Method for controlling a pipetting system

Abstract

The invention relates to a method (100) for controlling a pipetting system, the pipetting system comprising: - a frame that comprises a base (2) provided with at least one tray (9) configured to accommodate at least one consumable and a tower (3) that extends from the base (2) and comprises a linear guide rail (30) that extends along a vertical axis (V); - a pipetting head (1) that accommodates at least one pipetting channel intended to be provided with an end piece (11) configured to co-operate with a pipetting tip so as to receive or dispense liquid, the pipetting head (1) being translatable along the linear guide rail (30) in at least one predefined range of movement; - means for translating the pipetting head (1); - a control device (5) that comprises data acquisition means (51) and means (52) for processing the data acquired by the acquisition means (51), characterised in that the control method (100) comprises the following steps implemented by the control device (5): - a step (101) of checking the position of the pipetting head (1) so as to obtain an item of information representative of the position of the pipetting head (1) relative to the base (2); - a step (102) of checking for the presence of at least one consumable on the tray and / or at least one pipetting tip rigidly attached to the pipetting head (1) so as to obtain an item of information representative of the state of the at least one consumable and / or of the at least one pipetting tip; - a step (103) of controlling a pipetting procedure on the basis of the item of information representative of the progress state of a pipetting protocol, of the item of information representative of the state of the at least one consumable, and of the item of information representative of the position of the pipetting head relative to the base (2).

Description

[0001] DESCRIPTION

[0002] TITLE: METHOD FOR CONTROLLING A PIPETTING SYSTEM

[0003] Field of invention

[0004] The present invention relates to the field of pipetting systems, such as sampling pipettes, also called pipetting systems, laboratory pipetting systems, or laboratory pipettes, or liquid transfer pipettes, intended for the calibrated sampling and introduction of liquid into containers.

[0005] More specifically, the invention relates to a control method capable of controlling a pipetting system. The invention preferably applies to motorized or semi-motorized pipetting systems, with manual or servo-controlled movement of the pipetting head and motorized pipetting, but can also be applied to manual pipetting systems.

[0006] The invention applies to air displacement or positive displacement pipetting systems.

[0007] State of the prior art

[0008] For many years, the design of pipetting systems, whether motorized, semi-motorized or even manual, has been the subject of numerous improvements.

[0009] From the prior art, pipetting systems are known comprising a pipetting head, a base comprising one or more trays intended to come opposite the pipetting head, and a tower extending from the base and comprising a linear guide rail.

[0010] Conventionally, the pipetting head comprises one or more channels, arranged on a rectangular matrix of one or more rows and one or more columns. Each of these pipetting channels is conventionally provided with a tip intended to cooperate with a pipetting cone, which may be disposable, by fitting so as to receive or dispense liquid.

[0011] This pipetting head can, in a known manner, be moved in translation along said linear guide rail between at least one maximum position and one minimum position. This movement of the pipetting head can be done either manually by a user who can, for example, grasp the pipetting head in his hands so as to exert upward or downward pressure in order to respectively raise or lower the pipetting head, or in a fully automated manner by means of a drive motor, the user then most often having to simply press a button or operate a lever in order to set the pipetting head in motion, or in a semi-motorized (or semi-manual) manner.

[0012] A disadvantage of current pipetting systems is that they can be relatively difficult for a user to use optimally due to the number of elements that need to be checked prior to use, the possibility that other people have used the pipetting system beforehand, or the possibility that a protocol implementing such a pipetting system may extend over a relatively long period of time, making it difficult to control such a pipetting system.

[0013] There is therefore a need to improve the existing system, and in particular to implement a reliable pipetting system, as well as a control process to facilitate the use of such a pipetting system as well as the monitoring of its use.

[0014] Statement of the invention

[0015] The invention aims to remedy at least in part the drawbacks mentioned above relating to the techniques of the prior art.

[0016] To this end, the invention relates to a method for controlling a pipetting system, the pipetting system comprising: a frame comprising a base provided with at least one tray configured to accommodate at least one consumable, and a tower extending from said base and comprising a linear guide rail extending along a vertical axis V; a pipetting head housing at least one pipetting channel intended to be provided with a tip configured to cooperate with a pipetting cone so as to receive or dispense liquid, said pipetting head being able to be moved in translation along said linear guide rail in at least one predefined range of movement; means for driving said pipetting head in translation, a control device comprising data acquisition means and means for processing the data acquired by said acquisition means.

[0017] According to the invention, said control method comprises the following steps, implemented by said control device: a step of controlling the position of said pipetting head so as to obtain information representative of a position of said pipetting head relative to said base; a step of controlling the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head, so as to obtain information representative of a state of said at least one consumable and / or said at least one pipetting cone; a step of controlling a pipetting operation, as a function of information representative of a progress state of a pipetting protocol, of said information representative of a state of said at least one consumable, and of said information representative of a position of said pipetting head relative to said base.Thus, the invention proposes a new and inventive approach making it possible to at least partially resolve the drawbacks of the prior art.

[0018] In particular, such a method of controlling a pipetting system allows a user to optimally use such a pipetting system by guiding him as he gains experience of use, for example by guiding him in the control operations prior to a pipetting operation and then guiding him during the pipetting protocol.

[0019] By pipetting protocol, we mean here a set of steps for preparing, mixing, diluting and / or manipulating one or more controlled volumes of samples or liquid reagents.

[0020] As for pipetting, it here designates a controlled movement of a predefined volume of liquid in a cone, connected to a pipetting head, by controlled movement of a piston according to a predefined stroke in the pipetting chamber connected to the tip on which the pipetting cone is fitted.

[0021] This controlled movement of liquid volume can be done either in a direction corresponding to a withdrawal of liquid volume from a consumable or in a direction corresponding to a deposit of liquid volume in a consumable.

[0022] By controlled displacement and controlled volume, we mean a precise displacement of a volume of liquid, as well as a precise volume of liquid.

[0023] It should be noted that the translational drive means of said pipetting head may for example comprise: a motor for driving said pipetting head in translation, comprising a motor shaft mounted to rotate along a motor axis fixed relative to said frame and substantially orthogonal to said vertical axis V; a toothed pinion mounted to rotate along said motor axis; a movement transmission roller arranged between said motor and said toothed pinion so as to transmit a rotational movement between said motor and said toothed pinion;a rack mounted to move in translation along said vertical axis V, said rack being integral with said pipetting head so as to drive it in translation, and being arranged in contact with said notched pinion so that a rotation of said notched pinion causes a translation of said rack along said vertical axis V and that a translation of said rack along said vertical axis causes a rotation of said notched pinion.;

[0024] The translational drive means of said pipetting head may also comprise an actuating lever mounted to be movable in rotation along a horizontal axis orthogonal to said vertical axis V relative to said base, said actuating lever being configured to drive said pipetting head in vertical translation, said actuating lever being movable in rotation between at least one rest position and a pivoted position. According to one aspect of at least one embodiment of the invention, the control of the position of the pipetting head is carried out by means of a magnetic encoder provided with at least one magnet and a magnetometer.

[0025] According to one aspect of at least one embodiment of the invention, said step of checking the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head may comprise a step of checking the presence of at least one pipetting cone fitted to a tip.

[0026] According to one aspect of at least one embodiment of the invention, said step of checking the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head comprises at least one of the following sub-steps: checking the fitting of the at least one pipetting cone; checking the presence of a consumable on said tray; checking the presence and / or the position of said tray opposite said pipetting head; in the event of the presence of a consumable on said tray, checking at least one item of information characteristic of a type of consumable.

[0027] According to one aspect of at least one embodiment of the invention, said step of checking the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head comprises at least two of the following sub-steps: checking the fitting of the pipetting cones; checking the presence of a consumable on said tray; checking the presence and / or the position of said tray opposite said pipetting head; in the event of the presence of a consumable on said tray, checking at least one item of information characteristic of a type of consumable.

[0028] According to one aspect of at least one embodiment of the invention, said step of checking the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head comprises the following sub-steps: checking the fitting of the pipetting cones; checking the presence of a consumable on said tray; checking the presence and / or the position of said tray opposite said pipetting head; in the event of the presence of a consumable on said tray, checking at least one item of information characteristic of a type of consumable. Such sub-steps make it possible to ensure that a pipetting protocol can take place or continue without there being any disruptions due to an absence of a tray or consumable in order to be able to carry out the protocol to its conclusion.

[0029] According to one aspect of at least one embodiment of the method for controlling a pipetting system: if said information representative of a position of said pipetting head relative to said base corresponds to a position of said pipetting head outside said at least one predefined range of movement, said step of controlling a pipetting operation comprises a step of locking at least part of the translational drive means of said pipetting head; if said information representative of a position of said pipetting head relative to said base corresponds to a position of said pipetting head in said at least one predefined range of movement, said step of controlling a pipetting operation comprises at least one of the following sub-steps: o a step of verifying said position of said pipetting head relative to at least one predefined stop;o a step of unlocking at least part of the translational drive means of said pipetting head; o a step of preparing the tray and / or positioning the tray; o a pipetting step; o a step of driving said pipetting head in translation so as to position said pipetting head in a preparation position located outside said predefined range of movement; o a step of obtaining information representative of a progress state of a pipetting protocol, and depending on said information representative of a progress state of a pipetting protocol, a step of controlling a following phase of said pipetting protocol. The preparation of the tray may for example comprise the addition or removal of consumables, reagents or samples.;

[0030] The step of positioning, or moving, the plate can for example be useful in the case of a mobile plate which can be moved axially or radially along one, two or three axes.

[0031] The pipetting step may in particular comprise the following sub-steps: a step of driving said pipetting head in translation so as to fit at least one pipetting cone; a step of driving said pipetting head in translation so as to place a reservoir on the tray or position a tray comprising a reservoir or a microplate; a step of driving said pipetting head in translation so as to lower the pipetting head into the pipetting position; a step of suctioning or dispensing liquid; a step of driving said pipetting head in translation so as to raise the pipetting head to remove a reservoir and place a target microplate or move a tray to position the microplate under the pipetting head; a step of driving said pipetting head in translation so as to lower the pipetting head above a microplate;a step of ejecting at least one pipetting cone.;

[0032] It should be noted that the locking of at least part of the drive means may, for example, include the locking of an actuating lever.

[0033] Likewise, the unlocking of at least part of the drive means may for example comprise the unlocking of an actuating lever.

[0034] According to one aspect of at least one embodiment of the invention, if said information representative of a position of said pipetting head relative to said base corresponds to a position of said pipetting head in said at least one predefined range of movement, said step of controlling a pipetting operation comprises the following sub-steps: a step of verifying said position of said pipetting head relative to at least one predetermined stop; a step of unlocking at least part of the translational drive means of said pipetting head; a step of preparing the tray and / or positioning the tray; a pipetting step; a step of driving said pipetting head in translation so as to position said pipetting head in a preparation position located outside of said predefined range of movement;a step of obtaining information representative of a progress state of a pipetting protocol, and depending on said information representative of a progress state of a pipetting protocol, a step of controlling a following phase of said pipetting protocol. The pipetting step may in particular comprise the following sub-steps: a step of driving in translation of said pipetting head so as to fit at least one pipetting cone; a step of driving in translation of said pipetting head so as to place a reservoir on the tray or position a tray comprising a reservoir or a microplate; a step of driving in translation of said pipetting head so as to lower the pipetting head into the pipetting position; a step of suctioning or dispensing liquid;a step of driving said pipetting head in translation so as to raise the pipetting head to remove a reservoir and place a target microplate or move a tray to position the microplate under the pipetting head; a step of driving said pipetting head in translation so as to lower the pipetting head above a microplate; a step of ejecting at least one pipetting cone.;

[0035] According to one aspect of at least one embodiment of the invention, the control device comprises a display and input terminal, and said method comprises at least one step from among: a step of displaying on the display and input terminal at least one piece of information from among said information representative of a position of said pipetting head relative to said base, said information representative of a state of said at least one consumable, said information representative of a progress state of a pipetting protocol; a step of receiving instructions from a user interacting with said display and input terminal.

[0036] According to one aspect of at least one embodiment of the invention, said information representative of a state of said at least one consumable belongs to the group comprising: a number of consumables present on the tray; a type of consumable present on the tray; a number of cones to be fitted; a type of cones to be fitted; the presence and / or the position of said tray opposite the pipetting head.

[0037] According to one aspect of at least one embodiment of the invention, said information representative of a progress status of a pipetting protocol comprises: a phase of said pipetting protocol previously completed; a phase of said pipetting protocol to be carried out; specifications of said pipetting protocol previously completed; a waiting time before starting said pipetting protocol.

[0038] Initial information.

[0039] For example, a specification of the pipetting protocol may comprise a set of parameters for carrying out the pipetting protocol (volume, pipetting speed and direction, durations, number of pipetting cycles, liquid aspiration target, liquid distribution target). It may also simply comprise part of this information. According to one aspect of at least one embodiment of the invention, the method further comprises a step of checking at least one piece of security data belonging to the group comprising: a date of maintenance carried out or to be carried out; an update of a maintenance log of the pipetting system; an action to be carried out by a user; information identifying a user; a command for resetting said information representative of a progress status of a pipetting process; a serial number; a version of software.

[0040] According to one aspect of at least one embodiment of the invention, the control device is capable of communicating with a remote terminal.

[0041] Such a remote terminal can, for example, be a smartphone or a tablet. It can also be a remote server for storing downloadable protocols, a remote server for storing configurations of pipetting system models, a remote server for storing usage data for a given pipetting system (containing, for example, a set of files listing the actions performed during a protocol).

[0042] According to one aspect of at least one embodiment of the invention, the control device comprises communication means.

[0043] According to one aspect of at least one embodiment of the invention, the communication means belong to the group comprising: a Wifi antenna; a Bluetooth antenna; an NFC antenna; a radio antenna.

[0044] According to one aspect of at least one embodiment of the invention, the method comprises a preliminary step of initializing the pipetting system.

[0045] The invention also relates to a pipetting system comprising: a frame comprising a base provided with at least one tray configured to accommodate at least one consumable, and a tower extending from said base and comprising a linear guide rail extending along a vertical axis V; a pipetting head housing at least one pipetting channel intended to be provided with a tip configured to cooperate with a pipetting cone so as to receive or dispense liquid, said pipetting head being able to be moved in translation along said linear guide rail in at least one predefined range of movement; means for driving said pipetting head in translation, a control device comprising data acquisition means and means for processing the data acquired by said acquisition means, said pipetting device being configured to implement said control method according to one of the aforementioned embodiments.

[0046] According to a particular aspect of at least one embodiment, said acquisition means are arranged opposite said plate and comprise at least one of: means for controlling an axial fitting force along said vertical axis V of said at least one pipetting cone on said at least one tip; a CCD or CMOS camera; a colorimetric or photometric sensor; an accelerometer; an ultrasound sensor.

[0047] The implementation of an accelerometer can, for example, make it possible to monitor the positioning or movement of one or more trays relative to the pipetting head.

[0048] The implementation of a colorimetric or photometric sensor makes it possible to check the content or type of consumable present on the tray(s).

[0049] According to a particular aspect of at least one embodiment, said means for processing the acquired data comprise a microcontroller.

[0050] According to a particular aspect of at least one embodiment, said control device further comprises signaling means comprising at least one LED, an audible alarm, and / or a haptic signal.

[0051] According to a particular aspect of at least one embodiment, said control device is autonomous.

[0052] The term autonomous can be understood here as independent of the pipetting system and can therefore be switched on and manipulated without having to start the entire pipetting system.

[0053] According to a particular aspect of at least one embodiment, the pipetting system comprises: a frame comprising a base provided with at least one tray configured to accommodate at least one consumable, and a tower extending from said base and comprising at least one linear guide rail extending along a vertical axis V; a pipetting head housing at least one pipetting channel intended to be provided with a tip configured to cooperate with a pipetting cone so as to receive or dispense liquid, said pipetting head being able to be moved in translation along said linear guide rail in at least one predefined range of movement between at least one maximum position forming a maximum spacing with said base and a minimum position forming a minimum spacing with said base;means for driving said pipetting head in translation comprising: o a motor for driving said pipetting head in translation, comprising a motor shaft mounted to rotate along a motor axis R fixed relative to said frame and substantially orthogonal to said vertical axis V; o a toothed pinion mounted to rotate along said motor axis; o a movement transmission roller arranged between said motor and said toothed pinion so as to transmit a rotational movement between said motor and said toothed pinion;o a rack mounted so as to move in translation along said vertical axis V, said rack being integral with said pipetting head so as to drive it in translation, and being arranged in contact with said toothed pinion so that a rotation of said toothed pinion causes a translation of said rack along said vertical axis V and that a translation of said rack along said vertical axis V causes a rotation of said toothed pinion, control means comprising: o means for measuring information representative of said spacing of said pipetting head with said base; o means for analyzing said information representative of said spacing of said pipetting head with said base, so as to deduce therefrom said position of said pipetting head;o control means configured to activate said motor as a function of said position of said pipetting head and at least one predefined stop, said at least one predefined stop being located between said maximum position and said minimum position of the pipetting head.;

[0054] By implementing control means that enable the motor to be activated and therefore powered simply when necessary and with the required power, the pipetting system is made economical in terms of energy consumption. In addition, wear and tear on components, particularly drive and control means, is also limited.

[0055] Furthermore, this provides a pipetting system that allows a user great freedom of control, as they can pre-set stops and maneuver the pipetting head within a pre-defined range of motion.

[0056] Finally, such a pipetting system implements control means which are relatively simple mechanically and relatively inexpensive.

[0057] According to one aspect of at least one embodiment of the invention, when said pipetting head reaches the height of said at least one predefined stop, the control means activate said motor so as to block the translational movement of said pipetting head along said linear guide rail.

[0058] This also allows the motor to be switched on at a predefined blocking power only when necessary and with the necessary power, thus making the pipetting system economical in terms of energy consumption.

[0059] According to one aspect of at least one embodiment of the invention, the measuring means comprise a magnetic encoder provided with at least one magnet and a magnetometer, said at least one magnet being fixed to said toothed pinion and being arranged opposite said magnetometer fixed to said frame of the pipetting system and configured to measure a value of a magnetic field of said at least one magnet so that a rotation of said toothed pinion around said motor axis R causes a variation of said value of said magnetic field of said at least one magnet measured by said magnetometer.Furthermore, said information representative of a spacing of said pipetting head is measured by said magnetic encoder, and comprises a number of revolutions made by said toothed pinion as well as said value of the magnetic field of said at least one magnet, said analysis means deducing from said measured value of said magnetic field of said at least one magnet and from the number of revolutions made by said toothed pinion said position of said pipetting head.

[0060] Thus, the measuring means have an angular magnetic encoder type operation, with revolution counter, so as to provide measurements of the value of said magnetic field of said magnet which are relatively precise and quick to obtain.

[0061] According to one aspect of at least one embodiment of the invention, said motion transmission roller has a protrusion extending along said motor axis R and around which said toothed pinion is rotatably mounted. Furthermore, said toothed pinion comprises two oblong holes symmetrical with respect to said motor axis R, said motion transmission roller having two pins extending in projection opposite said toothed pinion so that each of said two pins is slidably mounted in one of said two oblong holes by movement of said motion transmission roller with respect to said toothed pinion, said two pins and said motor axis R being aligned in a plane orthogonal with respect to said vertical axis V.

[0062] According to one aspect of at least one embodiment of the invention, said at least one magnet is arranged in a housing formed in said protrusion and is mounted to move in helical rotation around said motor axis R, said number of revolutions made by said notched pinion depending on a distance of said magnet relative to said magnetometer.

[0063] According to one aspect of at least one embodiment of the invention, said at least one magnet is arranged on a support linked to said toothed pinion and mounted to rotate about an axis H fixed relative to the toothed pinion and parallel relative to said motor axis R. According to one aspect of at least one embodiment of the invention, one of said two pins forms said axis H of rotation of said support, said axis H being parallel offset relative to said motor axis R, said value of said magnetic field of said at least one magnet measured by said magnetometer depending on a position of each of said two pins in said two oblong holes.

[0064] According to one aspect of at least one embodiment of the invention, said measuring means are configured to detect a movement of said pipetting head by a sliding of each of said two pins in said two oblong holes from a default position in which each of said two pins is centered relative to the oblong hole in which it is slidably mounted, and an offset position in which each of said two pins is offset relative to the center of the oblong hole in which it is slidably mounted. Furthermore, said control means are configured to control a speed and a direction of rotation of said motor so as to return each of said two pins to said default position.

[0065] According to one aspect of at least one embodiment of the invention, when said pipetting head reaches the height of said at least one predefined stop, each of said two pins comes into abutment against an edge of said oblong hole in which it is slidably mounted.

[0066] According to one aspect of at least one embodiment of the invention, the drive means of said pipetting head comprise at least one constant force spring connected to said rack and configured to maintain said pipetting head in a given position.

[0067] This provides stability to the pipetting head by ensuring that it remains in a given position, which may correspond to a position desired by a user.

[0068] According to one aspect of at least one embodiment of the invention, the device further comprises monitoring means, arranged on said pipetting head and / or on said tower and intended to be positioned opposite said tray.

[0069] According to one aspect of at least one embodiment of the invention, the control means comprise monitoring means capable of delivering information belonging to the group comprising: information on the presence of a support on said tray; a number of pipetting cones not yet used; information relating to a protocol step to be carried out, in progress, or carried out; information on the date or time of carrying out a pipetting protocol; a planned maintenance date; information identifying consumables present on the tray; information identifying the pipetting system; information on the arrival in the stop position of the pipetting head; information on the vertical position of the pipetting head and / or on a distance between the pipetting head and the base.

[0070] According to one aspect of at least one embodiment of the invention, said control means comprise data storage means and / or data communication means capable of communicating with a remote terminal.

[0071] According to a particular aspect of at least one embodiment of the invention, the pipetting system comprises: a support comprising a plurality of pipetting cones, said support being arranged on a rectangular matrix of rows and columns; a pipetting head comprising a housing housing a plurality of pipetting channels arranged on a rectangular matrix of rows and columns, each of said pipetting channels being provided with a tip intended to cooperate with one of said pipetting cones by fitting so as to receive or dispense liquid, said pipetting head being movable in a predefined range of movement between a raised position in which said tips are at a distance from said pipetting cones and an engaged position in which said pipetting cones are fitted onto said tips;a base comprising at least one tray intended to come opposite said pipetting head and configured to accommodate said support provided with pipetting cones; a tower extending from said base and comprising a linear guide rail along which the pipetting head can be manually moved along a vertical axis V relative to said base in said at least one predefined range of movement;an actuating lever mounted to be movable in rotation along a horizontal axis H orthogonal to said vertical axis V relative to said base, said actuating lever being configured to drive said pipetting head in vertical translation between said raised position and said engaged position in response to a force applied to said actuating lever, said actuating lever being movable in rotation between at least one rest position and a pivoted position so as to move said pipetting head from said raised position to said engaged position. means for controlling an axial fitting force along said vertical axis V of said pipetting cones on said tips generated by the rotation of the actuating lever between the rest position and the pivoted position.;

[0072] The implementation of means for controlling an axial fitting force makes it possible to improve the reliability of the pipetting system by controlling the fitting force of the pipetting cones onto the tips of the pipetting head. Indeed, such means for controlling a fitting force make it possible to ensure that a user correctly carries out the operation of fitting the pipetting cones onto the tips connected to the pipetting head by ensuring that the fitting is carried out sufficiently, but not excessively, so that these cones hold in contact with the tips but do not damage the pipetting system.

[0073] According to a particular aspect of at least one embodiment of the invention, the means for controlling an axial fitting force along said vertical axis V of said pipetting cones on said tips comprise a force sensor and a stop capable of coming at least partially to bear on said force sensor in response to at least partial rotation of said actuating lever from said rest position to said pivoted position.

[0074] This allows the implementation of a pipetting system that is mechanically simple and at the same time reliable.

[0075] According to a particular aspect of at least one embodiment of the invention, said tower comprises a rod for resuming movement of said actuating lever, said rod being connected to said actuating lever by means of drive means, said rod being movable in rotation about said horizontal axis H and pivoting about said horizontal axis H in response to a force applied to said actuating lever, so that a rotation of said actuating lever from said rest position to said pivoted position causes a rotation of said rod and said drive means from a retracted position to a position in which said rod comes to bear axially against said stop and exerts a thrust force on said stop towards said force sensor.

[0076] According to a particular aspect of at least one embodiment of the invention, said force sensor is vertically spaced from said stop so that a thrust exerted by said rod on said stop is detected from a predetermined value of support of said rod on said stop.

[0077] According to a particular aspect of at least one embodiment of the invention, the system further comprises retraction means intended to move said rod away from said pipetting head, when said pipetting head is positioned outside said predefined range of movement.

[0078] This prevents the pipetting head from being positioned within the predefined range of motion if the retraction means move the rod backwards to prevent it from hitting the pipetting head, for example, and damaging it. Only when the pipetting head is positioned within the predefined range of motion can the rod come into axial contact with the stop.

[0079] According to a particular aspect of at least one embodiment of the invention, said retraction means comprise a retraction spring configured to exert a force towards a rotation pin materializing said horizontal axis H so as to move said rod away from said pipetting head, when said pipetting head is positioned outside said predefined range of movement. In other words, the retraction spring exerts a force against a rotation pin which formalizes the axis of rotation, and therefore prevents rotation of the rod around said horizontal axis H when the pipetting head is positioned outside the predefined range of movement.

[0080] According to a particular aspect of at least one embodiment of the invention, the pipetting system further comprises monitoring means, arranged on said pipetting head and intended to be positioned opposite said tray.

[0081] Such monitoring means may, for example, include a CCD or CMOS camera making it possible to control the number of lines of cones fitted, to control whether the consumable (which may be the pipetting cone holder, the pipetting cones, a reservoir, a microtitration plate) is present or absent from the tray, to control the position of the tray in the case of a multi-position tray, to control actions carried out (taking of pipetting cones, presence of liquid in consumables), or even to control the type of tray installed in the case of a pipetting system having several removable or rotating trays.

[0082] According to a particular aspect of at least one embodiment of the invention, said stop is at least partially made from deformable plastic or deformable metal.

[0083] This provides sufficient elasticity to allow the stop to deform when the rod exerts an axial force.

[0084] According to a particular aspect of at least one embodiment of the invention, the pipetting system further comprises a pipetting motor so as to receive or dispense liquid into said liquid collection or receiving containers arranged on said tray, and to eject used pipetting tips.

[0085] This ejection of pipetting tips can be done by moving a plate.

[0086] According to a particular aspect of at least one embodiment of the invention, the pipetting system further comprises means for recognizing a pipetting cone holder.

[0087] According to a particular aspect of at least one embodiment of the invention, the recognition means comprise a color sensor arranged on the tower, opposite the board.

[0088] According to a particular aspect of at least one embodiment of the invention, the pipetting system comprises monitoring means capable of delivering information belonging to the group comprising: a number of pipetting cones not yet used; information relating to a protocol step to be carried out, in progress, or carried out; information on the presence of a support on said tray; information relating to a value representative of a fitting force; information on the date or time of carrying out a fitting and / or pipetting; a planned maintenance date; information identifying consumables present on the tray; information identifying the pipetting system.

[0089] According to a particular aspect of at least one embodiment of the invention, said tracking means comprise a microcontroller and display means.

[0090] According to a particular aspect of at least one embodiment, the pipetting system is a semi-motorized pipetting system.

[0091] The invention also relates to a computer program product downloadable from a communication network and / or stored on a medium readable by a microprocessor and / or executable by a microprocessor, characterized in that it comprises program code instructions for the execution of a method for controlling a pipetting system according to one of the aforementioned embodiments, when it is executed by the device for controlling a pipetting system according to one of the aforementioned embodiments.

[0092] The invention also relates to a computer-readable and non-transitory storage medium, storing a computer program comprising a set of instructions executable by a computer or a processor to implement the method of controlling a pipetting system according to one of the aforementioned embodiments.

[0093] Presentation of figures

[0094] The invention, as well as the various advantages that it presents, will be more easily understood in the light of the following description of an illustrative and non-limiting embodiment thereof, and of the appended drawings among which:

[0095] [Fig. 1] is a diagram illustrating the method of controlling a pipetting system according to one embodiment of the invention;

[0096] [Fig. 2] is a diagram illustrating the control device according to one embodiment of the invention; [Fig. 3] is a side perspective view illustrating a pipetting system according to one embodiment of the invention;

[0097] [Fig. 4] is a partial side perspective view illustrating a pipetting system according to the embodiment of Fig. 3;

[0098] [Fig. 5] is a partial perspective view from the other side relative to Fig. 4, illustrating a pipetting system according to the embodiment of Fig. 3.

[0099] Detailed description of an embodiment of the invention The principle of the invention is based on the implementation of a method for controlling a pipetting system which allows a user to optimally use such a pipetting system by guiding him as he gains experience of use, for example by guiding him in the control operations prior to a pipetting operation and then by guiding him during the pipetting process.

[0100] Such a method of controlling a pipetting system can, for example, be applied to a pipetting system as illustrated in Figures 3 to 5.

[0101] Such a pipetting system comprises in particular: a frame comprising a base 2 provided with at least one tray 9 configured to accommodate at least one consumable, and a tower 3 extending from the base 2 and comprising a linear guide rail 30 extending along a vertical axis V; a pipetting head 1 housing at least one pipetting channel intended to be provided with a tip 11 configured to cooperate with a pipetting cone so as to receive or dispense liquid, the pipetting head 1 being able to be moved in translation along said linear guide rail 30 in at least one predefined range of movement; means for driving the pipetting head 1 in translation, a control device 5 comprising means 51 for acquiring data and means 52 for processing the data acquired by the acquisition means.

[0102] The pipetting head also comprises in this embodiment a casing 10 so as to protect the various components of this pipetting head from the external environment and therefore from premature wear or breakage.

[0103] In this embodiment, and as visible in figures 3 and 4, the means for driving the pipetting head 1 in translation comprise an actuating lever 4 mounted to move in rotation along a horizontal axis H orthogonal to the vertical axis V relative to the base 2.

[0104] This actuating lever 4 is configured to drive the pipetting head 1 in vertical translation and is movable in rotation between at least one rest position and a pivoted position so as to set the pipetting head in motion.

[0105] More particularly still, in this embodiment, and as illustrated in figures 3 and 4, the tower 3 comprises a rod 40 for resuming movement of the actuating lever 4, so that a rotation of the actuating lever 4 from the rest position to said pivoted position causes a rotation of the rod 40. To do this, the rod 40 is movable in rotation around the horizontal axis H and pivots around the horizontal axis H in response to a force applied to the actuating lever 4.

[0106] This rod 40 is here connected to the actuating lever 4 by means of drive means 41, 42 so that a rotation of the actuating lever 4 from the rest position to the pivoted position causes a rotation of the rod 40 and of the drive means 41, 42 from a retracted position to a position in which the rod 40 comes into axial support.

[0107] In addition, and as visible in Figure 5, the means for driving the pipetting head 1 in translation further comprise: a motor 70 for driving the pipetting head 1 in translation, comprising a motor shaft mounted to rotate along a motor axis, which here corresponds to the axis H, fixed relative to said frame and substantially orthogonal to said vertical axis V; a toothed pinion 72 mounted to rotate along the motor axis H; a movement transmission roller 75 arranged between the motor 70 and the toothed pinion 72 so as to transmit a rotational movement between the motor 70 and the toothed pinion 72;a rack 71 mounted to move in translation along the vertical axis V, the rack 71 being integral with the pipetting head 1 so as to drive it in translation, and being arranged in contact with the toothed pinion so that a rotation of the toothed pinion 72 causes a translation of the rack 71 along the vertical axis V and that a translation of the rack 71 along the vertical axis causes a rotation of the toothed pinion 72.;

[0108] Furthermore, to accompany the movement of the pipetting head 1, and more particularly to maintain the pipetting head 1 in a given position, for example desired by a user, the drive means of the pipetting head 1 comprise at least one constant force spring 74 comprising an axis 73 around which the spring is able to unwind and wind, this constant force spring being connected to the rack 71 and configured to maintain the pipetting head 1 in a given position.

[0109] With regard to the control device 5, it is intended to be autonomous in this embodiment. In other words, in this embodiment, the control device is independent of the pipetting system and can therefore be switched on and manipulated without, however, having the need to start the entire pipetting system, for example to enter information or to take note of information.

[0110] As a result, the control device 5 here comprises a display and input terminal 53, and comprises communication means 54 so as to communicate with a remote terminal 59. These communication means may for example belong to the group comprising: a Wifi antenna; a Bluetooth antenna; an NFC antenna; a radio antenna.

[0111] With regard to the acquisition means 51, and in this embodiment, they are arranged opposite the plate 9 and comprise at least one of: means for controlling an axial fitting force along said vertical axis V of said at least one pipetting cone on said at least one tip; a CCD or CMOS camera; a colorimetric or photometric sensor; an accelerometer; an ultrasound sensor.

[0112] In particular, the implementation of an accelerometer can, for example, make it possible to monitor the positioning or movement of one or more trays relative to the pipetting head. In addition, the implementation of a colorimetric or photometric sensor makes it possible to check the content or type of consumable present on the tray(s).

[0113] As for the means 52 for processing the acquired data, they comprise in this embodiment a microcontroller.

[0114] As visible in Figure 2, the control device 5 further comprises signaling means 55 comprising at least one LED, an audible alarm, and / or a haptic signal.

[0115] Such a control device 5 as presented above is configured to implement a method 100 for controlling a pipetting system as presented in FIG. 1.

[0116] This control method 100 comprises the following steps, implemented by the control device 5: a step 101 of controlling the position of the pipetting head 1 so as to obtain information representative of a position of the pipetting head 1 relative to the base 2; a step 102 of controlling the presence of at least one consumable on the tray 9 and / or of at least one pipetting cone secured to the pipetting head 1, so as to obtain information representative of a state of the at least one consumable and / or of the at least one pipetting cone; a step 103 of controlling a pipetting operation, as a function of information representative of a progress state of a pipetting protocol, of the information representative of a state of the at least one consumable, and of the information representative of a position of the pipetting head relative to the base 2.

[0117] It should be noted that, by pipetting cone, we mean both cones which fit onto the pipetting tips and capillary piston cones where the capillary fits onto the pipetting tips and where the piston attaches to the pistons of the pipetting head.

[0118] In the embodiment presented, the control method further comprises a preliminary step 107 of initializing the pipetting system.

[0119] Such a step may in particular allow a user to reset data that would be contained in the pipetting system or in the control device. This may also allow him to become aware of specificities concerning the operation that he will have to carry out. Such a preliminary initialization step may therefore for example be carried out by the control device. Thus, the method may comprise at least one step from among: a step of displaying 104 on the display and input terminal 53 at least one piece of information from among information representative of a position of the pipetting head relative to the base, information representative of a state of the at least one consumable, information representative of a progress state of a pipetting protocol; a step of receiving 105 instructions from a user interacting with the display and input terminal 53.

[0120] The display step may also include the display of other information such as: a date of maintenance carried out or to be carried out; an update of a maintenance log of the pipetting system; an action to be carried out by a user; information identifying a user; a command to reset said information representative of a progress status of a pipetting process; a serial number; a version of software.

[0121] These display and reception steps can also be carried out, if necessary, at other times in the method of controlling the pipetting system, for example between step 102 of checking the presence of at least one consumable on the tray 9 and / or at least one pipetting cone secured to the pipetting head and step 103 of controlling a pipetting operation.

[0122] By information representative of a progress status of a pipetting protocol, is meant in this embodiment at least one piece of information from: a phase of said pipetting protocol previously completed; a phase of said pipetting protocol to be carried out; specifications of said pipetting protocol previously completed; a waiting time before starting said pipetting protocol. initial information.

[0123] During step 101 of controlling the position of the pipetting head 1, if the information representative of a position of the pipetting head relative to the base 2 corresponds to a position of the pipetting head outside the predefined range of movement, step 103 of controlling a pipetting operation comprises a step of locking at least part of the translational drive means of the pipetting head 1.

[0124] For example, the pipetting head may be positioned outside the at least one predefined range of motion when the pipetting system is being installed, cleaned, or maintained. It may also be positioned outside the at least one range of motion when the pipetting system is stopped or in standby. This position outside the range of motion may also be used to extract pipetting tips from the holder 20, or to leave sufficient distance to install another consumable on the tray.

[0125] The locking of at least part of the translational drive means of the pipetting head may for example comprise a locking of the actuating lever 4.

[0126] On the other hand, during step 101 of controlling the position of the pipetting head 1, if the information representative of a position of the pipetting head 1 relative to the base 2 corresponds to a position of the pipetting head 1 in the predefined range of movement, step 103 of controlling a pipetting operation comprises the following sub-steps: a step of verifying said position of said pipetting head relative to at least one predetermined stop; a step of unlocking at least part of the translational drive means of said pipetting head; a step of preparing the tray and / or positioning the tray; a pipetting step; a step of driving said pipetting head in translation so as to position said pipetting head in a preparation position located outside said predefined range of movement;a step of obtaining information representative of a progress state of a pipetting protocol, and depending on said information representative of a progress state of a pipetting protocol, a step of controlling a following phase of said pipetting protocol. For example, the pipetting step may comprise one or more of the following sub-steps: a step of driving in translation of said pipetting head so as to fit at least one pipetting cone; a step of driving in translation of said pipetting head so as to place a reservoir on the tray or position a tray comprising a reservoir or a microplate; a step of driving in translation of said pipetting head so as to lower the pipetting head into the pipetting position; a step of suctioning or dispensing liquid;a step of driving said pipetting head in translation so as to raise the pipetting head to remove a reservoir and place a target microplate or move a tray to position the microplate under the pipetting head; a step of driving said pipetting head in translation so as to lower the pipetting head above a microplate; a step of ejecting at least one pipetting cone.;

[0127] For example, a step of unlocking at least part of the translational drive means of the pipetting head 1 may for example comprise unlocking of the actuating lever 4.

[0128] The step of verifying said position of the pipetting head relative to at least one predetermined stop can for example be carried out by means of control means (not illustrated) comprising: means for measuring information representative of the distance between said pipetting head and the base; means for analyzing the information representative of the distance between the pipetting head and the base, so as to deduce therefrom the position of the pipetting head, and therefore to verify this position of the pipetting head relative to at least one predetermined stop.

[0129] The measuring means may for example comprise a magnetic encoder provided with at least one magnet and a magnetometer, the at least one magnet being fixed to the toothed pinion 72 and being arranged opposite the magnetometer fixed to the frame of the pipetting system and configured to measure a value of a magnetic field of the at least one magnet so that a rotation of the toothed pinion 72 around the motor axis H causes a variation in the value of the magnetic field of the at least one magnet measured by the magnetometer. Thus, the spacing of the pipetting head is measured by said magnetic encoder, and comprises a number of revolutions made by the toothed pinion 72 as well as the value of the magnetic field of the at least one magnet, the analysis means deducing from the measured value of the magnetic field of the at least one magnet and the number of revolutions made by the toothed pinion 72 said position of the pipetting head, potentially relative to at least one predefined stop.

[0130] As for the step of driving the pipetting head 1 in translation so as to fit pipetting cones, it can be carried out with the aid of means for controlling an axial fitting force along the vertical axis V of the pipetting cones on said tips, generated by the rotation of the actuating lever 4 between the rest position and the pivoted position. Such means for controlling a fitting force can make it possible to ensure the sealing of these cones with respect to these tips, but also to ensure that, when fitted, the cones do not damage the tips through incorrect handling by a user.Thus, the implementation of means for controlling an axial fitting force can make it possible to implement a reliable pipetting system which makes it possible to control the fitting force of the pipetting cones onto the tips of the pipetting head by ensuring that the fitting is carried out sufficiently, but not excessively, so that the pipetting cone(s) remain in contact with the tips but do not damage the pipetting system.

[0131] These means for controlling an axial fitting force along the vertical axis V may for example comprise a force sensor 60 and a stop 6, illustrated more particularly in FIG. 4, capable of coming at least partially to bear on the force sensor 60 in response to an at least partial rotation of the actuating lever 4 from the rest position to the pivoted position. According to an alternative, if the information representative of a position of the pipetting head relative to the base corresponds to a position of the pipetting head in the predefined range of movement, the step of controlling a pipetting operation could comprise at least one of the following sub-steps: a step of verifying said position of the pipetting head relative to at least one predetermined stop; a step of unlocking at least part of the means for driving the pipetting head in translation;a step of preparing the tray and / or positioning the tray; a pipetting step; a step of driving said pipetting head 1 in translation so as to position the pipetting head in a preparation position located outside the predefined range of movement; a step of obtaining information representative of a progress state of a pipetting protocol, and depending on the information representative of a progress state of a pipetting protocol, a step of controlling a following phase of said pipetting protocol. The pipetting step may in particular comprise the following sub-steps: a step of driving said pipetting head in translation so as to fit at least one pipetting cone; a step of driving said pipetting head in translation so as to place a reservoir on the tray or position a tray comprising a reservoir or a microplate;a step of driving said pipetting head in translation so as to lower the pipetting head into the pipetting position; a step of sucking up or dispensing liquid; a step of driving said pipetting head in translation so as to raise the pipetting head to remove a reservoir and place a target microplate or move a tray to position the microplate under the pipetting head; a step of driving said pipetting head in translation so as to lower the pipetting head above a microplate; a step of ejecting the at least one pipetting cone.;

[0132] As regards step 102 of checking the presence of at least one consumable on said tray and / or at least one pipetting cone fitted to a tip 11, it comprises in this embodiment the following sub-steps: checking the fitting of the pipetting cones, which can also be carried out using the means for checking a fitting force as presented previously; checking the presence of a consumable on the tray 9; checking the presence and / or the position of the tray 9 opposite the pipetting head; in the event of the presence of a consumable on the tray 9, checking at least one item of information characteristic of a type of consumable.

[0133] Such sub-steps ensure that a pipetting protocol can proceed or continue without disruption due to a lack of tray or consumable to be able to complete the protocol to its conclusion.

[0134] However, according to another embodiment, said step of checking the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head could comprise at least one of the following sub-steps: checking the fitting of the pipetting cones; checking the presence of a consumable on said tray; checking the presence and / or the position of said tray opposite said pipetting head; in the event of the presence of a consumable on said tray, checking at least one item of information characteristic of a type of consumable.

[0135] Furthermore, according to another alternative, said step of checking the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head could comprise at least two of the following sub-steps: checking the fitting of the pipetting cones; checking the presence of a consumable on said tray; checking the presence and / or the position of said tray opposite said pipetting head; in the event of the presence of a consumable on said tray, checking at least one item of information characteristic of a type of consumable.

[0136] Furthermore, according to another alternative, said step of checking the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head could comprise at least three of the following sub-steps: checking the fitting of the pipetting cones; checking the presence of a consumable on said tray; checking the presence and / or the position of said tray opposite said pipetting head; in the event of the presence of a consumable on said tray, checking at least one item of information characteristic of a type of consumable.

[0137] It should be noted that, in this embodiment, the information representative of a state of at least one consumable belongs to the group comprising: a number of consumables present on the tray; a type of consumable present on the tray; a number of cones to be fitted; a type of cones to be fitted; the presence and / or the position of the tray opposite the pipetting head.

[0138] According to the illustrated embodiment, the method further comprises a step 106 of checking at least one piece of security data belonging to the group comprising: a date of maintenance carried out or to be carried out; an update of a maintenance log of the pipetting system; an action to be carried out by a user; information identifying a user; a command to reset said information representative of a progress status of a pipetting process; a serial number; a version of software.

[0139] The invention also relates to a computer program product downloadable from a communication network and / or stored on a medium readable by a microprocessor and / or executable by a microprocessor, characterized in that it comprises program code instructions for the execution of a method for controlling a pipetting system according to one of the aforementioned embodiments, when it is executed by the device for controlling a pipetting system according to one of the aforementioned embodiments.

[0140] The invention also relates to a computer-readable and non-transitory storage medium, storing a computer program comprising a set of instructions executable by a computer or a processor to implement the method of controlling a pipetting system according to one of the aforementioned embodiments.

Claims

CLAIMS

1. A method (100) for controlling a pipetting system, the pipetting system comprising: a frame comprising a base (2) provided with at least one tray (9) configured to accommodate at least one consumable, and a tower (3) extending from said base (2) and comprising a linear guide rail (30) extending along a vertical axis (V); a pipetting head (1) housing at least one pipetting channel intended to be provided with a tip (11) configured to cooperate with a pipetting cone so as to receive or dispense liquid, said pipetting head (1) being able to be moved in translation along said linear guide rail (30) in at least one predefined range of movement;means for driving said pipetting head (1) in translation, a control device (5) comprising means (51) for acquiring data and means (52) for processing the data acquired by said acquisition means (51), characterized in that said control method (100) comprises the following steps, implemented by said control device (5): a step (101) of controlling the position of said pipetting head (1) so as to obtain information representative of a position of said pipetting head (1) relative to said base (2); a step (102) of controlling the presence of at least one consumable on said tray and / or at least one pipetting cone secured to said pipetting head (1), so as to obtain information representative of a state of said at least one consumable and / or said at least one pipetting cone;a step (103) of controlling a pipetting operation, as a function of information representative of a progress state of a pipetting protocol, of said information representative of a state of said at least one consumable, and of said information representative of a position of said pipetting head relative to said base (2).;

2. Method according to the preceding claim, characterized in that said step (102) of checking the presence of at least one consumable on said tray and / or at least one pipetting cone fitted to a tip (11) comprises at least one of the following sub-steps: checking the fitting of the at least one pipetting cone; checking the presence of a consumable on said tray (9); checking the presence and / or the position of said tray (9) opposite said pipetting head; in the event of the presence of a consumable on said tray (9), checking at least one item of information characteristic of a type of consumable.

3. Method according to one of the preceding claims, characterized in that: if said information representative of a position of said pipetting head relative to said base (2) corresponds to a position of said pipetting head outside said predefined range of movement, said step (103) of controlling a pipetting operation comprises a step of locking at least part of the translational drive means of said pipetting head (1); if said information representative of a position of said pipetting head relative to said base (2) corresponds to a position of said pipetting head within said predefined range of movement, said step (103) of controlling a pipetting operation comprises at least one of the following sub-steps: o a step of verifying said position of said pipetting head relative to at least one predetermined stop;o a step of unlocking at least part of the translational drive means of said pipetting head (1); o a step of preparing the tray and / or positioning the tray; o a pipetting step; o a step of translational drive of said pipetting head (1) so as to position said pipetting head in a preparation position located outside said predefined range of movement; o a step of obtaining information representative of a progress state of a pipetting protocol, and depending on said information representative of a progress state of a pipetting protocol, a step of controlling a following phase of said pipetting protocol.;

4. Method according to one of the preceding claims, characterized in that said control device (5) comprises a display and input terminal (53), and in that said method comprises at least one step among: a step of displaying (104) on the display and input terminal at least one piece of information among said information representative of a position of said pipetting head relative to said base, said information representative of a state of said at least one consumable, said information representative of a progress state of a pipetting protocol; a step of receiving (105) instructions from a user interacting with said display and input terminal. Tl

5. Method according to one of the preceding claims, characterized in that said information representative of a state of said at least one consumable belongs to the group comprising: a number of consumables present on the tray; a type of consumable present on the tray; a number of cones to be fitted; a type of cones to be fitted; the presence and / or the position of said tray opposite the pipetting head.

6. Method according to one of the preceding claims, characterized in that said information representative of a progress status of a pipetting protocol comprises: a phase of said pipetting protocol previously completed; a phase of said pipetting protocol to be carried out; specifications of said pipetting protocol previously completed; a waiting time before starting said pipetting protocol. initial information.

7. Method according to one of the preceding claims, characterized in that it further comprises a step (106) of checking at least one security data item belonging to the group comprising: a date of maintenance carried out or to be carried out; an update of a maintenance log of the pipetting system; an action to be carried out by a user; information identifying a user; a command to reset said information representative of a progress status of a pipetting process; a serial number; a version of software.

8. Method according to one of the preceding claims, characterized in that it comprises a preliminary step (107) of initializing the pipetting system.

9. A pipetting system comprising: a frame comprising a base (2) provided with at least one tray (9) configured to accommodate at least one consumable, and a tower (3) extending from said base (2) and comprising a linear guide rail (30) extending along a vertical axis (V); a pipetting head (1) housing at least one pipetting channel intended to be provided with a tip (11) configured to cooperate with a pipetting cone so as to receive or dispense liquid, said pipetting head (1) being able to be moved in translation along said linear guide rail (30) in at least one predefined range of movement; means for driving said pipetting head (1) in translation, a control device (5) comprising means (51) for acquiring data and means (52) for processing the data acquired by said acquisition means, characterized in that said pipetting device is configured to implement said control method according to one of claims 1 to 8.

10. Pipetting system according to claim 9, characterized in that said acquisition means (51) are arranged opposite said plate (9) and comprise at least one of: means for controlling an axial fitting force along said vertical axis V of said at least one pipetting cone on said at least one tip; a CCD or CMOS camera; a colorimetric or photometric sensor; an accelerometer; an ultrasound sensor.

11. Pipetting system according to one of claims 9 or 10, characterized in that said means for processing the acquired data comprise a microcontroller.

12. Pipetting system according to one of claims 9 to 11, characterized in that said control device further comprises signaling means comprising at least one LED, an audible alarm, and / or a haptic signal.

13. Pipetting system according to one of claims 9 to 12, characterized in that said control device (5) is autonomous.

14. Computer program product downloadable from a communications network and / or stored on a medium readable by a microprocessor and / or executable by a microprocessor, characterized in that it comprises program code instructions for executing a method for controlling a pipetting system according to one of claims 1 to 8, when it is executed by the device for controlling a pipetting system according to one of claims 9 to 13.

15. A computer-readable, non-transitory storage medium storing a computer program comprising a set of instructions executable by a computer or processor for implementing the method of controlling a pipetting system according to one of claims 1 to 8.

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