images, (d) identifying, with the one or more processors, a location of a reference surface on the sample container in the one or more images, (e) determining, with the one or more processors, a distance between the fill line and the reference surface, (f) determining, with the one or more processors, a correction factor based on a comparison between the determined distance and a predetermined distance, (g) adjusting, with the one or more processors, a predetermined tare weight using the correction factor, and (h) determining, with the one or more processors, whether the sample container is overfilled or underfilled based on a comparison between the adjusted predetermined tare weight and the measured weight.

[0037] Yet another aspect of the present disclosure relates to a method comprising (a) positioning a plurality of sample containers on a scale, (b) measuring the weight of the plurality of sample containers with the scale, (c) removing one of the plurality of sample containers from the scale, (d) measuring the weight of the plurality of sample containers without the one sample container with the scale, (e) scanning an identifier on the one sample container with a reader while measuring the weight of the plurality of sample containers without the one sample container, (f) determining, with one or more processors, a weight difference between (i) the weight of the plurality of sample containers and (ii) the weight of the plurality of sample containers without the one sample container, and (g) storing, with the one or more processors, the weight difference as the weight of the one sample container in a memory. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A An automated system for processing multiple sample containers is shown.

[0039] Figure 1B Shows Figure 1A Modules of the automation system shown.

[0040] Figure 1C and Figure 1D They are Figure 1B Close-up views of the top and bottom of the module shown.

[0041] Figure 1E Shown with cover Figure 1B Module.

[0042] Figure 1F Shown without cover Figure 1B Module.

[0043] Figure 2A-2D No shell Figure 1B This exposes aspects such as the user interface subsystem, imaging subsystem, waste management subsystem, and robotics subsystem.

[0044] Figure 2E A close-up view of the electronics room.

[0045] Figure 3A-3C is a perspective view of a user interface subsystem including a compartment for receiving and outputting a sample container.

[0046] Figure 3D is a close-up view of the output chute.

[0047] Figure 4A and Figure 4B It is a three-dimensional diagram of a guide frame, a rack, and a sensor.

[0048] Figure 4C-Figure 4I Shows Figure 4A and Figure 4B Different views of the shelving.

[0049] Figure 5A is a stereogram of the imaging subsystem and output chute.

[0050] Figure 5B and Figure 5C yes Figure 5A A perspective view of the imaging subsystem shown.

[0051] Figure 5D yes Figure 5A A cross-sectional view of the imaging subsystem is shown.

[0052] Figure 5E and Fig. 5F It is a three-dimensional diagram of the chute.

[0053] Fig. 6A It is a three-dimensional diagram of the waste management subsystem.

[0054] Figure 6B is an exploded view of the waste receiver holder.

[0055] Fig. 7A It is a three-dimensional diagram of the robot subsystem.

[0056] Figure 7B There is no Z-axis robot Fig. 7A A perspective view of the robot subsystems shown.

[0057] Figure 7C yes Fig. 7A A perspective view of the r-axis robot and gripper assembly of the robotic subsystem shown.

[0058] Fig.7D and Fig. 7E yes Figure 7C A perspective view of the gripper assembly and portions of the r-axis robot 730 is shown.

[0059] Figure 7F-7H yes Fig. 7A A perspective view of the theta-axis robot of the robotic subsystem shown.

[0060] Figure 8A-8E is a perspective view of one or more shelves.

[0061] Fig. 9A and Fig. 9B It is a three-dimensional diagram of the guide frame.

[0062] Fig. 9C yes Fig. 9A and Fig. 9B A cross-sectional view of the guide frame shown.

[0063] Fig.10 An imaging device is shown, along with a robotic gripper for vertical placement of sample containers and horizontal removal of vials.

[0064] Fig.11 yes Fig.10 Exploded bottom view of the device.

[0065] Figures 12A-12D is a perspective view of an imaging device in which a gate is operated from below a platform to dispense a sample container while an image of a label on the sample container is obtained.

[0066] Fig.13 Using a conical reflective tray Fig.10 Schematic perspective view of an imaging device.

[0067] Fig.14 Multiple cameras are used to obtain images of discrete parts of the label. Fig.13 Schematic perspective view of an imaging device.

[0068] Fig.15No trap door Fig.13 Schematic perspective view of an imaging device.

[0069] Fig.16 No trap door Fig.10 Schematic perspective view of an imaging device.

[0070] Fig.17 Has an alternative configuration for holding sample containers Fig.16 Schematic perspective view of an imaging device.

[0071] Fig.18 is a schematic perspective view of a chute for removing a sample container from an imaging device after imaging.

[0072] Fig.19 is a flow chart of the method described herein.

[0073] Fig. 20A It is a three-dimensional diagram of the robot subsystem.

[0074] Fig. 20B and Fig. 20C yes Fig. 20A A perspective view of a portion of the r-axis robot and gripper assembly of the robotic subsystem shown.

[0075] Fig.20D and Fig.20E yes Fig. 20A A perspective view of the gripper assembly of the robotic subsystem shown.

[0076] Fig.20F yes Fig. 20A A perspective view of the theta-axis robot of the robotic subsystem shown.

[0077] Figure 20G yes Fig. 20A A cross-sectional view of portions of the theta-axis robot and the r-axis robot of the robot subsystem is shown.

[0078] Fig.21A An automated system for processing multiple sample containers is shown.

[0079] Fig.21B It is a three-dimensional diagram of the robot subsystem.

[0080] Fig. 21C yes Fig.21B A perspective view of the portion of the robotic subsystem shown grabbing a sample container.

[0081] Fig.21D Shows Fig.21B A top-down view of the portion of the robotic subsystem shown gripping a sample container.

[0082] Fig.21E and Fig.21F yes Fig.21B A perspective view of the gripper assembly of the robotic subsystem shown.

[0083] Fig.22A and Fig. 22B It is a stereogram of the θ-axis robot.

[0084] Fig. 22C It is a cross-sectional view of the guide wheel.

[0085] Fig.23A is a perspective view of the gripper assembly.

[0086] Figure 23B-Figure 23D No outer shell Fig.23A A perspective view of the clamp assembly.

[0087] Fig.24A is a perspective view of the gripper assembly.

[0088] Figure 24B-Figure 24D No outer shell Fig.24A A perspective view of the clamp assembly.

[0089] Fig.25A is a top perspective view of the gripper assembly.

[0090] Fig.25B yes Fig.25A Bottom perspective view of the clamp assembly.

[0091] Fig.25C No shell top Fig.25A A perspective view of the clamp assembly.

[0092] Fig.25D There is no housing and some other fixed parts Fig.25A A perspective view of the clamp assembly.

[0093] Figure 25E-25G yes Fig.25D A top-down view of the gripper assembly.

[0094] Fig.25H and Fig.25I is a three-dimensional diagram of the spring plate and the sensor.

[0095] Fig.26A It is a cross-sectional view of a graduated chute.

[0096] Fig.26B and Fig.26C yes Fig.26A A perspective view of the chute shown. Specific implementation plan

[0097] Various aspects of the present disclosure are described in detail with reference to the accompanying drawings, wherein the same reference numerals identify similar or identical elements. It should be understood that the disclosed embodiments are merely examples of the present disclosure, which can be embodied in various forms. Well-known functions or structures are not described in detail to avoid obscuring the present disclosure with unnecessary details. Therefore, the specific structural and functional details disclosed herein should not be understood as limiting, but should only be understood as the basis of the claims and as a representative basis for teaching those skilled in the art to use the present disclosure in a variety of ways with almost any appropriately detailed structure.

[0098] System Overview

[0099] Figure 1A Shown is an automated system 100 for handling a plurality of sample containers (for example, blood culture bottles), which comprises modules 101 and 102.Module 101 is a sample handling module, which is configured to receive sample containers, scan sample containers, transfer sample containers to module 102 and transfer sample containers, discard negative sample containers of test and provide positive sample containers of test at the output end from module 102.As shown in the figure, module 101 comprises display 310, output chute 320, compartment 330 and 340 and door 110, and door 110 can provide the entrance leading to waste receiver.Module 102 is to cultivate and measure module, and it is configured to determine whether sample container is contaminated or infected by microorganisms.As shown in the figure, module 102 comprises doors 121 and 122, and doors 121 and 122 can provide the entrance leading to the rotating drum that keeps sample container in cultivation and measurement process.

[0100] In some embodiments, module 102 may include a high-density drum. "High density" as used herein is a description of a drum configuration that allows sample containers (e.g., blood culture bottles) to be placed closer to each other than in the prior art, allowing a greater number of sample containers to be assembled into the drum. In some embodiments, module 102 may be configured to align a sample container with a limited number of readout stations. That is, the number of readout stations is less than the number of sample container receivers in the drum. In some embodiments, the drum may be operated by a direct drive motor that may cause accelerated and decelerated drum motion (e.g., rocking motion, intermittent rotation, etc.). In some embodiments, a heater and a blower may be provided in the drum housing. The heater and blower circulate hot air around the drum. In some embodiments, the heater and blower may be configured to maintain the temperature of the contents of all sample containers in the drum within a predetermined narrow range of a specific target temperature. The predetermined narrow range may be, for example, ±1.5°C of the target temperature. The specific target temperature may be within the range of 30°C to 40°C. Optionally, the target temperature can be 36.5°C ± 0.5°C. Higher temperature uniformity can allow an increase in the set point because there is less risk of "overheating" the sample. Therefore, at higher temperatures, higher temperature uniformity will allow a faster time to detect positive samples. The motor allows the drum to be positioned so that a user or automated equipment can access (obtain, access) any sample container carried by the drum. When the sample container is determined to be positive for microbial growth, a workflow can be initiated to retrieve the sample container from module 102. Cultivation and measurement modules such as module 102 are described in International Publication No. WO / 2021 / 026272A1 entitled "High Density Bottle Drum for Storage, Agitation and Reading of Blood Culture Bottles and Methods of Storing", which is incorporated herein by reference.

[0101] Figure 1BModule 101 is shown separated from module 102. As shown, module 101 includes a housing 130, which includes a panel 131, a top panel 132, and a side panel 133. The side panel 133 includes sliding doors 141 and 142, tapered pin guides 151 and 152, and a bracket 161. Doors 141 and 142 can be used to access the drums in module 102. For example, door 141 can be used to access a first drum, while door 142 can be used to access a second drum. Doors 141 and 142 can also be used to isolate environmental conditions (e.g., temperature conditions) within module 101 from environmental conditions within module 102. Guides 151 and 152 can be configured to assist in aligning modules 101 and 102 when they are assembled together. Bracket 161 can be configured to couple to a cover (not shown). In some embodiments, module 101 may also include heating and / or cooling components (see, e.g., Figure 2A-2D A fan 220) is provided to adjust the environmental conditions within the module 101.

[0102] Figure 1C and Figure 1D Close-up views of the top and bottom of module 101 are provided, respectively. Figure 1C As shown, the top plate 132 may include ventilation holes 134. Figure 1C and Figure 1D As shown, guides 151 and 152 have a tapered shape. A pair of grooves may be included in the side panels of module 102, each of which has a corresponding tapered shape. During assembly, guides 151 and 152 can assist technicians in aligning the couplings 171-174 extending through the side panels 133 with a corresponding set of couplings extending through the side panels of module 102. For example, during assembly, technicians can position the points of guides 151 and 152 in corresponding grooves (not shown) in the side panels of module 102. Next, the technician can slide module 101 toward module 102, so that the guides slide along the grooves in the side panels of module 102 and align the couplings 171-174 with a corresponding set of couplings extending through the side panels of module 102. In other embodiments, guides 151 and 152 can still be pointed, but have different shapes, such as triangular pyramid shapes, quadrangular pyramid shapes, or pentagonal pyramid shapes.

[0103] like Figure 1E As shown, the module 101 may include a cover 135. Figure 1F As shown, cover 135 can be removed to expose side panels 136, which include doors 143 and 144, guides 153 and 154, and brackets 162. The structure and / or function of side panels 136 and their corresponding components can be very similar to side panels 133 and their corresponding components. Advantageously, the structure of module 101 allows it to be configured in several different ways. For example, Figure 1AAs shown, module 102 may be coupled to the left side of module 101. However, in other embodiments, module 102 may be coupled to the right side of module 101. Figure 1F As shown, side panel 136 includes doors 143 and 144, which can be used to access the drum in module 102. In some embodiments, the cultivation and measurement modules (e.g., module 102) can be coupled to both sides of module 101. In some embodiments, module 101 can be used as a stand-alone unit, and covers (e.g., cover 135) can be provided on both sides of module 101.

[0104] Figure 2A-2D A perspective view of module 101 without housing 130 is provided. As shown, module 101 includes frame 210, fan 220, electronics compartment 230, light source 240, display 310, output chute 320, compartments 330 and 340, imaging subsystem 500, waste management subsystem 600, and robotic subsystem 700. Module 101 can receive sample containers (e.g., blood culture bottles) in compartments 330 and 340. Robotic subsystem 700 can be configured to transfer sample containers to and / or from module 102, output chute 320, compartments 330 and 340, imaging subsystem 500, and / or waste management subsystem 600. For example, the robotic subsystem 700 may be configured to transfer sample containers to one or more of the rotating drums in the module 102 (e.g., through one or more of the doors 141-144). As another example, the robotic subsystem 700 may be configured to transfer sample containers to and / or from the compartments 330 and 340. As yet another example, the robotic subsystem 700 may be configured to transfer sample containers to the output chute 320 for retrieval by the user. As yet another example, the robotic subsystem 700 may be configured to transfer sample containers to the imaging subsystem 500 for scanning. As yet another example, the robotic subsystem 700 may be configured to discard sample containers in the waste management subsystem 600.

[0105] The robot subsystem 700 may also be configured to automatically distribute and / or redistribute sample containers around the circumference of one or more drums in the module 102, thereby distributing the sample containers as needed. For example, the robot subsystem 700 may be configured to move the sample containers in the module 102 to a specific area of ​​the drum (e.g., an area that can be fully seen when the doors 121, 122, or 141-144 are opened). This may enable the user to quickly unload those sample containers without having to repeatedly open and close the doors 121 and / or 122 and wait for one or more drums in the module 102 to rotate. Similarly, this may enable the robot subsystem 700 to quickly retrieve those sample containers without having to repeatedly open and close the doors 141-144 and wait for one or more drums in the module 102 to rotate. As another example, the robot subsystem 700 may be configured to distribute and / or redistribute sample containers around the circumference of one or more drums in the module 102, thereby balancing the drum load (e.g., weight load and / or heat load). In embodiments where incubation and measurement modules (eg, module 102) are coupled to both sides of module 101, the robotic subsystem 700 may also be configured to automatically distribute and / or redistribute sample containers between the incubation and measurement modules.

[0106] Figure 2E 2 is a close-up view of the electronics room 230. As shown, the computer 231, power supply 232, power distribution board 233, backup power supply 234 and network switch 235 are located in the electronics room 230. Some components of the robot subsystem 700, such as track 711, counterweight housing 712, motor 714 and controller 754, may also be completely or partially located in the electronics room 230. The power distribution board 233, backup power supply 234, network switch 235 and / or controller 754 may include one or more processors, one or more application specific integrated circuits (ASICs) and / or other similar components. These components may also include storage media capable of storing information, such as hard drives, memory cards, ROM, RAM, DVD, CD-ROM, writable and / or read-only memory. The computer 231 may be communicatively coupled to one or more of the subsystems of the module 101. For example, the computer 231 may be communicatively coupled to the user interface subsystem 300, the imaging subsystem 500, the waste management subsystem 600 and / or the robot subsystem 700. In some embodiments, the computer 231 can send commands to each of these subsystems and receive measurement data from these subsystems. For example, the computer 231 can be configured to control the movement of the robotic subsystem 700 and receive measurement data from the controllers 751, 752, and 754 and / or the camera 770 (see Fig. 7A - Figure 7I). The computer 231 may also be configured to send a graphical user interface (GUI), user prompts, user instructions, alarms, system settings and / or other information to the display.

[0107] The power supply 232 may be coupled to an external power source (e.g., an alternating current (AC) wall outlet). The power distribution board 233 may be coupled to the power supply 232 and configured to distribute power from the power supply 232 to one or more of the subsystems of the module 101. The network switch 235 may be communicatively coupled to the computer 231 and one or more external devices (e.g., the module 102). In some embodiments, the computer 231 may use a standard communication protocol such as an Inter-Integrated Circuit (IC) bus. 2 C), Serial Peripheral Interface (SPI), Controller Area Network (CAN), Universal Asynchronous Reception and Transmission (UART), Ethernet or Universal Serial Bus (USB) or custom communication protocols to send and receive data. In some embodiments, computer 231 can use standard communication protocols such as Bluetooth, WiFi, ZigBee, Z-wave, NEC infrared (IR), code division multiple access (CDMA), global mobile communication system (GSM) or long-term evolution (Long-Term Evolution, LTE) or custom communication protocols to wirelessly send and receive data. For example, computer 231 can use CAN protocol to communicate with one or more internal devices (e.g., controllers 751, 752, 754). As another example, the computer can use Ethernet protocol to communicate with one or more external devices. In such an embodiment, network switch 235 can be an Ethernet switch.

[0108] User interface subsystem

[0109] Figure 3A A front perspective view of the user interface subsystem 300 is provided. As shown, the user interface subsystem 300 includes a display 310, an output chute 320, an indicator light 322, compartments 330 and 340, doors 351 and 352, a reader 360, a computer 370, and guide frames 401 and 402. Figure 3B and Figure 3C A perspective view of the back side of the user interface subsystem 300 is provided. Figure 3C , door 352 has been removed to reveal compartment 330 and guide frame 401. Portions of imaging subsystem 500 are also shown in FIG. Figure 3A-3C The user interface subsystem 300 and the imaging subsystem 500 may be hingedly and / or slidably connected to the frame 210 so that they can be serviced by a technician without moving the module 101 .

[0110] Display 310 can be a touch screen, monitor, LCD panel or similar device, which is configured to display a graphical user interface (GUI), user prompts, user instructions, alarms, system settings and / or other information that may be relevant to the user. For example, after a batch of sample containers have been received by module 101 and successfully scanned (e.g., by imaging subsystem 500), display 310 can notify the user that the sample container has been accepted and is being processed. As another example, if the label on the sample container cannot be read, display 310 can display an alarm on display 310 to notify the user of the problem. As another example, after the robot subsystem 700 has deposited the sample container into the output chute 320, display 310 can be configured to display an arrow above the corresponding chute. Other types of icons such as lines or bottle shapes can be used to replace arrows. In some embodiments, the icon can be colorful and / or flashing to attract the user's attention. In some embodiments, the icon can be pressed to display information about the corresponding sample container, such as the registration number, serial number, container type, filling volume and / or image of the sample container.

[0111] In the embodiment that display 310 is a touch screen, it also can be configured to receive input from the user.In some embodiments, the input from the user can be received from another device as a part of module 101 (for example, a microphone and / or keyboard) or with module 101 communication (for example, a mouse and / or keyboard).No matter how the user input is received, display 310 can be used to realize loading routine (load routine) and unloading routine (unload routine).During the loading routine, display 310 can require the user to identify the contents of the sample container (for example, a control, an empty sample container or a sample).After the sample container has been loaded in the module 101, they can be digitally marked with the information provided by the user.During the unloading routine, display 310 can require the user to input which sample containers the user wants to unload and / or where the sample container should be placed (for example, output chute 320, compartment 330 or compartment 340).

[0112] The output chute 320 can be used to deliver a separate sample container to a user for retrieval. For example, after a sample is determined to be positive in module 102, the user may need to retrieve the sample container for additional microbiological examination. The sample container can be retrieved from module 102 and output from module 101. As shown, there are five output chutes 320. However, in other embodiments, module 101 may include more or fewer output chutes. In some embodiments, the output chute 320 can be configured to mitigate the noise generated when the bottle falls along the chute. In some embodiments, the output chute 320 can be constructed of noise absorbing materials to mitigate the noise generated when the bottle falls along the chute.

[0113] like Figure 3D As shown, indicator lights 322 are provided above each output chute 320. Each of the indicator lights 322 can be configured to illuminate when a sample container is positioned in a specific chute (e.g., a chute below a corresponding light) or when a sample container is positioned in any one of the output chutes 320. In some embodiments, the module 101 can include additional indicator lights according to the output chute 320. In some embodiments, one or more of the indicator lights 322 can be relocated or completely removed. For example, one or more of the indicator lights 322 can be relocated below the output chute 320. In some embodiments, the indicator lights 322 can be different colors, change colors, and / or flash. In addition, in some embodiments, the indicator lights 322 can be configured to have different performances according to the type of sample container positioned in the output chute 320. For example, when the sample container is positive, the indicator light 322 can illuminate in one color (e.g., red), and when the sample container is negative, the indicator light 322 can illuminate in another color (e.g., green). In one aspect, information regarding the status of the sample is sent from a sample status (i.e., positive or negative) indicator in module 102. The status of the sample container can be associated with a bar code on the sample container, and when the sample container is retrieved from module 102, the bar code information can be read to determine the output chute, tray, or receiver into which the retrieved sample container is placed.

[0114] In some embodiments, the output chute 320 may include one or more sensors configured to detect when a sample container has been deposited into the output chute 320. This detection may be used to trigger the illumination of the indicator light 322. It may also be used to provide feedback to the robotic subsystem 700. This feedback may advantageously prevent the robotic subsystem 700 from depositing another sample container into the same chute and causing a collision and / or contamination. In some embodiments, the one or more sensors may be positioned at the bottom of each of the output chutes 320. In some embodiments, the one or more sensors may be contact sensors, optical sensors, and / or ultrasonic sensors.

[0115] Compartments 330 and 340 may be used for both input and output purposes. For example, when a user loads compartment 330 with an untested sample container, the robotic subsystem 700 may store the sample container in compartment 340 for the user to retrieve. Similarly, when a user loads compartment 340 with an untested sample container, the robotic subsystem 700 may store the sample container in compartment 330 for the user to retrieve. Alternatively, compartments 330 and 340 may be used as input areas or output areas at the same time. For example, a user may load an untested sample container into both compartments 330 and 340. As another example, the robotic subsystem 700 may store the sample container in both compartments 330 and 340 for the user to retrieve. As a result, in Figure 3A-3C In certain embodiments, a user can load or unload up to 60 sample containers at the same time. In other embodiments, module 101 may include more or fewer compartments. For example, a third compartment similar to compartments 330 and 340 can be added to module 101 to increase the number of sample containers that can be loaded and unloaded at one time to 90.

[0116] In some embodiments, compartments 330 and 340 can be used as primary output areas, and output chute 320 can be used as secondary output areas. For example, in such embodiments, the batch sample container that is positive for the test can be deposited in compartments 330 and / or 340 by robot subsystem 700. Having a designated area (separated from negative batches) that exhibits positive batches can save time and reduce the risk of user error (for example, due to inaccurate classification). In addition, in such embodiments, output chute 320 can be used for outputting a separate sample container, a sample container that needs additional information, and / or a sample container that needs system error resolution. For example, when imaging subsystem 500 can not read the bar code label on the sample container, robot subsystem 700 can deposit the sample container into one of output chute 320. This allows the user to solve the problem by, for example, removing obstacles on the label or applying a new bar code label. In other embodiments, compartments 330 and / or 340 can be used as secondary output areas, and output chute 320 can be used as primary output areas.

[0117] In some embodiments, the user can specify that the output chute 320, compartment 330 and compartment 340 are used as the primary output area and / or secondary output area. For example, the display 310 can be used to access system settings, which allow the user to specify where the module 101 receives untested sample containers and where the robot subsystem 700 stores sample containers for the user to retrieve. Through these system settings, the user can also specify whether the sample container is output to a removable shelf. In such an embodiment, if the shelf is not detected, the display 310 can alert the user.

[0118] The above-mentioned input area and output area (e.g., output chute 320 and compartments 330 and 340) are particularly advantageous due to their flexibility. For example, since compartments 330 and 340 can be used as input areas or output areas, a large number of sample containers can be loaded or unloaded at one time. In addition, some laboratories may prefer to use compartments 330 and 340 as the main output area, while other laboratories may prefer to use output chute 320 as the main output area. For example, sample containers may make noise when they descend along output chute 320, which may convey the impression of poor quality. Placing sample containers in compartments 330 and / or 340 for retrieval will avoid such noise. In addition, when placed in a shelf, a large number of sample containers can be quickly unloaded from compartments 330 and / or 340 by users.

[0119] like Figure 3A As shown, compartment 330 includes guide frame 401, and compartment 340 includes guide frame 402. In some embodiments, one or both of guide frames 401 and 402 can be a molded plastic part, which has a cylindrical receiver designed to directly accept a sample container (e.g., a blood culture bottle). In some embodiments, one or more receivers can be configured to prevent the sample container from tipping over after being placed in the receiver. One or both of guide frames 401 and 402 can also include a groove designed to accept a sample container shelf. In some embodiments, guide frames 401 and / or 402 can include acrylonitrile-butadiene-styrene (ABS), polypropylene (PP), polystyrene (PS), other types of plastics and / or their mixtures.

[0120] The guide racks 401 and 402 can advantageously enable a user to load a variable number of sample containers into the module 101. The guide racks 401 and 402 can also advantageously enable a user to load individual sample containers or racks of sample containers into the module 101. Having such a flexible input area allows the user to maintain the same workflow to load small batches (e.g., 1-2 sample containers), medium batches, and large batches (e.g., 20+ sample containers) of sample containers. There are advantages to loading sample containers individually and loading sample containers into racks. For example, the racks provide visual instructions to the user to transfer sample containers to and / or transfer sample containers from the module 101. This can allow the laboratory to develop standard operating procedures (SOPs) around batch loading. In addition, by simply placing the racks in the module 101, multiple sample containers can be loaded into the module 101 faster, which is different from placing each sample container individually in the module 101. In addition, studies have shown that the racks add a layer of safety when transporting sample containers within the laboratory. However, studies have also shown that users often forget to reload racks into laboratory instruments. In addition, not all laboratories prefer to use racks. Many people do not prefer to use racks for reasons including the extra time spent managing racks, labeling racks, dealing with loss, damage and reordering of racks, and cleaning racks. Therefore, it is particularly advantageous to have a system that accepts individual sample containers or racks of sample containers.

[0121] In some embodiments, guide frame 401 can be removably coupled to the first drawer (not shown) and / or guide frame 402 can be removably coupled to the second drawer (not shown). One or more drawers may include a flat shelf that partially or completely slides out of module 101 using a drawer-type ball bearing slide or other similar mechanism. This is advantageous because it allows the user to see the cylindrical groove and allows the sample container to be placed from above, which enhances the availability and ergonomics of loading and unloading sample containers. In some embodiments, one or both of guide frames 401 and 402 can be removed from the drawer by the user using a thumb screw, latch or other similar fasteners. After the guide frame is removed, it can be easily cleaned (for example, in a bleach solution soaking bucket). In addition, when cleaning the guide frame, another guide frame can be placed in module 101 to limit instrument downtime. In some embodiments, one or more receivers in guide frames 401 and / or 402 may include a hole located at the bottom of the receiver. The holes may allow cleaning fluid to drain therefrom when the guides 401 and / or 402 are removed from the module 101. In addition, the holes may allow one or more sensors to detect the presence or absence of a sample container when the guides 401 and / or 402 are positioned in the module 101. In some embodiments, the one or more sensors may be contact sensors, optical sensors, and / or ultrasonic sensors.

[0122] In some embodiments, compartments 330 and / or 340 may include indicator lights (not shown). The indicator lights may be positioned above guide frames 401 and / or 402. These indicator lights may be used to signal to a user how compartments 330 and / or 340 are being used. For example, when compartment 330 is used as an input area, one or more indicator lights may illuminate compartment 330 with a first color (e.g., blue or green), and when compartment 330 is used as an output area, the one or more indicator lights may illuminate compartment 330 with a second color (e.g., red). Similarly, when compartment 340 is used as an input area, one or more indicator lights may illuminate compartment 340 with a first color (e.g., blue or green), and when compartment 340 is used as an output area, the one or more indicator lights may illuminate compartment 340 with a second color (e.g., red). One or more indicator lights in compartments 330 and / or 340 may also be used to indicate whether a batch of sample containers are ready for retrieval. For example, when the robotic subsystem 700 deposits a sample container into one of the compartments 330 and 340, the compartment may be illuminated with a first color (e.g., red), and when the batch of sample containers is ready for retrieval, the compartment may be illuminated with a second color (e.g., blue or green). In some embodiments, the indicator light may flash rather than change color.

[0123] like Figure 3A-3CAs shown, door 351 may be positioned in front of user interface subsystem 300, and door 352 may be positioned behind user interface subsystem 300. Doors 351 and 352 are vertical sliding doors configured to rise and fall to expose any one of compartments 330 and 340. For example, when doors 351 and 352 are in the raised position, compartment 330 is sealed, and compartment 340 is exposed. Similarly, when doors 351 and 352 are in the dropped position, compartment 340 is sealed, and compartment 330 is exposed. In some embodiments, doors 351 and 352 may be configured to maintain positions relative to each other. For example, when door 351 is in the raised position, door 352 is in the dropped position. Similarly, when door 351 is in the dropped position, door 352 is in the raised position. This can prevent users from mixing untested sample containers with sample containers that test positive. For example, when the robotic subsystem 700 deposits a positive sample container into compartment 330, the door 351 may be in a raised position to prevent a user from placing an untested sample container into compartment 330. Additionally, when a user loads an untested sample container into one of compartments 330 and 340, the door 352 may help prevent the sample container from falling into module 101 (e.g., onto support structure 641 of waste management subsystem 600).

[0124] In some embodiments, one or both of the doors 351 and 352 can be constructed by transparent materials such as plastics or glass. Transparent materials advantageously allow the user to observe the processing of sample containers, which can improve the credibility of the system. For example, transparent doors allow the user to see the sample containers being loaded and unloaded, which increases their overall understanding of how the system works, its visibility to potential blocking / error and potentially its overall trust in this instrument. As shown in the figure, door 351 is constructed by transparent materials, and door 352 is constructed by opaque materials. However, in other embodiments, doors 351 and 352 can all be constructed by transparent materials. In addition, in other embodiments, doors 351 and 352 can all be constructed by opaque materials.

[0125] In other embodiments, door 351 and 352 can be replaced with one or more swing doors.For example, door 351 can be replaced with a pair of swing doors, wherein one of the doors is configured to seal compartment 330, and another door is configured to seal compartment 340.In this embodiment, one or both of the swing doors can be locked to prevent the user from accessing the corresponding compartment.For example, when robot subsystem 700 deposited the positive sample container in compartment 330, the swing door positioned in compartment 330 fronts can be locked.Similarly, when robot subsystem 700 deposited the positive sample container in compartment 340, the swing door positioned in compartment 340 fronts can be locked.

[0126] like Figure 3AAs shown, reader 360 can be configured to read bar code labels, RFID tags and / or other types of identifiers on sample containers and / or user identification cards. For example, a user can use reader 360 to scan sample containers to find information (e.g., serial number or registration number) of the sample containers. In some embodiments, this information can be raised on display 310. In some embodiments, after scanning the sample container with reader 360, the user can manually load the sample container into a cultivation and measurement module such as module 102. In some embodiments, the user can place his or her employee badge or other unique identification card near reader 360 to start automatic login. In order to protect patient information and comply with network security regulations, the user may need to log in to perform certain actions, such as viewing test results and obtaining positive sample containers. In some embodiments, the user can place his or her employee badge or other unique identification card near reader 360 to automatically adjust one or more system settings. For example, module 101 may store user preferences regarding where sample containers are deposited for retrieval and automatically adjust system settings to accommodate those preferences after the user scans his or her unique identification card.

[0127] In some embodiments, a separate reader may be provided to read the identifier on the sample container and to read the user identification card. In some embodiments, one or more readers may use different scanning technologies. For example, an optical barcode reader may be used to scan the label on the sample container, and a radio frequency identification (RFID) reader may be used to scan the user identification card. In some embodiments, the user may also log in by other methods such as a user name and password, a pass phrase, a PIN and / or a picture password. In some embodiments, the user may also log in by biometric alternatives such as voice recognition, facial recognition, retinal recognition and / or fingerprint recognition.

[0128] like Figure 3AAs shown, the computer 370 may include one or more processors, one or more application specific integrated circuits (ASICs), and / or other similar components. The computer 370 may also include a storage medium capable of storing information, such as a hard drive, a memory card, a ROM, a RAM, a DVD, a CD-ROM, a writable and / or read-only memory. The computer 370 may be communicatively coupled to one or more of the subsystems of the module 101. For example, the computer 370 may be communicatively coupled to one or more components of the electronic equipment room 230 (e.g., the computer 231), the user interface subsystem 300, the imaging subsystem 500, the waste management subsystem 600, and / or the robotic subsystem 700. In some embodiments, the computer 370 may receive commands from one or more of these subsystems. In some embodiments, the computer 370 may send commands to one or more of these subsystems and receive measurement data from one or more of these subsystems. For example, the computer 370 may be configured to control the movement of the robotic subsystem 700 and receive measurement data from the controllers 751 and 752 and / or the camera 770 (see Fig. 7A - Figure 7I). Computer 370 may also be configured to send a graphical user interface (GUI), user prompts, user instructions, alarms, system settings and / or other information to display 310 for display.

[0129] Figure 4A and Figure 4B A perspective view of guide frame 401 is provided. As shown, guide frame 401 includes sections 411-413. Sensors 441-443 extend through sections 411-413, respectively, and can be configured to detect whether a shelf is present. In some embodiments, sensors 441-443 can be contact sensors, optical sensors, and / or ultrasonic sensors. Section 411 includes a receiver 421 designed to directly receive a sample container (e.g., a blood culture bottle) and a groove (not shown) designed to receive a sample container shelf (such as shelf 450). Figure 4C-Figure 4I Different views of the shelf 450 are shown. More specifically, Figure 4C is a three-dimensional diagram of the shelf 450. Figure 4D This is its front elevation view. Figure 4E This is its rear elevation view. Figure 4F This is its right side elevation view. Figure 4G This is its left side elevation view. Figure 4H is its top-down view, and Fig. 4I This is its bottom-up view.

[0130] like Figure 4A and Figure 4BAs shown, a single sample container 461 is positioned in one of the receivers 451 of the rack 450. Section 412 includes a receiver 422 designed to directly receive a sample container and a groove 432 designed to receive a rack of sample containers. Section 413 includes a receiver 423 designed to directly receive a sample container (such as sample container 462), and a groove 433 designed to receive a rack of sample containers. As shown, receivers 421-423 and / or 451 may include cylindrical chamfer features to facilitate insertion of a sample container into a corresponding receiver. One or more of receivers 421-423 and / or 451 may also include a hole in the bottom of the receiver (e.g., Figure 4C , Figure 4H and Fig. 4I 452 in the container). During the cleaning process, these holes can allow cleaning fluid to drain therefrom. As shown, the receivers 421-423 and / or 451 can have a bottom with rounded edges to accommodate rocker bottles. Rocker bottles have convex bottoms due to pressure buildup or heat during manufacturing. Although detection and controls are in place to prevent this, some bottles still develop a convex shape of up to, for example, 1.5 mm.

[0131] like Figure 4A and Figure 4B As shown, each of the sections 411-413 can keep up to ten sample containers in the corresponding receiver. Shelf 450 can also keep up to ten sample containers in receiver 451. However, in other embodiments, sections 411-413 and / or shelf 450 can be configured to keep more or less sample containers. Similarly, in other embodiments, guide frame 401 can include more or less receiver sections. For example, guide frame 401 can only include two sections, and each section can keep up to fifteen sample containers. In such an embodiment, shelf 450 can also be reconfigured to keep up to fifteen sample containers.

[0132] like Figure 4A and Figure 4B As shown, receivers 421-423 and 451 are configured to accept bottles having a specific diameter. For example, receivers 421-423 and 451 can be configured to accept a specific type of culture bottle, such as the BD BACTEC manufactured and sold by Becton Dickinson. TMCulture bottles. However, in other embodiments, receivers 421-423 and 451 may differ in shape and be configured to hold different types of sample containers. In addition, in some embodiments, receivers 421-423 and 451 may be configured to accept a range of sample containers having different diameters and / or heights. For example, one or more of receivers 421-423 and 451 may have a lower portion and an upper portion having different diameters. The lower portion may, for example, have a narrow diameter for accepting sample containers having a similar narrow diameter. In addition, the upper portion may, for example, have a wide diameter for accepting sample containers having a similar wide diameter.

[0133] In some embodiments, the guide frame 401 may include one or more features for calibrating the robotic subsystem 700. For example, the guide frame 401 may include notches 471 and 472. In some embodiments, a pin (not shown) may be temporarily or permanently added to the robotic subsystem 700. For example, during a calibration procedure, the pin may be screwed into a component of the gripper assembly 740. In some embodiments, the pin may remain attached to the robotic subsystem 700 during processing of the sample container. The pin may be sized to fit within the notches 471 and 472. After one of the notches 471 and 472 engages the pin, the position of one or more components of the robotic subsystem 700 may be saved in memory and used as a reference point for future movements of the robotic subsystem 700.

[0134] like Figure 4C-Figure 4I As best seen in FIG. 4 , the shelf 450 can be advantageously picked up by one hand of the user. For example, the user can position his or her thumb in one of the grooves 453 while placing the tips of his or her fingers along one of the inclined surfaces 454. The user can then slide his or her fingers along the inclined surfaces 454 until they contact the bottom surface 455 of the shelf 450. Once in this position, the user can then securely lift the shelf 450. Advantageously, the symmetrical shape of the grooves 453 and the inclined surfaces 454 allows the user to lift the shelf 450 with either his or her right or left hand.

[0135] Figure 8A-8E Another embodiment of a shelf comparable to shelf 450 is shown. Fig. 8A As shown, shelf 851 includes receivers 852 and lip 853. Receivers 852 may include cylindrical chamfered features to facilitate insertion of sample containers into corresponding receivers. One or more of receivers 852 may include holes located at the bottom of the receiver. During the cleaning process, these holes allow cleaning fluid to drain therefrom. When positioned in the guide frame in module 101, these holes allow one or more sensors to detect the presence or absence of the sample container. In some embodiments, the one or more sensors may be contact sensors, optical sensors, and / or ultrasonic sensors. Lip 853 acts as a handle for the user to grasp. As shown in FIG. Figure 8B As shown, receiver 852 is designed to receive sample container 854.

[0136] like Figure 8C As shown, shelf 851 can be stacked on top of another shelf 855 using complementary locating features (e.g., countersunk holes and center post structures). For example, the bottom of shelf 851 can include a set of locating features, and the top of shelf 855 can include a complementary set of locating features to enable shelf 851 to be securely stacked on top of shelf 855. Fig.8D and Fig. 8E As shown, shelf 851 may also be stacked on top of shelf 855 when sample container 856 is positioned in shelf 855. In such an embodiment, the bottom of shelf 851 may include countersunk features that fit into complementary features of sample container 856. For example, if sample container 856 is a blood culture bottle, shelf 851 may include countersunk features that fit into the crimping and septum of the blood culture bottle.

[0137] like Figure 8A-8E As shown, shelves 851 and 855 can hold up to ten sample containers. However, in other embodiments, shelves 851 and 855 can be configured to hold more or fewer sample containers. Figure 8A-8E As shown, receiver 852 is configured to receive a bottle having a specific diameter. For example, receiver 852 can be configured to accept a specific type of culture bottle, such as the BD BACTEC manufactured and sold by Becton Dickinson. TM culture bottle. However, in other embodiments, the receiver 852 may differ in shape and be configured to hold different types of sample containers. In addition, in some embodiments, the receiver 852 may be configured to accept a range of sample containers having different diameters. For example, one or more of the receivers 852 may have a lower portion and an upper portion having different diameters. The lower portion may, for example, have a narrow diameter for accepting a sample container having a similar narrow diameter. In addition, the upper portion may, for example, have a wide diameter for accepting a sample container having a similar wide diameter.

[0138] Figure 9A-9CAnother embodiment of the guide frame comparable to guide frames 401 and 402 is shown. As shown in the figure, guide frame 900 includes sections 911-913. Section 911 includes a receiver 921 designed to directly accept a sample container (e.g., a blood culture bottle) and a groove 931 designed to accept a sample container shelf. Section 912 includes a receiver 922 designed to directly accept a sample container (such as a sample container 961), and a groove 932 designed to accept a sample container shelf. Section 913 includes a receiver 923 designed to directly accept a sample container and a groove 933 designed to accept a sample container shelf (such as a shelf 950 with a sample container 962). As shown in the figure, receivers 921-923 may include cylindrical chamfered features to facilitate inserting a sample container into a corresponding receiver. One or more of receivers 921-923 may include a hole located at the bottom of the receiver. In the cleaning process, these holes may allow cleaning fluid to be discharged therefrom. When positioned in module 101, these holes can allow one or more sensors to detect the presence or absence of a sample container. In some embodiments, the one or more sensors can be contact sensors, optical sensors, and / or ultrasonic sensors.

[0139] Indicator lights 971-973 are positioned in front of sections 911-913 respectively. In some embodiments, indicator light 322 can be different colors, change colors and / or flash. In some embodiments, one or more of indicator lights 971-973 can be configured to illuminate based on the state of the corresponding section. For example, when section 911 is empty and ready to receive a batch of sample containers, indicator light 971 can become a first predetermined color. As another example, when section 911 is filled with untested sample containers, indicator light 971 can become a second predetermined color. As another example, when section 911 accommodates positive sample containers, indicator light 971 can become a third predetermined color. Indicator lights 972 and 973 can also be operated in a similar manner based on the state of sections 912 and 913 respectively. In some embodiments, guide frame 900 can include additional indicator lights. In some embodiments, one or more of indicator lights 971-973 can be relocated or completely removed. For example, one or more of indicator lights 971-973 can be relocated in the bottom of receivers 921-923.

[0140] like Figure 9A-9CAs shown, each of the sections 911-913 can keep up to ten sample containers in the corresponding container. However, in other embodiments, sections 911-913 can be configured to keep more or less sample containers. Similarly, in other embodiments, guide frame 900 can include more or less receiver sections. For example, guide frame 900 can only include two sections, and each section can keep up to fifteen sample containers. In such an embodiment, shelf 950 also can be reconfigured to keep up to fifteen sample containers.

[0141] like Figure 9A-9C As shown, receivers 921-923 are configured to accept bottles having a specific diameter. For example, receivers 921-923 can be configured to accept a specific type of culture bottle, such as the BD BACTEC manufactured and sold by Becton Dickinson. TM Culture bottles. However, in other embodiments, the receivers 921-923 differ in shape and are configured to hold different types of sample containers. In addition, in some embodiments, the receivers 921-923 can be configured to accept a range of sample containers having different diameters. For example, one or more of the receivers 921-923 can have a lower portion and an upper portion with different diameters. The lower portion can, for example, have a narrow diameter for accepting a sample container having a similar narrow diameter. In addition, the upper portion can, for example, have a wide diameter for accepting a sample container having a similar wide diameter.

[0142] Imaging Subsystem

[0143] Figure 5A-Figure 5C A perspective view of an imaging subsystem 500 is provided. The imaging subsystem 500 can be configured to scan label information of a sample container and / or obtain image information from which the presence or absence of foam, fill level, and / or other information about the contents of the sample container can be derived. As shown, the output chute 320 can be positioned according to the imaging subsystem 500, which includes a camera 510, light sources 521 and 522, a support structure 523, a plate 524, a guide 531, a platform 532, a drive pulley 533, a belt 534, an arm 535, a spring 536, a motor 537, an opening 538, a flip table 540, a holding table 550, a platform 560, and a chute 570. The robotic subsystem 700 can deposit a sample container 580 (e.g., a blood culture bottle) on the platform 532 between the guides 531. The guides 531 can assist the robotic subsystem 700 in centering the sample container 580 on the platform 532.

[0144] The camera 510 is aimed at the sample container 580. The camera 510 and the light sources 521 and 522 are attached to the platform 560 via the support structure 523. The light sources 521 and 522 are configured to direct light toward the sample container 580 when the camera 510 obtains an image of the sample container 580. In some embodiments, the light source 240 can also be configured to direct light toward the sample container 580 when the camera 510 obtains an image of the sample container 580. In other embodiments, these external light sources can be removed, and the imaging subsystem 500 can rely on one or more internal light sources of the camera 510 to obtain an image of the sample container 580. The platform 532 is configured to rotate when the camera 510 obtains an image of the sample container 580. In some embodiments, the platform 532 can be configured so that the user can remove and replace it without the use of tools. The sample container 580 can be rotated by a predetermined number of degrees (e.g., 20 degrees, 30 degrees, etc.), and the images at each rotation increment can be stitched together to obtain a complete image of the label (not shown) on the sample container 580. In addition, the camera 510 can obtain image information from which the presence or absence of foam, fill level, and other information about the contents of the sample container can be derived. The camera 510 can send one or more of the images obtained to the computer 231 and / or 370. In some embodiments, one or more of the images obtained by the camera 510 can be presented on the display 310. These images can, for example, assist the user in resolving errors.

[0145] Plate 524 is disposed behind sample container 580. In some embodiments, plate 524 can provide a static background for the image. In some embodiments, plate 524 includes a label or barcode that can be used by camera 510 to determine whether the sample container is positioned on platform 532. For example, when the label or barcode is visible to camera 510, it can be determined that the sample container is not positioned on platform 532. Similarly, when the label or barcode is not visible to camera 510, it can be determined that the sample container is positioned on platform 532.

[0146] like Figure 5C 532 is shown in a transparent manner, the rotation of the platform 532 is driven by a motor 537. The drive pulley 533 is directly coupled to the shaft of the motor 537. The platform 532 and the drive pulley 533 are connected by a belt 534. In addition, the platform 532 and the drive pulley 533 are rotatably coupled to the arm 535. When the motor 537 rotates the drive pulley 533 in a clockwise direction (from Figure 5C ), the platform 532 also rotates in the clockwise direction. However, when the motor 537 rotates the drive pulley 533 in the counterclockwise direction (from the Figure 5C535 rotates in a counterclockwise direction, thereby moving the platform 532 from below the sample container 580 to a position below or within the platform 560. As the arm 535 rotates in a counterclockwise direction, a spring 536 (e.g., a torsion spring) directly coupled to the arm 535 applies a force opposite to the force generated by the motor 537. In addition, as the platform 532 pivots away, the sample container 580 slides through the opening 538 into the slide slot 570.

[0147] The flip table 540 is configured to receive an upright position (see, e.g., the orientation of the sample container 580) or a horizontal position (see, e.g., Figure 7B When the sample container is received in an upright position, it can rest on the bottom surface 541 of the flip table 540. However, when the sample container is received in a horizontal position, the flip table flips the sample container from the horizontal position to the upright position. For example, if the robotic subsystem 700 positions the sample container above the flip table while holding the sample container in an upright position, the flip table 540 can rotate the sample container from the horizontal position to the upright position. Figure 7B The sample container is held in the manner shown, and then released, the bottom and / or sides of the sample container will slide along the ramp structure 542, causing the sample container to rotate to an upright position. Since the sample container held in the module 102 can be oriented horizontally, the flip table 540 can be used by the robotic subsystem 700 to re-orient the sample container to an upright position before depositing it on the platform 532 for imaging.

[0148] The holding table 550 is configured to receive a sample container in an upright position. If multiple sample containers need to be scanned by the imaging subsystem 500, the robotic subsystem 700 can use the flip table 540 and / or the holding table 550 to arrange the sample containers. In addition, if the imaging subsystem 500 cannot read the label on the sample container, or if the image obtained by the camera 310 indicates that the sample container has foam and / or is overfilled or underfilled, the robotic subsystem 700 can use the flip table 540 and / or the holding table 550 to temporarily store the sample container until the user responds to the corresponding prompt on the display 310. In some embodiments, the holding table 550 can be used to store tools (e.g., sample containers) used to calibrate the camera 510.

[0149] Figure 5D A cross-sectional view of the imaging subsystem 500 is provided. As shown, the imaging subsystem 500 may include a rotating member 539 for preventing the sample container 580 from falling out of the chute 570 after falling from the platform 532. For example, before the sample container 580 falls from the platform 532, the member 539 may be rotated in a counterclockwise direction (from Figure 5D In addition, the member 539 can be rotated in a clockwise direction (from Figure 5Dperspective) to make it easier for the robotic subsystem 700 to retrieve the sample container 580 from the chute 570.

[0150] Figure 5E and Fig. 5F A perspective view of a chute 570 is provided. The chute 570 is similar to the flip table 540, but redirects the sample container to a horizontal position instead of an upright position. As shown, the chute 570 includes a sidewall 571, horizontal tracks 573 and 574, an inclined track 575, a groove 576, and a stopper 577. After the sample container falls into the chute 570, the bottom and / or side of the sample container will slide along the inclined track 575 and another similar inclined track (not shown) along the sidewall 572, thereby rotating the sample container to a horizontal position. The stopper 577 prevents the sample container from sliding out of the chute 570. Since the sample container retained in the module 102 can be horizontally oriented, the chute 570 can assist the robot subsystem 700 in redirecting the untested sample container received in one of the compartments 330 and 340 before the sample container is stored in the module 102 through one of the doors 141-144.

[0151] In some embodiments, the robotic subsystem 700 can deliver sample containers to the imaging subsystem 500 both before and after the sample containers have been incubated and measured in the module 102. By performing a secondary scan of the sample containers before they are placed in the compartments 330 and / or 340 for user retrieval and / or placed in the waste receptacle 610 of the waste management subsystem 600 for disposal, the system 100 can provide increased confidence in the chain of custody of the sample containers. During operation, the system 100 may experience conditions such as power failures and / or unexpected user interactions that may create the potential for loss of the chain of custody of one or more sample containers.

[0152] about Figure 10-Figure 19 Some of these advantages and alternatives to one or more aspects of imaging subsystem 500 are described. For example, Fig.101 is a schematic diagram of an imaging device 1100. The device has a platform 1110 on which a cylindrical sample container 1130 is placed. The device 1100 also has a scanner 1140. A gripper arm 1150 with a gripper 1155 grips a neck 1156 of the cylindrical sample container 1130 and is used to place the cylindrical sample container 1130 on a rotating gate 1165 of the platform 1110. The gripper arm 1150 is movable along x (1151), θ (1152), and z (1153), so that the gripper arm 1150 can be used to place the sample container 1130 on the rotating gate 1165 in an upright position and to retrieve the sample container when the sample container 1130 is placed horizontally in a chute 1160. The chute 1160 receives the cylindrical sample container in an upright position and places the cylindrical sample container in a horizontal position. Thus, the slide 1160 acts as a turning table for turning the cylindrical sample container from an upright position to a horizontal position. The clamping arm 1150 is rotatable so that the clamp 1155 can clamp the cylindrical sample container when the cylindrical sample container 1130 is placed horizontally. Fig.10 In the apparatus described in , as the cylindrical sample container is rotated by the rotating gate 1165, an image of the label 1131 is obtained. The images are then stitched together to form a complete image of the label 1131. Stitching images together to form a larger image is well known to those skilled in the art and will not be described in detail herein.

[0153] The rotating gate 1165 is rotated by a motor (not shown). When the clamp 1155 can release the cylindrical sample bottle 1130 on the rotating gate 1165, a sensor or command step from a θ stepper motor (not shown) notifies the clamping arm 1150 to move and stop at an appropriate position above the rotating plate 1165. For imaging, the rotating platform 1110 (the rotating gate 1165 is positioned below the surface of the main part of the platform 1110) rotates in one direction (clockwise or counterclockwise). After the imaging device 1100 obtains an image of the entire label 1131, and also obtains image information of the presence or absence of foam, the filling level and other information about the contents of the cylindrical sample container, the imaging device (e.g., camera, scanner, light, etc.) is turned off. The rotating gate 1165 can also be actuated without being aligned with the slide 1160. When the rotating gate 1165 is aligned with the chute 1160, the cylindrical sample container will not slide through the chute when the bottle is placed on the rotating gate 1165 for imaging. A complete image can be formed by taking several images before and after rotating the bottle, for example, about 45 degrees, and then stitching these images together to provide an image of the complete bottle. After imaging, the rotating platform 1110 rotates in the opposite direction until the gate 1165 is actuated without being aligned with the opening of the chute 1160. This allows the cylindrical sample container 1130 to slide through the opening of the chute 1160, which has a ramp 1166 and a platform 1167. The cylindrical sample container 1130 eases down the ramp 1166 and rests horizontally on the platform 1167, from which it is retrieved by the clamp 1155 of the clamping arm 1150. In this regard, the ramp 1166 has spaced apart guide rails 1168, 1169 such that when the cylindrical sample container 1130 slowly moves down the ramp 1166, the neck of the cylindrical sample container 1130 fits between the guide rails 1168, 1169, thereby allowing the cylindrical sample container 1130 to lie flat. Fig. 12C Tracks 1168 and 1169 are more easily observed in the .

[0154] Not shown is a calibration plate disposed at the end of the platform 1110 opposite the scanner 1140. The calibration plate can be used to calibrate the scanner 1140 to ensure that when the cylindrical sample container 1130 is placed on the rotating gate 1165, it will be in the correct field of view of the scanner. The rotating gate 1165 is configured to provide a stable surface on which to set the cylindrical sample container 1130 for imaging. Since sterilizing the cylindrical sample container prior to use may introduce deformations or irregularities in the bottom surface of the cylindrical sample container 1130, the rotating gate 1165 can be provided with a recessed portion that will allow the perimeter of the bottom of the cylindrical sample container to be securely seated on the rotating gate 1165, and will also provide a gap between the interior of the bottom surface of the cylindrical container and the surface of the cylindrical sample container 1130 so that any surface deformation will not cause the cylindrical sample container to be seated in an unstable manner.

[0155] Alternative structures to the rotating gate include rubber drive wheels or rotating grippers that are suitable for cylindrical sample containers, such as grippers for automatically screwing on or off caps. If such a rotating mechanism is used, the system will be provided with a trap door or other mechanism to allow the cylindrical sample container to be advanced into the chute when imaging is completed.

[0156] Fig.11 yes Fig.10 A bottom view of the imaging device 1100 is shown. Fig.11 , the rotating gate 1165 is shown as not aligned with the chute 1160. After the cylindrical sample container 1130 travels along the chute 1160, it rests in a horizontal position with its neck disposed between the guide rails 1168, 1169. The clamp 1155 of the clamp arm 1150 rotates to clamp the bottom of the cylindrical sample container 1130, thereby removing it from the chute.

[0157] Figures 12A-12D Shows Fig.10 An alternative embodiment system 1100 wherein the platform 1110 has a rotating platform 1111 mounted therebelow. Fig. 12A It is a stereoscopic view from above the system 1100. Fig. 12B is an upward perspective view of system 1100. Fig. 12C is a side view of system 1100 . Fig.12Dis a downward perspective view of the system 1100. The rotating platform 1111 is driven by a shaft (obscured by the spiral spring 1170) which is rotated by the motor 1171 from which the shaft within the spiral spring 1170 extends. The belt 1172 couples the shaft to the rotating platform 1111, causing the rotating platform 1111 to rotate. After the camera 1140 obtains an image of the cylindrical sample container 1130, the rotation of the shaft within the spiral spring 1170 is reversed, and when the rotating platform is rotated in the opposite direction, the rotating platform 1111 is pivoted away by using a one-way rotating clutch, thereby allowing the cylindrical sample container 1130 to slide into the chute 1160 through the opening 1112 in the platform 1100. When the motor rotates the platform back to the initial direction, the spiral spring 1170 opposes the movement of the rotating platform, causing it to swing back into place. As the cylindrical sample container 1130 is rotated, it can be illuminated by the light source 1120.

[0158] Figures 12A-12D The embodiment has a holding table 1180 for a cylindrical sample container 1130. The holding table 1180 has a ramp structure 1181 so that as long as the bottom of the cylindrical sample container 1130 is first placed in the holding table 1180, it will be in an upright position. The robotic arm 1150 is used to take the cylindrical sample container 1130 to the holding table 1180. The robotic arm 1150 also moves the cylindrical sample container 1130 to the imaging position 1141 and places it therein, as well as retrieves the cylindrical sample container 1130 from the chute 1160. The plate 1142 is disposed behind the imaging position 1141. In some embodiments, the plate 1142 provides a static background for the image. In some embodiments, the plate 1142 includes a label or bar code that can be used by the scanner 1140 to determine whether the sample container is positioned at the imaging position 1141. For example, when the label or bar code is visible to the scanner 1140, it can be determined that the sample container is not positioned at the imaging position 1141. Similarly, when the label or barcode is not visible to the scanner 1140, it can be determined that the sample container is positioned at the imaging position 1141. The cylindrical sample container 1130 is rotated a predetermined number of degrees (e.g., 20 degrees, 30 degrees, etc.), and the images at each rotation increment are stitched together to obtain a complete image of the label.

[0159] Fig.13 yes Fig.10An alternative embodiment of the invention is provided, but in which the cylindrical sample container does not rotate. In this embodiment, the system 2000 has a pyramidal or conical reflector 2020, and a complete image can be formed by taking several images of the reflector 2020. The system has a trap door 2025 that slides horizontally. When the trap door 2025 is pushed inward, it holds the cylindrical sample container 2130 in place for imaging by the scanner 2140. The captured image is an image of the entire label 2131. A clamp arm 2150 with a clamp 2155 clamps the neck 2156 of the cylindrical sample container 2130 and is used to place the cylindrical sample container 2130 into the pyramidal reflector 2020 for imaging. The gripper arm 2150 is movable in x, theta, and z such that the gripper arm 2150 can be used to place a cylindrical sample container 2130 in an upright position in the pyramid-shaped reflector 2020, and to retrieve the cylindrical sample container 2130 when it is placed horizontally in the chute 2160. When the trap door 2025 is pushed outward, the cylindrical sample container 2130 falls through the chute 2160 and is removed by the gripper arm 2150. Alternative embodiments deploy other types of doors to allow the cylindrical sample container to be lowered into the chute 2160. Examples of suitable alternative doors include drop away doors, sliding doors, or retracting pins.

[0160] Fig.14 An alternative system 3000 is shown in which a plurality of cameras 3140 are used to obtain images of labels 3131 on cylindrical sample containers 3130. It is a known technique to assemble "flat" images from cylindrical objects using multiple cameras to obtain images, since each image is only a segment of a curved object. It is also known to stitch such images together and will not be described in detail herein. The system 3000 has a platform 3110 with a trap door 3025. The trap door 3025 is closed and the cylindrical sample container remains on the platform 3110 for imaging. As shown, the camera 3140 is mounted on a ring-shaped printed circuit board 3145. As described above, the clamping arm 3150 is used to clamp the neck 3156 of the cylindrical sample container 3130 and place it in the imaging device. After imaging, the trap door 3025 is actuated and the cylindrical sample container 3130 falls through the chute 3160 and is removed by the clamping arm 3150.

[0161] Fig.15The system 4000 is shown without a trap door. In this embodiment, the gripper arm 4150 is used to place and remove the cylindrical sample container 4130 from the pyramid-shaped reflector 4020, which has no opening in its base 4021. The scanner 4140 is used to obtain a single image of an entire sheet of labels 4131. After imaging, in this embodiment, if the user attempts to have the cylindrical sample container gripped by the base instead of the neck, the gripper arm 4150 will remove the cylindrical sample container 4130 from the pyramid-shaped reflector 4020 and place it in the chute 4160, where it will slide to the horizontal position as described above, after which the gripper arm 4150 will remove the cylindrical sample container from the chute 4160 by gripping the base of the cylindrical sample container 4130.

[0162] Fig.16 It is System 5000, just like Fig.10 As shown, but wherein the gripper arm 5150 moves the cylindrical sample container 5130 to the imaging position and to the chute 5160, which flips the cylindrical sample container from the upright position to the horizontal position. The gripper arm 5150 has a scanner 5130 mounted thereon. Once the gripper arm 5150 places the cylindrical sample container 5130 on the rotating platform 5110, the gripper arm is then advanced to align the scanner 5140 with the cylindrical sample container 5130, thereby obtaining an image of the label 5131 as the rotating platform 5110 rotates the cylindrical sample container 5130. After obtaining the image of the cylindrical sample container, the gripper arm 5150 then moves the cylindrical sample container to the chute 5160. When placed in the chute 5160, the cylindrical sample container flips from the vertical position in which it is placed to a horizontal position, in which it is retrieved by the gripper arm 5150 by gripping the bottom of the cylindrical sample container 5130.

[0163] Fig.1761. It is a system 6000 that does not use a slide to rotate a cylindrical sample container from an upright position to a horizontal position. The system 6000 deploys a tilting gripper 6050 that clamps the neck 6100 of the cylindrical sample container 6130. The system 6000 uses a rotating platform 6110 placed below the platform 6115 to ensure that the image of the entire label 6131 is captured by the scanner 6140. After the scanner 6140 captures the image of the cylindrical sample container 6130, the end effector 6155 of the clamping arm 6150 rotates and sets the tilting gripper 6050 so that the flat surface 6051 of the tilting gripper is placed on the platform 6115. Then, the clamping arm releases the neck 6100 of the cylindrical sample container 6130. Then, the cylindrical sample container is held in a horizontal position by the tilting gripper 6050 placed on the platform 6115. Then, the gripper arm 6150 rotates and advances the end effector 6155 in a suitable position to grip the bottom of the cylindrical sample container 6130 held in a horizontal position. Then, the end effector 6155 grips the bottom of the cylindrical sample container 6130 and transfers the cylindrical sample container 6130 away from the platform 6100. The tilt gripper is not transferred together with the cylindrical sample container 6130.

[0164] Fig.18 A system 7000 is shown that deploys a chute 7160 to rotate a cylindrical sample container 7130 when it is placed horizontally in the chute 7160. As described above, the clamp arm 7150 holds the cylindrical sample container in a vertical orientation. The clamp arm 7150 places the cylindrical sample container 7130 in the chute, where it slides down the ramp 7166 along the guide rails 7168 and 7169. The neck 7100 of the cylindrical sample container 7130 fits between the guide rails 7168, 7169. The chute 7160 has rollers 7601 and 7602. The rollers can be used to rotate the cylindrical sample container 7130. With the scanner 7140 placed on the rotating cylindrical sample container, an image of the label 7131 is obtained. However, when the cylindrical sample container 7130 is in a horizontal position, the meniscus of the inoculated culture in the neck 7100 of the cylindrical sample container 7130 cannot be observed. Therefore, in this system, the volume of sample (e.g., blood) added to the sample cannot be determined by observing the cylindrical sample container in a horizontal position. After obtaining an image of the label 7131 on the cylindrical sample container, the clamping arm 7150 grabs the bottom of the cylindrical sample container 7130 to remove it from the chute 7160.

[0165] Fig.19It is a flow chart for positioning a cylindrical sample container for imaging. In step 8001, the light source of the scanner is turned on and tuned to obtain the correct intensity and wavelength for scanning. This step is controlled by software. In step 8002, the sensor verifies that the cylindrical sample container is in the correct position. In those embodiments where the cylindrical sample container is rotated, the rotation of the bottle is started in step 8003. Then, in step 8004, the scanner scans the bar code and any reference mark on the cylindrical sample container. In step 8005, when the benchmark is identified, the system captures the position of the cylindrical sample container. In step 8006, the cylindrical sample container is rotated so that the observation window (that is, the part of the cylindrical sample container not covered by the label) is set in front of the scanner / camera to determine the liquid level in the cylindrical sample container. In step 8007, the light source is adjusted for blood volume measurements (blood volume measurements, BVM). In step 8008, the system captures the distance between the liquid meniscus in the cylindrical sample container and the line etched on the cylindrical sample container (for capacity determination). During the manufacturing process, the ablation line is etched on the bottle at a custom height, indicating the expected fill level of patient blood at the bedside. The typical fill volume for adults is 8-10ml, and 3ml for pediatrics using special pediatric sample containers. Each media type has a published expected fill volume, which is used to calculate the amount of overfill or underfill by the user. The height difference between the blood line and the ablation line is used to determine the volume of patient blood in the sample container. By knowing the capacity characteristics of the cylindrical sample container, the patient blood fill volume is calculated.

[0166] In step 8009, blood volume is reported to the database. In step 8010, the light source is adjusted (e.g., from blue to red or white) to obtain an image of the label. In step 8011, the cylindrical sample container rotates at a set speed. After a preset rotation degree (e.g., 20 degrees), the image is captured until a complete image series of the entire label is obtained. In some embodiments, the trigger for capturing these images is provided directly by a motor (e.g., a stepper motor controller) without using an encoder. In step 8012, the images are spliced ​​together to form a complete label image. The spliced ​​image information is fed back to the rotation controller, which continues to rotate the cylindrical sample container until the buffer memory receiving the image information is full. In step 8013, when the cylindrical sample container rotates a full 360 degrees, the rotation stops. In step 8014, all label images are spliced ​​together. In those systems where a trap door is provided to release the cylindrical sample container into the chute, the trap door is opened in step 8015. In step 8016, the trap door is closed. In those systems where the chute flips from vertical to horizontal, the cylindrical sample container is retrieved in a horizontal position.

[0167] Waste Management Subsystem

[0168] Fig. 6A A perspective view of the waste management subsystem 600 is provided. As shown, the waste management subsystem 600 includes a waste receiver 610, a chute 620, a waste receiver holder 630, and support structures 641 and 642. A user can enter the waste management subsystem 600 by opening the door 110 (see FIG. Figure 1A-1F ) and pull the waste receptacle 610 onto the lip of the waste receptacle holder 630 to access the waste receptacle 610. The chute 620 is positioned above the waste receptacle 610 and is supported by support structures 641 and 642. During operation, the robotic subsystem 700 can drop a negative sample container into the waste receptacle 610 through the chute 620. This reduces the workload associated with negative sample containers for the user, typically about 90% of the sample containers are tested for the presence of bioactive agents. In some embodiments, the waste management subsystem 600 may include one or more additional chutes (not shown) into which the robotic subsystem 700 can drop a negative sample container.

[0169] In some embodiments, the waste management subsystem 600 may include one or more sensors, such as contact sensors, optical sensors, and / or ultrasonic sensors, for monitoring system conditions. Figure 6BAn exploded view of an embodiment of a waste receptacle holder 630 is provided. As shown, the waste receptacle holder 630 includes a base 631, support structures 632 and 635, a force gauge 633, and a controller 634. In some embodiments, the controller 634 may include one or more processors, one or more application specific integrated circuits (ASICs), and / or other similar components. The controller 634 may also include a storage medium capable of storing information, such as a hard drive, a memory card, a ROM, a RAM, a DVD, a CD-ROM, a writable and / or read-only memory. The force gauge 633 may, for example, be used to detect whether the waste receptacle 610 is full. As another example, the force gauge 633 may be used to detect whether the waste receptacle 610 is positioned on the base 631 of the waste receptacle holder 630. As yet another example, the force gauge 633 may be used to detect the addition of a single sample container to the waste receptacle 610. Such information may, for example, be used to verify that the robotic subsystem 700 successfully released the sample container. Measurements from any sensor in the waste management subsystem 600 may be transmitted to the computer 231 and / or 370, which may then cause a corresponding alarm to appear on the display 310. For example, the controller 634 may transmit measurements from the force gauge 633 to the computer 370, which may then cause a corresponding alarm to appear on the display 310. In some embodiments, one or more lights may be positioned on or near the door 110 to convey similar information to the user. In some such embodiments, these indicator lights may be different colors, change colors, and / or flash.

[0170] Robotic Subsystem

[0171] Figure 7A-7H A perspective view of a robotic subsystem 700 and / or one or more components thereof is provided. The robotic subsystem 700 may be configured to transfer sample containers to and / or from the module 102, the output chute 320, the compartments 330 and 340, the imaging subsystem 500, and / or the waste management subsystem 600. The robotic subsystem 700 may also be configured to automatically distribute and / or redistribute sample containers around the circumference of one or more drums in the module 102, thereby distributing the sample containers as desired. Fig. 7AAs shown, the robot subsystem 700 includes a z-axis robot 710, a θ-axis robot 720, an r-axis robot 730, a gripper assembly 740, and a controller 751. The z-axis robot 710 is configured to raise and lower the θ-axis robot 720, the r-axis robot 730, and the gripper assembly 740. The θ-axis robot 720 is configured to rotate the r-axis robot 730 and the gripper assembly 740. The r-axis robot 730 is configured to move the gripper assembly 740 forward and backward. The gripper assembly 740 is configured to grasp and release a sample container (e.g., a blood culture bottle).

[0172] As shown, the z-axis robot 710 includes a track 711, a counterweight housing 712, a pulley 713, a motor 714, and a counterweight 715. The z-axis robot 710 uses a counterweight system to increase the speed of the robot subsystem 700 and increase the total throughput of the sample container. The counterweight system includes a counterweight housing 712, a pulley 713, and a counterweight 715. One or more cables (not shown) can be coupled to the θ-axis robot 720 and the counterweight 715, and the counterweight 715 is positioned in the counterweight housing 712. The one or more cables can extend from the θ-axis robot 720, pass through the pulley 713, and enter the counterweight housing 712. In some embodiments, if the main cable breaks, one or more redundant cables can be used for safety reasons. The counterweight system can facilitate the use of components with reduced ratings, weight, cost, and / or size, such as low torque motors (e.g., motor 714) and / or tracks with low moment load ratings on the carriage (e.g., track 711). Thus, the counterweight system may help reduce the overall weight, cost, and / or size of the robotic subsystem 700 .

[0173] Figure 7BA perspective view of a robot subsystem 700 without a z-axis robot 710 is provided. As shown, the robot subsystem 700 may include a controller 752, a cable carrier 753, and a camera 770. In some embodiments, the controller 751 may be communicatively coupled to the r-axis robot 730 and the gripper assembly 740, and the controller 752 may be communicatively coupled to the theta-axis robot 720. For example, the controllers 751 and 752 may send commands and / or receive measurement data from the theta-axis robot 720, the r-axis robot 730, and / or the gripper assembly 740. In some embodiments, the controllers 751 and 752 may communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, the controllers 751 and 752 may include one or more processors, one or more application specific integrated circuits (ASICs), and / or other similar components. Controllers 751 and 752 may also include storage media capable of storing information, such as a hard drive, memory card, ROM, RAM, DVD, CD-ROM, writable and / or read-only memory. In some embodiments, cable carrier 753 may house one or more cables coupled to r-axis robot 730 and / or gripper assembly 740. Similar to controllers 751 and 752, controller 754 (see Figure 2E ) is communicatively coupled to the z-axis robot 710. For example, the controller 754 can send commands and / or receive measurement data from the z-axis robot 710 via one or more cables or wireless communications.

[0174] In some embodiments, the camera 770 can be used to verify the movement of the robot subsystem 700. For example, the camera 770 can be used to verify that the robot subsystem 700 has successfully grasped or released a sample container. As another example, the camera 770 can be used to verify that the gripper assembly 740 is correctly positioned relative to one or more components of the module 101 (such as the output chute 320, the compartments 330 and 340, the imaging subsystem 500, or the waste management subsystem 600). In some embodiments, the camera 770 can make it easier for a user to observe the movement of the robot subsystem 700. For example, one or more images captured by the camera 770 can be displayed on the display 310. In some embodiments, the camera 770 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, the camera 770 can be removed from the robot subsystem 700. In some embodiments, module 101 may include one or more sensors, such as contact sensors, optical sensors, and / or ultrasonic sensors, to verify the position of the robotic subsystem 700 and / or one or more components thereof. In some embodiments, the current and / or power drawn by one or more motors (e.g., motors 714, 721, 732, and / or 741) of the robotic subsystem 700 may be used to verify whether one or more movements of the robotic subsystem 700 have been initiated or completed.

[0175] Figure 7C A perspective view of the r-axis robot 730 and gripper assembly 740 is provided. The cover 731 has been removed (see Figure 7B ) to show the pulley system in the R-axis robot 730. As shown, the R-axis robot 730 includes a motor 732, a belt 733, a drive pulley 734, a guide wheel 735, arms 736 and 737, and a clamp 738. The drive pulley 734 and the guide wheel 735 are connected by the belt 733. The drive pulley 734 is also directly coupled to the shaft of the motor 732. When the motor 732 rotates the drive pulley 734, the guide wheel 735 will also rotate. In addition, when the drive pulley 734 rotates, the clamp 738 coupled to the belt 733 will move forward or backward. Since the clamp 738 is also coupled to the arm 737 that is slidably engaged with the arm 736, the forward and backward movement of the clamp 738 will also move the arm 737 forward and backward. The forward and backward movement of the arm 737 will also move the clamp assembly 740 coupled to the arm 737 forward and backward. As shown, the drive pulley 734 and some of the guide wheels 735 are toothed. The remaining guide wheels 735 are smooth. However, in other embodiments, one or more of these pulleys can be modified to be smooth or toothed.

[0176] As shown, the R-axis robot 730 also includes a belt tensioner 780, which includes a guide wheel 781, an arm 782, a coupling 783, and a screw 784. The guide wheel 781 contacts the belt 733 and can be used to apply tension to the belt 733 and prevent it from slipping. As shown, the guide wheel 781 is smooth, but in other embodiments, the guide wheel 781 can be toothed. The guide wheel 781 is rotatably coupled to the arm 782. In some embodiments, the arm 782 is rotatably coupled to the cover 731 and / or other components of the R-axis robot 730 via the coupling 783. The arm 782 can rotate around an axis extending through the coupling 783. The screw 784 can be tightened to apply force to the arm 782, which causes the arm 782 to rotate in a clockwise direction (from Figure 7C 781 to apply additional tension to the belt 733. In some embodiments, the belt tensioner 780 may include one or more springs (not shown) to automatically set the desired tension.

[0177] like Figure 7C As shown, the motor 732 is advantageously positioned in the middle of the stroke of the R-axis robot 730. The arm 737 can move backward past the motor 732, and the arm 737 can move forward past the motor 732. This is achieved by using multiple guide wheels 735, as opposed to a single guide wheel. Most commercially available actuators place the motor at one end of the stroke. This conveniently enables the actuator to use only two pulleys - a drive pulley coupled to the shaft of the motor at one end and a guide wheel at the opposite end of the stroke. This is a cost-effective solution, but results in a longer overall length of the actuator due to the size of the motor. In other words, this type of design requires room for the motor at the end of the actuator. In module 101, the space behind the R-axis robot 730 is minimal. Therefore, it is advantageous that the overall length of the R-axis robot 730 can be reduced by using multiple guide wheels 735, such as Figure 7C shown.

[0178] Various modifications may be made to the R-axis robot 730. For example, in some embodiments, the motor 732 may be moved to another position between the ends of travel of the R-axis robot 730. As another example, in some embodiments, the R-axis robot 730 may include more or fewer guide wheels 735. As yet another example, in some embodiments, the belt 733, drive pulley 734, and guide wheel 735 may be rotated 90 degrees to be parallel to the plane of the top surface of the arms 736 and 737. As yet another example, in some embodiments, different belt types and sizes, pulley sizes, and / or belt routings may also be used.

[0179] Fig.7D and Fig. 7EA perspective view of a portion of a gripper assembly 740 and an r-axis robot 730 is provided. As shown, the r-axis robot 730 includes a rail 748 that can be used to couple arms 736 and 737. For example, the rail 748 of arm 737 can be coupled to the track 749 of arm 736 (see Figure 7C ). In addition, the gripper assembly 740 includes a motor 741, grippers 742 and 743, and grooves 744 and 745. During operation, the motor 741 can be used to move the grippers 742 and 743 closer together or further apart. These movements enable the robotic subsystem 700 to grasp and release sample containers. In addition, as shown in the figure, when the sample container 760 (e.g., a blood culture bottle) is oriented vertically (see Fig.7D ) and when it is oriented horizontally (see Fig. 7E ), the robotic subsystem 700 can grab it. When the sample container 760 is in an upright position, the grooves 744 and 745 can be used to grasp the neck of the sample container 760. When the sample container 760 is in a horizontal position, the curved shape of the grippers 742 and 743 can be used to grasp the bottom end of the sample container 760.

[0180] In some embodiments, one or more springs (not shown) can force the grippers 742 and 743 together. In such embodiments, the motor 741 generates an opposing force to move the grippers 742 and 743 further apart. In some embodiments, the one or more springs can be positioned in a common housing together with the motor 741. In the event of a power failure, the one or more springs can prevent the robot subsystem 700 from dropping the sample container. For example, the force generated by the one or more springs can be sufficient to enable the robot subsystem 700 to continue to grip the sample container even when there is no power. In some embodiments, the robot subsystem 700 may include a backup power supply (e.g., backup power supply 234). In addition to helping prevent the robot subsystem 700 from dropping the sample container, the backup power supply can also help maintain the chain of custody of the sample container. In addition, in some embodiments, the backup power supply can enable the robot subsystem 700 to complete the delivery of the sample container to the destination location during a power outage. For example, if the robot subsystem 700 is delivering a sample container to the imaging subsystem 500, the backup power supply can be used to complete the delivery.

[0181] like Figure 7A-7E As shown, the gripper assembly 740 is advantageously separated from the arm 736 of the r-axis robot 730 by the arm 737. In other embodiments, the gripper assembly 740 may also be slidably coupled to the arm 737. However, in such embodiments, when the gripper assembly 740 holds the sample container in an upright position, it may not be possible to fully retract the gripper assembly 740 to a position below the arm 736. Figure 7CAs best seen in FIG, the crimp ring, septum, and a portion of the neck of the sample container may extend vertically past the tops of the holders 742 and 743. In embodiments where the holder assembly 740 is directly coupled to the arm 737, these portions of the sample container may impinge on the arm 736. Figure 7A-7E In the illustrated embodiment, this is avoided by creating space between the top of the holders 742 and 743 and the arm 736, which can accommodate a portion of the crimp ring, septum, and / or the neck of the sample container. Advantageously, this space is created without increasing the size (e.g., height) of the holder assembly 740. Thus, this embodiment provides a cost-effective way to fully retract the holder assembly 740 while the holder assembly 740 holds the sample container in an upright position.

[0182] like Figure 7A-7E As shown, the orientation of the belt 733 and the track 749 can also advantageously facilitate the ability of the robotic subsystem 700 to fully retract the gripper assembly 740 while the gripper assembly 740 holds the sample container in an upright position. More specifically, the space below the arm 736 - also between the belt 733 and the track 749 - can accommodate a portion of the crimping ring, the septum, and / or the neck of the sample container while the sample container is held in an upright position by the gripper assembly 740. Advantageously, this space is created without increasing the size (e.g., height) of the gripper assembly 740. Therefore, the orientation of the belt 733 and the track 749 provides a cost-effective way to fully retract the gripper assembly 740 while the gripper assembly 740 holds the sample container in an upright position.

[0183] Figure 7F-7H A perspective view of a θ-axis robot 720 is provided. As shown, the θ-axis robot 720 includes a motor 721, a belt 722, a guide wheel 723, a drive pulley 724, a platform 725, and a coupling 726. The drive pulley 724 and the guide wheel 723 are connected by the belt 722. The drive pulley 724 is also directly coupled to the shaft of the motor 721. When the motor 721 rotates the drive pulley 724, the guide wheel 723 will also rotate. Since the guide wheel 723 is also coupled to the r-axis robot 730, the rotation of the drive pulley 724 will also rotate the r-axis robot 730. The θ-axis robot 720 can be slidably coupled to the track 711 of the z-axis robot 710 through the coupling 726.

[0184] As shown, the θ-axis robot 720 also includes a belt tensioner 790, which includes a guide wheel 791, a plate 792, a groove 793, a screw 794, and an opening 795. The guide wheel 791 contacts the belt 722 and can be used to apply tension to the belt 722 and prevent it from slipping. The guide wheel 791 is rotatably coupled to the plate 792. The plate 792 is positioned in the groove 793 of the platform 725. The plate 792 is coupled to the screw 794, which extends through the opening 795 of the platform 725. When the screw 794 is loose, the plate 792 can slide up or down (from Figure 7G 792 is viewed from a perspective of FIG. 794 ). As plate 792 slides downward, it causes guide wheel 791 to apply additional tension to belt 722. When screw 794 is tightened, plate 792 is prevented from sliding upward or downward. In some embodiments, belt tensioner 790 may include one or more springs (not shown) to automatically set the desired tension.

[0185] Figure 20A-20G Another embodiment of a robotic subsystem comparable to robotic subsystem 700 is shown. Fig. 20A As shown, the robot subsystem 1700 includes a z-axis robot 1710, a θ-axis robot 1720, an r-axis robot 1730, and a gripper assembly 1740. The z-axis robot 1710 is configured to raise and lower the θ-axis robot 1720, the r-axis robot 1730, and the gripper assembly 1740. The θ-axis robot 1720 is configured to rotate the r-axis robot 1730 and the gripper assembly 1740. The r-axis robot 1730 is configured to move the gripper assembly 1740 forward and backward. The gripper assembly 1740 is configured to grasp and release a sample container (e.g., a blood culture bottle).

[0186] As shown, the z-axis robot 1710 includes a track 1711, a counterweight housing 1712, a pulley 1713, and a counterweight 1715. The z-axis robot 1710 employs a counterweight system to increase the speed of the robot subsystem 1700 and to increase the overall throughput of sample containers. The counterweight system includes a counterweight housing 1712, a pulley 1713, and a counterweight 1715. One or more cables (not shown) may be coupled to both the θ-axis robot 1720 and the counterweight 1715, which is positioned within the counterweight housing 1712. The one or more cables may extend from the θ-axis robot 1720, through the pulley 1713, and into the counterweight housing 1712. In some embodiments, one or more redundant cables may be used for safety reasons if the main cable breaks. The counterweight system can facilitate the use of components with reduced ratings, weight, cost, and / or size, such as low torque motors and / or tracks with low moment load ratings on the carriage (e.g., track 1711). Thus, the counterweight system can help reduce the overall weight, cost, and / or size of the robot subsystem 1700.

[0187] Fig. 20B and Fig. 20C A perspective view of an R-axis robot 1730 and a gripper assembly 1740 is provided. As shown, the R-axis robot 1730 includes a motor 1732, a belt 1733, a drive pulley 1734, a guide wheel 1735, arms 1736 and 1737, and a clamp 1738. The drive pulley 1734 and the guide wheel 1735 are connected by the belt 1733. The drive pulley 1734 is also directly coupled to the shaft of the motor 1732. When the motor 1732 rotates the drive pulley 1734, the guide wheel 1735 will also rotate. In addition, when the drive pulley 1734 rotates, the clamp 1738 coupled to the belt 1733 will move forward or backward. Since the clamp 1738 is also coupled to the arm 1737 that is slidably engaged with the arm 1736, the forward and backward movement of the clamp 1738 will also cause the arm 1737 to move forward and backward. The forward and backward movement of the arm 1737 will also move the clamp assembly 1740 coupled to the arm 1737 forward and backward. As shown, the drive pulley 1734 and the guide wheel 1735 are toothed, but in other embodiments, the drive pulley 1734 and the guide wheel 1735 can be toothed.

[0188] Various modifications may be made to the R-axis robot 1730. For example, in some embodiments, the R-axis robot 1730 may include more or fewer guide wheels. As yet another example, in some embodiments, the belt 1733, drive pulley 1734, and guide wheel 1735 may be rotated 90 degrees to be parallel to the plane of the top surface of the arms 1736 and 1737. As yet another example, in some embodiments, different belt types and sizes, pulley sizes, and / or belt trajectories may also be used. As yet another example, in some embodiments, the R-axis robot 1730 may be modified to have a carriage driven by a ball-screw and nut, rather than a linear actuator driven by an internal belt drive with pulleys at each end.

[0189] Fig.20D and Fig.20E A perspective view of a gripper assembly 1740 is provided. As shown, gripper assembly 1740 includes motor 1741, grippers 1742 and 1743, and grooves 1744 and 1745. During operation, motor 1741 can be used to move grippers 1742 and 1743 closer together or further apart. These movements enable robotic subsystem 1700 to grasp and release sample containers. In addition, as shown, when sample container 1760 (e.g., blood culture bottle) is oriented vertically (see Fig.20E ) and when it is oriented horizontally (see Fig.20D), which can be grasped by the robotic subsystem 1700. When the sample container 1760 is in an upright position, the grooves 1744 and 1745 can be used to grasp the neck of the sample container 1760. When the sample container 1760 is in a horizontal position, the curved shape of the grippers 1742 and 1743 can be used to grasp the bottom end of the sample container 1760.

[0190] In some embodiments, one or more springs (not shown) can force the grippers 1742 and 1743 together. In such embodiments, the motor 1741 generates an opposing force to move the grippers 1742 and 1743 further apart. In some embodiments, the one or more springs can be positioned within a common housing with the motor 1741. In the event of a power failure, the one or more springs can prevent the robot subsystem 1700 from dropping the sample container. For example, the force generated by the one or more springs can be sufficient to enable the robot subsystem 1700 to continue to grip the sample container even when there is no power. In some embodiments, the robot subsystem 1700 can include a backup power supply (e.g., backup power supply 234). In addition to helping prevent the robot subsystem 1700 from dropping the sample container, the backup power supply can also help maintain the chain of custody of the sample container.

[0191] Fig.20F A perspective view of the θ-axis robot 1720 is provided, and Figure 20G A cross-sectional view of a portion of the θ-axis robot 1720 and the r-axis robot 1730 is provided. As shown, the θ-axis robot 1720 includes a motor 1721, a belt 1722, a guide wheel 1723, a drive pulley 1724, a platform 1725, and a coupling 1726. The guide pulley 1723 includes a large diameter (approximately 3.5") thin wall bearing containing a steel ball bearing, around which a machined gear ring is sandwiched. The drive pulley 1724 and the guide pulley 1723 are connected by a belt 1722. The drive pulley 1724 is also directly coupled to the shaft of the motor 1721. When the motor 1721 rotates the drive pulley 1724, the guide pulley 1723 will also rotate. Since the guide pulley 1723 is also coupled to the r-axis robot 1730, the rotation of the drive pulley 1724 will also cause the r-axis robot 1730 to rotate. The θ-axis robot 1720 can be slidably coupled to the track 1711 of the z-axis robot 1710 via a coupling 1726.

[0192] Figure 21A-Figure 21F Another embodiment of a robotic subsystem comparable to robotic subsystems 700 and 1700 is shown. Fig.21AAs shown, robot subsystem 2700 can be incorporated into an automated system 2100 for processing multiple sample containers (e.g., blood culture bottles), including modules 2101 and 2102. Module 2101 is a sample handling module, which is configured to receive sample containers, scan sample containers, transfer sample containers to module 2102 and transfer sample containers from module 2102, discard sample containers that are negative for testing, and provide sample containers that are positive for testing at the output end. As shown, module 2101 includes an output chute 2320, compartments 2330 and 2340, and door 2110, which can provide an entrance to a waste receiver. Module 2102 is a cultivation and measurement module, which is configured to determine whether a sample container is contaminated or infected by microorganisms.

[0193] like Fig.21B As shown, the robot subsystem 2700 includes a z-axis robot 2710, a θ-axis robot 2720, an r-axis robot 2730, and a gripper assembly 2740. The z-axis robot 2710 is configured to raise and lower the r-axis robot 2730 and the gripper assembly 2740. The θ-axis robot 2720 is configured to rotate the z-axis robot 2710, the r-axis robot 2730, and the gripper assembly 2740. The r-axis robot 2730 is configured to move the gripper assembly 2740 forward and backward. The gripper assembly 2740 is configured to grasp and release a sample container (e.g., a blood culture bottle). Fig. 21C and Fig.21D As shown, the robotic subsystem 2700 can retrieve a sample container 2760 from a shelf 2450 in the compartment 2330 .

[0194] Fig.21E and Fig.21F A perspective view of a gripper assembly 2740 is provided. As shown, gripper assembly 2740 includes motor 2741, grippers 2742 and 2743, grooves 2744 and 2745, and finger 2746. During operation, motor 2741 can be used to move grippers 2742 and 2743 closer together or further apart. These movements enable robotic subsystem 2700 to grasp and release sample containers. In addition, as shown, when sample container 2760 (e.g., blood culture bottle) is oriented vertically (see Fig.21F ) and when it is oriented horizontally (see Fig.21E ), the robotic subsystem 2700 can grasp it. When the sample container 2760 is in an upright position, the grooves 2744 and 2745 can be used to grasp the neck of the sample container 2760. When the sample container 2760 is in a horizontal position, the finger-shaped member 2746 can be used to grasp the bottom end of the sample container 2760. In some embodiments, the gripper assembly 2740 may include additional fingers.

[0195] In some embodiments, one or more springs (not shown) can force the grippers 2742 and 2743 together. In such embodiments, the motor 2741 generates an opposing force to move the grippers 2742 and 2743 further apart. In some embodiments, the one or more springs can be positioned in a common housing with the motor 2741. In the event of a power failure, the one or more springs can prevent the robot subsystem 2700 from dropping the sample container. For example, the force generated by the one or more springs can be sufficient to enable the robot subsystem 2700 to continue to grip the sample container even when there is no power. In some embodiments, the robot subsystem 2700 may include a backup power supply (e.g., backup power supply 234). In addition to helping prevent the robot subsystem 2700 from dropping the sample container, the backup power supply can also help maintain the chain of custody of the sample container.

[0196] Figure 22A-22C Another embodiment of a θ-axis robot comparable to θ-axis robots 720 and 1720 is shown. As shown, θ-axis robot 3720 includes motor 3721, belts 3722 and 3727, guide wheels 3723 and 3724, platform 3725, coupling 3726, and cover 3728. Guide wheels 3723 and 3724 are connected by belt 3722. Guide wheel 3724 is also connected to a drive pulley (not shown) positioned below motor 3721 by belt 3727. The drive pulley is directly coupled to the shaft of motor 3721. When motor 3721 rotates the drive pulley, guide wheels 3723 and 3724 will also rotate. θ-axis robot 3720 can be slidingly coupled to a track (e.g., track 711) by coupling 3726.

[0197] As shown, the θ-axis robot 3720 also includes two belt tensioners. One belt tensioner includes a guide wheel 3791, a plate 3792, a groove 3793, a screw 3794, and an opening 3795. The guide wheel 3791 contacts the belt 3722 and can be used to apply tension to the belt 3722 and prevent it from slipping. The guide wheel 3791 is rotatably coupled to the plate 3792. The plate 3792 is positioned in the groove 3793 of the platform 3725. The plate 3792 is coupled to the screw 3794, which extends through the opening 3795 of the platform 3725. When the screw 3794 is loose, the plate 3792 can slide. When the screw 3794 is tightened, the plate 3792 is prevented from sliding. In some embodiments, the first belt tensioner may include one or more springs (not shown) to automatically set the desired tension.

[0198] The second belt tensioner includes a guide wheel 3796, a plate 3797, a screw 3799, and an opening 3798. The guide wheel 3796 contacts the belt 3727 and can be used to apply tension to the belt 3727 and prevent it from slipping. The guide wheel 3796 is rotatably coupled to the plate 3797. The plate 3797 is positioned in a groove (not shown) of the platform 3725. The plate 3797 is coupled to the screw 3799, which extends through the opening 3798 of the platform 3725. When the screw 3799 is loose, the plate 3797 can slide. When the screw 3799 is tightened, the plate 3797 is prevented from sliding. In some embodiments, the second belt tensioner may include one or more springs (not shown) to automatically set the desired tension. In some embodiments, the motor 3721 may be mounted to a pivotable secondary plate. The pivoting motion can provide tension without using, for example, the plate 3797 and the guide wheel 3796.

[0199] like Fig. 22C As shown, the guide wheel 3724 includes a top plate 3001, a bottom plate 3002, a shaft 3003, a ball bearing 3004, a wave ring 3005 and a buckle 3006. The top plate 3001 contacts the belt 3727 and can be moved from the top plate 3001 to the bottom plate 3002. Fig.22A The chassis 3002 contacts the belt 3722 and can be seen from Fig. 22B from a perspective. The top plate 3001 and the bottom plate 3002 are fixedly coupled to each other by a shaft 3003. The shaft 3003 is configured to rotate with a ball bearing 3004. The θ-axis robot 3720 advantageously has an increased torque ratio compared to the θ-axis robot 720. This is achieved by sizing the top plate 3001 and the bottom plate 3002 such that the diameter of the top plate 3001 is larger than the diameter of the bottom plate 3002. The increased gear ratio can, for example, increase the control resolution of the robot subsystem 700. Therefore, in some embodiments, the θ-axis robot 720 can be replaced with the θ-axis robot 3720. In some embodiments, the ball bearings 3004 can be repositioned so that, for example, one is positioned above the top plate 3001 and the other is positioned below the top plate 3001 (from Fig. 22C This arrangement can advantageously provide additional rigidity to shaft 3003.

[0200] Fig.23AAnother embodiment of a gripper assembly comparable to gripper assembly 740, 1740 and 2740 is shown. As shown, gripper assembly 4740 includes housing 4741, grippers 4742 and 4743, grooves 4744 and 4745 and sensor 4772. During operation, the motor in housing 4741 can be used to move grippers 4742 and 4743 closer together or further apart. These movements can enable a robot subsystem (e.g., robot subsystem 700) to grab and release a sample container. In addition, the sample container can be oriented vertically or horizontally. When the sample container is in an upright position, grooves 4744 and 4745 can be used to grab the neck of the sample container. When the sample container is in a horizontal position, the curved portion of the main body of grippers 4742 and 4743 can be used to grab the bottom of the sample container.

[0201] In some embodiments, sensor 4772 can be a non-contact sensor, such as an optical sensor or an ultrasonic sensor. In some embodiments, sensor 4772 can be used to verify the movement of a robot subsystem (e.g., robot subsystem 700). For example, sensor 4772 can be used to verify that gripper assembly 4740 has successfully grasped or released a sample container. As another example, sensor 4772 can be used to verify that gripper assembly 4740 is correctly positioned relative to one or more components of a module (e.g., output chute 320, compartments 330 and 340, imaging subsystem 500, or waste management subsystem 600). By tilting sensor 4772 (different from orienting it vertically or horizontally), it can be advantageously used to measure the vertical and / or horizontal distance between gripper assembly 4740 and another object. In addition, by positioning sensor 4772 so that it does not extend above or below housing 4741, sensor 4772 advantageously does not interfere with the movement of gripper assembly 4740. However, in some embodiments, the orientation and / or position of sensor 4772 can be changed. For example, in some embodiments, sensor 4772 may be oriented vertically or horizontally. As another example, in some embodiments, sensor 4772 may be coupled to one of grippers 4742 and 4743 instead of housing 4741. In some embodiments, sensor 4772 may communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, gripper assembly 4740 may include one or more additional sensors that may also be used to verify the movement of the robotic subsystem. In some embodiments, sensor 4772 may be removed from gripper assembly 4740.

[0202] Figure 23B-Figure 23D47 is a perspective view of a gripper assembly 4740 without a portion of a housing 4741. As shown, the gripper assembly 4740 includes a platform 4001, a motor 4002, a pinion 4003, a mount 4004, sliders 4005 and 4006, shafts 4007 and 4008, racks 4009 and 4010, springs 4011, 4012 and 4017, rails 4013 and 4014, a sensor 4015 and a member 4016. The slider 4005 is coupled to the gripper 4742 and the rack 4009. Similarly, the slider 4006 is coupled to the gripper 4743 and the rack 4010. The slider 4005 is slidably coupled to the shaft 4007 and the rail 4013. Similarly, the slider 4006 is slidably coupled to the shaft 4008 and the rail 4014. The motor 4002 is configured to rotate the pinion 4003. In some embodiments, motor 4002 is a compact brushless DC motor with a gear reducer and / or an encoder. Pinion 4003 engages with racks 4009 and 4010 so that when pinion 4003 rotates in a first direction, clamps 4742 and 4743 move closer together. Similarly, when pinion 4003 rotates in the opposite direction, clamps 4742 and 4743 move farther apart. Springs 4011 and 4012 are positioned around shafts 4007 and 4008, respectively, and are configured to apply forces to sliders 4005 and 4006, respectively, which move clamps 4742 and 4743 closer together. Therefore, in the event of a power failure, springs 4011 and 4012 can prevent a robot subsystem (e.g., robot subsystem 700) from dropping a sample container.

[0203] Sensor 4015, member 4016 and spring 4017 can be used to measure the position of clamps 4742 and 4743. For example, spring 4017 can apply force to member 4016 in a first direction. However, when clamps 4742 and 4743 move closer together, slider 4006 can rotate member 4016 in the opposite direction. This rotation causes a portion of member 4016 to move away from under sensor 4015. This movement can then be detected by sensor 4015. In some embodiments, sensor 4015 can communicate with one or more controllers (e.g., controllers 751, 752 and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, sensor 4015 can be a non-contact sensor, such as an optical sensor. In other embodiments, sensor 4015 can be, for example, a contact sensor.

[0204] Compared to gripper assembly 740, gripper assembly 4740 may advantageously have an increased stroke length and / or reduced width. This is accomplished by using two separate linear guide assemblies. Most grippers use a single linear guide with both carriages mounted on the same track. This limits the stroke because the carriages share the same rail. By using two linear guides, the carriages can intersect and pass, thus providing more stroke within a reduced width footprint. Therefore, in some embodiments, gripper assembly 740 may be replaced by gripper assembly 4740.

[0205] In some embodiments, motor 4002 can be a servomotor. In such embodiments, motor 4002 can advantageously enable gripper assembly 4740 to apply additional extrusion force by grippers 4742 and 4743 to compensate for misalignment during pickup. In addition, in such embodiments, motor 4002 can advantageously provide torque and position measurements. In some embodiments, one or more controllers (e.g., controller 751, 752 and / or 754) and / or computers (e.g., computers 231 and / or 370) can use these torque and position measurements to detect whether a sample container is positioned in grippers 4742 and 4743. Similarly, in some embodiments, one or more controllers and / or computers can utilize these torque and position measurements to detect whether a sample container has fallen. In some embodiments, motor 4002 can be another type of motor, such as a stepper motor.

[0206] Fig.24A Another embodiment of a gripper assembly comparable to gripper assembly 740, 1740, 2740 and 4740 is shown. As shown, gripper assembly 5740 includes housing 5741, grippers 5742 and 5743, grooves 5744 and 5745 and sensor 5772. During operation, the motor in housing 5741 can be used to move grippers 5742 and 5743 closer together or further apart. These movements can enable a robot subsystem (e.g., robot subsystem 700) to grab and release a sample container. In addition, the sample container can be oriented vertically or horizontally. When the sample container is in an upright position, grooves 5744 and 5745 can be used to grab the neck of the sample container. When the sample container is in a horizontal position, the curved portion of the body of grippers 5742 and 5743 can be used to grab the bottom of the sample container.

[0207] In some embodiments, sensor 5772 can be a non-contact sensor, such as an optical sensor or an ultrasonic sensor. In some embodiments, sensor 5772 can be used to verify the movement of a robot subsystem (e.g., robot subsystem 700). For example, sensor 5772 can be used to verify that gripper assembly 5740 has successfully grasped or released a sample container. As another example, sensor 5772 can be used to verify that gripper assembly 5740 is correctly positioned relative to one or more components of a module (e.g., output chute 320, compartments 330 and 340, imaging subsystem 500, or waste management subsystem 600). By tilting sensor 5772 (different from orienting it vertically or horizontally), it can be advantageously used to measure the vertical and / or horizontal distance between gripper assembly 5740 and another object. In addition, by positioning sensor 5772 between grippers 5742 and 5743, it can accurately verify the movement of the robot subsystem. In addition, by positioning the sensor 5772 so that it does not extend above or below the grippers 5742 and 5743, the sensor 5772 advantageously does not interfere with the movement of the gripper assembly 5740. However, in some embodiments, the orientation and / or position of the sensor 5772 can be changed. For example, in some embodiments, the sensor 5772 can be oriented vertically or horizontally. As another example, in some embodiments, the sensor 5772 can be coupled to one of the grippers 5742 and 5743, rather than the housing 5741. In some embodiments, the sensor 5772 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, the gripper assembly 5740 may include one or more additional sensors that can also be used to verify the movement of the robot subsystem. In some embodiments, the sensor 5772 can be removed from the gripper assembly 5740.

[0208] Figure 24B-Figure 24D5001, a perspective view of the clamp assembly 5740 without the housing 5741 portion. As shown, the clamp assembly 5740 includes a platform 5001, a motor 5002, a pinion 5003, a seat 5004, sliders 5005 and 5006, shafts 5007 and 5008, racks 5009 and 5010, springs 5011, 5012 and 5017, rails 5013 and 5014, a sensor 5015 and a member 5016. The slider 5005 is coupled to the clamp 5742 and the rack 5009. Similarly, the slider 5006 is coupled to the clamp 5743 and the rack 5010. The slider 5005 is slidably coupled to the shaft 5007 and the rail 5013. Similarly, the slider 5006 is slidably coupled to the shaft 5008 and the rail 5014. The motor 5002 is configured to rotate the pinion 5003. In some embodiments, motor 5002 is a compact brushless DC motor with a gear reducer and / or an encoder. Pinion 5003 engages with racks 5009 and 5010 so that when pinion 5003 rotates in a first direction, clamps 5742 and 5743 move closer together. Similarly, when pinion 5003 rotates in the opposite direction, clamps 5742 and 5743 move farther apart. Springs 5011 and 5012 are positioned around shafts 5007 and 5008, respectively, and are configured to apply forces to sliders 5005 and 5006, respectively, which causes clamps 5742 and 5743 to move closer together. Therefore, in the event of a power failure, springs 5011 and 5012 can prevent a robot subsystem (e.g., robot subsystem 700) from dropping a sample container.

[0209] Sensor 5015, member 5016 and spring 5017 can be used to measure the position of clamps 5742 and 5743. For example, spring 5017 can apply force to member 5016 in a first direction. However, when clamps 5742 and 5743 move closer together, slider 5006 can rotate member 5016 in the opposite direction. This rotation causes a portion of member 5016 to move away from under sensor 5015. This movement can then be detected by sensor 5015. In some embodiments, sensor 5015 can communicate with one or more controllers (e.g., controllers 751, 752 and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, sensor 5015 can be a non-contact sensor, such as an optical sensor. In other embodiments, sensor 5015 can be, for example, a tactile sensor.

[0210] Compared to gripper assembly 740, gripper assembly 5740 may advantageously have an increased stroke length and / or reduced width. This is accomplished by using two separate linear guide assemblies. Most grippers use a single linear guide with both carriages mounted on the same track. This limits the stroke because the carriages share the same rail. By using two linear guides, the carriages can intersect and pass, thus providing more stroke within the reduced width track. Therefore, in some embodiments, gripper assembly 740 may be replaced by gripper assembly 5740.

[0211] In some embodiments, motor 5002 can be a servomotor. In such embodiments, motor 5002 can advantageously enable gripper assembly 5740 to apply additional extrusion force by grippers 5742 and 5743 to compensate for misalignment during pickup. In addition, in such embodiments, motor 5002 can advantageously provide torque and position measurements. In some embodiments, one or more controllers (e.g., controller 751, 752 and / or 754) and / or computers (e.g., computers 231 and / or 370) can utilize these torque and position measurements to detect whether sample container is positioned in grippers 5742 and 5743. Similarly, in some embodiments, one or more controllers and / or computers can utilize these torque and position measurements to detect whether sample container has fallen. In some embodiments, motor 5002 can be another type of motor, such as a stepper motor.

[0212] Fig.25A and Fig.25B The top perspective view and bottom perspective view of another embodiment of the holder assembly comparable to the holder assembly 740, 1740, 2740, 4740 and 5740 are shown respectively. As shown, the holder assembly 6740 comprises a housing 6741, holders 6742 and 6743, grooves 6744 and 6745, engagement features 6746 and 6747 and a sensor 6772. During operation, the motor in the housing 6741 can be used for moving the holders 6742 and 6743 closer together or apart away. These motions can enable the robot subsystem (e.g., the robot subsystem 700) to grasp and release the sample container. In addition, the sample container can be vertically or horizontally oriented. When the sample container is in an upright position, grooves 6744 and 6745 can be used for grasping the neck of the sample container. In addition, when the clamps 6742 and 6743 grasp the neck of the sample container, the engagement features 6746 and 6747 can interlock with each other to provide additional support. When the sample container is in a horizontal position, the curved portion of the body of the clamps 6742 and 6743 can be used to grasp the bottom end of the sample container.

[0213] In some embodiments, sensor 6772 can be a non-contact sensor, such as an optical sensor or an ultrasonic sensor. In some embodiments, sensor 6772 can be used to verify the movement of a robot subsystem (e.g., robot subsystem 700). For example, sensor 6772 can be used to verify that gripper assembly 6740 has successfully grasped or released a sample container. As another example, sensor 6772 can be used to verify that gripper assembly 6740 is correctly positioned relative to one or more components of a module (e.g., output chute 320, compartments 330 and 340, imaging subsystem 500, or waste management subsystem 600). By tilting sensor 6772 (different from orienting it vertically or horizontally), it can be advantageously used to measure the vertical and / or horizontal distance between gripper assembly 6740 and another object. In addition, by positioning sensor 6772 between grippers 6742 and 6743, it can accurately verify the movement of the robot subsystem. In addition, by positioning the sensor 6772 so that it does not extend above or below the grippers 6742 and 6743, the sensor 6772 advantageously does not interfere with the movement of the gripper assembly 6740. However, in some embodiments, the orientation and / or position of the sensor 6772 can be changed. For example, in some embodiments, the sensor 6772 can be oriented vertically or horizontally. As another example, in some embodiments, the sensor 6772 can be coupled to one of the grippers 6742 and 6743, rather than the housing 6741. In some embodiments, the sensor 6772 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, the gripper assembly 6740 may include one or more additional sensors that can also be used to verify the movement of the robot subsystem. In some embodiments, the sensor 6772 can be removed from the gripper assembly 6740.

[0214] Fig.25C is a perspective view of the clamp assembly 6740 without the top of the housing 6741. Fig.25D6741 and some other fixed parts. As shown, the clamp assembly 6740 includes a motor 6002, a shaft 6003, a seat 6004, a spring plate 6005, a nut base 6006, a flanged nut 6007, pads 6008 and 6009, a pin 6010, a sensor 6015, a spring 6017, members 6021-6028, and a coupling 6029. The shaft 6003 is threaded. The spring plate 6005 is slidably engaged with the shaft 6003. The pads 6008 and 6009 are coupled to the housing 6741 and are configured to help prevent the spring plate 6005 from rotating as it slides along the shaft 6003. The flanged nut 6007 is engaged with the threads of the shaft 6003. In some embodiments, the flanged nut 6007 is a flanged ball nut. Nut base 6006 is coupled to spring plate 6005 and is in sliding engagement with flanged nut 6007. Pins 6010 are coupled to nut base 6006 and are configured to help prevent flanged nut 6007 from rotating as it moves along shaft 6003. In this particular embodiment, two pins are positioned above nut base 6006 and two pins (not shown) are positioned below nut base 6006. In other embodiments, more or fewer pins may be included to prevent flanged nut 6007 from rotating as it moves along shaft 6003. Spring 6017 is in sliding engagement with shaft 6003. A first end of spring 6017 contacts spring plate 6005. A second end of spring 6017, opposite the first end, contacts flanged nut 6007.

[0215] When the shaft 6003 rotates in a first direction, the flanged nut 6007 moves toward the motor 6002. As the flanged nut 6007 moves toward the motor 6002, it pushes the spring 6017 toward the motor 6002. If there is minimal or no resistance between the clamps 6742 and 6743, the thrust generated by the flanged nut 6007 is transmitted to the spring plate 6005 (and therefore to the nut base 6006) through the spring 6017. As a result, when the flanged nut 6007 moves toward the motor 6002, the spring plate 6005, the nut base 6006, and the spring 6017 will also move toward the motor 6002. If there is resistance between the holders 6742 and 6743 (e.g., when the holders 6742 and 6743 are in contact with each other, or when a sample container is positioned within the holders 6742 and 6743), the thrust generated by the flanged nut 6007 will cause the spring 6017 to compress. As a result, the spring plate 6005 and the nut base 6006 can remain relatively stationary as the flanged nut 6007 moves toward the motor 6002. When the shaft 6003 rotates in a second direction opposite to the first direction, the flanged nut 6007 moves away from the motor 6002. As the flanged nut 6007 moves away from the motor 6002, it pushes the nut base 6006 (and therefore the spring plate 6005 and the spring 6017) away from the motor 6002.

[0216] The holders 6742 and 6743 are coupled to the nut base 6006 through the members 6021-6028 and the coupling 6029. As shown, the holder 6742 is rotatably coupled to the first ends of the members 6021-6023 through the coupling 6029. Similarly, the holder 6743 is rotatably coupled to the first ends of the members 6025-6027 through the coupling 6029. The second ends of the members 6021, 6023, 6025 and 6027 opposite to the first ends are rotatably coupled to the housing 6741 through the coupling 6029. The second ends of the members 6022 and 6026 opposite to the first ends are rotatably coupled to the first ends of the members 6024 and 6028, respectively, through the coupling 6029. The second ends of the members 6024 and 6028 opposite to the first ends are rotatably coupled to the nut base 6006 through the coupling 6029. As shown, members 6021, 6023, 6025 and 6027 are straight, while members 6022, 6024, 6026 and 6028 are curved. In addition, the corners of members 6022 and 6026 are rotatably coupled to the housing 6741 through couplings 6029.

[0217] Figure 25E-25G Without housing 6741 and some other fixing parts (see also Fig.25D ) is a top-down view of the clamp assembly 6740, which shows how the clamps 6742 and 6743 move. Fig.25E and Fig.25F As best seen in FIG. 6 , as nut base 6006 moves toward motor 6002, it pulls members 6024 and 6028 toward motor 6002. The pulling force on members 6024 and 6028 also causes them to rotate about an axis extending through coupling 6029 at the second ends of members 6024 and 6028. The rotation of members 6024 and 6028 also causes (a) members 6022 and 6026 to rotate about an axis extending through coupling 6029 at the corners of members 6022 and 6026, respectively, and (b) members 6021, 6023, 6025, and 6027 to rotate about an axis extending through coupling 6029 at the second ends of members 6021, 6023, 6025, and 6027. In general, the rotation of components 6021-6023 and 6025-6027 causes the clamps 6742 and 6743 to move closer together. As the nut base 6006 moves away from the motor 6002, it pushes the components 6024 and 6028 away from the motor 6002. In much the same way that the pulling force on components 6024 and 6028 also causes the components 6021-6028 to rotate, the pushing force on components 6024 and 6028 also causes the components 6021-6028 to rotate, but in the opposite direction. As a result, the clamps 6742 and 6743 move further apart. Figure 25G As best seen in FIG, when the nut base 6006 moves toward the motor 6002, if there is resistance between the clamps 6742 and 6743, it may simply compress the spring 6017 instead of moving the clamps 6742 and 6743 closer together. Figure 25G In the embodiment, this resistance is caused by the contact between the clamps 6742 and 6743. However, when an object such as a sample container is positioned between the clamps 6742 and 6743, a similar resistance may also be generated.

[0218] Fig.25H and Fig.25I 6005 and sensor 6015. As shown, spring plate 6005 includes member 6016, openings 6031 and 6032, and recess 6033. Shaft 6003 extends through opening 6032. The first end of spring 6017 is positioned within recess 6033 of spring plate 6005. Spring plate 6005 and sensor 6015 can be used to measure the position of grippers 5742 and 5743. For example, when spring plate 6005 moves toward and away from motor 6002, the corresponding movement of member 6016 can be detected by sensor 6015. For example, when spring plate 6005 is in Fig.25E and Figure 25G In the position shown, member 6016 is not positioned below sensor 6015. In addition, when spring plate 6005 is in Fig.25FIn the position shown, member 6016 is positioned below sensor 6015. In addition, when spring plate 6005 is in Fig.25F 6031. In some embodiments, the sensor 6015 can communicate with one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) via one or more cables or wireless communications. In some embodiments, the sensor 6015 can be a non-contact sensor, such as an optical sensor. In other embodiments, the sensor 6015 can be, for example, a contact sensor. In some embodiments, the shape of the spring plate 6005 can be changed. For example, the opening 6031 can be filled. In some embodiments, the orientation and / or position of the sensor 6015 can be changed. For example, in some embodiments, the sensor 6015 can be oriented vertically instead of horizontally. As another example, in some embodiments, the sensor 6015 can be repositioned to detect movement of another component of the clamp assembly 6740, such as the nut base 6006 or the flanged nut 6007.

[0219] In some embodiments, the motor 6002 can be a stepper motor. A stepper motor can have a lower cost than, for example, a servo motor. However, a stepper motor may not provide the same torque and / or feedback. Figure 25A-Figure 25I In the illustrated embodiment, spring 6017 can advantageously compensate for reduced torque of the stepper motor and / or misalignment during the picking process. Spring 6017 can also advantageously simplify programming of the gripper assembly 6740. For example, one or more controllers (e.g., controllers 751, 752, and / or 754) and / or computers (e.g., computers 231 and / or 370) can drive motor 6002 to a predetermined position, and spring 6017 can compensate for any error (e.g., misalignment) in that position. In some embodiments, motor 6002 can be another type of motor, such as a servo motor.

[0220] Various modifications may be made to the clamp assembly 6740. For example, in some embodiments, one or more components may be modified and / or removed. For example, in some embodiments, the spring plate 6005, the flanged nut 6007, and / or the spring 6017 may be removed. In some such embodiments, the nut base 6006 may be modified to engage with the threads of the shaft 6003. As another example, one or more of the components 6021-6028 may be modified and / or removed. For example, in some embodiments, components 6021 and 6023 may be combined into a single component. Similarly, in some embodiments, components 6025 and 6027 may be combined into a single component. Such embodiments may advantageously include fewer moving parts. However, such embodiments may also include less space for the sensor 6772. In Figure 25A-Figure 25I In the illustrated embodiment, members 6021, 6023, 6025, and 6027 are advantageously positioned above or below sensor 6772. In addition, members 6021, 6023, 6025, and 6027 include grooves to ensure that they do not contact sensor 6772.

[0221] Weight measurement subsystem

[0222] As explained above, when processing blood culture bottles in a laboratory environment that processes a large number of blood culture bottles, it is necessary to be able to accurately monitor the filling condition of each bottle. For example, the amount of the collected sample directly affects the possibility of detecting bacterial and / or fungal infections. Therefore, in some embodiments, in addition to using the imaging subsystem 500 to determine the presence or absence of foam and / or the filling level, the automation system 100 may include a scale to verify any determination made by the imaging subsystem 500. In addition, in some embodiments, the automation system 100 may use a scale instead of the imaging subsystem 500 to monitor the filling condition of each sample container. In some embodiments, the scale may, for example, be incorporated into a module 101 or 102. The scale may also be an external device that communicates with modules 101 and 102.

[0223] Figure 26A-26C An embodiment is shown in which a force gauge is incorporated into a chute that can be positioned within module 101. As shown, force gauge 1590 is positioned below chute 1570 so that it can measure the weight of a sample container 1580 (e.g., a blood culture bottle). Chute 1570 can be compared to chute 570 of imaging subsystem 500. In some embodiments, Figure 26A-26C The components shown (eg, force gauge 1590 and chute 1570) may replace chute 570. In such an embodiment, the sample container may be weighed immediately after being imaged by camera 510.

[0224] By itself, the measured weight of a particular sample container may not readily indicate whether the sample container is overfilled or underfilled. It may not be possible to obtain an unfilled tare weight for every individual sample container. Furthermore, due to the large number of manufacturing tolerances that affect weight, using a standard tare weight may not provide sufficient accuracy. In addition to manufacturing variations in the sample container itself, the sensor material, culture medium, and fill level of media beads have a significant impact on the tare weight of the sample container before uniform addition of sample.

[0225] To account for these manufacturing inconsistencies, a correction factor may be applied to the average unfilled tare weight. For example, a camera (e.g., camera 510) may capture an image of the sample container 1580. The distance between a fill line (not shown) on the sample container 1580 and a reference surface (e.g., the bottom of the sample container 1580) of the sample container 1580 may be measured from the image captured by the camera (e.g., using computer 231 and / or 370). The fill line may be reliably and accurately detected by imaging, as compared to, for example, the top surface of the liquid in the sample container 1580, which may be obscured by bubbles and beads of media clinging to the inside of the sample container 1580 or stuck in the neck of the sample container 1580. The distance between the fill line and the reference surface may be compared to a predetermined distance to calculate a correction factor. The predetermined distance may, for example, correspond to a standard distance between the fill line and the bottom of the sample container. The corrected unfilled tare weight may then be compared to the weight measured by the scale 1590 to determine whether the sample container 1580 is overfilled or underfilled.

[0226] Although the above correction factor can improve the overall accuracy of the system, it is not always possible to calculate it. For example, the sample container may not always have a fill line. Therefore, in some embodiments, the measured weight may be directly compared to the average unfilled tare weight (different from the corrected unfilled tare weight) to determine whether the sample container is overfilled or underfilled. In such an embodiment, a larger error margin may be reported to the user (e.g., via the display 310). In some embodiments, the average unfilled tare weight can be selected based on the contents of the sample container (e.g., media type) to further improve accuracy. In some embodiments, the average unfilled tare weight can be selected based on the batch or lot number of the sample container to further improve accuracy. For example, while the time required to weigh each sample container during the manufacturing process may be too expensive, it may be more cost-effective to weigh one or more representative samples of each batch or lot to calculate the average unfilled tare weight for that particular batch or lot. In some embodiments, the average unfilled tare weight can be obtained from a label on the sample container or received by the module 101 from an external device (e.g., a server) via a network. In some embodiments, the automated system 100 can be configured to check (e.g., using the camera 510) each sample container for any changes that could affect the accuracy of the above techniques (e.g., a user removing a cap and / or adding more labels). In some embodiments, the automated system 100 can be configured to compensate for such changes.

[0227] In some embodiments, the above techniques can be used to provide sample volume measurements. By comparing the measured weight with an average unfilled tare weight or a corrected unfilled tare weight, the weight of the sample can be obtained. For example, the average unfilled tare weight can be subtracted from the measured weight to obtain the weight of the sample. The weight of the sample can then be converted to a volume using a predetermined density value. For example, if the sample container is a blood culture bottle, a predetermined density value for blood can be used to convert the weight of the blood sample into a volume measurement. In some embodiments, the calculated sample volume measurement can be displayed (e.g., via display 310).

[0228] In some embodiments, the sample container may be weighed and scanned separately with a scale before being placed in an instrument such as module 101. In some embodiments, the scale may include an indicator light or the like to let the user know whether the scale has completely stabilized. In some embodiments, if the measured weight is outside the expected range, the user may be prompted to put the sample container back on the scale and wait for the scale to indicate that it has a stable measurement. In some embodiments, if the user ignores the prompt and allows the bottle to enter the module 101, the weight of the sample container may be recorded as zero, indicating that the weight of the sample container has not been obtained.

[0229] Weighing each sample container individually may greatly slow down the workflow of getting sample containers into module 101, because there are also added steps of placing each individual sample container on the scale, waiting for the scale to stabilize, and removing each individual sample container from the scale to complete the loading process - by, for example, scanning the barcode on each individual sample container and locating the position of each individual sample container in module 101. In order to alleviate this problem, a batch of sample containers can be measured at the same time. For example, a batch of sample containers (e.g., a rack of sample containers) can be placed on the scale. After the scale stabilizes, each sample container can be removed one at a time, scanned, and placed in module 101. When a particular sample container is scanned and placed, the scale stabilizes, and the change in weight can be used to determine the weight of the particular sample container. In some embodiments, the scale may include an indicator light or the like to let the user know whether the scale is completely stable.

[0230] In some embodiments, the scale for weighing individual sample containers or batches of sample containers can be a separate device in communication with modules 101 and 102. For example, the scale can be mounted in a shelf for transporting sample containers. In some embodiments, the scale can be integrated with one or both of modules 101 and 102. For example, the scale can be integrated into a shelf, a drawer, or a housing (e.g., top plate 132) of module 101 or 102. As another example, the scale can be an additional device configured to be coupled to the housing of module 101 or 102.

[0231] In some embodiments, the scale can communicate with the computer 231 and / or 370 via one or more cables or wireless communication. In some embodiments, the system 100 can compare the measured weight obtained using the scale with the standard net weight to determine whether the sample container is overfilled or underfilled. In some embodiments, the standard net weight can be selected based on the contents of the sample container (e.g., media type) and / or the batch number or lot number of the sample container, which can be obtained from the label on the sample container, thereby further improving accuracy. In some embodiments, the system 100 can use the imaging subsystem 500 to calculate a correction factor in the manner described above to further improve accuracy.

[0232] In some embodiments, the above-described techniques for measuring batches of sample containers may be used internally to speed up the workflow within modules 101 and 102. For example, instead of placing a scale somewhere internally to weigh sample containers individually (see, e.g., scale 1590), a scale may be integrated into one or both of compartments 330 and 340 to weigh sample containers in batches. In such an embodiment, the robotic subsystem 700 may transfer a particular sample container from one of the compartments 330 and 340 to the imaging subsystem 500. Once in the imaging subsystem, the sample container may be scanned, and the corresponding change in the weight of the sample container in one of the compartments 330 and 340 may be used to determine the weight of that particular sample container.

[0233] Those skilled in the art will appreciate that many of the above subsystems and components can be readily adapted to other types of automated systems. For example, there are many instances of automated systems that need to efficiently measure the weight of multiple objects. Those skilled in the art will appreciate that the above systems and methods for measuring batches of sample containers can be readily adapted to measure the weight of other types of objects.

[0234] As used herein, the terms "approximately," "about," "substantially," and similar terms are intended to have a broad meaning consistent with the ordinary and accepted usage by those of ordinary skill in the art to which the subject matter of the present disclosure belongs. Those skilled in the art who review the present disclosure should understand that these terms are intended to allow for the description of certain features described without limiting the scope of these features to the precise numerical ranges provided. Therefore, these terms should be understood to represent insignificant or inconsequential modifications or alterations to the subject matter described and are considered to be within the scope of the present disclosure.

[0235] Based on the foregoing and with reference to the various drawings, it will be understood by those skilled in the art that certain modifications may be made to the present disclosure without departing from the scope of the present disclosure. Although several embodiments of the present disclosure have been shown in the drawings, this does not mean that the present disclosure is limited thereto, because the scope of the present disclosure is intended to be as broad as the art allows, and the specification should be read similarly. Therefore, the above description should not be interpreted as restrictive, but rather as merely an example of a specific embodiment. Those skilled in the art will conceive of other modifications within the scope and spirit of the appended claims.

Claims

1. A sample operation module, comprising: a user interface subsystem configured to receive a plurality of untested sample containers and output a plurality of sample containers that tested positive for microbial growth; an imaging subsystem configured to scan label information of a sample container; a waste management subsystem configured to receive a plurality of sample containers that tested negative for microbial growth; and A robotics subsystem configured to: transferring each of the plurality of untested sample containers from the user interface subsystem to the imaging subsystem for scanning; transferring each of the plurality of untested sample containers from the imaging subsystem to an incubation module, the incubation module being configured to incubate each of the plurality of untested sample containers and measure microbial growth; transferring each of the plurality of positive sample containers from the incubation module to the imaging subsystem for scanning; transferring each of the plurality of positive sample containers from the imaging subsystem to the user interface subsystem for output; transferring each of the plurality of negative sample containers from the incubation module to the imaging subsystem for scanning; and Each of the plurality of negative sample containers is transferred from the imaging subsystem to the waste management subsystem for disposal.

2. The sample manipulation module of claim 1, wherein the user interface subsystem comprises one or more compartments, each compartment being configured to receive a single untested sample container or a rack of untested sample containers.

3. The sample manipulation module of claim 1, wherein the user interface subsystem comprises one or more compartments, each compartment being configured to output a single positive sample container or a rack of positive sample containers.

4. A sample manipulation module according to claim 1, wherein the user interface subsystem comprises one or more compartments, each compartment being configured to (a) receive a single untested sample container or a rack of untested sample containers, and (b) output a single positive sample container or a rack of positive sample containers.

5. The sample manipulation module of claim 1, wherein the user interface subsystem comprises one or more compartments, each compartment having a guide frame, the guide frame having one or more sections, wherein each of the one or more sections comprises: a plurality of receptacles configured to directly receive the sample containers; and A pair of recesses are configured to receive a rack of sample containers.

6. A sample manipulation module according to claim 5, wherein the user interface subsystem further comprises one or more lights, each light being configured to change color based on the type of sample container positioned within at least one of the compartments.

7. A sample operation module according to claim 5, wherein the user interface subsystem further comprises one or more lighting lamps, each lighting lamp being configured to (a) change to a first color when at least one of the compartments contains one or more untested sample containers, and (b) change to a second color when the at least one compartment contains one or more positive sample containers.

8. A sample manipulation module according to claim 7, wherein the one or more illumination lamps are positioned above the guide frame of the at least one compartment.

9. The sample manipulation module of claim 5, wherein the user interface subsystem further comprises one or more output chutes, each output chute being configured to output a separate sample container.

10. A sample operation module according to claim 9, wherein the user interface subsystem also includes a display having a graphical user interface (GUI), through which the one or more compartments and the one or more output chutes can be selected to output the positive sample container.

11. A sample operation module according to claim 5, wherein the user interface subsystem further comprises a sliding door, wherein the sliding door is configured to prevent a user from loading one or more untested sample containers into at least one of the compartments while the robotic subsystem loads one or more positive sample containers into the at least one compartment.

12. A sample operation module according to claim 5, wherein at least one of the compartments includes a scale, and wherein the sample operation module also includes one or more processors, and the one or more processors are configured to determine whether the untested sample container is overfilled or underfilled based on the weight measurement received from the scale.

13. The sample manipulation module of claim 5, wherein at least one of the compartments comprises a scale, and wherein the sample manipulation module further comprises one or more processors configured to: receiving from the scale a first measured weight of a plurality of untested sample containers in the at least one compartment; controlling the robotic subsystem to transfer one of the untested sample containers from the at least one compartment to the imaging subsystem; a second measured weight of the untested sample containers removing the one untested sample container from the at least one compartment of the scale receiving the untested sample container; determining a difference between the first measured weight and the second measured weight; and The difference is stored in memory as the weight of the one untested sample container.

14. The sample manipulation module of claim 1, wherein the user interface subsystem further comprises: a reader configured to scan an identifier on a sample container; and A display is configured to provide information of a sample container scanned by the reader.

15. The sample manipulation module of claim 1, wherein the user interface subsystem further comprises a reader configured to scan an identifier on a user identification card to initiate automatic login or automatic adjustment of one or more system settings.

16. The sample manipulation module of claim 1, wherein each of the plurality of untested sample containers is received at the user interface subsystem in an upright position, and wherein each of the plurality of untested sample containers is transferred from the imaging subsystem to the incubation module in a horizontal position.

17. A sample operation module according to claim 16, wherein each of the multiple positive sample containers is transferred from the incubation module to the imaging subsystem in a horizontal position, and wherein each of the multiple positive sample containers is transferred from the imaging subsystem to the user interface subsystem in an upright position.

18. The sample manipulation module of claim 17, wherein the imaging subsystem comprises: a camera for scanning the sample container or capturing one or more images of the sample container; one or more light sources for illuminating the sample container; a chute configured to redirect the sample container from an upright position to a horizontal position; and A turning station is configured to reorient the sample container from a horizontal position to an upright position.

19. A sample operation module according to claim 1, wherein the imaging subsystem is also configured to capture one or more images of the sample container, and wherein the sample operation module also includes one or more processors, and the one or more processors are configured to determine whether the sample container is overfilled or underfilled based on the captured images.

20. The sample manipulation module of claim 1, wherein the imaging subsystem is further configured to capture one or more images of the sample container, and wherein the sample manipulation module further comprises one or more processors configured to: identifying a location of a fill line on a sample container in the one or more images; identifying a location of a reference surface on the sample container in the one or more images; determining a distance between the fill line and the reference surface; determining a correction factor based on a comparison between the determined distance and a predetermined distance; adjusting the predetermined tare weight using the correction factor; and Whether the sample container is overfilled or underfilled is determined based on a comparison between the adjusted predetermined tare weight and a measured weight of the sample container obtained using a scale.

21. A sample manipulation module according to claim 20, wherein the imaging subsystem includes a chute configured to redirect a sample container from an upright position to a horizontal position, wherein the scale is coupled to the chute of the imaging subsystem, and wherein the measured weight is obtained when the sample container is positioned in the chute.

22. The sample manipulation module of claim 1, wherein the waste management subsystem comprises a waste receiver and one or more chutes, and the robotic subsystem is capable of transferring the plurality of negative sample containers to the waste receiver through the one or more chutes.

23. A sample operation module according to claim 1, wherein the waste management subsystem includes a force gauge configured to (a) detect whether the waste receptacle is full, (b) detect whether the waste receptacle is positioned on the base, or (c) detect the addition of a sample container to the waste receptacle.

24. An automated system comprising: The sample operation module according to claim 1; and The incubation module is configured to incubate each of the plurality of untested sample containers and measure microbial growth.

25. The automated system of claim 24, wherein the incubation module comprises a motor and a rotating drum having a plurality of receptacles, wherein each receptacle is configured to receive a sample container in a horizontal position, and wherein the motor is configured to rotate the rotating drum.

26. The automated system of claim 25, wherein the robotic subsystem is further configured to distribute and redistribute sample containers around the circumference of the drum to balance the load of the drum.

27. The automated system of claim 25, wherein the robotic subsystem is further configured to redistribute sample containers to specific areas of the drum that are fully viewable when the door to the incubation module is open.

28. A robot system comprising: a gripper assembly configured to grasp and release a sample container; an r-axis robot configured to move the gripper assembly forward and backward; a theta-axis robot configured to simultaneously rotate the r-axis robot and the gripper assembly; and A z-axis robot is configured to simultaneously move the theta-axis robot, the r-axis robot, and the gripper assembly upward and downward.

29. The robotic system of claim 28, wherein the gripper assembly comprises: motor; and two grippers, wherein the motor is configured to move the two grippers closer together to grasp a sample container and to move the two grippers further apart to release the sample container, and wherein each gripper comprises: a curvilinear body configured to grasp a bottom end of a sample container in a horizontal position; and A curvilinear groove in the curvilinear body is configured to grasp a neck of a sample container in an upright position.

30. The robotic system of claim 29, wherein the curvilinear body is configured to grasp a bottom end of a blood culture bottle in a horizontal position, and wherein the curvilinear groove is configured to grasp a neck of a blood culture bottle in an upright position.

31. The robotic system of claim 28, wherein the gripper assembly comprises: motor; and two grippers, wherein the motor is configured to move the two grippers closer together to grasp a sample container and to move the two grippers further apart to release the sample container, and wherein each gripper comprises: a plurality of fingers configured to grasp a bottom end of a sample container in a horizontal position; and A curvilinear groove in the body of the holder is configured to grasp the neck of a sample container in an upright position.

32. The robotic system of claim 31, wherein the fingers are configured to grasp a bottom end of a blood culture bottle in a horizontal position, and wherein the curvilinear groove is configured to grasp a neck of a blood culture bottle in an upright position.

33. The robot system of claim 28, wherein the r-axis robot comprises: a first arm coupled to the theta-axis robot; a second arm coupled to the gripper assembly, wherein the second arm is slidingly engaged with the first arm and is configured to move forward and rearward; Multiple guide wheels; a motor coupled to the first arm and positioned between at least two of the guide wheels; a drive pulley coupled to a shaft of the motor; a belt contacting each of the guide pulley and the drive pulley; and A clamp is coupled to the belt and the second arm.

34. The robot system of claim 33, wherein the r-axis robot further comprises a belt tensioner configured to apply tension to the belt.

35. The robot system of claim 34, wherein the belt tensioner comprises: a guide pulley contacting the belt; an arm rotatably coupled to the guide wheel and the coupling member; and A screw is configured to apply a force to the arm when tightened, wherein the force from the screw causes (a) the arm to rotate about an axis extending through the coupling, and causes (b) the guide pulley to apply additional tension to the belt.

36. The robot system of claim 28, wherein the theta-axis robot comprises: a platform coupled to the z-axis robot; a guide wheel coupled to the r-axis robot; a motor coupled to the platform; a drive pulley coupled to a shaft of the motor; and a belt contacting the guide pulley and the drive pulley, The rotation of the drive pulley caused by the motor causes the guide wheel, the r-axis robot and the gripper assembly to rotate simultaneously.

37. The robotic system of claim 28, wherein the z-axis robot comprises a track in sliding engagement with the theta-axis robot.

38. The robot system of claim 37, wherein the z-axis robot further comprises a counterweight system, the counterweight system comprising: Counterweight; one or more pulleys; and At least one cable contacts the one or more pulleys and is coupled to both the counterweight and the theta-axis robot.

39. A robot system comprising: a gripper assembly configured to grasp and release a sample container; an r-axis robot configured to move the gripper assembly forward and backward; a z-axis robot configured to simultaneously move the r-axis robot and the gripper assembly up and down; and A theta-axis robot is configured to simultaneously rotate the z-axis robot, the r-axis robot, and the gripper assembly.

40. A clamp assembly comprising: motor; a first gripper and a second gripper, wherein the motor is configured to move the first gripper and the second gripper closer together to grasp a sample container and to move the first gripper and the second gripper further apart to release the sample container, and wherein each gripper comprises: a first engagement feature configured to grasp a bottom end of a sample container in a horizontal position; and A second engagement feature is configured to grasp a neck of a sample container in an upright position.

41. The clamp assembly of claim 40, wherein the first engagement feature is a curvilinear portion of the body of each clamp.

42. The clamp assembly of claim 41, wherein the second engagement feature is a curvilinear groove in the curvilinear portion of the body of each clamp.

43. The clamp assembly of claim 40, wherein the first engagement feature is a plurality of fingers.

44. The clamp assembly of claim 40, wherein the second engagement feature is a curvilinear groove in the body of each clamp.

45. The gripper assembly of claim 40, further comprising a non-contact sensor configured to verify movement of the robotic subsystem, wherein the non-contact sensor is positioned between the two grippers.

46. ​​The gripper assembly of claim 45, wherein the non-contact sensor does not extend above or below the two grippers.

47. The clamp assembly of claim 40, further comprising: a first slider, the first slider comprising a first rack, wherein the first slider is coupled to the first clamp, wherein the first slider is slidably coupled to a first track, wherein when the first slider slides along the first track in a first direction, the first clamp moves farther from the second clamp, and wherein when the first slider slides along the first track in a second direction opposite to the first direction, the first clamp moves closer to the second clamp; a second slider, the second slider comprising a second rack, wherein the second slider is coupled to the second clamper, wherein the second slider is slidably coupled to a second track, wherein when the second slider slides along the second track in the second direction, the second clamper moves farther from the first clamper, and wherein when the second slider slides along the second track in the first direction, the second clamper moves closer to the first clamper; and A pinion gear coupled to the shaft of the motor, wherein the pinion gear engages with the first rack and the second rack, wherein the motor is also configured to rotate the shaft, wherein rotation of the shaft rotates the pinion gear, and wherein rotation of the pinion gear causes the first slider and the second slider to slide in opposite directions along the first track and the second track, respectively.

48. The clamp assembly of claim 40, further comprising: shell; a base, wherein the motor is further configured to move the base forward and rearward along a first axis perpendicular to a second axis, the motor moving the first gripper and the second gripper along the second axis, wherein forward movement of the base moves the first gripper and the second gripper further apart, and wherein rearward movement of the base moves the first gripper and the second gripper closer together; a first plurality of members rotatably coupled to the first holder and the housing; a second plurality of members rotatably coupled to the second holder and the housing; a third member rotatably coupled to one of the first plurality of members and to the base; and A fourth member is rotatably coupled to one of the second plurality of members and to the base.

49. The clamp assembly of claim 48, wherein the one of the first plurality of members, the one of the second plurality of members, the third member, and the fourth member are curved.

50. The clamp assembly of claim 48, further comprising: a flanged nut engaged with threads of a shaft of the motor, wherein the flanged nut extends through the opening of the base; a spring plate in sliding engagement with the shaft of the motor, wherein the spring plate is coupled to the base; and A spring, wherein a first end of the spring contacts the spring plate, and wherein a second end of the spring opposite the first end contacts the flanged nut.

51. A clamp assembly according to claim 50, wherein the motor is further configured to rotate the shaft, wherein rotation of the shaft causes the flanged nut to move forward or backward along the first axis, wherein when the flanged nut moves forward, the flanged nut pushes the base forward, and wherein when the flanged nut moves backward, the flanged nut pushes against the spring.

52. A method comprising: obtaining, with one or more processors, a measured weight of the sample container, wherein the measured weight is measured using a scale; selecting, with the one or more processors, a predetermined unfilled tare weight, wherein the predetermined unfilled tare weight is selected based on the contents of the sample container or the lot number or batch from which the sample container was manufactured; comparing, with the one or more processors, the measured weight to the predetermined unfilled tare weight to calculate the weight of the sample in the sample container; and With the one or more processors, the weight of the sample is converted into a volume measurement based on a predetermined density value.

53. A method comprising: obtaining, with one or more processors, a measured weight of the sample container, wherein the measured weight is measured using a scale; obtaining, with the one or more processors, one or more images of the sample container, wherein the one or more images are captured with a camera; identifying, with the one or more processors, a location of a fill line on the sample container in the one or more images; identifying, with the one or more processors, a location of a reference surface on the sample container in the one or more images; determining, with the one or more processors, a distance between the fill line and the reference surface; determining, with the one or more processors, a correction factor based on a comparison between the determined distance and a predetermined distance; adjusting, with the one or more processors, a predetermined tare weight using the correction factor; and Using the one or more processors, determining whether the sample container is overfilled or underfilled based on a comparison between the adjusted predetermined tare weight and the measured weight.

54. A method comprising: Positioning multiple sample containers on the scale; measuring the weight of the plurality of sample containers using the scale; removing a sample container from the plurality of sample containers from the scale; measuring the weight of the plurality of sample containers excluding the one sample container using the scale; while measuring the weight of the plurality of sample containers excluding the one sample container, scanning the identifier on the one sample container with a reader; determining, with one or more processors, a weight difference between (a) the weight of the plurality of sample containers and (b) the weight of the plurality of sample containers minus the one sample container; and The weight difference is stored in a memory as the weight of the one sample container using the one or more processors.

Images