High density random sample storage and retrieval

Abstract

In various embodiments, a system for high density microplate storage and random retrieval thereof is provided. The system includes one or more storage columns coupled to a horizontal rail track assembly. Each of the one or more storage columns are mechanically driven along one or more horizontal rails on the horizontal rail track assembly and each of the one or more storage columns are configured to store at least one sample plate adapter. Each of the at least one sample plate adapters are attached to a sample plate. The system also includes a robotic arm assembly including a sample plate carrier equipped with a selectively electro-magnetized structure. The selectively electro-magnetized structure is engageable with any of the at least one sample plate adapters. The robotic arm assembly is configured to move the sample plate carrier from a first position within the system to a second position within the system.

Description

HIGH DENSITY RANDOM SAMPLE STORAGE AND RETRIEVALCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 434,623 filed December 22, 2022 and titled “HIGH DENSITY RANDOM SAMPLE STORAGE AND RETRIEVAL.” The contents of the above application are incorporated by reference in their entirety.FIELD

[0002] The present disclosure relates generally to biological sample storage and retrieval, in particular to systems and methods relating to laboratory automation of high sample storage density and random sample retrieval.BACKGROUND

[0003] Biological sample container storage and retrieval is a critical step in lab automation implementation. Sample storage devices such as microplate racks serve to handle, safely store, and transport microplates. These racks are often found in horizontal or vertical configurations, stacking or tilt-able for viewing, and may also be made to handle refrigeration and freezer temperatures. These racks are often comprised of a variety of materials, and are designed for efficiency and suitability to low temperatures or high heat. Lab users often require two performance specificationsin biological sample storage and retrieval: (1) the ability to store samples at high volume metric density; and (2) the ability to randomly store and retrieve samples.

[0004] Some microplate sample storage devices, such as plate stackers, stack containers together in a vertical fashion. Plate stackers are typically very efficient when it comes to use of space (it has a high storage density of samples), namely due to the configuration and limitation of only having access at either ends of the stack. However, plate stackers lack the capability to perform random sample access, thereby increasing non-automated steps of cognitive workload.

[0005] Another common sample storage method has columns of sample shelves spread out. Between columns of sample shelves, significant space must be saved for the robotic arm to maneuver between the shelves. To retrieve a sample from storage, the common techniques are attaching a gripper or a spatula at the end of the robotic arm. The gripper or spatula needs to get in between the sample containers in order to maneuver them and to retrieve and / or deposit the samples. This method needs significant height or side clearance between the containers to accommodate the sample retrieval motion, this reducing the amount of sample density. There is a long sought need to deliver high density microplate sample storage, along with random sample retrieval.SUMMARY

[0006] The following paragraphs present a summary of various embodiments of the present disclosure and merely examples of potential embodiments. As such, the summary is not meant to limit the subject matter or variations of various embodiments discussed herein. In variousembodiments, a robotic arm assembly for retrieving and disposing of a sample plate is provided. The robotic arm assembly includes a sample plate carrier moveable between one or more locations within a system. The sample plate carrier includes a carrier platform configured to receive a sample plate. The carrier platform defines a first end and a second end. The robotic arm assembly also includes a retrieval engagement mechanism that can be selectively electro-magnetized. The retrieval engagement mechanism is configured to move along a retrieval channel defined at least partially along the carrier platform. The retrieval engagement mechanism is moveable between a first position adjacent to the first end of the carrier platform and a second position adjacent to the second end of the carrier platform. The retrieval engagement mechanism is configured to be electro-magnetized in an instance in which the retrieval engagement mechanism is in the second position.

[0007] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein upon engagement between the retrieval engagement mechanism and a sample plate adapter, the retrieval engagement mechanism is configured to move to the first position, wherein the sample plate adapter is fully positioned on the carrier platform once the retrieval engagement mechanism moves to the first position.

[0008] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the retrieval engagement mechanism and the sample plate adapter are engaged in an instance in which the sample plate adapter is attached to the electro-magnetized retrieval engagement mechanism.

[0009] In some aspects, the techniques described herein relate to a robotic arm assembly, further including a robotic arm assembly controller configured to move the sample plate carrier from a first location to a second location within the system.

[0010] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the robotic arm assembly controller is further configured to move the retrieval engagement mechanism from the first position to the second position once the sample plate carrier is moved to the second location within the system.

[0011] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the electro-magnetism of the retrieval engagement mechanism is ended in an instance in which the retrieval engagement mechanism is moved to the second position once the sample plate carrier is moved to the second location within the system.

[0012] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the retrieval engagement mechanism includes an electro-magnet that is selectively provided an electrical current.

[0013] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the retrieval engagement mechanism is configured to be electro-magnetized in an instance in which the sample plate carrier is moved within the system.

[0014] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the retrieval engagement mechanism is moved along an engagement track via one or more robotic arm motors.

[0015] In some aspects, the techniques described herein relate to a robotic arm assembly, further including a vertical support, wherein the sample plate carrier is moveably attached to the vertical support, wherein the sample plate carrier moves along the vertical support along a first directional axis.

[0016] In some aspects, the techniques described herein relate to a robotic arm assembly, further including a robotic arm plate, wherein the vertical support is movably attached to the robotic arm plate, wherein the vertical support is moves along the robotic arm plate along at least one of a second directional axis or a third directional axis.

[0017] In some aspects, the techniques described herein relate to a robotic arm assembly, wherein the sample plate carrier is configured to be moved between one or more storage columns, wherein each of the one or more storage columns are configured to house one or more sample plates.

[0018] In some aspects, the techniques described herein relate to a robotic arm assembly, further including a controller configured to move the sample plate carrier between one or more storage columns.

[0019] In another example embodiment, a method of engaging a sample plate adapter is provided. The method including: positioning a sample plate carrier at a first location in a system adjacent to a sample plate positioned within a sample plate adapter; causing a retrieval engagement mechanism of the sample plate carrier to be moved to a second position, wherein the retrieval engagement mechanism is configured to move between a first position adjacent to a first end of a carrier platform and the second position at a second end of the carrier platform; providing anelectrical current to the retrieval engagement mechanism, wherein the electrical current causes the retrieval engagement mechanism to be electro-magnetized; causing the retrieval engagement mechanism to be moved to the first position upon engagement between the retrieval engagement mechanism and the sample plate adapter.

[0020] In some aspects, the techniques described herein relate to a method, further including: causing the sample plate carrier to be moved to a second location; and in an instance in which the sample plate carrier is moved to the second location, causing the retrieval engagement mechanism to be moved to the second position, wherein the electrical current is provided to the retrieval engagement mechanism during movement of the retrieval engagement mechanism from the first position to the second position.

[0021] In some aspects, the techniques described herein relate to a method, further including causing the electrical current provided to the retrieval engagement mechanism to be terminated in an instance in which the retrieval engagement mechanism is moved to the second position in an instance in which the sample plate carrier is moved at the second location.

[0022] In some aspects, the techniques described herein relate to a method, further including monitoring for engagement between the retrieval engagement mechanism and the sample plate adapter.

[0023] In some aspects, the techniques described herein relate to a method, further including causing one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the first location within the system.

[0024] In some aspects, the techniques described herein relate to a method, further including causing one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the second location within the system.

[0025] In some aspects, the techniques described herein relate to a method, wherein the first location is a storage layer of one of at least one storage column and the second location is an imaging station.

[0026] In some aspects, the techniques described herein relate to a method, further including causing a sample plate within the sample plate adapter to be processed by the imaging station.

[0027] In some aspects, the techniques described herein relate to a method, wherein the first location is a port within a loading port and the second location is a storage layer of one of at least one storage column.

[0028] In some aspects, the techniques described herein relate to a method, wherein the sample plate adapter is positioned completely on the carrier platform in an instance in which the retrieval engagement mechanism is moved to the first position while the retrieval engagement mechanism is engaged with the sample plate adapter.

[0029] In some aspects, the techniques described herein relate to a method, further including calibrating the sample plate carrier based on one or more fiducial markers located on one or more storage columns. Directed to moving storage columns and robotic arm assembly.

[0030] In still another example embodiment, a system for high density microplate storage and random retrieval thereof is provided. The system including: one or more storage columns coupled to a horizontal rail track assembly, wherein each of the one or more storage columns aremechanically driven along one or more horizontal rails on the horizontal rail track assembly, wherein each of the one or more storage columns is configured to store at least one sample plate adapter, and wherein each of the at least one sample plate adapter is attached to a sample plate; and a robotic arm assembly including a sample plate carrier equipped with a selectively electromagnetized structure, wherein the selectively electro-magnetized structure is engageable with any of the at least one sample plate adapter, and wherein the robotic arm assembly is configured to move the sample plate carrier from a first position within the system to a second position within the system.

[0031] In some aspects, the techniques described herein relate to a system, wherein the robotic arm assembly is mechanically driven horizontally and vertically.

[0032] In some aspects, the techniques described herein relate to a system, wherein the sample plate carrier is equipped with a collision detection sensor.

[0033] In some aspects, the techniques described herein relate to a system, wherein the sample plate carrier is equipped with kinematic joints and a dislodge detection sensor.

[0034] In some aspects, the techniques described herein relate to a system, further including a plurality of storage layers on the one or more storage columns, each of the plurality of storage layers is configured to house at least one of the at least one sample plate adapter.

[0035] In some aspects, the techniques described herein relate to a system, wherein the first position is adjacent to a first sample plate adapter of the at least one sample plate adapter, wherein the sample plate carrier is configured to engage the first sample plate adapter in an instance in which the sample plate carrier is located at the first position.

[0036] In some aspects, the techniques described herein relate to a system, wherein the one or more storage columns are supported vertically by the horizontal rail track assembly.

[0037] In some aspects, the techniques described herein relate to a system, further including at least one fiducial marker on the one or more storage columns, wherein the fiducial markers assist in computationally identifying a particular storage column of the one or more storage columns.

[0038] In some aspects, the techniques described herein relate to a system, wherein a first fiducial marker of the at least one fiducial marker is defined along a top of a first storage column of the one or more storage columns, and a second fiducial marker of the at least one fiducial marker is defined along the top of the first storage column.

[0039] In some aspects, the techniques described herein relate to a system, wherein the plurality of storage layers is held in position by flexures on the one or more storage columns.

[0040] In another example embodiment, a method for high density microplate storage and random retrieval is provided. The method including: provisioning a horizontal rail track assembly with one or more storage columns supported vertically by the horizontal rail track assembly, wherein each of the one or more storage columns includes a plurality of storage layers that each have a sample plate and a sample plate adapter; provisioning a robotic arm assembly equipped with a sample plate carrier and an electromagnet; actuating a storage column from the one or more storage columns to retrieve a sample on the sample plate equipped with the sample plate adapter; actuating the robotic arm assembly equipped with the sample plate carrier and an electromagnet to one of the plurality of storage layers on one of the one or more storage columns; applying acurrent to the electromagnet on the sample plate carrier; engaging the sample plate adapter with the electromagnet on the sample plate carrier of the robotic arm assembly; and retrieving the sample on the sample plate adapter via the sample plate carrier on the robotic arm assembly.

[0041] In some aspects, the techniques described herein relate to a method, wherein actuating includes moving at least one of the one or more storage columns along the horizontal rail track assembly.

[0042] In some aspects, the techniques described herein relate to a method, further including randomizing a selection of one or more storage layers of the plurality of storage layers on the storage column.

[0043] In some aspects, the techniques described herein relate to a method, further including randomizing a selection of storage column from the one or more storage columns.

[0044] In some aspects, the techniques described herein relate to a method, further including depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers on the storage column via the sample plate carrier on the robotic arm assembly.

[0045] In some aspects, the techniques described herein relate to a method, wherein depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers further includes removing the current applied to the electromagnet.

[0046] In some aspects, the techniques described herein relate to a method, wherein depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers further includes mechanically latching the sample plate adapter onto flexures of the storage column.

[0047] In some aspects, the techniques described herein relate to a method, wherein the sample plate carrier is mechanically driven forward and backward when it retrieves the sample plate adapter.

[0048] In some aspects, the techniques described herein relate to a method, wherein the one or more storage columns have fiducial markers.

[0049] In some aspects, the techniques described herein relate to a method, further including actuating the robotic arm assembly in a horizontal direction until it aligns with the fiducial markers of at least one storage column of the one or more storage columns.

[0050] Implementation of the method and / or system of embodiments of the present disclosure can involve performing or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of embodiments of the method and / or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware or by a combination thereof using an operating system.

[0051] For example, hardware for performing selected tasks according to embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to exemplary embodiments of method and / or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and / or data and / or a non-volatile storage, for example, a magnetic hard-disk and / orremovable media, for storing instructions and / or data. Optionally, a network connection is provided as well. A display and / or a user input device such as a keyboard or mouse are optionally provided as well.BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Many aspects of the present disclosure can be better understood with reference to the following drawings. The components in the drawings are not necessarily to scale, with emphasis instead being placed upon clearly illustrating the principles of the disclosure. Moreover, in the drawings, like reference numerals designate corresponding parts throughout the several views. In the drawings:

[0053] Figures 1A and IB illustrate an example system for high density random sample storage and retrieval in accordance with various embodiments of the present disclosure;

[0054] Figures 2A and 2B illustrate a side view of a storage column being moved along a horizontal rail in accordance with various embodiments of the present disclosure;

[0055] Figures 3A and 3B illustrate another view of a storage column being moved along a horizontal rail in accordance with various embodiments of the present disclosure;

[0056] Figure 4 illustrates a horizontal rail track assembly used in various embodiments of the present disclosure;

[0057] Figures 5A-5C illustrate various aspects of a storage column in accordance with various embodiments of the present disclosure;

[0058] Figure 6 illustrates a robotic arm assembly used in accordance with various embodiments of the present disclosure;

[0059] Figures 7A-7C illustrate a sample plate carrier retrieving a sample plate in accordance with various embodiments of the present disclosure;

[0060] Figure 8 illustrate a sample plate retrieved by a sample plate carrier to be moved within the system in accordance with various embodiments of the present disclosure;

[0061] Figure 9 illustrates a sample plate carrier engaging with a sample plate adapter within a storage column in accordance with various embodiments of the present disclosure;

[0062] Figure 10 illustrates a retrieval engagement mechanism used to electro-magnetically engage with a sample plate adapter in accordance with various embodiments of the present disclosure;

[0063] Figure 11 illustrates a system disposed within a housing in accordance with various embodiments of the present disclosure;

[0064] Figure 12 is a flowchart of a method for engaging a sample plate adapter in accordance with various embodiments of the present disclosure; and

[0065] Figure 13 is a flow chart of a method of providing a system for high density random sample storage and retrieval in accordance with various embodiments of the present disclosure.DETAILED DESCRIPTION

[0066] In the following detailed description, reference is made to the accompanying figures, which form a part hereof. In the figures, similar symbols typically identify similar components,unless context dictates otherwise. The illustrative embodiments described in the detailed description, figures, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the scope of the subject matter presented herein. It will be readily understood that the aspects of the present disclosure, as generally described herein, and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.

[0067] Disjunctive language such as the phrase “at least one of X, Y, or Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to present that an item, term, etc., may be either X, Y, or Z, or any combination thereof (e. ., X, Y, and / or Z). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present.

[0068] Microplates or “sample plates” herein include those under ANSI and Society Bio- molecular Screening (SBS) standard microplates. Further, they may range in workflow usage, and may have over 1,536 well plates. Similarly, they may be comprised of as little as 10, 30, and 50 wells, depending on the workflow. In accordance with standards, SBS microplates may have an outside dimension base footprint of 127.76 mm in length and 85.48 mm in width. Other dimensions are contemplated and the disclosure herein is not limited by any particular microplate. For example, the sample plates may be sized based on the use case (e.g., number of samples stored on a given sample plate).

[0069] Various embodiments of the present disclosure provide for high density microplate sample storage, along with random sample retrieval. Namely, the robotic arm assembly provides a smoother transfer method than traditional spatula designs, providing additional stability for samples within a sample plate. For example, various embodiments use an electro-magnet to engage with the sample plate adapter, providing a more stable movement of the sample plate. Additionally, the movement of the storage columns discussed herein allow for a more efficient system, as the motors used to move the storage column may use less energy than the motors used to move the robotic arm assembly. The ability to move storage columns to allow accessibility also allows for more storage columns to be used within a system. For example, being able to move storage columns allows for more storage columns to be installed without typical issues caused by storage columns blocking other storage columns.

[0070] Referring now to Figures 1A and IB, the embodiments described herein relate to a system 100 for high density microplate storage and random retrieval thereof, including: a horizontal rail track assembly 101, which may include one or more rails in which the one or more storage columns 102A, 102B, 102C may be supported vertically by the track. In this aspect, the storage columns are suspended from the top of the system and allows for customization of size and numerosity of storage layers.

[0071] The system 100 also includes a robotic arm assembly 103 that moves among the storage columns to retrieve sample plates that are stored in the storage columns. As discussed herein, the robotic arm assembly 103 may move both horizontally and vertically via a robotic arm motor. The robotic arm may include a vertical support 104 that may move horizontally along arobotic arm plate 105. The sample plate carrier 106 moves vertically along the vertical support 104. The sample plate carrier 106 includes an electromagnetic material that engages with the sample plates to retrieve said sample plate from a storage column.

[0072] In various embodiments, the system 100 may also include an imaging station 110 and / or other processing station in which sample plates are analyzed, photographed, and / or otherwise. The imaging station 110 may be equipped within one or more imaging components that allow for the samples within a sample plate to be analyzed (e.g., the sample plates may be photographed without having to remove the samples from the sample plates and / or any manual activity).

[0073] Referring now to Figures 2A-3B, storage columns (e.g., storage columns 102A, 102B, 102C) are shown in various different configurations in accordance with various embodiments of the present disclosure. As discussed herein, the present disclosure herein provides for dense storage by reducing storage layer height within the storage columns. The various storage columns are attached to the horizontal rail track assembly 101 and are movable along horizontal rail(s) 200. The one or more storage columns may be mechanically driven along the horizontal rail(s) 200.

[0074] In various embodiments, each of the storage columns may be moveable via the horizontal rail(s) 200. Alternatively, the position of one or more of the storage columns may be fixed (e.g., the storage column may be rigidly attached to the horizontal rail track assembly 101), while one or more other storage column may be moveable via the horizontal rail(s) 200. For example, as shown in Figure 3A and 3B, storage column 102A may be fixably attached to thehorizontal rail track assembly 101, such that storage column 102A is accessible by moving the other storage columns 102B and / or 102C.

[0075] While the system is illustrated as having three storage columns, various embodiments may have more or less storage columns while maintaining the features discussed herein (e.g., one or more storage columns being moveable via a horizontal rail track assembly 101). Additionally, various different sized storage columns may be used in various embodiments. For example, the storage columns may be the same size and / or different sizes from one another.

[0076] The storage column(s) 102A, 102B, 102C may be driven by one or more electronic column motors, such as stepper motor(s), and / or gearing apparatus(es) that allows the storage columns to traverse along the horizontal rail 200. The column motor(s) may be disposed on the horizontal rail track assembly 101 (e.g., column motors 402A, 402B).

[0077] In various embodiments, a plate loading port 111 may be provided to receive sample plates 500 that are to be loaded into the system and / or removed from the system. For example, the door 1102 of the housing 1100 shown in Figure 11 may be opened and a user may place sample plates into the plate loading port 111 and / or remove sample plates that have already been processed and / or otherwise are to be removed. In various embodiments, the plate loading port 111 may include one or more slots to house a sample plate. The plate loading port 111 may be moveable, such as along the horizontal rail track assembly 101 (e.g., moveable in the same fashion as the storage columns discussed herein). Alternatively, the plate loading port 111 may be fixed within the system. In various embodiments, the robotic arm assembly 103 discussed herein may interactwith the plate loading port 111 such that sample plates 500 may be removed from and / or place in the plate loading port 111 via the sample plate carrier 106.

[0078] In various embodiments, the system may be capable of operating in multiple modes. In a storage mode, the storage columns housing the plurality of storage layers may be stored next to one another in a “clapped” configuration (e.g., such as the configuration shown in Figure 2A) to allow for increase storage column density. In a retrieval mode, one or more storage columns may be actuated away from the closed state (e.g., as shown in Figure 2B) to allow robotic components, such as a robotic arm assembly 103 to retrieve and dispose of sample plates as discussed herein. Thus, the system allows for rapid cycling, which further increased the speed and applicability of randomization in sample selection.

[0079] Figure 4 illustrates an example horizontal rail track assembly 101 in accordance with various embodiments. As shown, the horizontal rail track assembly 101 may include one or more horizontal rails 200 which are configured to move the storage columns between various positions within the system. In various embodiments, the storage columns may be movably attached to the horizontal rail(s) 200 via an attachment component. For example, as shown in Figures 3A and 3B, the storage column 102C may be attached to attachment components 400A and 400B, and storage column 102B may be attached to attachment component 401. The attachment components may be moveable along one or more of the horizontal rail(s) 200. The size of the storage columns may determine the placement of the attachments component(s) used for a storage column. For example, storage column 102C is wider than storage columns 102A, 102B, and may be attached to attachment components distributed across multiple horizontal tracks. Additionally, the widthbetween two horizontal rails 200 may be determined based on the width of the storage column. For example, the horizontal rails 200 in which the attachment component 401 is moveably attached are closer together than the horizontal rails 200 in which the attachment components 400A, 400B are attached, as the storage column 102C (attached to attachment components 400A, 400B) is wider than the storage column 102B (attached to attachment component 401).

[0080] While each of the storage column 102B and storage column 102C are shown attached to attachment components that move along two horizontal rails 200, various embodiments may use different amounts of horizontal tracks. For example, a storage column may be movable along only a singular horizontal track and / or a storage column may be movable along more than two horizontal tracks.

[0081] The storage columns (and attachment components) may be moved via one or more column motors (e.g., column motors 402A, 402B). In various embodiments, each of the storage columns may be moved via different column motors (e g., each column motor may be dedicated to moving a specific storage column). In various embodiments, two or more of the storage columns may be moved via the same column motor. In various embodiments, the storage columns may be belt-driven and / or any other type of transmission method. In various embodiments, the column motor(s) may be more efficient than the robotic arm motor(s), such that using the column motor(s) to move the storage columns may be more efficient than moving the robotic arm assembly.

[0082] In various embodiments, a storage column controller 405 may be provided to control the movement of one or more storage columns in the system. The storage column controller may have one or more processing devices and one or more memory devices, such that the storagecolumn controller 405 may determine which storage column(s) to move within the system. In various embodiments, the storage column controller 405 may include communication capabilities to receive instructions for moving the storage column(s). For example, an external processing device may determine the storage column movement and provide such instructions to the controller for execution.

[0083] In various embodiments, the storage column controller 405 may also control the other operations within the system, such as movement of the robotic arm assembly 103, temperature control, and / or the like. Additional controllers may also be provided to perform such operations. In various embodiments, all of the controller components may be contained within the system (e.g., within the housing 1100 shown in Figure 11). Alternatively, processing devices and / or memory devices may be exterior to the system and / or the housing 1100. For example, a computing device may provide instructions for one or more systems (e.g., a computing device may provide instructions to multiple systems in separate housings).

[0084] Referring now to Figures 5A-5C, an example storage column (e.g., one of storage columns 102A, 102B, 102C) are shown in accordance with various embodiments. Each storage column may have a plurality of storage layers (e.g., storage layers 501A, 501B, 501C, etc.). Each storage layer within the storage column may be sized to hold one or more sample plates. In various embodiments, one or more of the storage layers may be sized to hold multiple sample plates. For example, each storage layer may be sized to allow for sample plates to be placed beside one another (e.g., without interfering with one another). In various embodiments, the storage layers may have dividers between each slot that is configured to receive a sample plate (e.g., the sample plate 500is placed between such dividers in storage layer 501C). For simplicity, a singular sample plate 500 is shown within the storage column, yet in various embodiments, a plurality of sample plates may be placed in a storage column.

[0085] In various embodiments, each storage layer may be customizable and may be adapted with flexures that allow engagement of a sample plate and / or a sample plate adapter. A sample plate 500 is a plate in which one or more samples may be placed. A sample plate adapter 505 is configured to receive a sample plate and to interact with the sample plate carrier 106 of the robotic arm assembly 103. A sample plates 500 along with a sample plate adapter 505 may be stored within a storage column as discussed herein. The sample plate adapter(s) 505 may be reusable and designed to hold the sample plate 500 firmly, while also being easily removed.

[0086] As shown in Figures 7A-7C and 8, a sample plate adapter 505 provides for attachment to the sample plate carrier 106 on the front face, thus significantly increasing density by removing the need to access the top and / or bottom of the sample plate, or the sides. Therefore, the sample plate adapter is configured for interaction with an electromagnet and to support sample weights on the sample plate. For example, the sample plate adapter 505 may have a tag (e.g., a steel tag) that is attracted to the electro-magnetic field caused by the sample plate carrier 106, such that the sample plate adapter 505 and the sample plate 500 within the sample plate adapter are moved onto the carrier platform 702 as shown in Figure 8.

[0087] In various embodiments, each storage layer may include slot(s) for receiving a sample plate for sample placement, and a sample plate adapter equipped to the sample plate. In some aspects there may be a limit on sample plate weight or dimensionality based on the sample plateadapter configuration and the amount of electromagnetic force. In other aspects, the use of stronger magnetic components increases the carrying capacity. Further, a sample plate carrier, in one aspect, may be equipped with an electromagnet along the front or back surface, wherein front and back is defined as one side of four sides. Further, the electromagnet configures magnetically to the sample plate adapter to retrieve and / or deposit the sample plate. This may be through a current configuration housed in the robotic arm assembly that is equipped to the sample plate carrier, or may through battery or other electrical source tied to a computing device, such as a controller configured with circuitry to control an electric switch.

[0088] The sample plate carrier 106 may determine the location of the sample plate carrier 106 using one or more fiducial markers 510 that are positioned on the storage columns. As shown, various fiducial markers 510 may be positioned or otherwise defined on the storage columns and used by the sample plate carrier 106 to monitor position using an imaging device, such as a camera or other imaging sensor, defined on the sample plate carrier 106. The fiducial marker(s) 510 may be made out of any material in which the sample plate carrier 106 can capture via the imaging device. For example, the type of material of the fiducial marker(s) 510 may be based on the type of imaging device used in the system. In various embodiments, the material and / or the color of the fiducial marker(s) 510 may be different than another part of the given storage column to cause a visible contrast (e.g., to allow for the sample plate carrier 106 to identify the fiducial marker(s) 510).

[0089] In various embodiments, the fiducial marker(s) 510 may be uniformly placed along the given storage column, such that the sample plate carrier 106 may identify a current locationbased on the fiducial marker(s) 510. As shown in Figure 5 A, one or more of the fiducial marker(s) 510 may be positioned above storage layers that are configured to receive the sample plates. For example, as shown, the fiducial marker(s) 510 are positioned above storage layer 501A. The fiducial marker(s) 510 may be positioned in a line (e.g., a horizontal line along the storage column), such that the sample plate carrier 106 may move to a given vertical coordinates (e.g., defined along the vertical support 104) and move horizontally along the storage column imaging one or more fiducial marker(s) 510.

[0090] Additionally or alternatively, as shown in Figure 5B, one or more fiducial marker(s) 510 may be provided below the storage layers (e.g., along a bottom edge of the storage column). In various embodiments, the fiducial marker(s) 510 shown in Figure 5B may be generally parallel to the fiducial marker(s) 510 shown in Figure 5 A, such that the sample plate carrier 106 may use the fiducial marker(s) 510 above the storage layer(s) and / or the fiducial marker(s) 510 below the storage layer(s).

[0091] In various embodiments, the robotic arm assembly 103 and specifically the sample plate carrier 106 may auto-calibrate using one or more of the fiducial marker(s) 510. To do this, the sample plate carrier 106 may scan one or more of the fiducial marker(s) 510 on the top of a given storage column and one or more of the fiducial marker(s) 510 on the bottom of the given storage column. Based on the coordinates of the fiducial marker(s) 510, the system (e.g., a computing device that is part of, or other in communication with, the robotic arm assembly 103) may determine the coordinates of each storage layer and any slots within a given storage layer. As such, the fiducial marker(s) 510 are used as fixed points on the storage columns to determine thecoordinates of the storage layers for the robotic arm assembly 103 to retrieve and / or dispose of sample plates 500 within the storage column. In various embodiments, the auto-calibration may be performed on each of the storage columns in an instance in which one or more of the storage columns are moved.

[0092] As shown in Figure 5C, one or more of the storage layers (e.g., storage layers 501 A, 50 IB, 501C) may be removably positioned within the storage column. For example, each storage layer may have a tab 515 that is received by an aperture defined within the storage column. As such, the storage layer size and / or the number of storage layers may be changed. For example, storage layers may be changed based on the size of the sample plates being held (e.g., the storage layers may be adjusted to allow for thicker sample plate to fit between two storage layers). In various embodiments, the design of the sample plate carrier 106 of various embodiments (e.g., including the retrieval engagement mechanism 700) allows for the storage layers to be closer together, as the electro-magnetic engagement slides the sample plate 500 and sample plate adapter 505 laterally out of the given slot of the storage layer without any lighting (e.g., as required with spatula designs).

[0093] Referring now to Figure 6, a robotic arm assembly 103 is shown in accordance with various embodiments. As discussed above, the robotic arm assembly 103 may include a vertical support 104, robotic arm plate 105, and a sample plate carrier 106. The sample plate carrier 106 may be moveably attached to the vertical support 104, such that the sample plate carrier 106 may move vertically along the vertical support 104. The vertical support 104 is moveably attached tothe robotic arm plate 105, such that the vertical support 104 may move horizontally along the robotic arm plate 105.

[0094] In various embodiments, one or more robotic arm motors may be provided to move the sample plate carrier 106 and / or the vertical support 104. In various embodiments, the same robotic arm motor may be used to move the sample plate carrier 106 and the vertical support 104. Alternatively, each of the sample plate carrier 106 and the vertical support 104 may have a dedicated robotic arm motor. One or more of the robotic arm motors may be attached to the robotic arm plate 105. Additionally or alternatively, one or more robotic arm motors may be attached to the sample plate carrier 106 (e.g., a robotic arm motor dedicated to the sample plate carrier may be attached to the sample plate carrier and used to move the components of the sample plate carrier 106) and / or the vertical support 104.

[0095] The sample plate carrier 106 may move along the vertical support 104 via a carrier actuator 600 (e.g., the sample plate carrier 106 may be moved upward and downward along the vertical axis). In various embodiments, the sample plate carrier 106 may be movable along a first axis, such as the Y-axis shown in Figure 6. The sample plate carrier 106 may be moved along a carrier track 603 provided along the vertical support 104. For example, as shown, the carrier actuator 600 may be a belt driven actuator connected to one or more of the robotic arm motor(s) to move the sample plate carrier 106 along the carrier track 603. While the carrier actuator 600 is shown as a belt driven device, various other conversion techniques may be used to move the sample plate carrier 106 via the robotic arm motor(s) (e.g., a chain as used for support actuator 601).

[0096] The vertical support 104 may be moveably attached to the robotic arm plate 105. In various embodiments, the vertical support 104 may be moveable along a plate track 602 provided along a second direction (e.g., along the X-axis shown in Figure 6). The second direction may be generally perpendicular to the first direction. The vertical support 104 may be moved via a support actuator 601, such as a chain or belt drive attached to one or more of the robotic arm motor(s).

[0097] In various embodiments, the vertical support 104 may also be moveable in a third direction (e.g., along the Z-axis shown in Figure 6). In some embodiments, the plate track 602 may be shaped to allow for movement along the third directional axis (e.g., a second support actuator may be implemented to move the vertical support 104 along the third directional axis). Alternatively, the robotic arm plate 105 (along with the vertical support) may be moveable along the third direction axis (via the plate tracks 604A, 604B). For example, the robotic arm plate 105 may be moveably attached to a fixed support, such that the robotic arm plate 105 may be moved along the plate tracks 604A, 604B.

[0098] Referring now to Figures 7A-9, the sample plate carrier 106 is shown engaging and retrieving a sample plate 500. Figures 7A-7C illustrate the process of retrieving a sample plate via the sample plate carrier 106 in accordance with various embodiments. Figure 8 illustrates a sample plate 500 fully retrieved by the sample plate carrier 106, such that the sample plate 500 may be moved within the system 100.

[0099] As shown, the sample plate carrier 106 includes a retrieval engagement mechanism 700 that is moveable within a retrieval channel 701. The retrieval channel 701 is defined within the carrier platform 702, such that the retrieval engagement mechanism 700 can move along theretrieval channel 701. The carrier platform defines a first end 704 and a second end 705. The retrieval engagement mechanism 700 is moveable between a first position (e.g., adjacent to the first end 704 of the carrier platform 702, such as shown in Figure 7C) and a second position (e.g., at the second end 705 of the carrier platform 702 as shown in Figure 7A).

[0100] In various embodiments, the retrieval engagement mechanism 700 may be moveable along an engagement track 703 positioned below the carrier platform 702. As shown in Figure 9, the retrieval engagement mechanism 700 may be actuated via an engagement actuator 900 (e.g., a belt drive) attached to one or more of the robotic arm motor(s).

[0101] Figures 7A-7C illustrate the process of retrieving a sample plate 500 using the sample plate carrier 106. As such, the sample plate carrier 106 may be positioned adjacent to the selected sample plate 500. The retrieval engagement mechanism 700 may be moved to the second position (shown in Figure 7A) and / or the retrieval engagement mechanism may already be positioned in the second position (e.g., the retrieval engagement mechanism 700 may have already been positioned in the second position from a previous disposal of a sample plate).

[0102] In the second position, the retrieval engagement mechanism 700 is configured to electro-magnetically engage with a sample plate adapter 505. The retrieval engagement mechanism 700 may be electro-magnetized by applying an electrical current to the retrieval engagement mechanism 700. In various embodiments, the retrieval engagement mechanism 700 may be selectively electro-magnified (e.g., the retrieval engagement mechanism 700 not may be electro-magnetized until the retrieval is started). Alternatively, the retrieval engagement mechanism 700 may be constantly electro-magnified. At least a portion of the sample plate adapteris magnetic, such that the retrieval engagement mechanism 700 may electro-magnetically attach to the sample plate adapter 505. As shown in Figure 9, the sample plate adapter 505 may be positioned within a storage column and the sample plate carrier 106 may be moved into a position adjacent in order to engage with the sample plate adapter 505 for the given sample plate 500.

[0103] In various embodiments, once the retrieval engagement mechanism 700 is engaged with the sample plate adapter 505, the retrieval engagement mechanism 700 may be moved in the direction of the first end 704 of the carrier platform 702 (e g., as shown in Figure 7B). During such movement, the retrieval engagement mechanism 700 may remain electro-magnetized, such that the engagement between the retrieval engagement mechanism 700 and the sample plate adapter 505 is maintained. In various embodiments, the retrieval engagement mechanism 700 may be moved to the first position, such that the entire sample plate 500 (and sample plate adapter 505) is positioned on the carrier platform 702 (e.g., between the first end 704 and the second end 705).

[0104] Once the sample plate 500 is positioned on the carrier platform 702, the retrieval engagement mechanism 700 may remain electro-magnetized, such that the sample plate 500 remains stationary while the sample plate carrier 106 is moved to another position. As shown in Figure 8, the carrier platform may be sized to receive a sample plate 500 and sample plate adapter (e g., the carrier walls 800, 801 are provided with sufficient width to receive the sample plate adapter 505 in-between).

[0105] In various embodiments, the sample plate carrier 106 may dispose of a sample plate 500 by moving the retrieval engagement mechanism 700 from the first position to the second position once the sample plate carrier 106 is positioned adjacent to the intended destination of thesample plate 500 (e.g., another storage column, the imaging station 110, etc.). As such, the operations shown in Figures 7A-7C are reversed, such that the retrieval engagement mechanism 700 is moved from the first position (shown in Figure 7C) to the second position (shown in Figure 7A). Once the retrieval engagement mechanism 700 has moved to the second position, the retrieval engagement mechanism 700 may be de-magnetized, such that the engagement between the retrieval engagement mechanism 700 and the sample plate adapter 505 is terminated. As such, the sample plate carrier 106 may be moved, while the given sample plate 500 remains in the location disposed.

[0106] In various embodiments, the robotic arm assembly 103 (e.g., the sample plate carrier 106) may include an imaging device to scan an identifying image (e.g., a barcode, QR code, identification number, etc.) provided on the sample plate adapter 505 or the sample plate 500. In various embodiments, the identifying image may be provided on the sample plate adapter 505 or the sample plate 500 (e g., the sample plate adapter may have the identifying image and the sample plate adapter 505 may allow not block said identifying image (e.g., the sample plate may be designed to not block the identifying image or the sample plate adapter may be transparent at a location in which the identifying image is provided)). The identifying image may be used to retrieve information relating to the given sample plate 500, such as experiment design information, sample identification, imaging scheduling, and / or the like.

[0107] In various embodiments, the imaging device may be the same used to locate the fiducial marker(s) 510, as discussed herein. Alternatively, a dedicated imaging device may be provided for scanning the identifying image. For example, the sample plate carrier 106 may beequipped with a barcode scanning device to scan a barcode provided on the sample plate adapter505.

[0108] In various embodiments, the sample plate carrier 106 may be equipped with kinematic joints and / or a dislodge detection sensor. A dislodge detection sensor may be a Hall Effect sensor, an ambient light sensor, a R / G / B sensor, a motion sensor, and / or other sensor(s) that may account for dislodging or the removal of electric current from the electromagnet which will release the sample plate adapter 505 and sample plate 500 from the sample plate carrier 106.

[0109] In various embodiments, the sample plate 500 may include a unitary sample plate adapter 505, such that the sample plate 500 includes the components detailed herein for the sample plate adapter 505. In such an instance, the sample plate casing (e.g., which holds the samples within the sample plate) may be designed with the features of the sample plate adapter (e.g., magnetic portion, identifying image, etc.).

[0110] Referring now to Figure 10, the retrieval engagement mechanism 700 of various embodiments is shown. As shown, the retrieval engagement mechanism 700 may include an electro-magnet 1000 and / or an electro-magnetic structure that allows for the retrieval engagement mechanism 700 to operate as an electro-magnet. In various embodiments, the electro-magnet 1000 may be mounted on a flexure structure 1010 that may flex or otherwise bend in an instance in which the alignment between the electro-magnet 1000 and the sample plate adapter 505 is misaligned. In an instance in which the flexure structure has a displacement above a predetermined threshold, a system error may be registered. In such an instance, an error message may be generated and caused to be provided to one or more users of the system (e.g., the indicator lights 1104 shownin Figure 11 may be changed to red to indicate a system error has occurred). Additional details relating to the system error may be viewable on a connected computing device.[0U1] As detailed herein, the sample plate carrier 106 may be equipped with various sensing devices, such as collision detection sensors, hall effect sensors, ambient light sensors, and / or the like used to assist one of the controller discussed herein in retrieving and / or depositing a sample plate via the sample plate carrier.

[0112] Referring now to Figure 11, the system 100 may be housed within a housing 1100 (e.g., a singular housing as shown). The housing 1100 may include a door 1102 or other access point to allow for sample plate(s) to be retrieved and / or deposited within the system 100. The housing 1100 may also provide additional system functionality, such as temperature control (e.g., to maintain the samples at an intended temperature) and / or power requirements (e.g., power supplies may be provided within the housing 1100).

[0113] In various embodiments, the housing 1100 may include one or more viewing windows 1101 configured to allow visual access to the system 100 without interfering with the system. For example, the system 100 may need to be maintained at a specific temperature and the opening a door (e.g., door 1102) may cause the temperature of the system to be affected, such that an administrator may instead visually inspect the system 100 via the viewing window(s) 1101.

[0114] In various embodiments, the housing 1100 may include one or more housing stabilizers 1103 to maintain the housing 1100 level. Samples are often very delicate, such that maintaining the sample plates as level as possible is desired. As such, the housing stabilizer(s)1103 may be used to avoid any uneven surfaces affecting the system. In various embodiments, the housing stabilizer(s) 1103 may be manually adjusted and / or automatically adjusted.

[0115] In various embodiments, the housing 1100 may also include one or more status indicators (e.g., indicator lights 1104), which may change color to indicate the status of the system 100. For example, a different color and / or flashing sequence may indicate the status of the system (e.g., green may indicate completed, multi-color pattern may indicate the system is normal, yellow may indicate a system warning, red may indicate a system error, etc.). As shown in Figure 11, the indicator lights 1104 may include multiple indicators, such that the progress of the system 100 may be indicated by the indicator lights (e.g., the number of indicator lights 1104 that are green may indicate the amount of the samples have been processed).

[0116] In various embodiments, a user interface may be provided to allow a user to monitor the system 100. Additionally or alternatively, the system 100 may be connected (either via a wired or wireless connection) with one or more computing devices that allow a user to monitor the status of the system and / or make changes to the system operations.

[0117] Figure 12 is a flowchart of an example method for engaging a sample plate adapter. Unless stated otherwise, each of the features of the flowchart shown in Figure 12 may also completed along with the features of Figure 13. Any of the various embodiments discussed herein may be used to carry out the method of Figures 12 and / or 13. In various embodiments, the system of various embodiments may be capable of carrying out the operations discussed in reference to Figures 12 and / or 13. Such a system may include one or more computing device (e.g., computing device comprising at least one processing device and at least one non-transitory memory device).

[0118] Referring now to Block 1210 of Figure 12, the method includes positioning a sample plate carrier at a first location in a system adjacent to a sample plate positioned within a sample plate adapter. In various embodiments, the system may cause one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the first location within the system. Additionally, the system may cause one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the second location within the system, as discussed below in reference to optional Block 1250.

[0119] In various embodiments, the first location may be any location within the system that is capable of receiving a sample plate adapter, such as a storage column (e.g., a storage layer within a storage column), a load port, an imaging station, and / or the like.

[0120] Referring now to Block 1220 of Figure 12, the method includes causing a retrieval engagement mechanism of the sample plate carrier to be moved to a second position. In various embodiments, the retrieval engagement mechanism 700 is configured to move between a first position adjacent to a first end of a carrier platform and the second position at a second end of the carrier platform. In various embodiments, the sample plate carrier 106 includes a carrier platform 702 with a retrieval channel 701 defined within to allow for the retrieval engagement mechanism 700 to move within from a first position (e.g., adjacent to a first end of the carrier platform 702) to a second position (e.g., adjacent to a second end of the carrier platform 702).

[0121] Referring now to Block 1230 of Figure 12, the method includes providing an electrical current to the retrieval engagement mechanism. The electrical current causes the retrieval engagement mechanism to be electro-magnetized. The electrical current may be selectivelyapplied to the electromagnet, such that the sample plate carrier 106 may engage and / or disengage with a sample plate adapter 505. The electrical current may be applied in any way in which the electromagnet may be caused to be charged and create a magnetic field that engages with nearby materials.

[0122] Referring now to Block 1240 of Figure 12, the method includes causing the retrieval engagement mechanism to be moved to the first position upon engagement between the retrieval engagement mechanism and the sample plate adapter. After the retrieval engagement mechanism 700 engages with the sample plate adapter (e.g., via the electromagnet), the retrieval engagement mechanism 700 is moved to the first position. In various embodiments, the sample plate adapter is positioned completely on the carrier platform in an instance in which the retrieval engagement mechanism is moved to the first position while the retrieval engagement mechanism is engaged with the sample plate adapter.

[0123] In various embodiments, the system monitors for engagement between the retrieval engagement mechanism and the sample plate adapter. For example, the change in current or other metric may be monitored for a change to indicate that an engagement has occurred.

[0124] Referring now to optional Block 1250 of Figure 12, the method includes causing the sample plate carrier to be moved to a second location. The sample plate carrier 106 may be moved in any way discussed herein (e.g., via movement of the vertical support 104, the robotic arm plate105, and / or the sample plate carrier 106). As such, the movement of the robotic arm assembly 103 may cause the sample plate carrier 106 to move to a second location (e.g., adjacent where the sample plate is to be deposited).

[0125] In various embodiments, the second location may be any location within the system that is capable of receiving a sample plate adapter, such as a storage column (e.g., a storage layer within a storage column), a load port, an imaging station, and / or the like.

[0126] Referring now to optional Block 1260 of Figure 12, the method includes causing the retrieval engagement mechanism to be moved to the second position in an instance in which the sample plate carrier is moved to the second location. In various embodiments, the electrical current is provided to the retrieval engagement mechanism during movement of the retrieval engagement mechanism from the first position to the second position.

[0127] In various embodiments, the electrical current provided to the retrieval engagement mechanism may be terminated in an instance in which the retrieval engagement mechanism is moved to the second position in an instance in which the sample plate carrier is moved at the second location.

[0128] Referring now to optional Block 1270 of Figure 12, the method includes calibrating the sample plate carrier based on one or more fiducial markers located on one or more storage columns. The calibration may be the same as the “self-calibration” discussed herein.

[0129] Figure 13 is a flowchart of an example method for high density microplate storage and random retrieval. Any of the various embodiments discussed herein may be used to carry out the method of Figure 13.

[0130] Referring now to Block 1310 of Figure 13, the method includes provisioning a horizontal rail track assembly with one or more storage columns supported vertically by the horizontal rail track assembly. In various embodiments, each of the one or more storage columnsincludes a plurality of storage layers that each have a sample plate and a sample plate adapter. As discussed herein, any of the storage columns may be capable of being moved along the horizontal rail track assembly (e.g., along one or more horizontal rails).

[0131] Referring now to Block 1320 of Figure 13, the method includes provisioning a robotic arm assembly equipped with a sample plate carrier and an electromagnet. The robotic arm assembly 103 discussed herein may be used for the method of Figure 13.

[0132] Referring now to Block 1330 of Figure 13, the method includes actuating a storage column from the one or more storage columns to retrieve a sample on the sample plate equipped with the sample plate adapter. As discussed herein, one or more storage columns may be moveable within the system to allow for access by the robotic arm assembly 103.

[0133] The selection of which sample plate adapter (and subsequently which sample plate) to retrieve may be at least partially randomized. For example, the sample plates may be randomized based on the storage layers of one or more storage columns (e.g., sample plates within a first storage layer of a storage column may be selected and processed before sample plates within a second storage later of the storage column), and / or the selection may be randomized based on the storage column in which the sample plates are located (e.g., sample plates in a first storage column may be selected and processed before sample plates in a second storage column).

[0134] Referring now to Block 1340 of Figure 13, the method includes actuating the robotic arm assembly equipped with the sample plate carrier and an electromagnet to one of the plurality of storage layers on one of the one or more storage columns. Actuating the robotic arm assembly 103 may include any movement of the sample plate carrier 106, the vertical support 104, and / orthe robotic arm plate 105 discussed herein. As such, the actuation of the robotic arm assembly 103 may be any movement of said assembly.

[0135] Referring now to Block 1350 of Figure 13, the method includes applying an electrical current to the electromagnet on the sample plate carrier. The electrical current may be selectively applied to the electromagnet, such that the sample plate carrier 106 may engage and / or disengage with a sample plate adapter 505. The electrical current may be applied in any way in which the electromagnet may be caused to be charged and create a magnetic field that engages with nearby materials.

[0136] Referring now to Block 1360 of Figure 13, the method includes engaging the sample plate adapter with the electromagnet on the sample plate carrier of the robotic arm assembly. The engagement may be created via an electrical current being applied to the electromagnet, as discussed in reference to Block 1230 of Figure 12.

[0137] Referring now to Block 1370 of Figure 13, the method includes retrieving the sample on the sample plate adapter via the sample plate carrier on the robotic arm assembly. The retrieval of the sample plate adapter may be carried out as discussed herein (e.g., upon electro-magnetizing the retrieval engagement mechanism 700 in an instance the retrieval engagement mechanism 700 is in a second position, the sample plate adapter 505 is retrieved from the first location and moved onto the sample plate carrier 106 for transport).

[0138] In various embodiments, as discussed herein, the system may deposit the sample plate retrieved at a second location (e.g., another storage column, an imaging station, a loading port, etc.). As such, the operations discussed in reference to Figure 12 may be used to deposit the sampleplate at a second location. For example, the electrical current applied to the retrieval engagement mechanism 700 to engage with the sample plate adapter 505 may be terminated once the sample plate adapter 505 is placed in the second location.

[0139] Continuing, in some aspects, the one or more storage columns have fiducial marker(s) 510. In interacting with the fiducial marker(s) 510, requires robotic arm assembly 103 to actuate in a horizontal direction until it aligns with the fiducial markers of at least one storage column of the one or more storage columns, wherein a camera or other sensor detects the fiducial marker and through processing circuitry may perform random retrieval of sample plates.

[0140] Embodiments of the present disclosure are described above with reference to flowcharts and / or block diagrams. It will be understood that steps of the processes described herein may be performed in orders different than those illustrated in the flowcharts. In other words, the processes represented by the blocks of a flowchart may, in some embodiments, be in performed in an order other that the order illustrated, may be combined or divided, or may be performed simultaneously.

[0141] As will be appreciated by one of skill in the art, the present disclosure may be embodied as a method, apparatus (including, for example, a system, machine, device, computer program product, and / or the like), or a combination of the foregoing. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, and the like), or an embodiment combining software and hardware aspects. Furthermore, embodiments of the presentdisclosure may take the form of a computer program product on a computer-readable medium having computer-executable program code embodied in the medium.

[0142] It should be emphasized that the above-described embodiments of the present disclosure are merely possible examples of implementations set forth for a clear understanding of the principles of the disclosure. Many variations and modifications may be made to the abovedescribed embodiments without departing substantially from the scope and principles of the disclosure. All such modifications and variations are intended to be included herein within the scope of this disclosure and protected by the following claims. Additionally, the methods discussed herein may be carried out by the various embodiments of the system discussed herein.

[0143] Clause 1. A robotic arm assembly for retrieving and disposing of a sample plate, the robotic arm assembly comprising a sample plate carrier moveable between one or more locations within a system, wherein the sample plate carrier comprises: a carrier platform configured to receive a sample plate, wherein the carrier platform defines a first end and a second end; and a retrieval engagement mechanism that can be selectively electro-magnetized, wherein the retrieval engagement mechanism is configured to move along a retrieval channel defined at least partially along the carrier platform, wherein the retrieval engagement mechanism is moveable between a first position adjacent to the first end of the carrier platform and a second position adjacent to the second end of the carrier platform, and wherein the retrieval engagement mechanism is configured to be electro-magnetized in an instance in which the retrieval engagement mechanism is in the second position.

[0144] Clause 2. The robotic arm assembly of Clause 1, wherein upon engagement between the retrieval engagement mechanism and a sample plate adapter, the retrieval engagement mechanism is configured to move to the first position, wherein the sample plate adapter is fully positioned on the carrier platform once the retrieval engagement mechanism moves to the first position.

[0145] Clause 3. The robotic arm assembly of Clause 2, wherein the retrieval engagement mechanism and the sample plate adapter are engaged in an instance in which the sample plate adapter is attached to the electro-magnetized retrieval engagement mechanism.

[0146] Clause 4. The robotic arm assembly of Clause 1, further comprising a robotic arm assembly controller configured to move the sample plate carrier from a first location to a second location within the system.

[0147] Clause 5. The robotic arm assembly of Clause 4, wherein the robotic arm assembly controller is further configured to move the retrieval engagement mechanism from the first position to the second position once the sample plate carrier is moved to the second location within the system.

[0148] Clause 6. The robotic arm assembly of Clause 5, wherein the electro-magnetism of the retrieval engagement mechanism is ended in an instance in which the retrieval engagement mechanism is moved to the second position once the sample plate carrier is moved to the second location within the system.

[0149] Clause 7. The robotic arm assembly of Clause 1, wherein the retrieval engagement mechanism comprises an electro-magnet that is selectively provided an electrical current.

[0150] Clause 8. The robotic arm assembly of Clause 1, wherein the retrieval engagement mechanism is configured to be electro-magnetized in an instance in which the sample plate carrier is moved within the system.

[0151] Clause 9. The robotic arm assembly of Clause 1, wherein the retrieval engagement mechanism is moved along an engagement track via one or more robotic arm motors.

[0152] Clause 10. The robotic arm assembly of Clause 1, further comprising a vertical support, wherein the sample plate carrier is moveably attached to the vertical support, wherein the sample plate carrier moves along the vertical support along a first directional axis.

[0153] Clause 11. The robotic arm assembly of Clause 10, further comprising a robotic arm plate, wherein the vertical support is movably attached to the robotic arm plate, wherein the vertical support is moves along the robotic arm plate along at least one of a second directional axis or a third directional axis.

[0154] Clause 12. The robotic arm assembly of Clause 1, wherein the sample plate carrier is configured to be moved between one or more storage columns, wherein each of the one or more storage columns are configured to house one or more sample plates.

[0155] Clause 13. The robotic arm assembly of Clause 12, further comprising a controller configured to move the sample plate carrier between one or more storage columns.

[0156] Clause 14. A method of engaging a sample plate adapter, the method comprising: positioning a sample plate carrier at a first location in a system adjacent to a sample plate positioned within a sample plate adapter; causing a retrieval engagement mechanism of the sample plate carrier to be moved to a second position, wherein the retrieval engagement mechanism isconfigured to move between a first position adjacent to a first end of a carrier platform and the second position at a second end of the carrier platform; providing an electrical current to the retrieval engagement mechanism, wherein the electrical current causes the retrieval engagement mechanism to be electro-magnetized; causing the retrieval engagement mechanism to be moved to the first position upon engagement between the retrieval engagement mechanism and the sample plate adapter.

[0157] Clause 15. The method of Clause 14, further comprising: causing the sample plate carrier to be moved to a second location; and in an instance in which the sample plate carrier is moved to the second location, causing the retrieval engagement mechanism to be moved to the second position, wherein the electrical current is provided to the retrieval engagement mechanism during movement of the retrieval engagement mechanism from the first position to the second position.

[0158] Clause 16. The method of Clause 15, further comprising causing the electrical current provided to the retrieval engagement mechanism to be terminated in an instance in which the retrieval engagement mechanism is moved to the second position in an instance in which the sample plate carrier is moved at the second location.

[0159] Clause 17. The method of Clause 14, further comprising monitoring for engagement between the retrieval engagement mechanism and the sample plate adapter.

[0160] Clause 18. The method of Clause 14, further comprising causing one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the first location within the system.

[0161] Clause 19. The method of Clause 15, further comprising causing one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the second location within the system.

[0162] Clause 20. The method of Clause 15, wherein the first location is a storage layer of one of at least one storage column and the second location is an imaging station.

[0163] Clause 21. The method of Clause 20, further comprising causing a sample plate within the sample plate adapter to be processed by the imaging station.

[0164] Clause 22. The method of Clause 15, wherein the first location is a port within a loading port and the second location is a storage layer of one of at least one storage column.

[0165] Clause 23. The method of Clause 14, wherein the sample plate adapter is positioned completely on the carrier platform in an instance in which the retrieval engagement mechanism is moved to the first position while the retrieval engagement mechanism is engaged with the sample plate adapter.

[0166] Clause 24. The method of Clause 14, further comprising calibrating the sample plate carrier based on one or more fiducial markers located on one or more storage columns. Directed to moving storage columns and robotic arm assembly.

[0167] Clause 25. A system for high density microplate storage and random retrieval thereof, comprising: one or more storage columns coupled to a horizontal rail track assembly, wherein each of the one or more storage columns are mechanically driven along one or more horizontal rails on the horizontal rail track assembly, wherein each of the one or more storage columns is configured to store at least one sample plate adapter, and wherein each of the at least one sample plate adapteris attached to a sample plate; and a robotic arm assembly comprising a sample plate carrier equipped with a selectively electro-magnetized structure, wherein the selectively electromagnetized structure is engageable with any of the at least one sample plate adapter, and wherein the robotic arm assembly is configured to move the sample plate carrier from a first position within the system to a second position within the system.

[0168] Clause 26. The system of Clause 25, wherein the robotic arm assembly is mechanically driven horizontally and vertically.

[0169] Clause 27. The system of Clause 26, wherein the sample plate carrier is equipped with a collision detection sensor.

[0170] Clause 28. The system of Clause 26, wherein the sample plate carrier is equipped with kinematic joints and a dislodge detection sensor.

[0171] Clause 29. The system of Clause 25, further comprising a plurality of storage layers on the one or more storage columns, each of the plurality of storage layers is configured to house at least one of the at least one sample plate adapter.

[0172] Clause 30. The system of Clause 25, wherein the first position is adjacent to a first sample plate adapter of the at least one sample plate adapter, wherein the sample plate carrier is configured to engage the first sample plate adapter in an instance in which the sample plate carrier is located at the first position.

[0173] Clause 31. The system of Clause 25, wherein the one or more storage columns are supported vertically by the horizontal rail track assembly.

[0174] Clause 32. The system of Clause 25, further comprising at least one fiducial marker on the one or more storage columns, wherein the at least one fiducial marker assists in computationally identifying a particular storage column of the one or more storage columns.

[0175] Clause 33. The system of Clause 32, wherein a first fiducial marker of the at least one fiducial marker is defined along a top of a first storage column of the one or more storage columns, and a second fiducial marker of the at least one fiducial marker is defined along the top of the first storage column.

[0176] Clause 34. The system of Clause 29, wherein the plurality of storage layers is held in position by flexures on the one or more storage columns.

[0177] Clause 35. A method for high density microplate storage and random retrieval, comprising: provisioning a horizontal rail track assembly with one or more storage columns supported vertically by the horizontal rail track assembly, wherein each of the one or more storage columns comprises a plurality of storage layers that each have a sample plate and a sample plate adapter; provisioning a robotic arm assembly equipped with a sample plate carrier and an electromagnet; actuating a storage column from the one or more storage columns to retrieve a sample on the sample plate equipped with the sample plate adapter; actuating the robotic arm assembly equipped with the sample plate carrier and an electromagnet to one of the plurality of storage layers on one of the one or more storage columns; applying a current to the electromagnet on the sample plate carrier; engaging the sample plate adapter with the electromagnet on the sample plate carrier of the robotic arm assembly; and retrieving the sample on the sample plate adapter via the sample plate carrier on the robotic arm assembly.

[0178] Clause 36. The method of Clause 35, wherein actuating comprises moving at least one of the one or more storage columns along the horizontal rail track assembly.

[0179] Clause 37. The method of Clause 35, further comprising randomizing a selection of one or more storage layers of the plurality of storage layers on the storage column.

[0180] Clause 38. The method of Clause 35, further comprising randomizing a selection of storage column from the one or more storage columns.

[0181] Clause 39. The method of Clause 35, further comprising depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers on the storage column via the sample plate carrier on the robotic arm assembly.

[0182] Clause 40. The method of Clause 39, wherein depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers further comprises removing the current applied to the electromagnet.

[0183] Clause 41. The method of Clause 40, wherein depositing the sample plate on the sample plate adapter onto one of the plurality of storage layers further comprises mechanically latching the sample plate adapter onto flexures of the storage column.

[0184] Clause 42. The method of Clause 35, wherein the sample plate carrier is mechanically driven forward and backward when it retrieves the sample plate adapter.

[0185] Clause 43. The method of Clause 35, wherein the one or more storage columns have fiducial markers.

[0186] Clause 44. The method of Clause 43, further comprising actuating the robotic arm assembly in a horizontal direction until it aligns with the fiducial markers of at least one storage column of the one or more storage columns.

Claims

CLAIMSTherefore, the following is claimed:

1. A robotic arm assembly for retrieving and disposing of a sample plate, the robotic arm assembly comprising a sample plate carrier moveable between one or more locations within a system, wherein the sample plate carrier comprises: a carrier platform configured to receive a sample plate, wherein the carrier platform defines a first end and a second end; and a retrieval engagement mechanism that can be selectively electromagnetized, wherein the retrieval engagement mechanism is configured to move along a retrieval channel defined at least partially along the carrier platform, wherein the retrieval engagement mechanism is moveable between a first position adjacent to the first end of the carrier platform and a second position adjacent to the second end of the carrier platform, and wherein the retrieval engagement mechanism is configured to be electromagnetized in an instance in which the retrieval engagement mechanism is in the second position.

2. The robotic arm assembly of Claim 1, wherein upon engagement between the retrieval engagement mechanism and a sample plate adapter, the retrieval engagement mechanism is configured to move to the first position, wherein thesample plate adapter is fully positioned on the carrier platform once the retrieval engagement mechanism moves to the first position.

3. The robotic arm assembly of Claim 2, wherein the retrieval engagement mechanism and the sample plate adapter are engaged in an instance in which the sample plate adapter is attached to the electro-magnetized retrieval engagement mechanism.

4. The robotic arm assembly of Claim 1, further comprising a robotic arm assembly controller configured to move the sample plate carrier from a first location to a second location within the system.

5. The robotic arm assembly of Claim 4, wherein the robotic arm assembly controller is further configured to move the retrieval engagement mechanism from the first position to the second position once the sample plate carrier is moved to the second location within the system.

6. The robotic arm assembly of Claim 5, wherein the electro-magnetism of the retrieval engagement mechanism is ended in an instance in which the retrieval engagement mechanism is moved to the second position once the sample plate carrier is moved to the second location within the system.

7. The robotic arm assembly of Claim 1, wherein the retrieval engagement mechanism comprises an electro-magnet that is selectively provided an electrical current.

8. The robotic arm assembly of Claim 1, wherein the retrieval engagement mechanism is configured to be electro-magnetized in an instance in which the sample plate carrier is moved within the system.

9. The robotic arm assembly of Claim 1, wherein the retrieval engagement mechanism is moved along an engagement track via one or more robotic arm motors.

10. The robotic arm assembly of Claim 1, further comprising a vertical support, wherein the sample plate carrier is moveably attached to the vertical support, wherein the sample plate carrier moves along the vertical support along a first directional axis.

11. The robotic arm assembly of Claim 10, further comprising a robotic arm plate, wherein the vertical support is movably attached to the robotic arm plate, wherein the vertical support is moves along the robotic arm plate along at least one of a second directional axis or a third directional axis.

12. The robotic arm assembly of Claim 1, wherein the sample plate carrier is configured to be moved between one or more storage columns, wherein each of the one or more storage columns are configured to house one or more sample plates.

13. A method of engaging a sample plate adapter, the method comprising: positioning a sample plate carrier at a first location in a system adjacent to a sample plate positioned within a sample plate adapter; causing a retrieval engagement mechanism of the sample plate carrier to be moved to a second position, wherein the retrieval engagement mechanism is configured to move between a first position adjacent to a first end of a carrier platform and the second position at a second end of the carrier platform; providing an electrical current to the retrieval engagement mechanism, wherein the electrical current causes the retrieval engagement mechanism to be electro-magnetized; and causing the retrieval engagement mechanism to be moved to the first position upon engagement between the retrieval engagement mechanism and the sample plate adapter.

14. The method of Claim 13, further comprising: causing the sample plate carrier to be moved to a second location; and in an instance in which the sample plate carrier is moved to the second location, causing the retrieval engagement mechanism to be moved to the second position, wherein the electrical current is provided to the retrieval engagement mechanism during movement of the retrieval engagement mechanism from the first position to the second position.

15. The method of Claim 14, further comprising causing the electrical current provided to the retrieval engagement mechanism to be terminated in an instance in which the retrieval engagement mechanism is moved to the second position in an instance in which the sample plate carrier is moved at the second location.

16. The method of Claim 13, further comprising monitoring for engagement between the retrieval engagement mechanism and the sample plate adapter.

17. The method of Claim 13, further comprising causing one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the first location within the system.

18. The method of Claim 14, further comprising causing one or more storage columns in the system to be moved to allow the sample plate carrier to be positioned at the second location within the system.

19. The method of Claim 13, wherein the sample plate adapter is positioned completely on the carrier platform in an instance in which the retrieval engagement mechanism is moved to the first position while the retrieval engagement mechanism is engaged with the sample plate adapter.

20. The method of Claim 13, further comprising calibrating the sample plate carrier based on one or more fiducial markers located on one or more storage columns.

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