Variable pitch method for pipetting apparatus, variable pitch control apparatus, and pipetting device

Abstract

A variable pitch method for a pipetting apparatus, a variable pitch control apparatus (700), and a pipetting device. The pipetting apparatus comprises: a plurality of pipetting channels (311, 312, 313, 314), wherein the plurality of pipetting channels (311, 312, 313, 314) are sequentially arranged in a first direction. The variable pitch method for the pipetting apparatus comprises: acquiring an initial position parameter respectively corresponding to at least one pipetting channel among the plurality of pipetting channels (311, 312, 313, 314); acquiring a target position parameter respectively corresponding to the at least one pipetting channel; at least on the basis of the initial position parameter and the target position parameter, determining a driving parameter for driving at least one pipetting channel among the pipetting channels (311, 312, 313, 314) to move so as to vary the pitch between two adjacent pipetting channels; and on the basis of the driving parameter, controlling the corresponding pipetting channel to move, such that each pipetting channel among the plurality of pipetting channels (311, 312, 313, 314) moves from a corresponding initial position to a corresponding target position, and the distance between any two adjacent pipetting channels when the plurality of pipetting channels move to the corresponding target positions is a target distance. By utilizing the method, the variable pitch efficiency of the pipetting apparatus can be improved.

Description

[0001] This application claims the priority to Chinese Patent Application No. 202311009050.1, titled "VARIABLE PITCH METHOD FOR PIPETTING APPARATUS, VARIABLE PITCH CONTROL APPARATUS, AND PIPETTING DEVICE", filed on August 10, 2023 with the China National Intellectual Property Administration, which is incorporated herein by reference in its entirety.FIELD

[0002] The present disclosure relates to the technical field of pipetting, for example, to a spacing adjustment method and a spacing adjustment control apparatus for a pipetting apparatus, and a pipetting device.BACKGROUND

[0003] A pipetting apparatus (such as a liquid workstation) is used for liquid aspiration, and is widely applied in fields such as mass spectrometry, DNA sequencing, high performance liquid chromatography (HPLC) systems, and multiplex detection. To improve the efficiency of pipetting, the pipetting apparatus may be configured with multiple pipetting channels. The multiple pipetting channels correspond one-to-one to multiple containers, such as well plates or test tubes, and each of the containers contains liquid. Each of the pipetting channels separately aspirates liquid from its corresponding container. However, due to constraints such as the design of the well plates or racks holding the test tubes, spacing between the containers fails to be standardized. Therefore, it is required to adaptively adjust spacing between the multiple pipetting channels to achieve simultaneous liquid aspiration and liquid transfer.

[0004] In the related technology, for adjusting the spacing between multiple pipetting channels of the pipetting apparatus, manual adjustment by the related personnel is typically required, which consumes significant labor, results in low efficiency, and carries the risk of errors during pipetting.SUMMARY

[0005] A spacing adjustment method and a spacing adjustment control apparatus for a pipetting apparatus, and a pipetting device are provided according to the present disclosure.

[0006] A spacing adjustment method for a pipetting apparatus is provided. The pipetting apparatus includes multiple pipetting channels arranged sequentially along a first direction.

[0007] The spacing adjustment method includes: acquiring an initial position parameter of at least one pipetting channel among the multiple pipetting channels, where the initial position parameter indicates an initial position of the at least one pipetting channel; acquiring a target position parameter of the at least one pipetting channel, where the target position parameter indicates a target position of the at least one pipetting channel; determining a driving parameter based at least on the initial position parameter and the target position parameter, where the driving parameter is for driving the at least one pipetting channel among the multiple pipetting channels to move to adjust a spacing between two adjacent pipetting channels; and controlling, based on the driving parameter, the at least one pipetting channel to move, to cause the multiple pipetting channels to move from initial positions to target positions, where when the multiple pipetting channels reach the target positions, the spacing between any two adjacent pipetting channels is referred to as a target spacing, when the multiple pipetting channels are at the initial positions, the spacing between any two adjacent pipetting channels is referred to as an initial spacing, and the initial spacing is different from the target spacing.

[0008] In an embodiment, the pipetting apparatus further includes a first driving assembly and a second driving assembly.

[0009] The first driving assembly is connected to a first pipetting channel and configured to drive the first pipetting channel to move along the first direction, the first pipetting channel being one of two pipetting channels located at two ends among the multiple pipetting channels.

[0010] The second driving assembly is connected to a second pipetting channel and configured to drive the second pipetting channel to move along the first direction, the second pipetting channel being the other of the two pipetting channels located at the two ends among the multiple pipetting channels.

[0011] The driving parameter includes a first driving parameter of the first driving assembly and a second driving parameter of the second driving assembly.

[0012] The determining a driving parameter based at least on the initial position parameter and the target position parameter, where the driving parameter is for driving the at least one pipetting channel among the multiple pipetting channels to move to adjust a spacing between two adjacent pipetting channels, includes: determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter.

[0013] The controlling, based on the driving parameter, the at least one pipetting channel to move includes: controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move.

[0014] In an embodiment, the pipetting apparatus further includes a linkage assembly, and the linkage assembly is connected to each of the multiple pipetting channels and configured to keep the spacing between any two adjacent pipetting channels consistent among the multiple pipetting channels.

[0015] In an embodiment, the initial position parameter includes a first initial position parameter of the first pipetting channel and a second initial position parameter of the second pipetting channel, and the target position parameter includes a first target position parameter of the first pipetting channel and a second target position parameter of the second pipetting channel.

[0016] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based on the first initial position parameter and the first target position parameter, a first movement distance corresponding to the first pipetting channel; determining the first driving parameter based on the first movement distance; determining, based on the second initial position parameter and the second target position parameter, a second movement distance corresponding to the second pipetting channel; and determining the second driving parameter based on the second movement distance.

[0017] The controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move includes: controlling, based on the first driving parameter, the first driving assembly to drive the first pipetting channel to move by the first movement distance, to cause the first pipetting channel to move from a first initial position to a first target position, where the first initial position corresponds to the first initial position parameter, and the first target position corresponds to the first target position parameter; and controlling, based on the second driving parameter, the second driving assembly to drive the second pipetting channel to move by the second movement distance, to cause the second pipetting channel to move from a second initial position to a second target position, where the second initial position corresponds to the second initial position parameter, and the second target position corresponds to the second target position parameter.

[0018] In an embodiment, the acquiring an initial position parameter of at least one pipetting channel among the multiple pipetting channels includes: acquiring an initial position parameter of any one channel among the first pipetting channel and the second pipetting channel, and the initial spacing; and determining, based on the initial position parameter of the any one channel among the first pipetting channel and the second pipetting channel and the initial spacing, an initial position parameter of the other channel among the first pipetting channel and the second pipetting channel, and / or the acquiring a target position parameter of the at least one pipetting channel among the multiple pipetting channels includes: acquiring a target position parameter of any one channel among the first pipetting channel and the second pipetting channel, and the target spacing; and determining, based on the target position parameter of the any one channel among the first pipetting channel and the second pipetting channel and the target spacing, a target position parameter of the other channel among the first pipetting channel and the second pipetting channel.

[0019] In an embodiment, the initial spacing is acquired by: acquiring the initial spacing inputted by a user through a display interface, and / or the target spacing is acquired by: acquiring the target spacing inputted by the user through the display interface.

[0020] In an embodiment, the initial position parameter includes an initial position parameter of a target pipetting channel, and the target position parameter includes a target position parameter of the target pipetting channel.

[0021] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based on the initial position parameter and the target position parameter of the target pipetting channel, a movement distance corresponding to the target pipetting channel; determining, based on the movement distance, a movement driving parameter corresponding to the target pipetting channel and a movement driving parameter corresponding to a non-target pipetting channel, where the target pipetting channel is any one channel among the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other channel among the first pipetting channel and the second pipetting channel; acquiring the initial spacing and the target spacing; and determining, based on a difference between the target spacing and the initial spacing, a spacing adjustment driving parameter corresponding to the non-target pipetting channel, where a driving parameter corresponding to the target pipetting channel includes the movement driving parameter corresponding to the target pipetting channel, and a driving parameter corresponding to the non-target pipetting channel includes the movement driving parameter and the spacing adjustment driving parameter corresponding to the non-target pipetting channel.

[0022] The controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move includes: controlling, based on the movement driving parameter corresponding to the target pipetting channel and the movement driving parameter corresponding to the non-target pipetting channel, respective driving assemblies corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move by the movement distance, to cause the target pipetting channel to move to a target position of the target pipetting channel; and after the target pipetting channel reaches the target position, controlling, based on the spacing adjustment driving parameter corresponding to the non-target pipetting channel, the driving assembly corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move, to cause the spacing between any two adjacent pipetting channels among the multiple pipetting channels to be equal to the target spacing.

[0023] In an embodiment, the initial position parameter includes an initial position parameter of a target pipetting channel, and the target position parameter includes a target position parameter of the target pipetting channel.

[0024] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: acquiring the initial spacing and the target spacing; determining, based on a difference between the target spacing and the initial spacing, a spacing adjustment driving parameter corresponding to a non-target pipetting channel, where the target pipetting channel is any one channel among the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other channel among the first pipetting channel and the second pipetting channel; determining, based on the initial position parameter and the target position parameter of the target pipetting channel, a movement distance corresponding to the target pipetting channel; and determining, based on the movement distance, a movement driving parameter corresponding to the target pipetting channel and a movement driving parameter corresponding to the non-target pipetting channel, where a driving parameter corresponding to the target pipetting channel includes the movement driving parameter corresponding to the target pipetting channel, and a driving parameter corresponding to the non-target pipetting channel includes the movement driving parameter and the spacing adjustment driving parameter corresponding to the non-target pipetting channel.

[0025] The controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move includes: controlling, based on the spacing adjustment driving parameter corresponding to the non-target pipetting channel, a driving assembly corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move, to cause the spacing between any two adjacent pipetting channels among the multiple pipetting channels to be equal to the target spacing; and after the spacing between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target spacing, controlling, based on the movement driving parameter corresponding to the target pipetting channel and the movement driving parameter corresponding to the non-target pipetting channel, respective driving assemblies corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move by the movement distance, to cause the target pipetting channel and the non-target pipetting channel to move to the target positions correspondingly.

[0026] In an embodiment, the initial position parameter further includes an initial position parameter of the non-target pipetting channel, and the initial spacing is acquired by: acquiring the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel that are inputted by a user through a display interface; and determining the initial spacing based on the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel, and / or the target position parameter further includes a target position parameter of the non-target pipetting channel, and the target spacing is acquired by: acquiring the target position parameter of the target pipetting channel and the target position parameter of the non-target pipetting channel that are inputted by the user through the display interface; and determining the target spacing based on the target position parameter of the target pipetting channel and the target position parameter of the non-target pipetting channel.

[0027] In an embodiment, the first driving assembly includes a first driving motor, a lead screw nut, and a lead screw extending along the first direction, an output shaft of the first driving motor is connected to the lead screw, the lead screw is drivingly connected to the lead screw nut, the lead screw nut is connected to the first pipetting channel, the first driving motor drives the lead screw to rotate, to cause the first pipetting channel to move along the first direction, and the first driving parameter includes a pulse count of the first driving motor.

[0028] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based at least on the initial position parameter and the target position parameter, a movement distance corresponding to the first pipetting channel; and determining the pulse count of the first driving motor based on the movement distance corresponding to the first pipetting channel, a lead of the lead screw, and a step angle of the first driving motor.

[0029] In an embodiment, the second driving assembly includes a second driving motor, a transmission belt, a driving pulley, and a driven pulley, the transmission belt extends along the first direction and is looped around the driving pulley and the driven pulley, an output shaft of the second driving motor is connected to the driving pulley, the transmission belt is connected to the second pipetting channel, the second driving motor drives the driving pulley to rotate, to cause the second pipetting channel to move along the first direction, and the second driving parameter includes a pulse count of the second driving motor.

[0030] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based at least on the initial position parameter and the target position parameter, a movement distance corresponding to the second pipetting channel; and determining the pulse count of the second driving motor based on the movement distance corresponding to the second pipetting channel, a circumference of the driving pulley, and a step angle of the second driving motor.

[0031] A spacing adjustment control apparatus for a pipetting apparatus is provided according to the present disclosure. The pipetting apparatus includes multiple pipetting channels arranged sequentially along a first direction.

[0032] The spacing adjustment control apparatus includes a processor and a memory, where the memory stores computer program instructions, and the computer program instructions, when executed by the processor, are to perform the spacing adjustment method for the pipetting apparatus described above.

[0033] A pipetting device is provided according to the present disclosure, which includes the spacing adjustment control apparatus for the pipetting apparatus described above and the pipetting apparatus.

[0034] In the above technical solutions, the driving parameter is determined based on the initial position parameter and the target position parameter, and the corresponding pipetting channel is controlled to move based on the driving parameter. In this way, automatic spacing adjustment of multiple pipetting channels is implemented, reducing labor costs and improving the operating efficiency and accuracy of the pipetting apparatus.BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Above and other objectives, features, and advantages of the present disclosure will become apparent with reference to the detailed description of the embodiments of the present disclosure made in conjunction with the drawings. The drawings are intended to provide further understanding of the embodiments of the present disclosure, and constitute a part of the specification. The drawings are intended to describe the present disclosure in conjunction with the embodiments of the present disclosure, and do not limit the present disclosure. In the drawings, same reference numerals generally represent same components or steps. FIG. 1 illustrates a schematic structural diagram of a well plate according to an embodiment of the present disclosure; FIG. 2 illustrates a schematic flowchart of a spacing adjustment method according to an embodiment of the present disclosure; FIG. 3 illustrates a schematic structural diagram of a pipetting apparatus according to an embodiment of the present disclosure; FIG. 4 illustrates a schematic diagram of a display interface according to an embodiment of the present disclosure; FIG. 5 illustrates a schematic diagram of a display interface according to another embodiment of the present disclosure; FIG. 6 illustrates an overall schematic structural diagram of a pipetting apparatus according to an embodiment of the present disclosure; and FIG. 7 illustrates a schematic block diagram of a spacing adjustment control apparatus according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0036] Exemplary embodiments of the present disclosure are described in detail with reference to the drawings to make the objectives, technical solutions, and advantages of the present disclosure more apparent. Apparently, the described embodiments are only a part of the embodiments instead of all embodiments of the present disclosure. It should be understood that the present disclosure is not limited by the exemplary embodiments described herein. Based on the embodiments of the present disclosure described herein, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0037] To at least partially address the above issues, a spacing adjustment method for a pipetting apparatus is provided according to an embodiment of the present disclosure. The pipetting apparatus may include multiple pipetting channels, which are sequentially arranged along a first direction.

[0038] In an embodiment, the first direction may be set according to actual requirements. For example, the first direction may be parallel to a direction (such as an X-direction in FIG. 1 described below) of a horizontal row of wells in a well plate, or may be parallel to a direction (such as a Y-direction in FIG. 1 described below) of a vertical column of wells in the well plate. During pipetting, one pipetting channel corresponds to one well in the well plate.

[0039] In an embodiment, the number of the pipetting channels may be set according to actual requirements. For example, the number of the pipetting channels may fall within a range of [4, 8]. In an embodiment, the number of the pipetting channels is four. In some embodiments, the number of the pipetting channels are set according to the type of the corresponding well plate or rack. FIG. 1 illustrates a schematic structural diagram of a well plate according to an embodiment of the present disclosure. As shown in FIG. 1, the well plate is a 24-well plate with wells arranged in 4 rows (the X-direction in the figure) and 6 columns (the Y-direction in the figure). In an implementation, the first direction may be the Y-direction, and the number of the pipetting channels may be four. In another implementation, the first direction may be the X-direction, and the number of the pipetting channels may be six.

[0040] FIG. 2 illustrates a schematic flowchart of a spacing adjustment method according to an embodiment of the present disclosure. As shown in FIG. 2, the spacing adjustment method 200 includes the following steps S210, S220, S230, and S240.

[0041] In step S210, an initial position parameter of at least one pipetting channel among multiple pipetting channels is acquired. The initial position indicates an initial position of the at least one pipetting channel.

[0042] The initial position parameter may represent a current position of the pipetting channel, that is, the initial position. A position of a pipetting channel is related to a position of a container (such as the well plate mentioned above) corresponding to the pipetting channel. For example, their coordinates in the first direction are consistent. Therefore, the initial position of the pipetting channel may be determined based on the position of the container currently corresponding to the pipetting channel. It can be understood that during pipetting, liquid is transferred from a container (an initial container) to another container (a target container). The container may be, for example, a deep well on a well plate or a test tube on a rack. In an embodiment, the initial position parameter may be represented by coordinates. The coordinates may be expressed in a first coordinate system established based on the pipetting apparatus or a second coordinate system established based on the well plate or rack where the initial container is located. The initial position parameter may be represented by current coordinates of the initial container corresponding to the pipetting channel. Alternatively, the initial position parameter may be directly represented by current coordinates of the pipetting channel.

[0043] In step S220, a target position parameter of the at least one pipetting channel is acquired. The target position parameter indicates a target position of the at least one pipetting channel.

[0044] In an embodiment, the target position parameter may be represented by coordinates. The coordinates may be expressed in the first coordinate system established based on the pipetting apparatus or the second coordinate system established based on the well plate or rack where the target container is located. The target position parameter may represent the target position of the pipetting channel. Similar to the initial position parameter, the target position parameter may be represented by target coordinates of the target container corresponding to the pipetting channel, or may be directly represented by target coordinates that the pipetting channel is expected to reach. In an embodiment, the coordinate systems for the initial position parameter and the target position parameter are the same. For example, coordinates in the first coordinate system are used to represent the initial position parameter and the target position parameter. In this solution, coordinates expressed in the same coordinate system are used to represent the initial position parameter and the target position parameter, improving the computational efficiency in subsequent steps for determining the driving parameter.

[0045] In step S230, based at least on the initial position parameter and the target position parameter, a driving parameter is determined. The driving parameter is for driving the at least one pipetting channel among the multiple pipetting channels to move to adjust a spacing between two adjacent pipetting channels.

[0046] In an embodiment, the pipetting apparatus includes multiple driving assemblies corresponding one-to-one to the multiple pipetting channels. The determining a driving parameter based at least on the initial position parameter and the target position parameter, where the driving parameter is for driving the at least one pipetting channel among the multiple pipetting channels to move to adjust a spacing between two adjacent pipetting channels in step S230 includes: determining the driving parameter based at least on the initial position parameter and the target position parameter, where the driving parameter is for driving each of the multiple pipetting channels to move to adjust the spacing between two adjacent pipetting channels. In an embodiment, the multiple pipetting channels each are provided with and driven by a driving assembly. Therefore, for each of the multiple pipetting channels, a driving parameter is determined, and the corresponding driving assembly is controlled based on the driving parameter to drive the pipetting channel to move from an initial position to a target position. In another embodiment, the pipetting apparatus includes driving assemblies (such as a first driving assembly and a second driving assembly described below) respectively corresponding to two pipetting channels which are located at two ends among the multiple pipetting channels. The implementation with two driving assemblies is described in detail below.

[0047] In step S240, based on the driving parameter, a pipetting channel is controlled to move, to cause the multiple pipetting channels to move from their initial positions to their respective target positions. When the multiple pipetting channels reach the target positions, the spacing between any two adjacent pipetting channels is referred to as a target spacing. The initial position correspond to the initial position parameter, and the target position correspond to the target position parameter. When the multiple pipetting channels are at the initial positions, the spacing between any two adjacent pipetting channels is referred to as an initial spacing. The initial spacing is different from the target spacing.

[0048] It can be understood that the initial spacing may be determined based on position parameters of at least two initial containers among multiple initial containers corresponding to the multiple pipetting channels. Similarly, the target spacing may be determined based on position parameters of at least two target containers among multiple target containers corresponding to the multiple pipetting channels. Alternatively, the initial spacing and target spacing may be directly determined based on information inputted by a user. The methods for acquiring the initial spacing and target spacing are described in detail below.

[0049] The well plate shown in FIG. 1 is taken as an example for describing the initial spacing. In this embodiment, containers in the well plate (that is, wells in the well plate) shown in FIG. 1 serve as the initial containers, and the well plate may be referred to as an initial well plate. In FIG. 1, in a case that the first direction is the Y-direction, the initial spacing refers to spacing between two adjacent wells in the Y-direction. That is, the initial spacing may refer to the spacing between two adjacent initial containers in the first direction. Similarly, the target spacing may refer to spacing between two adjacent target containers in the first direction.

[0050] In an embodiment, in a case that the pipetting apparatus includes multiple driving assemblies corresponding one-to-one to the multiple pipetting channels, the controlling corresponding pipetting channels to move based on the driving parameter may include: controlling, based on the driving parameter, the multiple driving assemblies to drive the multiple pipetting channels to move, to cause the multiple pipetting channels to move from their initial positions to their respective target positions. When the multiple pipetting channels reach the target positions, the spacing between any two adjacent pipetting channels is referred to as a target spacing.

[0051] In the above technical solution, the driving parameter is determined based on the initial position parameter and the target position parameter, and the corresponding pipetting channels are controlled to move based on the driving parameter. In this way, automatic spacing adjustment of multiple pipetting channels is implemented, reducing labor costs and improving the operating efficiency and accuracy of the pipetting apparatus.

[0052] For example, the pipetting apparatus further includes: a first driving assembly and a second driving assembly. The first driving assembly is connected to a first pipetting channel and configured to drive the first pipetting channel to move along the first direction. The first pipetting channel is one of two pipetting channels located at two ends among the multiple pipetting channels. The second driving assembly is connected to a second pipetting channel and configured to drive the second pipetting channel to move along the first direction. The second pipetting channel is the other of the two pipetting channels located at the two ends among the multiple pipetting channels. The driving parameter includes a first driving parameter of the first driving assembly and a second driving parameter of the second driving assembly.

[0053] In step S230, the determining a driving parameter based at least on the initial position parameter and the target position parameter, where the driving parameter is for driving the at least one pipetting channel among the multiple pipetting channels to move to adjust a spacing between two adjacent pipetting channels includes: determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter.

[0054] In step S240, the controlling, based on the driving parameter, the pipetting channel to move includes: controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move.

[0055] In this embodiment, the multiple pipetting channels are connected to a linkage assembly that is configured to keep the spacing between any two adjacent pipetting channels consistent among the multiple pipetting channels. The structure of the linkage assembly is described in detail below.

[0056] In an embodiment, the first driving assembly and the second driving assembly may drive the corresponding pipetting channels to move using any existing or future-developed driving manners, such as gear-rack transmission, belt transmission, chain transmission, and lead screw transmission. The driving manner used by the first driving assembly may be the same as that used by the second driving assembly. For example, both the first driving assembly and the second driving assembly may drive the corresponding pipetting channels to move using the belt transmission-based driving manner. Alternatively, the driving manner used by the first driving assembly may differ from that used by the second driving assembly. For example, the first driving assembly may drive the first pipetting channel to move using the lead screw transmission-based driving manner, and the second driving assembly may drive the second pipetting channel to move using the belt transmission-based driving manner.

[0057] In an embodiment, the first driving assembly includes a driving motor (hereinafter referred to as a first driving motor), and the first driving parameter includes one or more parameters such as an operating duration, a rotational speed, or a pulse count of the first driving motor. For example, the first driving parameter may be the pulse count of the first driving motor. By adjusting the pulse count of the first driving motor, the first driving motor is controlled to drive the first pipetting channel to move by different distances. The second driving parameter is similar to the first driving parameter, and for brevity, is not repeated herein.

[0058] In an embodiment, acquiring the initial position parameter includes: acquiring a first initial position parameter of the first pipetting channel and a second initial position parameter of the second pipetting channel. Acquiring the target position parameter includes: acquiring a first target position parameter of the first pipetting channel and a second target position parameter of the second pipetting channel. In this embodiment, the driving parameter corresponding to the first pipetting channel is determined based on the initial position and target position of the first pipetting channel, and the driving parameter corresponding to the second pipetting channel is determined based on the initial position and target position of the second pipetting channel. Alternatively, the acquiring the initial position parameter includes: acquiring the first initial position parameter of the first pipetting channel and the initial spacing. Acquiring the target position parameter includes: acquiring the first target position parameter of the first pipetting channel and the target spacing. In this embodiment, the driving parameters respectively corresponding to the first pipetting channel and the second pipetting channel are determined based on the initial position and the target position of the first pipetting channel, as well as the initial spacing and the target spacing. Alternatively, acquiring the initial position parameter includes: acquiring the second initial position parameter of the second pipetting channel and the initial spacing. Acquiring the target position parameter includes: acquiring the second target position parameter of the second pipetting channel and the target spacing. In this embodiment, the driving parameters respectively corresponding to the first pipetting channel and the second pipetting channel are determined based on the initial position and the target position of the second pipetting channel, as well as the initial spacing and the target spacing. The method for determining the first driving parameter and the second driving parameter based at least on the initial position parameter and the target position parameter is described in detail below.

[0059] In the above technical solution, by driving only two pipetting channels (the first pipetting channel and the second pipetting channel), the movement and spacing adjustment of the multiple pipetting channels are implemented, thereby reducing the overall size of the pipetting apparatus, reducing occupied space, and lowering overall manufacturing costs.

[0060] For example, the pipetting apparatus further includes a linkage assembly, and the linkage assembly is connected to each of the multiple pipetting channels and configured to keep the spacing between any two adjacent pipetting channels consistent among the multiple pipetting channels.

[0061] In an embodiment, the linkage assembly may be a scissor-type telescopic frame. The scissor-type telescopic frame includes multiple scissor linkage units corresponding one-to-one to the multiple pipetting channels. Each of the multiple scissor linkage units includes a first link, a second link, and an intra-unit pivot shaft. The first link is rotatably connected to the second link via the intra-unit pivot shaft, and the intra-unit pivot shaft is arranged on the corresponding pipetting channel. An end of a first link in a scissor linkage unit is rotatably connected to an end of a second link of an adjacent scissor linkage unit via an inter-unit pivot shaft. When any one or more of the multiple pipetting channels move, the pipetting channels other than the one or more pipetting channels may be driven by the linkage assembly to move accordingly, thereby enabling the spacing between any two adjacent pipetting channels among the multiple pipetting channels to be equal.

[0062] FIG. 3 illustrates a schematic structural diagram of a pipetting apparatus according to an embodiment of the present disclosure. It can be understood that, for clarity in demonstrating a connection relationship between the linkage assembly and the multiple pipetting channels, FIG. 3 shows part of the structure of the pipetting apparatus. As shown in FIG. 3, there are four pipetting channels: 311, 312, 313, and 314, connected to the linkage assembly 320. In this embodiment, the linkage assembly 320 is a scissor-type telescopic frame. The scissor-type telescopic frame includes multiple scissor linkage units corresponding one-to-one to the multiple pipetting channels. Each of the multiple scissor linkage units includes a first link (321 or 324), a second link (322 or 325), and an intra-unit pivot shaft 323. The first link is rotatably connected to the second link via the intra-unit pivot shaft 323, and the intra-unit pivot shaft is arranged on the corresponding pipetting channel. An end of the first link (321 or 324) is rotatably connected to an end of the second link (322 or 325) of an adjacent scissor linkage unit via an inter-unit pivot shaft 326. In FIG. 3, the scissor linkage units include two end-type scissor linkage units at two ends of the linkage assembly and two middle-type scissor linkage units between the two end-type scissor linkage units. Each of the two end-type scissor linkage units includes a first link 324, a second link 325, and an intra-unit pivot shaft 323. The end-type scissor linkage unit generally forms a "<" shape, where the configuration reduces the overall size of the scissor-type telescopic frame. Each of the two middle-type scissor linkage units includes a first link 321, a second link 322, and an intra-unit pivot shaft 323, and generally forms an "X" shape. The intra-unit pivot shafts 323 of the two end-type scissor linkage units are arranged on pipetting channels 311 and 314, respectively. The intra-unit pivot shafts 323 of the two middle-type scissor linkage units are arranged on pipetting channels 312 and 313, respectively. It can be understood that the structure of the linkage assembly is described by using four pipetting channels as an example according to the embodiment in FIG. 3. In practice, the number of the scissor linkage units in the linkage assembly may be adjusted according to the number of the pipetting channels. For example, in a case that the number of the pipetting channels is two, the number of the scissor linkage units is two, and both of the scissor linkage units are the end-type scissor linkage units. Alternatively, in a case that the number of the pipetting channels is eight, the number of the scissor linkage units is eight. The eight scissor linkage units include two end-type scissor linkage units at two ends of the linkage assembly and six middle-type scissor linkage units between the two end-type scissor linkage units.

[0063] According to the above technical solution, the multiple pipetting channels are connected with each other via the linkage assembly, ensuring that the spacing between any two adjacent pipetting channels among the multiple pipetting channels remains equal. Thus, when adjusting the spacing between multiple pipetting channels, only some pipetting channels (for example, one or two pipetting channels) are driven to move, and the spacing adjustment of the other pipetting channels can be automatically implemented under the actuation of the linkage assembly. This solution helps to reduce the cost of the pipetting apparatus and improve the spacing adjustment efficiency of the pipetting apparatus. Moreover, a spacing adjustment apparatus designed in this solution is simple in structure, and is easy to be expanded, installed, and maintained, thereby enhancing the user experience.

[0064] For example, the initial position parameter includes a first initial position parameter of the first pipetting channel and a second initial position parameter of the second pipetting channel. The target position parameter includes a first target position parameter of the first pipetting channel and a second target position parameter of the second pipetting channel.

[0065] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based on the first initial position parameter and the first target position parameter, a first movement distance corresponding to the first pipetting channel; determining the first driving parameter based on the first movement distance; determining, based on the second initial position parameter and the second target position parameter, a second movement distance corresponding to the second pipetting channel; and determining the second driving parameter based on the second movement distance.

[0066] The controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move includes: controlling, based on the first driving parameter, the first driving assembly to drive the first pipetting channel to move by the first movement distance, to cause the first pipetting channel to move from a first initial position to a first target position, where the first initial position corresponds to the first initial position parameter, and the first target position corresponds to the first target position parameter; and controlling, based on the second driving parameter, the second driving assembly to drive the second pipetting channel to move by the second movement distance, to cause the second pipetting channel to move from a second initial position to a second target position, where the second initial position corresponds to the second initial position parameter, and the second target position corresponds to the second target position parameter.

[0067] In this example, the considered approach is that the first pipetting channel and the second pipetting channel are controlled to move to their respective target positions. The spacing adjustment method in this example may be referred to as a first spacing adjustment method. It can be understood that since the spacing between every two adjacent pipetting channels among the multiple pipetting channels remains equal (that is, the spacing between any two adjacent pipetting channels is the same as that between any other two adjacent pipetting channels), when the first pipetting channel and the second pipetting channel reach their respective target positions, the pipetting channels between the first pipetting channel and the second pipetting channel are also move to their respective target positions. Thus, spacing adjustment of the multiple pipetting channels are implemented based on the movement of the multiple pipetting channels.

[0068] In an embodiment, the coordinates of the first initial position are (X1, Y1), the coordinates of the first target position are (X1, Y2), the coordinates of the second initial position are (X1, Y3), and the coordinates of the second target position are (X1, Y4). In this embodiment, a distance that the first pipetting channel moves along the Y-direction is Y2-Y1, and a distance that the second pipetting channel moves along the Y-direction is Y4-Y3.

[0069] It can be understood that when the first direction is the Y-direction, the abscissa (X-coordinate) of the first pipetting channel at an initial position is the same as the abscissa (X-coordinate) of the second pipetting channel at an initial position. Similarly, the abscissa (X-coordinate) of the first pipetting channel at a target position is the same as the abscissa (X-coordinate) of the second pipetting channel at a target position. In the description herein, a case that the initial and target positions are arranged along the first direction is primarily taken as an example. In other words, the implementation description is primarily involves controlling the first driving assembly to drive the first pipetting channel and controlling the second driving assembly to drive the second pipetting channel, both along the first direction. This is merely an example, and alternatively, in a case that the target position and the initial position are different in the X-direction, a third driving assembly for driving in the X-direction is configured to drive the multiple pipetting channels to move along the X-direction. In an embodiment, the pipetting apparatus further includes the third driving assembly. The third driving assembly is configured to drive the multiple pipetting channels to move along a second direction, which is perpendicular to the first direction. In an embodiment, if the first direction is the Y-direction, the second direction may be the X-direction. It can be understood that since the X-coordinates of the multiple pipetting channels are the same, in a case that the X-coordinates of the initial position are different from the X-coordinates of target position, the multiple pipetting channels are driven by the third driving assembly to move along the second direction.

[0070] According to the above technical solution, the spacing adjustment of the multiple pipetting channels are implemented based on the process of moving the first pipetting channel and the second pipetting channel to their respective target positions, thereby improving the pipetting efficiency of the pipetting apparatus.

[0071] For example, the acquiring an initial position parameter of at least one pipetting channel among the multiple pipetting channels includes: acquiring an initial position parameter of any one channel among the first pipetting channel and the second pipetting channel, and the initial spacing; and determining, based on the initial position parameter of the any one channel among the first pipetting channel and the second pipetting channel and the initial spacing, an initial position parameter of the other channel among the first pipetting channel and the second pipetting channel.

[0072] In an embodiment, the initial position parameter and the initial spacing may be automatically determined by an apparatus (for example, a spacing adjustment control apparatus 700 for a pipetting apparatus described below) for performing the spacing adjustment method 200 described above, based on the initial position of the at least one pipetting channel among the multiple pipetting channels. In an embodiment, the pipetting apparatus moves from a position corresponding to a first well plate to a position corresponding to a second well plate (hereinafter referred to as a first spacing adjustment), and then moves from the position corresponding to the second well plate to a position corresponding to a third well plate (hereinafter referred to as a second spacing adjustment). Since the initial position for the second spacing adjustment is the target position for the first spacing adjustment, the target position parameter and the target spacing for the first spacing adjustment may be directly read to determine the initial position parameter and the initial spacing for the second spacing adjustment. In another embodiment, the pipetting apparatus may acquire the positions of the initial containers currently corresponding to the multiple pipetting channels and the spacing between any two adjacent initial containers in the first direction, thereby determining the initial position parameter and the initial spacing. Alternatively, the initial position parameter and the initial spacing may be acquired in response to information inputted by a user. The user may input the initial position parameter and the initial spacing into the apparatus for performing the spacing adjustment method 200 described above through an input apparatus in the apparatus for performing the spacing adjustment method 200. The input apparatus may be any input apparatus, such as a mouse, a keyboard, or a touchscreen. For example, the user inputs information such as the initial position parameter and the initial spacing by interacting with an operation control (such as an input box) on a display interface.

[0073] It can be understood that since the spacing between any two adjacent pipetting channels is consistent among the multiple pipetting channels, and the multiple pipetting channels are sequentially arranged along the first direction, after determining the initial position parameter of the any one channel among the first pipetting channel and the second pipetting channel as well as the initial spacing, the initial position parameter of the other channel among the first pipetting channel and the second pipetting channel is determined based on the initial position parameter and the initial spacing. In an embodiment, the number of the pipetting channels is four, the first direction is the Y-direction, and the first pipetting channel is first in order among the pipetting channels arranged along the Y-direction. If the first initial position parameter of the first pipetting channel is (X1, Y1) and the initial spacing is a, then the second initial position parameter of the second pipetting channel is (X1, Y1+3a).

[0074] According to the above technical solution, based on the initial position parameter of any one channel among the first pipetting channel and the second pipetting channel as well as the initial spacing, the initial position parameter of the other pipetting channel is directly determined, thereby improving computational efficiency and increasing the spacing adjustment speed of the pipetting apparatus.

[0075] For example, acquiring the target position parameter of the at least one pipetting channel among the multiple pipetting channels includes: acquiring a target position parameter of the any one channel among the first pipetting channel and the second pipetting channel, and the target spacing; and determining, based on the target position parameter of the any one channel among the first pipetting channel and the second pipetting channel and the target spacing, a target position parameter of the other channel among the first pipetting channel and the second pipetting channel.

[0076] Similar to the initial position parameter and the initial spacing, the target position parameter and the target spacing may be automatically determined by the pipetting apparatus or may be determined based on information inputted by a user. The determination methods have been described in detail above and will not be repeated here for brevity.

[0077] In an embodiment, the number of the pipetting channels is four, the first direction is the Y-direction, and the first pipetting channel is last in order among the pipetting channels arranged along the Y-direction. If the first target position parameter of the first pipetting channel is (X1, Y2) and the target spacing is b, then the second target position parameter of the second pipetting channel is (X1, Y2-3b).

[0078] According to the above technical solution, based on the target position parameter of any one channel among the first pipetting channel and the second pipetting channel as well as the target spacing, the target position parameter of the other pipetting channel is directly determined, thereby improving computational efficiency and increasing the spacing adjustment speed of the pipetting apparatus.

[0079] For example, the initial spacing is acquired by: acquiring the initial spacing inputted by a user through a display interface, and / or the target spacing is acquired by: acquiring the target spacing inputted by the user through the display interface.

[0080] In this example, the initial spacing and the target spacing are respectively determined by the user based on the specifications of the well plates or racks corresponding to the selected initial containers and target containers, and are inputted into the pipetting apparatus through the display interface. In this solution, the initial spacing and / or the target spacing are inputted into the pipetting apparatus by the user, improving the computational efficiency and increasing spacing adjustment speed of the pipetting apparatus.

[0081] For example, the initial position parameter includes an initial position parameter of a target pipetting channel, and the target position parameter includes a target position parameter of the target pipetting channel.

[0082] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based on the initial position parameter and the target position parameter of the target pipetting channel, a movement distance corresponding to the target pipetting channel; determining, based on the movement distance, a movement driving parameter corresponding to the target pipetting channel and a movement driving parameter corresponding to a non-target pipetting channel, where the target pipetting channel is any one channel among the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other channel among the first pipetting channel and the second pipetting channel; acquiring the initial spacing and the target spacing; and determining, based on a difference between the target spacing and the initial spacing, a spacing adjustment driving parameter corresponding to the non-target pipetting channel, where a driving parameter corresponding to the target pipetting channel includes the movement driving parameter corresponding to the target pipetting channel, and a driving parameter corresponding to the non-target pipetting channel includes the movement driving parameter and the spacing adjustment driving parameter corresponding to the non-target pipetting channel.

[0083] The controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move includes: controlling, based on the movement driving parameter corresponding to the target pipetting channel and the movement driving parameter corresponding to the non-target pipetting channel, respective driving assemblies corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move by the movement distance, to cause the target pipetting channel to move to a target position of the target pipetting channel; and after the target pipetting channel reaches the target position, controlling, based on the spacing adjustment driving parameter corresponding to the non-target pipetting channel, the driving assembly corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move, to cause the spacing between any two adjacent pipetting channels among the multiple pipetting channels to be equal to the target spacing.

[0084] In the present disclosure, the target pipetting channel is a pipetting channel whose position parameters (including the initial position parameter and the target position parameter) are used to determine the movement driving parameters for the spacing adjustment process of the multiple pipetting channels. In the embodiment that the spacing adjustment process includes two steps, the target pipetting channel is either the first pipetting channel or the second pipetting channel. The non-target pipetting channel is the other pipetting channel among the first pipetting channel and the second pipetting channel. In an embodiment, the target pipetting channel is the first pipetting channel, in which case the non-target pipetting channel is the second pipetting channel. In another embodiment, the target pipetting channel is the second pipetting channel, and accordingly, the non-target pipetting channel is the first pipetting channel.

[0085] In this example, the spacing adjustment process includes two steps. Firstly, the target pipetting channel is controlled to move from its initial position to its target position. During this step, the movement distance corresponding to the remaining pipetting channels excluding the target pipetting channel is the same as the movement distance corresponding to the target pipetting channel, that is, all the multiple pipetting channels move collectively by an equal movement distance. Therefore, the movement distance corresponding to the non-target pipetting channel may be determined based on the movement distance corresponding to the target pipetting channel, and subsequently, the movement driving parameter corresponding to the non-target pipetting channel is determined. In an embodiment, if the first driving assembly and the second driving assembly are identical, the movement driving parameter corresponding to the target pipetting channel is directly determined as the movement driving parameter corresponding to the non-target pipetting channel. After the target pipetting channel reaches the target position, the spacing adjustment driving parameter is determined based on the difference between the initial spacing and the target spacing, and the non-target pipetting channel is driven to move based on the spacing adjustment driving parameter, so that the spacing between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target spacing. It can be understood that after the target pipetting channel reaches its target position, when the spacing between any two adjacent pipetting channels among the multiple pipetting channels is adjusted to be equal to the target spacing, the non-target pipetting channel moves to its corresponding target position. The spacing adjustment method in this example may be referred to as a second spacing adjustment method.

[0086] In an embodiment, there are four pipetting channels. The target pipetting channel is the first pipetting channel. The coordinates of the first initial position are (X1, Y1), and the coordinates of the first target position are (X1, Y2). The initial spacing is a, and the target spacing is b. During the spacing adjustment process of the multiple pipetting channels, the first driving assembly and the second driving assembly are controlled to drive the first pipetting channel and the second pipetting channel, respectively, to move by a distance of Y2-Y1 along the first direction, and then, the second driving assembly is controlled to drive the second pipetting channel to move by a distance of 3b-3a along the first direction. In this way, the first pipetting channel and the second pipetting channel move to their respective target positions.

[0087] In the above technical solution, the target pipetting channel first moves from its initial position to its target position, and then the non-target pipetting channel is driven based on the spacing adjustment driving parameter to move, to cause the spacing between any two adjacent pipetting channels among the multiple pipetting channels to be equal to the target spacing. With this method, the spacing adjustment control is precise, thereby improving the spacing adjustment accuracy, and ensuring that both the first and second pipetting channels accurately move to their respective target positions.

[0088] For example, the initial position parameter includes an initial position parameter of a target pipetting channel, and the target position parameter includes a target position parameter of the target pipetting channel.

[0089] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: acquiring the initial spacing and the target spacing; determining, based on a difference between the target spacing and the initial spacing, a spacing adjustment driving parameter corresponding to a non-target pipetting channel, where the target pipetting channel is any one channel among the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other channel among the first pipetting channel and the second pipetting channel; determining, based on the initial position parameter and the target position parameter of the target pipetting channel, a movement distance corresponding to the target pipetting channel; and determining, based on the movement distance, a movement driving parameter corresponding to the target pipetting channel and a movement driving parameter corresponding to the non-target pipetting channel, where a driving parameter corresponding to the target pipetting channel includes the movement driving parameter corresponding to the target pipetting channel, and a driving parameter corresponding to the non-target pipetting channel includes the movement driving parameter and the spacing adjustment driving parameter corresponding to the non-target pipetting channel.

[0090] The controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move includes: controlling, based on the spacing adjustment driving parameter corresponding to the non-target pipetting channel, a driving assembly corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move, to cause the spacing between any two adjacent pipetting channels among the multiple pipetting channels to be equal to the target spacing; and after the spacing between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target spacing, controlling, based on the movement driving parameter corresponding to the target pipetting channel and the movement driving parameter corresponding to the non-target pipetting channel, respective driving assemblies corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move by the movement distance, to cause the target pipetting channel and the non-target pipetting channel to move to their respective target positions.

[0091] In this example, the spacing adjustment process includes two steps. Firstly, the non-target pipetting channel is driven to move based on the spacing adjustment driving parameter which is determined based on the difference between the initial spacing and the target spacing, so that the spacing between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target spacing. Then, based on the movement driving parameters, a first driving motor and a second driving motor are controlled to drive their respective corresponding pipetting channels, allowing the target pipetting channel to move from its initial position to its target position. It can be understood that since the spacing between any two adjacent pipetting channels among the multiple pipetting channels is adjusted to be equal to the target spacing firstly, when the target pipetting channel moves to its target position, the non-target pipetting channel accordingly moves to its target position. The spacing adjustment method in this example may be referred to as a third spacing adjustment method.

[0092] In an embodiment, there are four pipetting channels. The target pipetting channel is the first pipetting channel. The coordinates of the first initial position are (X1, Y1), and the coordinates of the first target position are (X1, Y2). The initial spacing is a, and the target spacing is b. During the spacing adjustment process of the multiple pipetting channels, the second driving assembly is controlled to drive the second pipetting channel to move by a distance of 3b-3a along the first direction, and then, based on the movement driving parameters, the first driving assembly and the second driving assembly are controlled to drive the first pipetting channel and the second pipetting channel, respectively, to move by a distance of Y2-Y1 along the first direction. In this way, the first pipetting channel and the second pipetting channel move to their respective target positions.

[0093] In the above technical solution, the non-target pipetting channel is driven based on the spacing adjustment driving parameter to move, and then the target pipetting channel moves from its initial position to its target position, so that the spacing between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target spacing. With this method, the spacing adjustment control is precise, thereby improving the spacing adjustment accuracy, and ensuring that both the first and second pipetting channels accurately move to their respective target positions.

[0094] For example, the initial position parameter further includes an initial position parameter of the non-target pipetting channel. The initial spacing may be acquired by: acquiring the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel that are inputted by a user through a display interface; and determining the initial spacing based on the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel.

[0095] It can be understood that the spacing between any two pipetting channels is consistent among the multiple pipetting channels. Therefore, after determining the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel, the initial spacing may be determined based on the difference between the two initial position parameters. For example, if the initial position parameter of the target pipetting channel is (X1, Y1), the initial position parameter of the non-target pipetting channel is (X1, Y3), and the number of the pipetting channels is four, the initial spacing is (Y3-Y1) / 4. In any of the above embodiments that the respective initial position parameters of the first and second pipetting channels are acquired for implementing spacing adjustment, the initial spacing may be automatically determined based on the respective initial position parameters of the first and second pipetting channels. In such case, it is not required to input the initial spacing by a user.

[0096] FIG. 4 illustrates a schematic diagram of a display interface according to an embodiment of the present disclosure. In this embodiment, pipette tips with model DITI1000 are mounted on ends of the pipetting channels, a serial number of a starting well is 1, a step size is 8, and the number of the pipetting channels is four. In this embodiment, the four pipetting channels correspond one-to-one to wells A1, C1, E1, and G1 on a well plate, respectively.

[0097] FIG. 5 illustrates a schematic diagram of a display interface according to another embodiment of the present disclosure. As shown in FIG. 5, the display interface displays the number of wells along the X-direction, the number of wells along the Y-direction, coordinates of a first well on the well plate, coordinates of a last well on the well plate, and the number of pipette tips placed in each of the wells (denoted as Tips per). In this embodiment, the Tips per is one. The positions of the first well and the last well on the well plate are explained by using the embodiment in FIG. 4. For example, the first well on the well plate is the well G1 in FIG. 4, and the last well on the well plate is a well located at row A, column 6 on the well plate in FIG. 4. In the embodiment shown in FIG. 5, the number of wells along the X-direction is six, and the number of wells along the Y-direction is four. The coordinates of the first well on the well plate are (152, 345.4), and the coordinates of the last well on the well plate are (245, 400.4). It can be understood that the Y-coordinate of the last well on the well plate is the same as the Y-coordinate of the non-target pipetting channel, and the X-coordinate of the non-target pipetting channel is the same as the X-coordinate of the target pipetting channel. Therefore, in this embodiment, the initial position parameter of the target pipetting channel is (152, 345.4), and the initial position parameter of the non-target pipetting channel is (152, 400.4). Based on the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel, the initial spacing is determined as 18.33 millimeters (mm).

[0098] For example, the target position parameter further includes a target position parameter of the non-target pipetting channel. The target spacing is acquired by: acquiring the target position parameter of the target pipetting channel and the target position parameter of the non-target pipetting channel that are inputted by the user through the display interface; and determining the target spacing based on the target position parameter of the target pipetting channel and the target position parameter of the non-target pipetting channel.

[0099] Similar to the initial spacing, in any of the above embodiments that the respective target position parameters of the first and second pipetting channels are acquired for implementing spacing adjustment, the target spacing may be automatically determined based on the respective target position parameters of the first and second pipetting channels. In such case, it is not required to input the target spacing by a user.

[0100] The method for acquiring the target spacing is explained by using the embodiment shown in FIG. 5. As shown in FIG. 5, after inputting the coordinates of the first well and the coordinates of the last well corresponding to the initial positions through the display interface, a "Move to" button on the display interface is clicked, and then the input boxes for the number of wells and the coordinates of the first and last wells are cleared. The number of wells and the coordinates of the first and last wells corresponding to the target positions are inputted by the user through the display interface.

[0101] According to the above technical solution, only the respective initial position parameters and respective target position parameters of the target and non-target pipetting channels are required to be inputted by the user, and the spacing adjustment of the multiple pipetting channels can be implemented, which features simple operation and improves the user experience.

[0102] For example, the first driving assembly includes a first driving motor, a lead screw nut, and a lead screw which extends along the first direction. An output shaft of the first driving motor is connected to the lead screw. The lead screw is drivingly connected to the lead screw nut. The lead screw nut is connected to the first pipetting channel. The first driving motor drives the lead screw to rotate, to cause the first pipetting channel to move along the first direction, and the first driving parameter includes a pulse count of the first driving motor.

[0103] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based at least on the initial position parameter and the target position parameter, a movement distance corresponding to the first pipetting channel; and determining the pulse count of the first driving motor based on the movement distance corresponding to the first pipetting channel, a lead of the lead screw, and a step angle of the first driving motor.

[0104] FIG. 6 illustrates an overall schematic structural diagram of a pipetting apparatus according to an embodiment of the present disclosure. As shown in FIG. 6, the first driving assembly includes a first driving motor 331, a lead screw nut 333, and a lead screw 332 extending along the first direction. The output shaft of the first driving motor 331 is connected to the lead screw 332. The lead screw 332 is drivingly connected to the lead screw nut 333. The lead screw nut 333 is connected to the first pipetting channel. The first driving motor 331 is mounted on a mounting plate 360. In this embodiment, each of the multiple pipetting channels includes a third driving motor 351, a spacing adjustment component 352, and a channel body 353. The spacing adjustment component 352 is provided with a first guide rail 354 extending along a third direction, and the channel body 353 is driven by the third driving motor 351 to slide up and down along the first guide rail 354. The mounting plate 360 is provided with multiple (four shown in the figure) second guide rails 370 extending along the first direction. The spacing adjustment component 352 of each pipetting channel is slidably connected to the second guide rail 370 via a slider.

[0105] In an embodiment, the first direction is the Y-direction, and the X-coordinate of the initial position is the same as the X-coordinate of the target position. The initial position corresponds to a 24-well plate, and the target position corresponds to a 96-well plate. When the multiple pipetting channels are above the 24-well plate, the Y-coordinate of the first pipetting channel is Y1. The Y-coordinate of the position on the 96-well plate corresponding to the first pipetting channel (that is, the target position of the first pipetting channel) is Y2. In this case, it is determined that the required distance for the first pipetting channel to move along the first direction is Y2-Y1. Based on the distance and the lead of the lead screw, the number of required rotations for the first driving motor is determined. Based on the number of rotations and the step angle of the first driving motor, the pulse count of the first driving motor is determined. Based on the pulse count, the first driving motor is controlled to drive the first pipetting channel to move along the first direction to the corresponding target position.

[0106] According to the above technical solution, the pulse count of the first driving motor can be accurately calculated, thereby controlling the first driving motor to drive the movement of the first pipetting channel based on the pulse count, and thus improving the spacing adjustment accuracy.

[0107] For example, the second driving assembly includes a second driving motor, a transmission belt, a driving pulley, and a driven pulley. The transmission belt extends along the first direction and is looped around the driving pulley and the driven pulley. An output shaft of the second driving motor is connected to the driving pulley. The transmission belt is connected to the second pipetting channel. The second driving motor drives the driving pulley to rotate, to cause the second pipetting channel to move along the first direction, and the second driving parameter includes a pulse count of the second driving motor.

[0108] The determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter includes: determining, based at least on the initial position parameter and the target position parameter, a movement distance corresponding to the second pipetting channel; and determining the pulse count of the second driving motor based on the movement distance corresponding to the second pipetting channel, a circumference of the driving pulley, and a step angle of the second driving motor.

[0109] The structure of the second driving assembly is further explained by using the embodiment shown in FIG. 6. As shown in FIG. 6, the second driving assembly includes a second driving motor 341, a transmission belt 342, a driving pulley, and a driven pulley 343. The transmission belt 342 extends along the first direction and is looped around the driving pulley and the driven pulley 343. The output shaft of the second driving motor 341 is connected to the driving pulley. The transmission belt 342 is connected to the second pipetting channel via a connector 344. The second driving motor 341 is mounted on the mounting plate 360, and a second rotational axis of the output shaft of the second driving motor 341 is perpendicular to a first rotational axis of the output shaft of the first driving motor 331. Along a direction perpendicular to both the first rotational axis and the second rotational axis, a central portion of the first driving motor 331 and a central portion of the second driving motor 341 are stacked with each other.

[0110] In an embodiment, the first direction is the Y-direction, and the X-coordinate of the initial position is the same as the X-coordinate of the target position. The initial position corresponds to a 24-well plate, and the target position corresponds to a 96-well plate. When the multiple pipetting channels are above the 24-well plate, the Y-coordinate of the second pipetting channel is Y3. The Y-coordinate of the position on the 96-well plate corresponding to the second pipetting channel (that is, the target position of the second pipetting channel) is Y4. In this case, it is determined that the required distance for the second pipetting channel to move along the first direction is Y4-Y3. Based on the distance, the circumference of the driving pulley, and the step angle of the second driving motor, the pulse count of the second driving motor is determined. Based on the pulse count, the second driving motor is controlled to drive the second pipetting channel to move to the corresponding target position. After the movement of the second pipetting channel, the spacing between any two adjacent pipetting channels among the multiple pipetting channels is equal to the target spacing.

[0111] According to the above technical solution, the pulse count of the second driving motor can be accurately determined, thereby controlling the second driving motor to drive the movement of the second pipetting channel based on the pulse count, and thus improving the spacing adjustment accuracy.

[0112] According to another aspect of the present disclosure, a spacing adjustment control apparatus for a pipetting apparatus is provided. The pipetting apparatus includes multiple pipetting channels arranged sequentially along a first direction. FIG. 7 illustrates a schematic block diagram of a spacing adjustment control apparatus according to an embodiment of the present disclosure. As shown in FIG. 7, the spacing adjustment control apparatus 700 includes a processor 710 and a memory 720. The memory 720 stores computer program instructions, and the computer program instructions, when executed by the processor 710, are to perform the spacing adjustment method 200 for the pipetting apparatus described above.

[0113] According to yet another aspect of the present disclosure, a pipetting device is provided. The pipetting device includes the spacing adjustment control apparatus 700 for the pipetting apparatus described above and the pipetting apparatus.

[0114] Based on the foregoing descriptions on the spacing adjustment method for the pipetting apparatus, those skilled in the art can understand the specific implementations of the spacing adjustment control apparatus and the pipetting device, which will not be repeated here for brevity.

[0115] Although the embodiments have been described herein with reference to the drawings, it should be understood that the above embodiments are merely exemplary and are not intended to limit the scope of the present disclosure. Various changes and modifications may be made by those skilled in the art without departing from the scope and spirit of the present disclosure. All such changes and modifications are deemed to fall within the scope claimed by the claims of the present disclosure.

[0116] Those skilled in the art may realize that the units and algorithm steps of each example described in conjunction with the embodiments herein may be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present disclosure.

[0117] It should be noted that the above embodiments illustrate rather than limit the present disclosure, and alternative embodiments may be designed by those skilled in the art without departing from the scope of the claims. In the claims, any reference symbol between parentheses shall not be construed as a limitation of the claims. The word "comprising" or "including" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple of such elements. The present disclosure may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim enumerating several apparatuses, several of these apparatuses may be embodied by a same hardware item. The use of the words "first", "second", "third" and the like does not indicate any order. These words may be interpreted as names.

[0118] Described above are only specific embodiments of the present disclosure or explanation for the specific embodiments of the present disclosure, and the protection scope of the present disclosure is not limited thereto. Any changes or alternations that can be easily envisaged by those skilled in the art within the technical scope disclosed in the present disclosure shall fall within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be in accordance with the protection scope of the claims.

Claims

1. A spacing adjustment method for a pipetting apparatus, wherein the pipetting apparatus comprises a plurality of pipetting channels arranged sequentially along a first direction, and wherein the spacing adjustment method comprises: acquiring an initial position parameter of at least one pipetting channel among the plurality of pipetting channels, wherein the initial position parameter indicates an initial position of the at least one pipetting channel; acquiring a target position parameter of the at least one pipetting channel, wherein the target position parameter indicates a target position of the at least one pipetting channel; determining a driving parameter based at least on the initial position parameter and the target position parameter, wherein the driving parameter is for driving the at least one pipetting channel among the plurality of pipetting channels to move to adjust a spacing between two adjacent pipetting channels; and controlling, based on the driving parameter, the at least one pipetting channel to move, to cause the plurality of pipetting channels to move from initial positions to target positions, wherein when the plurality of pipetting channels reach the target positions, the spacing between any two adjacent pipetting channels is referred to as a target spacing, when the plurality of pipetting channels are at the initial positions, the spacing between any two adjacent pipetting channels is referred to as an initial spacing, and the initial spacing is different from the target spacing.

2. The spacing adjustment method according to claim 1, wherein the pipetting apparatus further comprises a first driving assembly and a second driving assembly, wherein the first driving assembly is connected to a first pipetting channel and configured to drive the first pipetting channel to move along the first direction, the first pipetting channel being one of two pipetting channels located at two ends among the plurality of pipetting channels, and the second driving assembly is connected to a second pipetting channel and configured to drive the second pipetting channel to move along the first direction, the second pipetting channel being the other of the two pipetting channels located at the two ends among the plurality of pipetting channels, the driving parameter comprises a first driving parameter of the first driving assembly and a second driving parameter of the second driving assembly, and the determining a driving parameter based at least on the initial position parameter and the target position parameter, wherein the driving parameter is for driving the at least one pipetting channel among the plurality of pipetting channels to move to adjust a spacing between two adjacent pipetting channels, comprises: determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter, and the controlling, based on the driving parameter, the at least one pipetting channel to move comprises: controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move.

3. The spacing adjustment method according to claim 1 or 2, wherein the pipetting apparatus further comprises a linkage assembly, and the linkage assembly is connected to each of the plurality of pipetting channels and configured to keep the spacing between any two adjacent pipetting channels consistent among the plurality of pipetting channels.

4. The spacing adjustment method according to claim 2, wherein the initial position parameter comprises a first initial position parameter of the first pipetting channel and a second initial position parameter of the second pipetting channel, and the target position parameter comprises a first target position parameter of the first pipetting channel and a second target position parameter of the second pipetting channel, the determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter comprises: determining, based on the first initial position parameter and the first target position parameter, a first movement distance corresponding to the first pipetting channel; determining the first driving parameter based on the first movement distance; determining, based on the second initial position parameter and the second target position parameter, a second movement distance corresponding to the second pipetting channel; and determining the second driving parameter based on the second movement distance, and the controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move comprises: controlling, based on the first driving parameter, the first driving assembly to drive the first pipetting channel to move by the first movement distance, to cause the first pipetting channel to move from a first initial position to a first target position, wherein the first initial position corresponds to the first initial position parameter, and the first target position corresponds to the first target position parameter; and controlling, based on the second driving parameter, the second driving assembly to drive the second pipetting channel to move by the second movement distance, to cause the second pipetting channel to move from a second initial position to a second target position, wherein the second initial position corresponds to the second initial position parameter, and the second target position corresponds to the second target position parameter.

5. The spacing adjustment method according to claim 4, wherein the acquiring an initial position parameter of at least one pipetting channel among the plurality of pipetting channels comprises: acquiring an initial position parameter of any one channel among the first pipetting channel and the second pipetting channel, and the initial spacing; and determining, based on the initial position parameter of the any one channel among the first pipetting channel and the second pipetting channel and the initial spacing, an initial position parameter of the other channel among the first pipetting channel and the second pipetting channel, and / or the acquiring a target position parameter of the at least one pipetting channel among the plurality of pipetting channels comprises: acquiring a target position parameter of any one channel among the first pipetting channel and the second pipetting channel, and the target spacing; and determining, based on the target position parameter of the any one channel among the first pipetting channel and the second pipetting channel and the target spacing, a target position parameter of the other channel among the first pipetting channel and the second pipetting channel.

6. The spacing adjustment method according to claim 5, wherein the initial spacing is acquired by: acquiring the initial spacing inputted by a user through a display interface, and / or the target spacing is acquired by: acquiring the target spacing inputted by the user through the display interface.

7. The spacing adjustment method according to claim 2, wherein the initial position parameter comprises an initial position parameter of a target pipetting channel, and the target position parameter comprises a target position parameter of the target pipetting channel, the determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter comprises: determining, based on the initial position parameter and the target position parameter of the target pipetting channel, a movement distance corresponding to the target pipetting channel; determining, based on the movement distance, a movement driving parameter corresponding to the target pipetting channel and a movement driving parameter corresponding to a non-target pipetting channel, wherein the target pipetting channel is any one channel among the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other channel among the first pipetting channel and the second pipetting channel; acquiring the initial spacing and the target spacing; and determining, based on a difference between the target spacing and the initial spacing, a spacing adjustment driving parameter corresponding to the non-target pipetting channel, wherein a driving parameter corresponding to the target pipetting channel comprises the movement driving parameter corresponding to the target pipetting channel, and a driving parameter corresponding to the non-target pipetting channel comprises the movement driving parameter and the spacing adjustment driving parameter corresponding to the non-target pipetting channel, and the controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move comprises: controlling, based on the movement driving parameter corresponding to the target pipetting channel and the movement driving parameter corresponding to the non-target pipetting channel, respective driving assemblies corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move by the movement distance, to cause the target pipetting channel to move to a target position of the target pipetting channel; and after the target pipetting channel reaches the target position, controlling, based on the spacing adjustment driving parameter corresponding to the non-target pipetting channel, the driving assembly corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move, to cause the spacing between any two adjacent pipetting channels among the plurality of pipetting channels to be equal to the target spacing.

8. The spacing adjustment method according to claim 2, wherein the initial position parameter comprises an initial position parameter of a target pipetting channel, and the target position parameter comprises a target position parameter of the target pipetting channel, the determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter comprises: acquiring the initial spacing and the target spacing; determining, based on a difference between the target spacing and the initial spacing, a spacing adjustment driving parameter corresponding to a non-target pipetting channel, wherein the target pipetting channel is any one channel among the first pipetting channel and the second pipetting channel, and the non-target pipetting channel is the other channel among the first pipetting channel and the second pipetting channel; determining, based on the initial position parameter and the target position parameter of the target pipetting channel, a movement distance corresponding to the target pipetting channel; and determining, based on the movement distance, a movement driving parameter corresponding to the target pipetting channel and a movement driving parameter corresponding to the non-target pipetting channel, wherein a driving parameter corresponding to the target pipetting channel comprises the movement driving parameter corresponding to the target pipetting channel, and a driving parameter corresponding to the non-target pipetting channel comprises the movement driving parameter and the spacing adjustment driving parameter corresponding to the non-target pipetting channel, and the controlling, based on the first driving parameter and the second driving parameter, the first driving assembly and the second driving assembly to respectively drive the first pipetting channel and the second pipetting channel to move comprises: controlling, based on the spacing adjustment driving parameter corresponding to the non-target pipetting channel, a driving assembly corresponding to the non-target pipetting channel to drive the non-target pipetting channel to move, to cause the spacing between any two adjacent pipetting channels among the plurality of pipetting channels to be equal to the target spacing; and after the spacing between any two adjacent pipetting channels among the plurality of pipetting channels is equal to the target spacing, controlling, based on the movement driving parameter corresponding to the target pipetting channel and the movement driving parameter corresponding to the non-target pipetting channel, respective driving assemblies corresponding to the target pipetting channel and the non-target pipetting channel to respectively drive the target pipetting channel and the non-target pipetting channel to move by the movement distance, to cause the target pipetting channel and the non-target pipetting channel to move to the target positions correspondingly.

9. The spacing adjustment method according to claim 7 or 8, wherein the initial position parameter further comprises an initial position parameter of the non-target pipetting channel, and the initial spacing is acquired by: acquiring the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel that are inputted by a user through a display interface; and determining the initial spacing based on the initial position parameter of the target pipetting channel and the initial position parameter of the non-target pipetting channel, and / or the target position parameter further comprises a target position parameter of the non-target pipetting channel, and the target spacing is acquired by: acquiring the target position parameter of the target pipetting channel and the target position parameter of the non-target pipetting channel that are inputted by the user through the display interface; and determining the target spacing based on the target position parameter of the target pipetting channel and the target position parameter of the non-target pipetting channel.

10. The spacing adjustment method according to claim 2, wherein the first driving assembly comprises a first driving motor, a lead screw nut, and a lead screw extending along the first direction, an output shaft of the first driving motor is connected to the lead screw, the lead screw is drivingly connected to the lead screw nut, the lead screw nut is connected to the first pipetting channel, the first driving motor drives the lead screw to rotate, to cause the first pipetting channel to move along the first direction, and the first driving parameter comprises a pulse count of the first driving motor, and wherein the determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter comprises: determining, based at least on the initial position parameter and the target position parameter, a movement distance corresponding to the first pipetting channel; and determining the pulse count of the first driving motor based on the movement distance corresponding to the first pipetting channel, a lead of the lead screw, and a step angle of the first driving motor.

11. The spacing adjustment method according to claim 2, wherein the second driving assembly comprises a second driving motor, a transmission belt, a driving pulley, and a driven pulley, the transmission belt extends along the first direction and is looped around the driving pulley and the driven pulley, an output shaft of the second driving motor is connected to the driving pulley, the transmission belt is connected to the second pipetting channel, the second driving motor drives the driving pulley to rotate, to cause the second pipetting channel to move along the first direction, and the second driving parameter comprises a pulse count of the second driving motor, and wherein the determining, based at least on the initial position parameter and the target position parameter, the first driving parameter and the second driving parameter comprises: determining, based at least on the initial position parameter and the target position parameter, a movement distance corresponding to the second pipetting channel; and determining the pulse count of the second driving motor based on the movement distance corresponding to the second pipetting channel, a circumference of the driving pulley, and a step angle of the second driving motor.

12. A spacing adjustment control apparatus for a pipetting apparatus, wherein the pipetting apparatus comprises a plurality of pipetting channels arranged sequentially along a first direction, and the spacing adjustment control apparatus comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions, when executed by the processor, are to perform the spacing adjustment method for the pipetting apparatus according to any one of claims 1 to 11.

13. A pipetting device, comprising the spacing adjustment control apparatus for the pipetting apparatus according to claim 12 and the pipetting apparatus.

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